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/RobotLiftRotateAction.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/Actions/RobotLiftRotateAction.cs
@@ -0,0 +1,95 @@
+using RobotNet.VDA5050.Factsheet;
+using RobotNet.VDA5050.Type;
+using RobotNet10.RobotApp.Interfaces;
+using RobotNet10.RobotApp.Modules;
+using RobotNet10.RobotApp.Services.Exceptions;
+
+namespace RobotNet10.RobotApp.Services.Robot.Actions;
+
+[RobotAction(ActionType.LIFT_ROTATE,
+            [ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
+            [BlockingType.HARD],
+            "Xoay bàn nâng của robot.",
+            "Robot đã xoay bàn nâng.")]
+public class RobotLiftRotateAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
+{
+    private static readonly IReadOnlyList<ActionParameter> ActionParameters = new List<ActionParameter>
+    {
+        new()
+            {
+                Key = "angle",
+                Description = "Góc xoay của bàn nâng. (rad)",
+                ValueDataType = ValueDataType.FLOAT,
+                IsOptional = false,
+            }
+    }.AsReadOnly();
+    private double Angle = 0; // Degree
+    private IRotationModule? RotationModule;
+    private IPlcController? PlcController;
+
+    private const int MAX_TIMEOUT = 60000 * 2;
+    private int CountTimeout = 0;
+
+    protected override Task StartAction()
+    {
+        RotationModule = ServiceProvider.GetRequiredService<IRotationModule>();
+        PlcController = ServiceProvider.GetRequiredService<IPlcController>();
+        PlcController.SetOperationState(OperationState.LiftRotating);
+        RotationModule.RotateToAngleAsync(Angle);
+        return base.StartAction();
+    }
+
+    protected override Task CleanupAction()
+    {
+        PlcController?.SetOperationState(OperationState.None);
+        return base.CleanupAction();
+    }
+
+    protected override async Task ExecuteAction()
+    {
+        if (RotationModule is null)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = "Không tìm thấy mô-đun xoay.";
+        }
+        else if (RotationModule.State == RotationModuleState.Error)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = "Mô-đun xoay gặp lỗi.";
+
+        }
+        else if (RotationModule.State == RotationModuleState.Ready && Math.Abs(await RotationModule.GetCurrentAngleAsync() - Angle) < 1)
+        {
+            SetStatus(ActionEvent.FINISHED);
+            ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? ResultDescription : ActionAttribute.ResultDescription;
+        }
+        else if (CountTimeout++ >= MAX_TIMEOUT / ActionInterval)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = "Timeout action";
+        }
+        await base.ExecuteAction();
+    }
+
+    protected override void Initialize()
+    {
+        base.Initialize();
+
+        if (ActionParameters.Count > 0)
+        {
+            foreach (var parameterStore in ActionParameters)
+            {
+                if (!parameterStore.IsOptional)
+                {
+                    if (Action is null || Action.ActionParameters is null || !Action.ActionParameters.Any(a => a.Key == parameterStore.Key)) throw new ActionException($"Thiếu tham số bắt buộc '{parameterStore.Key}' cho action {Type}.");
+                }
+            }
+            Parameters = Action is null || Action.ActionParameters is null ? [] : Action.ActionParameters;
+        }
+
+        var anglePara = Parameters.FirstOrDefault(p => p.Key == "angle") ?? throw new ActionException($"Action {Type} không tìm thấy parameter key 'angle'");
+        var angleParse = double.TryParse(anglePara.Value, out double angleData);
+        if (!angleParse) throw new ActionException($"Action {Type} có parameter 'angle' không đúng kiểu dữ liệu");
+        Angle = angleData * 180 / Math.PI;
+    }
+}