Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/Actions/RobotMutedBaseOnAction.cs

@@ -0,0 +1,38 @@
+using RobotNet.VDA5050.Type;
+using RobotNet10.RobotApp.Interfaces;
+
+namespace RobotNet10.RobotApp.Services.Robot.Actions;
+
+[RobotAction(ActionType.MUTED_BASE_ON,
+            [ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
+            [BlockingType.NONE, BlockingType.SOFT, BlockingType.HARD],
+            "Bật chế độ muted base robot.",
+            "Robot đã bật chế độ muted base.")]
+public class RobotMutedBaseOnAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
+{
+    private IPlcController? PlcController;
+
+    private const int MAX_TIMEOUT = 4000;
+    private int CountTimeout = 0;
+    protected override Task StartAction()
+    {
+        PlcController = ServiceProvider.GetRequiredService<IPlcController>();
+        PlcController.SetMutedBase(true);
+        return base.StartAction();
+    }
+
+    protected override Task ExecuteAction()
+    {
+        if(PlcController is not null && PlcController.MutedBase)
+        {
+            SetStatus(ActionEvent.FINISHED);
+            ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? ResultDescription : ActionAttribute.ResultDescription;
+        }
+        else if (CountTimeout++ > MAX_TIMEOUT / ActionInterval)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = "Timeout action";
+        }
+        return base.ExecuteAction();
+    }
+}