Initial commit

srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen/Services/SyncProducer.cs

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+using Microsoft.Extensions.Logging;
+using RobotNet10.CANOpen.Enums;
+using RobotNet10.CANOpen.Interfaces;
+
+namespace RobotNet10.CANOpen.Services;
+
+/// <summary>
+/// SYNC Producer - phát tin nhắn SYNC định kỳ cho synchronous PDOs
+/// </summary>
+public class SyncProducer : IDisposable
+{
+    private readonly ICanBus _canBus;
+    private readonly uint _cobId;
+    private readonly ILogger<SyncProducer>? _logger;
+    private Timer? _timer;
+    private byte _counter;
+    private bool _useCounter;
+    private bool _isRunning;
+    
+    public bool IsRunning => _isRunning;
+    public int IntervalMs { get; private set; }
+    
+    public SyncProducer(ICanBus canBus, uint cobId = (uint)CanMessageType.Sync, ILogger<SyncProducer>? logger = null)
+    {
+        _canBus = canBus ?? throw new ArgumentNullException(nameof(canBus));
+        _cobId = cobId;
+        _logger = logger;
+        _counter = 0;
+        _useCounter = false;
+        _isRunning = false;
+    }
+    
+    /// <summary>
+    /// Start SYNC producer với interval tính bằng milliseconds
+    /// </summary>
+    /// <param name="intervalMs">SYNC interval in milliseconds (thường 1-100ms)</param>
+    /// <param name="useCounter">Nếu true, SYNC message sẽ có counter byte (1-240)</param>
+    public void Start(int intervalMs, bool useCounter = false)
+    {
+        if (_isRunning)
+            Stop();
+        
+        IntervalMs = intervalMs;
+        _useCounter = useCounter;
+        _counter = 0;
+        _isRunning = true;
+        
+        _timer = new Timer(SendSyncCallback, null, 0, intervalMs);
+    }
+    
+    /// <summary>
+    /// Stop SYNC producer
+    /// </summary>
+    public void Stop()
+    {
+        _timer?.Dispose();
+        _timer = null;
+        _isRunning = false;
+        _counter = 0;
+    }
+    
+    /// <summary>
+    /// Gửi một SYNC message thủ công (không dùng timer)
+    /// </summary>
+    public async Task SendSyncAsync(CancellationToken ct = default)
+    {
+        byte[] data = Array.Empty<byte>();
+        
+        if (_useCounter)
+        {
+            _counter++;
+            if (_counter > 240)
+                _counter = 1;
+            
+            data = new byte[] { _counter };
+        }
+        
+        await _canBus.SendFrameAsync(_cobId, data, ct);
+    }
+    
+    private async void SendSyncCallback(object? state)
+    {
+        try
+        {
+            await SendSyncAsync(CancellationToken.None);
+        }
+        catch (Exception ex)
+        {
+            // Log error nhưng không dừng timer
+            _logger?.LogError(ex, "Failed to send SYNC message with COB-ID 0x{CobId:X3}", _cobId);
+        }
+    }
+    
+    public void Dispose()
+    {
+        Stop();
+    }
+}