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/RobotNet10.RobotApp/Services/Robot/Actions/HomingCameraAction.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/Actions/HomingCameraAction.cs
@@ -0,0 +1,64 @@
+using RobotNet.VDA5050.Type;
+using RobotNet10.RobotApp.Devices;
+
+namespace RobotNet10.RobotApp.Services.Robot.Actions;
+
+/// <summary>
+/// Action homing camera (lift): gọi trực tiếp xuống động cơ CiA402 (giống device/hub).
+/// blockingType NONE: gửi lệnh homing và kết thúc ngay, không chờ hoàn thành.
+/// </summary>
+[RobotAction(ActionType.HOMING_CAMERA,
+            [ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
+            [BlockingType.NONE],
+            "Homing camera (lift).",
+            "Homing camera requested.")]
+public class HomingCameraAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
+{
+    protected override async Task StartAction()
+    {
+        try
+        {
+            var config = ServiceProvider.GetRequiredService<IConfiguration>();
+            var deviceProvider = ServiceProvider.GetRequiredService<IDeviceProvider>();
+
+            var deviceId = config.GetValue<string>("Modules:LiftModule:DeviceId") ?? "lift-motor";
+            var enable = config.GetValue<bool>("Modules:LiftModule:Enable", true);
+            if (!enable)
+            {
+                SetStatus(ActionEvent.FAILED);
+                ResultDescription = "Lift module is disabled in config.";
+                return;
+            }
+
+            var device = deviceProvider.GetDevice(deviceId);
+            if (device is not ICiA402Servo servo)
+            {
+                SetStatus(ActionEvent.FAILED);
+                ResultDescription = $"Device '{deviceId}' not found or is not ICiA402Servo.";
+                return;
+            }
+
+            var homingMethod = config.GetValue<byte>("Modules:LiftModule:HomingMethod", 21);
+            var homingSpeed = config.GetValue<int>("Modules:LiftModule:HomingSpeed", 30000);
+            var homingOffset = config.GetValue<int>("Modules:LiftModule:HomingOffset", 0);
+
+            // Giống device UI: bước 1 SetParam (Apply Params), bước 2 Start Homing
+            Logger?.LogInformation("HomingCamera: SetParam (method={Method}, speed={Speed}, offset={Offset}) then Start Homing.", homingMethod, homingSpeed, homingOffset);
+            await servo.SetHomingMethodAsync(homingMethod, CancellationToken.None);
+            await servo.SetHomingSpeedAsync(homingSpeed, CancellationToken.None);
+            await servo.SetHomingOffsetAsync(homingOffset, CancellationToken.None);
+            await Task.Delay(100, CancellationToken.None); // delay giữa SetParam và Start như khi bấm trên device
+            await servo.StartHomingAsync(homingMethod, homingSpeed, CancellationToken.None);
+
+            SetStatus(ActionEvent.FINISHED);
+            ResultDescription = "Homing camera requested (direct to drive).";
+        }
+        catch (Exception ex)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = $"Homing camera failed: {ex.Message}";
+        }
+
+        await base.StartAction();
+    }
+}