Initial commit

2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen/Enums/SdoAbortCode.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen/Enums/SdoAbortCode.cs
@@ -0,0 +1,127 @@
+namespace RobotNet10.CANOpen.Enums;
+
+/// <summary>
+/// SDO Abort Codes theo CANOpen DS301
+/// </summary>
+public enum SdoAbortCode : uint
+{
+    // Protocol Errors
+    ToggleBitNotAlternated = 0x05030000,
+    SdoProtocolTimedOut = 0x05040000,
+    CommandSpecifierNotValidOrUnknown = 0x05040001,
+    InvalidBlockSize = 0x05040002,
+    InvalidSequenceNumber = 0x05040003,
+    CrcError = 0x05040004,
+    OutOfMemory = 0x05040005,
+    UnsupportedAccessToAnObject = 0x06010000,
+    AttemptToReadAWriteOnlyObject = 0x06010001,
+    AttemptToWriteAReadOnlyObject = 0x06010002,
+    
+    // Object Dictionary Errors
+    ObjectDoesNotExist = 0x06020000,
+    ObjectCannotBeMappedToThePdo = 0x06040041,
+    NumberAndLengthOfObjectsToBeExceed = 0x06040042,
+    GeneralParameterIncompatibility = 0x06040043,
+    GeneralInternalIncompatibility = 0x06040047,
+    ObjectAccessFailedDueToHardwareError = 0x06060000,
+    DataTypeMismatchLengthOfService = 0x06070010,
+    DataTypeMismatchLengthOfServiceTooHigh = 0x06070012,
+    DataTypeMismatchLengthOfServiceTooLow = 0x06070013,
+    SubIndexDoesNotExist = 0x06090011,
+    InvalidValueForParameter = 0x06090030,
+    ValueOfParameterWrittenTooHigh = 0x06090031,
+    ValueOfParameterWrittenTooLow = 0x06090032,
+    MaximumLessMinimum = 0x06090036,
+    ResourceNotAvailable = 0x060A0023,
+    
+    // General Errors
+    GeneralError = 0x08000000,
+    DataCannotBeTransferredOrStoredToApplication = 0x08000020,
+    DataCannotBeTransferredLocalControl = 0x08000021,
+    DataCannotBeTransferredDeviceState = 0x08000022,
+    ObjectDictionaryDynamicGenerationFails = 0x08000023,
+    NoDataAvailable = 0x08000024,
+    
+    // Manufacturer Specific (0x0000 0000 - 0x0000 FFFF không được sử dụng)
+    // User Defined (0x2000 0000 - 0xFFFF FFFF)
+    
+    // Custom/Unknown
+    Unknown = 0xFFFFFFFF
+}
+
+/// <summary>
+/// Extension methods cho SdoAbortCode
+/// </summary>
+public static class SdoAbortCodeExtensions
+{
+    /// <summary>
+    /// Get human readable description của abort code
+    /// </summary>
+    public static string GetDescription(this SdoAbortCode code)
+    {
+        return code switch
+        {
+            SdoAbortCode.ToggleBitNotAlternated => "Toggle bit not alternated",
+            SdoAbortCode.SdoProtocolTimedOut => "SDO protocol timed out",
+            SdoAbortCode.CommandSpecifierNotValidOrUnknown => "Command specifier not valid or unknown",
+            SdoAbortCode.InvalidBlockSize => "Invalid block size",
+            SdoAbortCode.InvalidSequenceNumber => "Invalid sequence number",
+            SdoAbortCode.CrcError => "CRC error",
+            SdoAbortCode.OutOfMemory => "Out of memory",
+            SdoAbortCode.UnsupportedAccessToAnObject => "Unsupported access to an object",
+            SdoAbortCode.AttemptToReadAWriteOnlyObject => "Attempt to read a write-only object",
+            SdoAbortCode.AttemptToWriteAReadOnlyObject => "Attempt to write a read-only object",
+            SdoAbortCode.ObjectDoesNotExist => "Object does not exist in the object dictionary",
+            SdoAbortCode.ObjectCannotBeMappedToThePdo => "Object cannot be mapped to the PDO",
+            SdoAbortCode.NumberAndLengthOfObjectsToBeExceed => "Number and length of the objects to be mapped would exceed PDO length",
+            SdoAbortCode.GeneralParameterIncompatibility => "General parameter incompatibility reason",
+            SdoAbortCode.GeneralInternalIncompatibility => "General internal incompatibility in the device",
+            SdoAbortCode.ObjectAccessFailedDueToHardwareError => "Access failed due to hardware error",
+            SdoAbortCode.DataTypeMismatchLengthOfService => "Data type does not match, length of service parameter does not match",
+            SdoAbortCode.DataTypeMismatchLengthOfServiceTooHigh => "Data type does not match, length of service parameter too high",
+            SdoAbortCode.DataTypeMismatchLengthOfServiceTooLow => "Data type does not match, length of service parameter too low",
+            SdoAbortCode.SubIndexDoesNotExist => "Sub-index does not exist",
+            SdoAbortCode.InvalidValueForParameter => "Invalid value for parameter (download only)",
+            SdoAbortCode.ValueOfParameterWrittenTooHigh => "Value of parameter written too high (download only)",
+            SdoAbortCode.ValueOfParameterWrittenTooLow => "Value of parameter written too low (download only)",
+            SdoAbortCode.MaximumLessMinimum => "Maximum value is less than minimum value",
+            SdoAbortCode.ResourceNotAvailable => "Resource not available: SDO connection",
+            SdoAbortCode.GeneralError => "General error",
+            SdoAbortCode.DataCannotBeTransferredOrStoredToApplication => "Data cannot be transferred or stored to the application",
+            SdoAbortCode.DataCannotBeTransferredLocalControl => "Data cannot be transferred or stored to the application because of local control",
+            SdoAbortCode.DataCannotBeTransferredDeviceState => "Data cannot be transferred or stored to the application because of the present device state",
+            SdoAbortCode.ObjectDictionaryDynamicGenerationFails => "Object dictionary dynamic generation fails or no object dictionary is present",
+            SdoAbortCode.NoDataAvailable => "No data available",
+            SdoAbortCode.Unknown => "Unknown error",
+            _ => $"SDO Abort Code: 0x{(uint)code:X8}"
+        };
+    }
+    
+    /// <summary>
+    /// Check if abort code is manufacturer specific
+    /// </summary>
+    public static bool IsManufacturerSpecific(this SdoAbortCode code)
+    {
+        uint value = (uint)code;
+        return value >= 0x20000000 && value <= 0xFFFFFFFF;
+    }
+    
+    /// <summary>
+    /// Check if abort code is protocol error
+    /// </summary>
+    public static bool IsProtocolError(this SdoAbortCode code)
+    {
+        uint value = (uint)code;
+        return value >= 0x05030000 && value <= 0x05040005;
+    }
+    
+    /// <summary>
+    /// Check if abort code is object dictionary error
+    /// </summary>
+    public static bool IsObjectDictionaryError(this SdoAbortCode code)
+    {
+        uint value = (uint)code;
+        return (value >= 0x06010000 && value <= 0x06010002) ||
+               (value >= 0x06020000 && value <= 0x060A0023);
+    }
+}