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/RobotDropAction.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/Actions/RobotDropAction.cs
@@ -0,0 +1,90 @@
+using RobotNet.VDA5050.Type;
+using RobotNet10.RobotApp.Client.Pages;
+using RobotNet10.RobotApp.Interfaces;
+using RobotNet10.RobotApp.Modules;
+
+namespace RobotNet10.RobotApp.Services.Robot.Actions;
+
+[RobotAction(ActionType.DROP,
+            [ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
+            [BlockingType.HARD],
+            "Hạ thấp pallet.",
+            "Robot đã hạ thấp pallet.")]
+public class RobotDropAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
+{
+    private const int MAX_TIMEOUT = 60000;
+    private int CountTimeout = 0;
+
+    private ILoad? LoadManager;
+    private ILiftModule? LiftModule;
+    private IPlcController? PlcController;
+    private CancellationTokenSource CancellationToken = new();
+
+    protected override async Task StartAction()
+    {
+        try
+        {
+            LoadManager = ServiceProvider.GetRequiredService<ILoad>();
+            LiftModule = ServiceProvider.GetRequiredService<ILiftModule>();
+            PlcController = ServiceProvider.GetRequiredService<IPlcController>();
+
+            if (!LiftModule.IsReady)
+            {
+                SetStatus(ActionEvent.FAILED);
+                ResultDescription = "Lift module not ready";
+                return;
+            }
+
+            CancellationToken = new CancellationTokenSource();
+            PlcController.SetOperationState(OperationState.Lifting);
+            await LiftModule.LiftDownAsync(CancellationToken.Token);
+            CountTimeout = 0;
+            await base.StartAction();
+        }
+        catch (Exception ex)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = $"Drop Failed: {ex.Message}";
+        }
+    }
+
+    protected override Task StopAction()
+    {
+        CancellationToken.Cancel();
+        return base.StopAction();
+    }
+
+    protected override Task CleanupAction()
+    {
+        CancellationToken.Dispose();
+        PlcController?.SetOperationState(OperationState.None);
+        return base.CleanupAction();
+    }
+
+    protected override async Task ExecuteAction()
+    {
+        if (LiftModule is null)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = "Lift module not found";
+        }
+        else if (LiftModule.State == LiftModuleState.Error)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = "Lift module error";
+        }
+        else if (LiftModule.Position == LiftPosition.Bottom)
+        {
+            LoadManager?.ClearLoad();
+            SetStatus(ActionEvent.FINISHED);
+            ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? "Robot has dropped the load." : ActionAttribute.ResultDescription;
+        }
+        else if (CountTimeout++ > MAX_TIMEOUT / ActionInterval)
+        {
+            CancellationToken.Cancel();
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = "Timeout action";
+        }
+        await base.ExecuteAction();
+    }
+}