Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Hubs/InertialMeasurementUnitHub.cs

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+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.SignalR;
+using RobotNet10.Shared.Geometry;
+using RobotNet10.RobotApp.Devices;
+using RobotNet10.Shared.Sensor;
+using RobotNet10.RobotApp.Client.Shared.Devices;
+
+namespace RobotNet10.RobotApp.Hubs;
+
+/// <summary>
+/// SignalR Hub cho IMU device - cung cấp real-time IMU data
+/// </summary>
+[Authorize]
+public class InertialMeasurementUnitHub(IDeviceProvider deviceProvider) : Hub
+{
+    /// <summary>
+    /// Lấy thông tin device (DeviceName) theo device ID
+    /// </summary>
+    public async Task<DeviceInfoDto?> GetDeviceInfo(string deviceId)
+    {
+        var device = deviceProvider.GetDevice(deviceId);
+        if (device is not IInertialMeasurementUnit)
+        {
+            return null;
+        }
+
+        return new DeviceInfoDto
+        {
+            DeviceId = device.DeviceId,
+            DeviceName = device.DeviceName
+        };
+    }
+
+    /// <summary>
+    /// Lấy thông tin IMU theo device ID
+    /// </summary>
+    public async Task<Imu?> GetImuData(string deviceId)
+    {
+        var device = deviceProvider.GetDevice(deviceId);
+        if (device is not IInertialMeasurementUnit imu)
+        {
+            return null;
+        }
+
+        return await imu.ReadAllDataAsync();
+    }
+
+    /// <summary>
+    /// Đọc tất cả dữ liệu IMU
+    /// </summary>
+    public async Task<Imu?> ReadAllData(string deviceId)
+    {
+        var device = deviceProvider.GetDevice(deviceId);
+        if (device is not IInertialMeasurementUnit imu)
+        {
+            return null;
+        }
+
+        return await imu.ReadAllDataAsync();
+    }
+
+    /// <summary>
+    /// Lấy dictionary properties hiện tại của device (để hiển thị trên UI)
+    /// </summary>
+    public Task<Dictionary<string, string>?> GetDeviceProperties(string deviceId)
+    {
+        var device = deviceProvider.GetDevice(deviceId);
+        if (device is not IInertialMeasurementUnit)
+        {
+            return Task.FromResult<Dictionary<string, string>?>(null);
+        }
+
+        var props = device.Properties.ToDictionary(kvp => kvp.Key, kvp => kvp.Value);
+        return Task.FromResult<Dictionary<string, string>?>(props);
+    }
+
+    /// <summary>
+    /// Lấy danh sách mô tả properties của device (để hiển thị trên UI)
+    /// </summary>
+    public Task<List<PropertyDescription>?> GetDevicePropertyDescriptions(string deviceId)
+    {
+        var device = deviceProvider.GetDevice(deviceId);
+        if (device is not IInertialMeasurementUnit)
+        {
+            return Task.FromResult<List<PropertyDescription>?>(null);
+        }
+
+        var list = device.PropertyDescriptions
+            .Select(p => new PropertyDescription
+            {
+                Key = p.Key,
+                DisplayName = p.DisplayName,
+                Description = p.Description,
+                DataType = p.DataType,
+                Unit = p.Unit,
+                DefaultValue = p.DefaultValue,
+                IsReadOnly = p.IsReadOnly,
+                DisplayOrder = p.DisplayOrder,
+                Category = p.Category,
+                Format = p.Format
+            })
+            .ToList();
+        return Task.FromResult<List<PropertyDescription>?>(list);
+    }
+}
+