Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Shared/NavigationMonitor/NavigationMonitorDtos.cs

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+namespace RobotNet10.RobotApp.Shared.NavigationMonitor;
+
+/// <summary>
+/// Real-time telemetry snapshot from NavigationMonitorService
+/// </summary>
+public class NavigationTelemetryDto
+{
+    public long TimestampMs { get; set; }
+    public double X { get; set; }
+    public double Y { get; set; }
+    public double Theta { get; set; } // radians
+    public double LinearVelocity { get; set; } // m/s
+    public double AngularVelocity { get; set; } // rad/s
+    public double LinearAcceleration { get; set; } // m/s²
+    public double AngularAcceleration { get; set; } // rad/s²
+    public string NavigationState { get; set; } = "Idle";
+    public bool Driving { get; set; }
+    public double CrossTrackError { get; set; } // meters (0 if no path)
+    public double HeadingError { get; set; } // radians (0 if no path)
+    public double DistanceToGoal { get; set; } // meters (0 if no path)
+    public double ModelConfidence { get; set; }
+
+    /// <summary>
+    /// DockTo-specific telemetry (null when not docking)
+    /// </summary>
+    public DockToTelemetryDto? DockTo { get; set; }
+
+    /// <summary>
+    /// Current navigation path waypoints (downsampled for visualization).
+    /// Empty when not navigating.
+    /// </summary>
+    public List<WaypointDto> Waypoints { get; set; } = [];
+}
+
+/// <summary>
+/// Safety violation detected by NavigationSafetyChecker
+/// </summary>
+public class NavigationSafetyViolationDto
+{
+    public long TimestampMs { get; set; }
+    public SafetyViolationType Type { get; set; }
+    public SafetyViolationSeverity Severity { get; set; }
+    public double Value { get; set; }
+    public double Threshold { get; set; }
+    public string Message { get; set; } = string.Empty;
+}
+
+public enum SafetyViolationType
+{
+    LinearVelocity = 1,
+    AngularVelocity = 2,
+    LinearAcceleration = 3,
+    CrossTrackError = 4,
+    HeadingError = 5
+}
+
+public enum SafetyViolationSeverity
+{
+    Warning = 1,
+    Critical = 2
+}
+
+/// <summary>
+/// Current state of NavigationMonitorService
+/// </summary>
+public class NavigationMonitorStateDto
+{
+    public bool TelemetryEnabled { get; set; }
+    public bool SafetyStopEnabled { get; set; }
+    public bool SafetyStopLatched { get; set; }
+    public string SafetyStopReason { get; set; } = "";
+    public NavigationSafetyConfigDto SafetyConfig { get; set; } = new();
+    public double UpdateFrequencyHz { get; set; } = 10;
+}
+
+/// <summary>
+/// Configurable safety thresholds
+/// </summary>
+public class NavigationSafetyConfigDto
+{
+    public double MaxLinearVelocity { get; set; } = 1.5; // m/s
+    public double MaxAngularVelocity { get; set; } = 6.0; // rad/s
+    public double MaxLinearAcceleration { get; set; } = 3.0; // m/s²
+    public double MaxCrossTrackError { get; set; } = 0.5; // meters
+    public double MaxHeadingError { get; set; } = 45.0; // degrees
+}
+
+/// <summary>
+/// DockTo-specific telemetry data, included when robot is in Docking or FinePositioning state
+/// </summary>
+public class DockToTelemetryDto
+{
+    public string Phase { get; set; } = ""; // "Approaching", "Aligning", "Advancing"
+    public string Direction { get; set; } = ""; // "FORWARD" or "BACKWARD"
+    public int RetryCount { get; set; }
+    public int MaxRetries { get; set; }
+    public double GoalX { get; set; }
+    public double GoalY { get; set; }
+    public double GoalTheta { get; set; } // radians
+    public int TotalWaypoints { get; set; }
+    public double StartX { get; set; }
+    public double StartY { get; set; }
+    public double StartTheta { get; set; } // radians
+    public List<DockWaypointDto> Waypoints { get; set; } = [];
+}
+
+public class DockWaypointDto
+{
+    public double X { get; set; }
+    public double Y { get; set; }
+}
+
+/// <summary>
+/// Navigation path waypoint for visualization
+/// </summary>
+public class WaypointDto
+{
+    public double X { get; set; }
+    public double Y { get; set; }
+    public string Direction { get; set; } = "FORWARD"; // "FORWARD" or "BACKWARD"
+}