Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Motion/ManualControlStatusDto.cs

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+namespace RobotNet10.RobotApp.Client.Shared.Motion;
+
+/// <summary>
+/// DTO cho trạng thái ManualControlService
+/// </summary>
+public class ManualControlStatusDto
+{
+    public string State { get; set; } = string.Empty;
+    public bool IsEnabled { get; set; }
+    public double CurrentLinearVelocity { get; set; }
+    public double CurrentAngularVelocity { get; set; }
+    public RfHandleStatusDto? RfHandleStatus { get; set; }
+}
+
+/// <summary>
+/// DTO cho trạng thái RF Handle
+/// </summary>
+public class RfHandleStatusDto
+{
+    public int Heartbeat { get; set; }
+    public bool Ready { get; set; }
+    public bool Locked { get; set; }
+    public bool EStop { get; set; }
+    public bool Enable { get; set; }
+    public int Speed { get; set; }
+    public double Linear { get; set; }
+    public double Angular { get; set; }
+    public string Mode { get; set; } = string.Empty;
+    public DateTime LastUpdateTime { get; set; }
+}
+

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Motion/OdometryDto.cs

@@ -0,0 +1,95 @@
+namespace RobotNet10.RobotApp.Client.Shared.Motion;
+
+/// <summary>
+/// DTO cho thông tin Odometry từ IOdometryEstimator
+/// SignalR serialization-friendly version using simple properties
+/// instead of System.Numerics types which don't serialize properly with System.Text.Json
+/// </summary>
+public class OdometryDto
+{
+    /// <summary>
+    /// Timestamp của pose
+    /// </summary>
+    public DateTime Timestamp { get; set; }
+
+    /// <summary>
+    /// Frame ID (header.frame_id, parent frame, typically "odom")
+    /// </summary>
+    public string FrameId { get; set; } = "odom";
+
+    /// <summary>
+    /// Child frame ID (typically "base_link" or "base_footprint") - cùng giá trị gửi lên XLOC
+    /// </summary>
+    public string ChildFrameId { get; set; } = "base_link";
+
+    /// <summary>
+    /// Position X (meters)
+    /// </summary>
+    public double PositionX { get; set; }
+
+    /// <summary>
+    /// Position Y (meters)
+    /// </summary>
+    public double PositionY { get; set; }
+
+    /// <summary>
+    /// Position Z (meters)
+    /// </summary>
+    public double PositionZ { get; set; }
+
+    /// <summary>
+    /// Orientation Quaternion X
+    /// </summary>
+    public double OrientationX { get; set; }
+
+    /// <summary>
+    /// Orientation Quaternion Y
+    /// </summary>
+    public double OrientationY { get; set; }
+
+    /// <summary>
+    /// Orientation Quaternion Z
+    /// </summary>
+    public double OrientationZ { get; set; }
+
+    /// <summary>
+    /// Orientation Quaternion W
+    /// </summary>
+    public double OrientationW { get; set; }
+
+    /// <summary>
+    /// Tần số update odometry hiện tại (Hz)
+    /// </summary>
+    public double UpdateFrequency { get; set; }
+
+    /// <summary>
+    /// Vận tốc tuyến tính X (m/s) - hướng tiến
+    /// </summary>
+    public double LinearVelocityX { get; set; }
+
+    /// <summary>
+    /// Vận tốc tuyến tính Y (m/s)
+    /// </summary>
+    public double LinearVelocityY { get; set; }
+
+    /// <summary>
+    /// Vận tốc tuyến tính Z (m/s)
+    /// </summary>
+    public double LinearVelocityZ { get; set; }
+
+    /// <summary>
+    /// Vận tốc góc X (rad/s)
+    /// </summary>
+    public double AngularVelocityX { get; set; }
+
+    /// <summary>
+    /// Vận tốc góc Y (rad/s)
+    /// </summary>
+    public double AngularVelocityY { get; set; }
+
+    /// <summary>
+    /// Vận tốc góc Z (rad/s) - quay quanh trục dọc
+    /// </summary>
+    public double AngularVelocityZ { get; set; }
+}
+