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/RobotRotateAction.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/Actions/RobotRotateAction.cs
@@ -0,0 +1,96 @@
+using MudBlazor.Extensions;
+using RobotNet.VDA5050.Factsheet;
+using RobotNet.VDA5050.Type;
+using RobotNet10.RobotApp.Interfaces;
+using RobotNet10.RobotApp.Services.Exceptions;
+using System.Collections.ObjectModel;
+
+namespace RobotNet10.RobotApp.Services.Robot.Actions;
+
+[RobotAction(ActionType.ROTATE,
+            [ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
+            [BlockingType.HARD],
+            "Xoay robot tại chỗ.",
+            "Robot đã xoay tại chỗ.")]
+public class RobotRotateAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
+{
+    private static readonly ReadOnlyCollection<ActionParameter> ActionParameters = new List<ActionParameter>
+    {
+        new()
+            {
+                Key = "angle",
+                Description = "Góc xoay của robot. (rad)",
+                ValueDataType = ValueDataType.FLOAT,
+                IsOptional = false,
+            }
+    }.AsReadOnly();
+
+    private double Angle = 0;
+    private INavigation? RobotNavigation;
+    private ILocalization? Localization;
+
+    private const int MAX_TIMEOUT = 60000 * 2;
+    private int CountTimeout = 0;
+    protected override Task StartAction()
+    {
+        RobotNavigation = ServiceProvider.GetRequiredService<INavigation>();
+        Localization = ServiceProvider.GetRequiredService<ILocalization>();
+        RobotNavigation.Rotate(Angle);
+        CountTimeout = 0;
+        return base.StartAction();
+    }
+
+    protected override Task StopAction()
+    {
+        RobotNavigation?.CancelMovement();
+        return base.StopAction();
+    }
+
+    protected override Task ExecuteAction()
+    {
+        if (RobotNavigation is null)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = "Module Navigation is not existed";
+        }
+        else if (RobotNavigation.State == NavigationState.Completed && Localization is not null && Math.Abs(Localization.Theta - Angle) * 180 / Math.PI < 5)
+        {
+            SetStatus(ActionEvent.FINISHED);
+            ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? ResultDescription : ActionAttribute.ResultDescription;
+        }
+        else if (RobotNavigation.State == NavigationState.Error)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = $"Action Handle [{Type} - {Id}] - angle: {Angle} is failed";
+        }
+        else if (CountTimeout++ > MAX_TIMEOUT / ActionInterval)
+        {
+            RobotNavigation?.CancelMovement();
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = "Timeout action";
+        }
+        return base.ExecuteAction();
+    }
+
+    protected override void Initialize()
+    {
+        base.Initialize();
+
+        if (ActionParameters.Count > 0)
+        {
+            foreach (var parameterStore in ActionParameters)
+            {
+                if (!parameterStore.IsOptional)
+                {
+                    if (Action is null || Action.ActionParameters is null || !Action.ActionParameters.Any(a => a.Key == parameterStore.Key)) throw new ActionException($"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;
+    }
+}