Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/INavigation.cs

@@ -0,0 +1,47 @@
+using RobotNet.VDA5050.Order;
+using RobotNet10.RobotApp.Detection;
+using RobotNet10.RobotApp.Shared.Enums;
+namespace RobotNet10.RobotApp.Interfaces;
+
+public enum NavigationState
+{
+    None,
+    Idle,
+    Initializing,
+    Waiting,
+    Moving,
+    Rotating,
+    Docking,
+    FinePositioning,
+    MovingStraight,
+    Completed,
+    Canceled,
+    Paused,
+    Error,
+    SafetyStop
+}
+
+public interface INavigation
+{
+    event Action<NavigationState>? OnNavigationFinished;  
+    bool IsReady { get; }
+    bool Driving { get; }
+    double VelocityX { get; }
+    double VelocityY { get; }
+    double Omega { get; }
+    NavigationState State { get; }
+    void Move(OrderMsg order, bool hasLoad = false);
+    void MoveStraight(double x, double y, bool hasLoad = false, RobotDirection? direction = null);
+    void Rotate(double angle);
+    void DockTo(IDetectSession session, bool hasLoad = false, RobotDirection? direction = null);
+    void Pause();
+    void Resume();
+    void UpdateOrder(string lastBaseNodeId);
+    void RefreshOrder(Node[] nodes, Edge[] edges);
+    void Refresh();
+    void SafetyStop();
+    void CancelMovement();
+    void SetSpeed(double speed);
+    void Start();
+    void Stop();    
+}