update

RobotApp.Common.Shares/Enums/NavigationType.cs

@@ -0,0 +1,7 @@
+namespace RobotApp.Common.Shares.Enums;
+
+public enum NavigationType
+{
+    Differential,
+    Forklift,
+}

RobotApp.Common.Shares/JsonOptionExtends.cs

@@ -0,0 +1,18 @@
+using System.Text.Json;
+
+namespace RobotApp.Common.Shares;
+
+public class JsonOptionExtends
+{
+    public static readonly JsonSerializerOptions Read = new()
+    {
+        PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
+        WriteIndented = true,
+    };
+
+    public static readonly JsonSerializerOptions Write = new()
+    {
+        PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
+        WriteIndented = true,
+    };
+}

RobotApp.Common.Shares/MessageResult.cs

@@ -0,0 +1,8 @@
+namespace RobotApp.Common.Shares;
+
+public record MessageResult(bool IsSuccess, string Message = "");
+
+public record MessageResult<T>(bool IsSuccess, string Message = "")
+{
+    public T? Data { get; set; }
+}

RobotApp.Common.Shares/RobotApp.Common.Shares.csproj

@@ -0,0 +1,9 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net9.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+</Project>

RobotApp.VDA5050/Factsheet/ActionParameters.cs

@@ -2,8 +2,6 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
-
 public enum ValueDataType
 {
     BOOL,
@@ -17,9 +15,9 @@ public enum ValueDataType
 public class ActionParameters
 {
     [Required]
-    public string Key { get; set; }
+    public string Key { get; set; } = string.Empty;
     [Required]
-    public string ValueDataType { get; set; }
+    public string ValueDataType { get; set; } = string.Empty;
-    public string Description { get; set; }
+    public string Description { get; set; } = string.Empty;
     public bool IsOptional { get; set; }
 }

RobotApp.VDA5050/Factsheet/AgvActions.cs

@@ -2,7 +2,6 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
 
 public enum ActionScopes
 {
@@ -13,11 +12,11 @@ public enum ActionScopes
 public class AgvActions
 {
     [Required]
-    public string ActionType { get; set; }
+    public string ActionType { get; set; } = string.Empty;
-    public string ActionDescription { get; set; }
+    public string ActionDescription { get; set; } = string.Empty;
     [Required]
-    public string[] ActionScopes { get; set; }
+    public string[] ActionScopes { get; set; } = [];
-    public ActionParameters[] ActionParameters { get; set; }
+    public ActionParameters[] ActionParameters { get; set; } = [];
-    public string ResultDescription { get; set; }
+    public string ResultDescription { get; set; } = string.Empty;
-    public string[] BlockingTypes { get; set; } 
+    public string[] BlockingTypes { get; set; } = [];
 }

RobotApp.VDA5050/Factsheet/AgvGeometry.cs

@@ -2,11 +2,10 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable 
 
 public class AgvGeometry
 {
-    public WheelDefinitions[] WheelDefinitions { get; set; }
+    public WheelDefinitions[] WheelDefinitions { get; set; } = [];
-    public Envelopes2d[] Envelopes2d { get; set; }
+    public Envelopes2d[] Envelopes2d { get; set; } = [];
-    public Envelopes3d[] Envelopes3d { get; set; }
+    public Envelopes3d[] Envelopes3d { get; set; } = [];
 }

RobotApp.VDA5050/Factsheet/Envelopes2d.cs

@@ -2,8 +2,6 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
-
 public class PolygonPoints
 {
     [Required]
@@ -14,8 +12,8 @@ public class PolygonPoints
 public class Envelopes2d
 {
     [Required]
-    public string Set {  get; set; }
+    public string Set {  get; set; } = string.Empty;
     [Required]
-    public PolygonPoints[] PolygonPoints { get; set; }
+    public PolygonPoints[] PolygonPoints { get; set; } = [];
-    public string Description { get; set; }
+    public string Description { get; set; } = string.Empty;
 }

RobotApp.VDA5050/Factsheet/Envelopes3d.cs

@@ -2,15 +2,13 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
-
 public class Envelopes3d
 {
     [Required]
-    public string Set { get; set; }
+    public string Set { get; set; } = string.Empty;
     [Required]
-    public string Format { get; set; }
+    public string Format { get; set; } = string.Empty;
-    public object Data { get; set; }
+    public object Data { get; set; } = string.Empty;
-    public string Url { get; set; }
+    public string Url { get; set; } = string.Empty;
-    public string Description { get; set; }
+    public string Description { get; set; } = string.Empty;
 }

RobotApp.VDA5050/Factsheet/FactSheetMsg.cs

@@ -2,29 +2,27 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
 
 public  class FactSheetMsg
 {
-    public uint HeaderId { get; set; }
+    public uint HeaderId { get; set; } = 1;
-    public string Timestamp { get; set; }
+    public string Timestamp { get; set; } = DateTime.Now.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
     [Required]
-    public string Version { get; set; }
+    public string Version { get; set; } = "1.0.0";
     [Required]
-    public string Manufacturer { get; set; }
+    public string Manufacturer { get; set; } = "PhenikaaX";
     [Required]
-    public string SerialNumber { get; set; }
+    public string SerialNumber { get; set; } = string.Empty;
     [Required]
-    public TypeSpecification TypeSpecification { get; set; }
+    public TypeSpecification TypeSpecification { get; set; } = new();
     [Required]
-    public PhysicalParameters PhysicalParameters { get; set; }
+    public PhysicalParameters PhysicalParameters { get; set; } = new();
     [Required]
-    public ProtocolLimits ProtocolLimits { get; set; }
+    public ProtocolLimits ProtocolLimits { get; set; } = new();
     [Required]
-    public ProtocolFeatures ProtocolFeatures { get; set; }
+    public ProtocolFeatures ProtocolFeatures { get; set; } = new();
     [Required]
-    public AgvGeometry AgvGeometry { get; set; }
+    public AgvGeometry AgvGeometry { get; set; } = new();
     [Required]
-    public LoadSpecification LoadSpecification { get; set; }    
+    public LoadSpecification LoadSpecification { get; set; } = new();
-    //public LocalizationParameter LocalizationParameters { get; set; }
 }

RobotApp.VDA5050/Factsheet/LoadSets.cs

@@ -1,14 +1,12 @@
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
-
 public class LoadSets
 {
-    public string SetName { get; set; } 
+    public string SetName { get; set; } = string.Empty;
-    public string LoadType { get; set; }
+    public string LoadType { get; set; } = string.Empty;
-    public string[] LoadPositions { get; set; }
+    public string[] LoadPositions { get; set; } = [];
-    public BoundingBoxReference BoundingBoxReference { get; set; }
+    public BoundingBoxReference BoundingBoxReference { get; set; } = new();
-    public LoadDimensions LoadDimensions { get; set; }
+    public LoadDimensions LoadDimensions { get; set; } = new();
     public double MaxWeigth { get; set; }
     public double MinLoadhandlingHeight { get; set; }
     public double MaxLoadhandlingHeight { get; set; }
@@ -21,6 +19,6 @@ public class LoadSets
     public double AgvDecelerationLimit { get; set; }
     public double PickTime { get; set; }
     public double DropTime { get; set; }
-    public string Description { get; set; }
+    public string Description { get; set; } = string.Empty;
 
 }

RobotApp.VDA5050/Factsheet/LoadSpecification.cs

@@ -1,9 +1,8 @@
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
 
 public class LoadSpecification
 {
-    public string[] LoadPositions { get; set; } 
+    public string[] LoadPositions { get; set; } = [];
-    public LoadSets[] LoadSets { get; set; }
+    public LoadSets[] LoadSets { get; set; } = [];
 }

RobotApp.VDA5050/Factsheet/OptionalParameters.cs

@@ -2,7 +2,6 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
 
 public enum Support
 {
@@ -12,8 +11,8 @@ public enum Support
 public class OptionalParameters
 {
     [Required]
-    public string Parameter {  get; set; }
+    public string Parameter {  get; set; } = string.Empty;
     [Required]
-    public string Support { get; set; }
+    public string Support { get; set; } = string.Empty;
-    public string Description { get; set; }
+    public string Description { get; set; } = string.Empty;
 }

RobotApp.VDA5050/Factsheet/ProtocolFeatures.cs

@@ -2,12 +2,11 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
 
 public class ProtocolFeatures
 {
     [Required]
-    public OptionalParameters[] OptionalParameters { get; set; }
+    public OptionalParameters[] OptionalParameters { get; set; } = [];
     [Required]
-    public AgvActions[] AgvActions { get; set; }  
+    public AgvActions[] AgvActions { get; set; } = [];
 }

RobotApp.VDA5050/Factsheet/ProtocolLimits.cs

@@ -2,13 +2,12 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
 public class ProtocolLimits
 {
     [Required]
-    public MaxStringLens MaxStringLens { get; set; }
+    public MaxStringLens MaxStringLens { get; set; } = new();
     [Required]
-    public MaxArrayLens MaxArrayLens { get; set; }
+    public MaxArrayLens MaxArrayLens { get; set; } = new();
     [Required]
-    public Timing Timing { get; set; }
+    public Timing Timing { get; set; } = new();
 }

RobotApp.VDA5050/Factsheet/TypeSpecification.cs

@@ -2,8 +2,6 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
-
 public enum AgvKinematic
 {
     DIFF,
@@ -35,12 +33,12 @@ public enum NavigationTypes
 public class TypeSpecification
 {
     [Required]
-    public string SeriesName { get; set; }  
+    public string SeriesName { get; set; } = string.Empty;
-    public string SeriesDescription { get; set; }
+    public string SeriesDescription { get; set; } = string.Empty;
     [Required]
-    public string AgvKinematic { get; set; }
+    public string AgvKinematic { get; set; } = string.Empty;
     [Required]
-    public string AgvClass { get; set; }
+    public string AgvClass { get; set; } = string.Empty;
     [Required]
     public double MaxLoadMass { get; set; }
     [Required]

RobotApp.VDA5050/Factsheet/WheelDefinitions.cs

@@ -2,8 +2,6 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
-
 public enum WheelDefinitionsType
 {
     DRIVE,
@@ -11,6 +9,7 @@ public enum WheelDefinitionsType
     FIXED,
     MECANUM,
 }
+
 public class WheelDefinitionsPosition
 {
     [Required]
@@ -23,17 +22,17 @@ public class WheelDefinitionsPosition
 public class WheelDefinitions
 {
     [Required]
-    public string Type { get; set; }
+    public string Type { get; set; } = string.Empty;
     [Required]
     public bool IsActiveDriven { get; set; }
     [Required]
     public bool IsActiveSteered { get; set; }
     [Required]
-    public WheelDefinitionsPosition Position { get; set; }
+    public WheelDefinitionsPosition Position { get; set; } = new();
     [Required]
     public double Diameter { get; set; }
     [Required]
     public double Width { get; set; }
     public double CenterDisplacement { get; set; }
-    public string Constraints { get; set; }
+    public string Constraints { get; set; } = string.Empty;
 }

RobotApp.VDA5050/FactsheetExtend/Battery.cs

@@ -1,9 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class Battery
-{
-    public uint Battery_low { get; set; }
-    public uint Battery_normal { get; set; }
-    public uint Battery_good { get; set; }
-    public uint Battery_full { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/BatteryThreshold.cs

@@ -1,11 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public enum BatteryThreshold
-{
-    LOW,
-    NORMAL,
-    MIDDLE,
-    GOOD,
-    FULL,
-    NONE
-}

RobotApp.VDA5050/FactsheetExtend/CameraSafety.cs

@@ -1,31 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class CameraSafety
-{
-    public double Pass_through_x_min { get; set; }
-    public double Pass_through_x_max { get; set; }
-    public double Pass_through_y_min { get; set; }
-    public double Pass_through_y_max { get; set; }
-    public double Pass_through_z_min { get; set; }
-    public double Pass_through_z_max { get; set; }
-    public uint Ground_seg_max_iterations { get; set; }
-    public double Ground_seg_distance_threshold { get; set; }
-    public double Warn_z1 { get; set; }
-    public double Protect_z1 { get; set; }
-    public double Warn_z2 { get; set; }
-    public double Protect_z2 { get; set; }
-    public double Warn_z3 { get; set; }
-    public double Protect_z3 { get; set; }
-    public double Warn_z4 { get; set; }
-    public double Protect_z4 { get; set; }
-    public double Warn_z5 { get; set; }
-    public double Protect_z5 { get; set; }
-    public double Warn_z6 { get; set; }
-    public double Protect_z6 { get; set; }
-    public uint Min_cluster_warn_size { get; set; }
-    public uint Min_cluster_protect_size { get; set; }
-    public uint Min_cluster_detect_size { get; set; }
-    public uint Min_consecutive_warn_count { get; set; }
-    public uint Min_consecutive_protect_count { get; set; }
-    public uint Min_consecutive_detect_count { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/ChargerParam.cs

@@ -1,9 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-#nullable disable
-
-public class ChargerParam
-{
-    public string Charger_ip { get; set; }
-    public uint Charger_port { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/FactsheetExtendMsg.cs

@@ -1,19 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-#nullable disable
-
-public class FactsheetExtendMsg
-{
-    public uint HeaderId { get; set; }
-    public DateTime Timestamp { get; set; }
-    public string Version { get; set; }
-    public string Manufacturer { get; set; }
-    public string SerialNumber { get; set; }
-
-    public ServerParam Server_param { get; set; }
-    public RobotParam Robot_param { get; set; }
-    public Localization Localization { get; set; }
-    public Navigation Navigation { get; set; }
-    public Safety Safety { get; set; }
-    public ChargerParam Charger_param { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/ForkSafety.cs

@@ -1,9 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class ForkSafety
-{
-    public double Muted_field_size { get; set; }
-    public double Protected_field_size { get; set; }
-    public double Warning_field_size { get; set; }
-    public double Detect_field_size { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/Initpose.cs

@@ -1,9 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class Initpose
-{
-    public bool Use_manual_initpose { get; set; }
-    public double Initpose_x { get; set; }
-    public double Initpose_y { get; set; }
-    public double Initpose_yaw { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/LineSegment.cs

@@ -1,10 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class LineSegment
-{
-    public double Least_thresh { get; set; }
-    public double Min_line_length { get; set; }
-    public double Predict_distance { get; set; }
-    public uint Seed_line_points { get; set; }
-    public uint Min_line_points { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/Localization.cs

@@ -1,14 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-#nullable disable
-
-public class Localization
-{
-    public uint Threshold_quality_loc { get; set; }
-    public bool Use_localization_marker { get; set; }
-    public bool Use_pallet_detection { get; set; }
-    public Initpose Initpose { get; set; }
-    public Xloc Xloc { get; set; }
-    public VlMarker Vl_marker { get; set; }
-
-}

RobotApp.VDA5050/FactsheetExtend/Motor.cs

@@ -1,9 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class Motor
-{
-    public double OdomEncSteeringAngleOffset { get; set; }
-    public double Steering_fix_wheel_distance_x { get; set; }
-    public double Steering_fix_wheel_distance_y { get; set; }
-    public double WheelAcceleration { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/Navigation.cs

@@ -1,11 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-#nullable disable
-public class Navigation
-{
-    public bool Using_control_safety { get; set; }
-    public uint Control_rate { get; set; }
-    public Rotate Rotate { get; set; }
-    public PTA Pta { get; set; }
-    public PPA Ppa { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/PPA.cs

@@ -1,7 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class PPA
-{
-    public double Ppa_accuracy_goal { get; set; }
-    public double Ppa_distance_reduce { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/PTA.cs

@@ -1,15 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class PTA
-{
-    public double Pta_linear_vel_max { get; set; }
-    public double Pta_linear_vel_min { get; set; }
-    public double Pta_accuracy_goal { get; set; }
-    public double Pta_distance_reduce { get; set; }
-    public double Pta_acceleration { get; set; }
-    public double Pta_lm_front { get; set; }
-    public double Pta_lm_back { get; set; }
-    public double Pta_phi_max { get; set; }
-    public double Pta_amplitude_max { get; set; }
-    public uint Pta_w_option { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/RobotParam.cs

@@ -1,12 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class RobotParam
-{
-    public bool Use_dynamic_parameter { get; set; }          // (Default: True) Declare whether to use dynamic parameters or not
-    public string? Ethernet_name { get; set; }                // The name of Ethernet port which connects to wifi client (e.g eno1, lo, enp3s0)
-    public double Speed_max_backward { get; set; }          // (Default: True) Declare whether to use dynamic parameters or not
-    public uint Num_day_logger { get; set; }                // The name of Ethernet port which connects to wifi client (e.g eno1, lo, enp3s0)
-
-    public Motor Motor { get; set; } = new();
-    public Battery Battery { get; set; } = new();
-}

RobotApp.VDA5050/FactsheetExtend/Rotate.cs

@@ -1,9 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class Rotate
-{
-    public double Angular_vel_max { get; set; }
-    public double Angular_vel_min { get; set; }
-    public double Acceleration_rotate { get; set; }
-    public double Tolerances_rotate { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/Safety.cs

@@ -1,8 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class Safety
-{
-    public bool Use_camera_safety { get; set; }
-    public CameraSafety Camera_safety { get; set; } = new();
-    public ForkSafety Fork_safety { get; set; } = new();
-}

RobotApp.VDA5050/FactsheetExtend/ServerParam.cs

@@ -1,14 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-#nullable disable
-
-public class ServerParam
-{
-    public string Server_ip { get; set; }
-    public string Server_port { get; set; }
-    public string Keepalive { get; set; }
-    public string Username { get; set; }
-    public string Password { get; set; }
-    public string Client_protocol { get; set; }
-    public string Client_id { get; set; }
-}

RobotApp.VDA5050/FactsheetExtend/VlMarker.cs

@@ -1,21 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class VlMarker
-{
-    public bool Use_odometry { get; set; }
-    public uint V_angle { get; set; }
-    public double Length_v { get; set; }
-    public double Length_l { get; set; }
-    public double X_laser { get; set; }
-    public double Y_laser { get; set; }
-    public bool Flip_laser { get; set; }
-    public double Rotate_laser { get; set; }
-    public uint Frequence_control { get; set; }
-    public double Angle_min { get; set; }
-    public double Angle_max { get; set; }
-    public double Max_init_x { get; set; }
-    public double Max_init_y { get; set; }
-    public double Max_init_yaw { get; set; }
-
-    public LineSegment Line_segment { get; set; } = new();
-}

RobotApp.VDA5050/FactsheetExtend/Xloc.cs

@@ -1,16 +0,0 @@
-namespace RobotApp.VDA5050.FactsheetExtend;
-
-public class Xloc
-{
-    public double Front_vls_width { get; set; }
-    public double Front_vls_pose_x { get; set; }
-    public double Front_vls_pose_y { get; set; }
-    public double Front_vls_pose_yaw { get; set; }
-    public uint Front_vls_source_id { get; set; }
-
-    public double Rear_vls_width { get; set; }
-    public double Rear_vls_pose_x { get; set; }
-    public double Rear_vls_pose_y { get; set; }
-    public double Rear_vls_pose_yaw { get; set; }
-    public uint Rear_vls_source_id { get; set; }
-}

RobotApp.VDA5050/InstantAction/Action.cs

@@ -2,14 +2,13 @@
 
 namespace RobotApp.VDA5050.InstantAction;
 
-#nullable disable 
-
 public enum BlockingType
 {
     NONE,
     SOFT,
     HARD
 }
+
 public class Action
 {
     [Required]

RobotApp.VDA5050/InstantAction/ActionParameter.cs

@@ -2,7 +2,6 @@
 
 namespace RobotApp.VDA5050.InstantAction;
 
-#nullable disable
 public class ActionParameter
 {
     [Required]

RobotApp.VDA5050/InstantAction/InstantActionsMsg.cs

@@ -1,7 +1,5 @@
 namespace RobotApp.VDA5050.InstantAction;
 
-#nullable disable
-
 public class InstantActionsMsg
 {
     public uint HeaderId { get; set; }

RobotApp.VDA5050/Type/ActionType.cs

@@ -2,34 +2,16 @@
 
 public enum ActionType
 {
-    startPause,              // No actionParameters
+    START_PAUSE,
-    stopPause,              // No actionParameters
+    STOP_PAUSE,
-    startCharging,         // ActionParameters {CHARGER_IP, CHARGER_PORT, X, Y, THETA}
+    START_CHARGING,
-    stopCharging,            // ActionParameters {X, Y, THETA}
+    STOP_CHARGING,
-    initPosition,            // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
+    INITIALIZATION_POSITION,             
-    stateRequest,            // No actionParameters
+    PICK,                   
-    logReport,               // No actionParameters
+    DROP,               
-    pick,                    // No actionParameters
+    CANCEL_ORDER,       
-    drop,                   // No actionParameters
+    ROTATE,
-    detectObject,            // No actionParameters
+    REQUEST_FACTSHEET,
-    finePositioning,         // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
+    REQUEST_VISUALIZATION,
-    waitForTrigger,          // No actionParameters
+    REQUEST_STATE,
-    cancelOrder,             // No actionParameters
-    factsheetRequest,        // No actionParameters
-
-    setDynparam,             // ActionParameters {PARAM_NAME, PARAM_TYPE, PARAM_VALUE}
-    saveDynparamRuntime,     // No actionParameters
-    loadDynparamRuntime,     // No actionParameters
-    loadDynparamDefault,     // No actionParameters
-    getDynparamRuntime,      // No actionParameters
-
-    controlLight,            // ActionParameters {LIGHT_TYPE, CONTROL_TYPE}
-    controlFan,              // ActionParameters {CONTROL_TYPE}
-    controlSpeaker,          // ActionParameters {SONG_NUMBER, CONTROL_TYPE}
-    controlSafetyField,      // ActionParameters {FIELD_TYPE, CONTROL_TYPE}
-    startInPallet,        // ActionParameters {X, Y, THETA}
-    startOutPallet,                    // ActionParameters {X, Y, THETA}      
-
-    rotate,      // ActionParameters {THETA}      
-    setMap,      // ActionParameter {MAP_ID}
 }

RobotApp.VDA5050/VDA5050Helper.cs

@@ -1,29 +0,0 @@
-using RobotApp.VDA5050.State;
-using System.Text;
-
-namespace RobotApp.VDA5050;
-
-public class VDA5050Helper
-{
-    public static string ConvertErrorDetail(IEnumerable<Error> errors)
-    {
-        string errorsType = "";
-        foreach (var error in errors)
-        {
-            if (error == errors.Last()) errorsType += $"{error.ErrorType}";
-            else errorsType += $"{error.ErrorType}, ";
-        }
-        StringBuilder errorStr = new($"Robot có lỗi: [{errorsType}]\n");
-        foreach (var error in errors)
-        {
-            string errorDes = $"- {error.ErrorType}: {error.ErrorDescription}\n";
-            errorStr.Append(errorDes.PadLeft(errorDes.Length + 3));
-            foreach (var refer in error.ErrorReferences)
-            {
-                string errorRefer = $"+ {refer.ReferenceKey}: {refer.ReferenceValue}\n";
-                errorStr.Append(errorRefer.PadLeft(errorRefer.Length + 9));
-            }
-        }
-        return !errors.Any() ? "" : errorStr.ToString();
-    }
-}

RobotApp.VDA5050/VDA5050Setting.cs

@@ -1,19 +1,12 @@
 namespace RobotApp.VDA5050;
 
-#nullable disable
-
 public class VDA5050Setting
 {
-    public bool ServerEnable { get; set; }
+    public string HostServer { get; set; } = string.Empty;
-    public string HostServer { get; set; }
+    public int Port { get; set; } = 1883;
-    public int Port { get; set; }
+    public string UserName { get; set; } = "robotics";
-    public string UserName { get; set; }
+    public string Password { get; set; } = "robotics";
-    public string Password { get; set; }
+    public string Manufacturer { get; set; } = "PhenikaaX";
-    public string Manufacturer { get; set; }
+    public string Version { get; set; } = "0.0.1";
-    public string Version { get; set; }
+    public int PublishRepeat { get; set; } = 2;
-    public int Repeat { get; set; }
-    public int ConnectionTimeoutSeconds { get; set; }
-    public int ConnectionBacklog { set; get; }
-    public int KeepAliveInterval { get; set; }
-    public int CheckingRobotMsgTimout { get; set; }
 }

RobotApp.VDA5050/VDA5050Topic.cs

@@ -1,12 +1,46 @@
 namespace RobotApp.VDA5050;
 
-public static class VDA5050Topic
+public enum VDA5050Topic
 {
-    public const string Connection = "connection";
+    CONNECTION,
-    public const string Order = "order";
+    ORDER,
-    public const string InstantActions = "instantActions";
+    INSTANTACTIONS,
-    public const string State = "state";
+    STATE,
-    public const string Visualization = "visualization";
+    VISUALIZATION,
-    public const string Factsheet = "factsheet";
+    FACTSHEET
-    public const string FactsheetExtend = "factsheetExtend";    // custom by TungNV
 }
+
+public static class EnumExtensions
+{
+    private static readonly Dictionary<VDA5050Topic, string> TopicToStringMap = new()
+    {
+        { VDA5050Topic.CONNECTION, "connection" },
+        { VDA5050Topic.ORDER, "order" },
+        { VDA5050Topic.INSTANTACTIONS, "instantActions" },
+        { VDA5050Topic.STATE, "state" },
+        { VDA5050Topic.VISUALIZATION, "visualization" },
+        { VDA5050Topic.FACTSHEET, "factsheet" }
+    };
+
+    private static readonly Dictionary<string, VDA5050Topic> StringToTopicMap = new(StringComparer.OrdinalIgnoreCase)
+    {
+        { "connection", VDA5050Topic.CONNECTION },
+        { "order", VDA5050Topic.ORDER },
+        { "instantActions", VDA5050Topic.INSTANTACTIONS },
+        { "state", VDA5050Topic.STATE },
+        { "visualization", VDA5050Topic.VISUALIZATION },
+        { "factsheet", VDA5050Topic.FACTSHEET }
+    };
+
+    public static string ToTopicString(this VDA5050Topic type)
+    {
+        if (TopicToStringMap.TryGetValue(type, out var value)) return value;
+        throw new ArgumentException($"Invalid VDA5050Topic: {type}");
+    }
+
+    public static VDA5050Topic ToTopic(string value)
+    {
+        if (StringToTopicMap.TryGetValue(value, out var result)) return result;
+        throw new ArgumentException($"No VDA5050Topic with string value '{value}' found.");
+    }
+}

RobotApp.sln

@@ -9,6 +9,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.Client", "RobotApp
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.VDA5050", "RobotApp.VDA5050\RobotApp.VDA5050.csproj", "{617FD155-904A-44E6-AD1A-6BC878421F9F}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.Common.Shares", "RobotApp.Common.Shares\RobotApp.Common.Shares.csproj", "{480F459B-F07C-44D9-A738-E8DF6C438A80}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -27,6 +29,10 @@ Global
 		{617FD155-904A-44E6-AD1A-6BC878421F9F}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{617FD155-904A-44E6-AD1A-6BC878421F9F}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{617FD155-904A-44E6-AD1A-6BC878421F9F}.Release|Any CPU.Build.0 = Release|Any CPU
+		{480F459B-F07C-44D9-A738-E8DF6C438A80}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{480F459B-F07C-44D9-A738-E8DF6C438A80}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{480F459B-F07C-44D9-A738-E8DF6C438A80}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{480F459B-F07C-44D9-A738-E8DF6C438A80}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

RobotApp/Interfaces/IDriver.cs

@@ -0,0 +1,37 @@
+namespace RobotApp.Interfaces;
+
+/// <summary>
+/// Interface điều khiển động cơ robot
+/// </summary>
+public interface IDriver
+{
+    /// <summary>
+    /// Trạng thái sẵn sàng nhận lệnh điều khiển
+    /// </summary>
+    bool IsReady { get; }
+
+    /// <summary>
+    /// Tốc độ động cơ bên trái
+    /// </summary>
+    double LeftVelocity { get; }
+
+    /// <summary>
+    /// Tốc độ động cơ bên phải
+    /// </summary>
+    double RightVelocity { get; }
+
+    /// <summary>
+    /// Điều khiển tốc độ động cơ trái và phải
+    /// </summary>
+    /// <param name="left">Tốc độ động cơ bên trái</param>
+    /// <param name="right">Tốc độ động cơ bên phải</param>
+    /// <returns></returns>
+    bool ControlVelocity(double left, double right);
+
+    /// <summary>
+    /// Dừng robot
+    /// </summary>
+    /// <param name="isFree">true nếu dừng thả trôi, false nếu dừng khóa cứng</param>
+    /// <returns></returns>
+    bool Stop(bool isFree);
+}

RobotApp/Interfaces/IInstanceActions.cs

@@ -0,0 +1,5 @@
+namespace RobotApp.Interfaces;
+
+public interface IInstanceActions
+{
+}

RobotApp/Interfaces/ILocalization.cs

@@ -0,0 +1,28 @@
+namespace RobotApp.Interfaces;
+
+public interface ILocalization
+{
+    /// <summary>
+    /// Vị trí hiện tại của robot trong hệ tọa độ toàn cục theo trục X (đơn vị: mét).
+    /// </summary>
+    double X { get; }
+
+    /// <summary>
+    /// Vị trí hiện tại của robot trong hệ tọa độ toàn cục theo trục Y (đơn vị: mét).
+    /// </summary>
+    double Y { get; }
+
+    /// <summary>
+    /// Hướng hiện tại của robot trong hệ tọa độ toàn cục (đơn vị: độ).
+    /// </summary>
+    double Theta { get; }
+
+    /// <summary>
+    /// Khởi tạo vị trí của robot trong hệ tọa độ toàn cục.
+    /// </summary>
+    /// <param name="x">đơn vị: mét</param>
+    /// <param name="y">đơn vị: mét</param>
+    /// <param name="theta">đơn vị: độ</param>
+    /// <returns></returns>
+    bool InitializePosition(double x, double y, double theta);
+}

RobotApp/Interfaces/INavigation.cs

@@ -0,0 +1,33 @@
+using RobotApp.VDA5050.Order;
+
+namespace RobotApp.Interfaces;
+
+public enum NavigationState
+{
+    Idle,
+    Moving,
+    Rotating,
+    Paused,
+    Error
+}
+
+public enum NavigationProccess
+{
+    Started,
+    InProgress,
+    Completed,
+    Failed,
+    Cancelled
+}
+
+public interface INavigation
+{
+    NavigationState State { get; }
+    NavigationProccess Proccess { get; }
+    bool Move(Node nodes, Edge edges);
+    bool MoveStraight(double x, double y);
+    bool Rotate(double angle);
+    bool Paused();
+    bool Resume();  
+    bool CancelMovement();
+}

RobotApp/Interfaces/IOrder.cs

@@ -0,0 +1,15 @@
+using RobotApp.VDA5050.State;
+
+namespace RobotApp.Interfaces;
+
+public interface IOrder
+{
+    string OrderId { get; }
+    VDA5050.InstantAction.Action[] Actions { get; }
+    NodeState[] NodeStates { get; }
+    EdgeState[] EdgeStates { get; }
+
+    bool StartOrder();
+    bool UpdateOrder();
+    bool StopOrder();
+}

RobotApp/Interfaces/ISensorIMU.cs

@@ -0,0 +1,12 @@
+namespace RobotApp.Interfaces;
+
+/// <summary>
+/// Interface cảm biến IMU
+/// </summary>
+public interface ISensorIMU
+{
+    /// <summary>
+    /// Góc xoay của robot (đơn vị độ)
+    /// </summary>
+    double Angle { get; }
+}

RobotApp/Program.cs

@@ -1,10 +1,10 @@
 using Microsoft.AspNetCore.Components.Authorization;
 using Microsoft.AspNetCore.Identity;
 using Microsoft.EntityFrameworkCore;
-using RobotApp.Client.Pages;
 using RobotApp.Components;
 using RobotApp.Components.Account;
 using RobotApp.Data;
+using RobotApp.Services.Robot;
 
 var builder = WebApplication.CreateBuilder(args);
 
@@ -27,8 +27,9 @@ builder.Services.AddAuthentication(options =>
     .AddIdentityCookies();
 
 var connectionString = builder.Configuration.GetConnectionString("DefaultConnection") ?? throw new InvalidOperationException("Connection string 'DefaultConnection' not found.");
-builder.Services.AddDbContext<ApplicationDbContext>(options =>
+Action<DbContextOptionsBuilder> appDbOptions = options => options.UseSqlite(connectionString, b => b.MigrationsAssembly("RobotApp"));
-    options.UseSqlServer(connectionString));
+
+builder.Services.AddDbContext<ApplicationDbContext>(appDbOptions);
 builder.Services.AddDatabaseDeveloperPageExceptionFilter();
 
 builder.Services.AddIdentityCore<ApplicationUser>(options => options.SignIn.RequireConfirmedAccount = true)
@@ -38,6 +39,10 @@ builder.Services.AddIdentityCore<ApplicationUser>(options => options.SignIn.Requ
 
 builder.Services.AddSingleton<IEmailSender<ApplicationUser>, IdentityNoOpEmailSender>();
 
+builder.Services.AddSingleton(typeof(RobotApp.Services.Logger<>));
+builder.Services.AddSingleton<RobotConnection>();
+builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotConnection>());
+
 var app = builder.Build();
 
 // Configure the HTTP request pipeline.

RobotApp/RobotApp.csproj

@@ -9,11 +9,18 @@
 
   <ItemGroup>
     <ProjectReference Include="..\RobotApp.Client\RobotApp.Client.csproj" />
-    <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Server" Version="9.0.1" />
+    <ProjectReference Include="..\RobotApp.Common.Shares\RobotApp.Common.Shares.csproj" />
-    <PackageReference Include="Microsoft.AspNetCore.Diagnostics.EntityFrameworkCore" Version="9.0.1" />
+    <ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
-    <PackageReference Include="Microsoft.AspNetCore.Identity.EntityFrameworkCore" Version="9.0.1" />
+    <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Server" Version="9.0.9" />
-    <PackageReference Include="Microsoft.EntityFrameworkCore.SqlServer" Version="9.0.1" />
+    <PackageReference Include="Microsoft.AspNetCore.Diagnostics.EntityFrameworkCore" Version="9.0.9" />
-    <PackageReference Include="Microsoft.EntityFrameworkCore.Tools" Version="9.0.1" />
+    <PackageReference Include="Microsoft.AspNetCore.Identity.EntityFrameworkCore" Version="9.0.9" />
+    <PackageReference Include="Microsoft.EntityFrameworkCore.Sqlite" Version="9.0.9" />
+    <PackageReference Include="Microsoft.EntityFrameworkCore.SqlServer" Version="9.0.9" />
+    <PackageReference Include="Microsoft.EntityFrameworkCore.Tools" Version="9.0.9">
+      <PrivateAssets>all</PrivateAssets>
+      <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
+    </PackageReference>
+    <PackageReference Include="MQTTnet" Version="5.0.1.1416" />
   </ItemGroup>
 
   <ItemGroup>

RobotApp/Services/Logger.cs

@@ -0,0 +1,108 @@
+namespace RobotApp.Services;
+
+public class Logger<T>(ILogger<T> Logger) where T : class
+{
+    public event Action? LoggerUpdate;
+    public void Write(string message, LogLevel level)
+    {
+        switch (level)
+        {
+            case LogLevel.Trace:
+                Logger.LogTrace("{mes}", message);
+                break;
+            case LogLevel.Debug:
+                Logger.LogDebug("{mes}", message);
+                break;
+            case LogLevel.Information:
+                Logger.LogInformation("{mes}", message);
+                break;
+            case LogLevel.Warning:
+                Logger.LogWarning("{mes}", message);
+                break;
+            case LogLevel.Error:
+                Logger.LogError("{mes}", message);
+                break;
+            case LogLevel.Critical:
+                Logger.LogCritical("{mes}", message);
+                break;
+        }
+        LoggerUpdate?.Invoke();
+    }
+
+    public void Write(string message)
+    {
+        Write(message, LogLevel.Information);
+    }
+
+    public async Task WriteAsync(string message)
+    {
+        var write = Task.Run(() => Write(message));
+        await write.WaitAsync(CancellationToken.None);
+    }
+
+    public async Task TraceAsync(string message)
+    {
+        var write = Task.Run(() => Write(message, LogLevel.Trace));
+        await write.WaitAsync(CancellationToken.None);
+    }
+
+    public async Task DebugAsync(string message)
+    {
+        var write = Task.Run(() => Write(message, LogLevel.Debug));
+        await write.WaitAsync(CancellationToken.None);
+    }
+
+    public async Task InfoAsync(string message)
+    {
+        var write = Task.Run(() => Write(message, LogLevel.Information));
+        await write.WaitAsync(CancellationToken.None);
+    }
+
+    public async Task WarningAsync(string message)
+    {
+        var write = Task.Run(() => Write(message, LogLevel.Warning));
+        await write.WaitAsync(CancellationToken.None);
+    }
+
+    public async Task ErrorAsync(string message)
+    {
+        var write = Task.Run(() => Write(message, LogLevel.Error));
+        await write.WaitAsync(CancellationToken.None);
+    }
+
+    public async Task CriticalAsync(string message)
+    {
+        var write = Task.Run(() => Write(message, LogLevel.Critical));
+        await write.WaitAsync(CancellationToken.None);
+    }
+
+    public void Trace(string message)
+    {
+        Write(message, LogLevel.Trace);
+    }
+
+    public void Debug(string message)
+    {
+        Write(message, LogLevel.Debug);
+    }
+
+    public void Info(string message)
+    {
+        Write(message, LogLevel.Information);
+    }
+
+    public void Warning(string message)
+    {
+        Write(message, LogLevel.Warning);
+    }
+
+    public void Error(string message)
+    {
+        Write(message, LogLevel.Error);
+    }
+
+    public void Critical(string message)
+    {
+        Write(message, LogLevel.Critical);
+    }
+}

RobotApp/Services/MQTTClient.cs

@@ -0,0 +1,161 @@
+using MQTTnet;
+using MQTTnet.Protocol;
+using RobotApp.Common.Shares;
+using RobotApp.VDA5050;
+using System.Text;
+
+namespace RobotApp.Services;
+
+public class MQTTClient : IAsyncDisposable
+{
+    private readonly MqttClientFactory MqttClientFactory;
+    private readonly MqttClientOptions MqttClientOptions;
+    private readonly MqttClientSubscribeOptions MqttClientSubscribeOptions;
+    private IMqttClient? MqttClient;
+
+    private readonly Logger<MQTTClient> Logger;
+    private readonly VDA5050Setting VDA5050Setting;
+    private bool IsReconnecing;
+
+    public event Action<string>? OrderChanged;
+    public event Action<string>? InstanceActionsChanged;
+    public bool IsConnected => !IsReconnecing && MqttClient is not null && MqttClient.IsConnected;
+
+    public MQTTClient(string clientId, VDA5050Setting setting, Logger<MQTTClient> logger)
+    {
+        VDA5050Setting = setting;
+        Logger = logger;
+
+        MqttClientFactory = new MqttClientFactory();
+        MqttClient = MqttClientFactory.CreateMqttClient();
+        MqttClientOptions = MqttClientFactory.CreateClientOptionsBuilder()
+                            .WithTcpServer(setting.HostServer, setting.Port)
+                            .WithCredentials(setting.UserName, setting.Password)
+                            .WithClientId(clientId)
+                            .WithCleanSession(true)
+                            .Build();
+        MqttClientSubscribeOptions = MqttClientFactory.CreateSubscribeOptionsBuilder()
+                            .WithTopicFilter(f => f.WithTopic(VDA5050Topic.ORDER.ToTopicString()))
+                            .WithTopicFilter(f => f.WithTopic(VDA5050Topic.INSTANTACTIONS.ToTopicString()))
+                            .Build();
+        MqttClient.DisconnectedAsync += async delegate (MqttClientDisconnectedEventArgs args)
+        {
+            if (args.ClientWasConnected && !IsReconnecing)
+            {
+                IsReconnecing = true;
+                Logger.Warning("Mất kết nối tới broker, đang cố gắng kết nối lại...");
+                if (MqttClient.IsConnected)  await MqttClient.DisconnectAsync();
+                MqttClient.Dispose();
+
+                await ConnectAsync();
+                await SubscribeAsync();
+                IsReconnecing = false;
+            }
+        };
+    }
+
+    public async Task ConnectAsync(CancellationToken cancellationToken = default)
+    {
+        while (!cancellationToken.IsCancellationRequested)
+        {
+            try
+            {
+                MqttClient ??= MqttClientFactory.CreateMqttClient();
+                var connection = await MqttClient.ConnectAsync(MqttClientOptions, cancellationToken);
+                if (connection.ResultCode != MqttClientConnectResultCode.Success || !MqttClient.IsConnected)
+                    Logger.Warning($"Không thể kết nối tới broker do: {connection.ReasonString}");
+                else
+                {
+                    Logger.Info("Kết nối tới broker thành công");
+                    break;
+                }
+            }
+            catch (Exception ex)
+            {
+                Logger.Error($"Lỗi khi tạo MQTT client: {ex.Message}");
+            }
+            await Task.Delay(3000, cancellationToken);
+        }
+    }
+
+    public async Task SubscribeAsync(CancellationToken cancellationToken = default)
+    {
+        if (MqttClient is null) throw new Exception("Kết nối tới broker chưa được khởi tạo nhưng đã yêu cầu subscribe");
+        if(!MqttClient.IsConnected) throw new Exception("Kết nối tới broker chưa thành công nhưng đã yêu cầu subscribe");
+
+        MqttClient.ApplicationMessageReceivedAsync += delegate (MqttApplicationMessageReceivedEventArgs args)
+        {
+            var stringData = Encoding.UTF8.GetString(args.ApplicationMessage.Payload);
+            VDA5050Topic topic = EnumExtensions.ToTopic(args.ApplicationMessage.Topic);
+            if (topic == VDA5050Topic.ORDER) OrderChanged?.Invoke(stringData);
+            else if (topic == VDA5050Topic.INSTANTACTIONS) InstanceActionsChanged?.Invoke(stringData);
+            return Task.CompletedTask;
+        };
+
+        while (!cancellationToken.IsCancellationRequested)
+        {
+            try
+            {
+                var response = await MqttClient.SubscribeAsync(MqttClientSubscribeOptions, cancellationToken);
+                bool isSuccess = true;
+                foreach (var item in response.Items)
+                {
+                    if (item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS0 ||
+                        item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS1 ||
+                        item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS2)
+                    {
+                        Logger.Info($"Subscribe thành công cho topic: {item.TopicFilter.Topic} với QoS: {item.ResultCode}");
+                    }
+                    else
+                    {
+                        Logger.Warning($"Subscribe thất bại cho topic: {item.TopicFilter.Topic}. Lý do: {response.ReasonString}");
+                        isSuccess = false;
+                        break;
+                    }
+                }
+                if (isSuccess) break;
+            }
+            catch (Exception ex)
+            {
+                Logger.Error($"Lỗi khi subscribe: {ex.Message}");
+            }
+            await Task.Delay(3000, cancellationToken);
+        }
+    }
+
+    public async Task<MessageResult> PublishAsync(string topic, string data)
+    {
+        var repeat = VDA5050Setting.PublishRepeat;
+        while (repeat-- > 0)
+        {
+            try
+            {
+                var applicationMessage = new MqttApplicationMessageBuilder()
+                                .WithTopic(topic)
+                                .WithPayload(data)
+                                .WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtLeastOnce)
+                                .Build();
+                if (MqttClient is null || !IsConnected) return new(false, "Chưa có kết nối tới broker");
+                var publish = await MqttClient.PublishAsync(applicationMessage);
+                if (!publish.IsSuccess) continue;
+                return new(true);
+            }
+            catch (Exception ex)
+            {
+                Logger.Error($"Lỗi khi publish MQTT: {ex.Message}");
+            }
+        }
+        return new(false, "Không thể publish tới broker");
+    }
+
+    public async ValueTask DisposeAsync()
+    {
+        if (MqttClient is not null)
+        {
+            if (MqttClient.IsConnected) await MqttClient.DisconnectAsync();
+            MqttClient.Dispose();
+            MqttClient = null;
+        }
+        GC.SuppressFinalize(this);
+    }
+}

RobotApp/Services/Navigation/Algorithm/FuzzyLogic.cs

@@ -0,0 +1,252 @@
+namespace RobotApp.Services.Navigation.Algorithm;
+
+public class FuzzyLogic
+{
+    private double Gain_P = 0.5;
+    private double Gain_I = 0.01;
+    private double DiscreteTimeIntegrator_DSTATE;
+
+    public FuzzyLogic WithGainP(double gainP)
+    {
+        Gain_P = gainP;
+        return this;
+    }
+
+    public FuzzyLogic WithGainI(double gainI)
+    {
+        Gain_I = gainI;
+        return this;
+    }
+
+    private static double Fuzzy_trapmf(double x, double[] parame)
+    {
+        double b_y1;
+        double y2;
+        b_y1 = 0.0;
+        y2 = 0.0;
+        if (x >= parame[1])
+        {
+            b_y1 = 1.0;
+        }
+        if (x < parame[0])
+        {
+            b_y1 = 0.0;
+        }
+        if (parame[0] <= x && x < parame[1] && parame[0] != parame[1])
+        {
+            b_y1 = 1.0 / (parame[1] - parame[0]) * (x - parame[0]);
+        }
+        if (x <= parame[2])
+        {
+            y2 = 1.0;
+        }
+        if (x > parame[3])
+        {
+            y2 = 0.0;
+        }
+        if (parame[2] < x && x <= parame[3] && parame[2] != parame[3])
+        {
+            y2 = 1.0 / (parame[3] - parame[2]) * (parame[3] - x);
+        }
+        return b_y1 < y2 ? b_y1 : y2;
+    }
+
+    private static double Fuzzy_trimf(double x, double[] parame)
+    {
+        double y;
+        y = 0.0;
+        if (parame[0] != parame[1] && parame[0] < x && x < parame[1])
+        {
+            y = 1.0 / (parame[1] - parame[0]) * (x - parame[0]);
+        }
+        if (parame[1] != parame[2] && parame[1] < x && x < parame[2])
+        {
+            y = 1.0 / (parame[2] - parame[1]) * (parame[2] - x);
+        }
+        if (x == parame[1])
+        {
+            y = 1.0;
+        }
+        return y;
+    }
+
+    public (double wl, double wr) Fuzzy_step(double v, double w, double TimeSample)
+    {
+        (double wl, double wr) result = new();
+        double[] inputMFCache = new double[10];
+        double[] outputMFCache = new double[5];
+        double[] outputMFCache_0 = new double[5];
+        double[] tmp = new double[3];
+        double aggregatedOutputs;
+        double rtb_TmpSignalConversionAtSFun_0;
+        double rtb_antecedentOutputs_e;
+        double sumAntecedentOutputs;
+        int ruleID;
+        double[] f = [-1.0E+10, -1.0E+10, -1.0, -0.5];
+        double[] e = [0.5, 1.0, 1.0E+10, 1.0E+10];
+        double[] d = [0.75, 1.0, 1.0E+9, 1.0E+9];
+        double[] c = [-1.0E+9, -1.0E+9, 0.0, 0.25];
+        byte[] b = [ 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 4,
+                         4, 4, 4, 4, 5, 5, 5, 5, 5, 1, 2, 3, 4, 5, 1, 2, 3,
+                         4, 5, 1, 2, 3, 4, 5, 3, 4, 5, 1, 2, 1, 2, 3, 4, 5 ];
+        byte[] b_0 = [1, 1, 2, 1, 1, 2, 3, 5, 1, 4, 5, 5, 5, 5, 5, 2, 1, 1, 1, 1, 5, 5, 5, 5, 5];
+        byte[] b_1 = [  1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 4,
+                            4, 4, 4, 4, 5, 5, 5, 5, 5, 1, 2, 3, 4, 5, 4, 1,
+                            2, 3, 5, 3, 1, 2, 4, 5, 1, 2, 3, 4, 5, 1, 2, 4, 5, 3 ];
+        byte[] b_2 = [5, 5, 5, 5, 5, 1, 2, 3, 5, 4, 2, 1, 1, 1, 1, 5, 5, 5, 5, 5, 1, 1, 1, 1, 2];
+        double inputMFCache_tmp;
+        double inputMFCache_tmp_0;
+        double inputMFCache_tmp_1;
+        double inputMFCache_tmp_2;
+        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller' */
+        /* SignalConversion generated from: '<S4>/ SFunction ' incorporates:
+         *  Constant: '<Root>/w'
+         *  DiscreteIntegrator: '<Root>/Discrete-Time Integrator'
+         *  Gain: '<Root>/Gain1'
+         *  MATLAB Function: '<S1>/Evaluate Rule Antecedents'
+         *  MATLAB Function: '<S2>/Evaluate Rule Antecedents'
+         *  SignalConversion generated from: '<S7>/ SFunction '
+         *  Sum: '<Root>/Sum'
+         */
+        DiscreteTimeIntegrator_DSTATE += Gain_I * w * TimeSample;
+        rtb_TmpSignalConversionAtSFun_0 = Gain_P * w + DiscreteTimeIntegrator_DSTATE;
+        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        /* MATLAB Function: '<S1>/Evaluate Rule Antecedents' incorporates:
+         *  Constant: '<Root>/v'
+         *  MATLAB Function: '<S2>/Evaluate Rule Antecedents'
+         *  SignalConversion generated from: '<S4>/ SFunction '
+         */
+        sumAntecedentOutputs = 0.0;
+        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        inputMFCache_tmp = Fuzzy_trapmf(rtb_TmpSignalConversionAtSFun_0, f);
+        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        inputMFCache[0] = inputMFCache_tmp;
+        tmp[0] = -0.5;
+        tmp[1] = 0.0;
+        tmp[2] = 0.5;
+        inputMFCache[1] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
+        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        inputMFCache_tmp_0 = Fuzzy_trapmf(rtb_TmpSignalConversionAtSFun_0, e);
+        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        inputMFCache[2] = inputMFCache_tmp_0;
+        tmp[0] = -1.0;
+        tmp[1] = -0.5;
+        tmp[2] = 0.0;
+        inputMFCache[3] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
+        tmp[0] = 0.0;
+        tmp[1] = 0.5;
+        tmp[2] = 1.0;
+        inputMFCache[4] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
+        tmp[0] = 0.0;
+        tmp[1] = 0.25;
+        tmp[2] = 0.5;
+        inputMFCache[5] = Fuzzy_trimf(v, tmp);
+        tmp[0] = 0.25;
+        tmp[1] = 0.5;
+        tmp[2] = 0.75;
+        inputMFCache[6] = Fuzzy_trimf(v, tmp);
+        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        inputMFCache_tmp_1 = Fuzzy_trapmf(v, d);
+        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        inputMFCache[7] = inputMFCache_tmp_1;
+        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        inputMFCache_tmp_2 = Fuzzy_trapmf(v, c);
+        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        inputMFCache[8] = inputMFCache_tmp_2;
+        tmp[0] = 0.5;
+        tmp[1] = 0.75;
+        tmp[2] = 1.0;
+        inputMFCache[9] = Fuzzy_trimf(v, tmp);
+        /* MATLAB Function: '<S1>/Evaluate Rule Consequents' */
+        aggregatedOutputs = 0.0;
+        outputMFCache[0] = 0.0;
+        outputMFCache[1] = 0.25;
+        outputMFCache[2] = 0.5;
+        outputMFCache[3] = 0.75;
+        outputMFCache[4] = 1.0;
+        for (ruleID = 0; ruleID < 25; ruleID++)
+        {
+            /* MATLAB Function: '<S1>/Evaluate Rule Antecedents' */
+            rtb_antecedentOutputs_e = inputMFCache[b[ruleID + 25] + 4] * inputMFCache[b[ruleID] - 1];
+            sumAntecedentOutputs += rtb_antecedentOutputs_e;
+            /* MATLAB Function: '<S1>/Evaluate Rule Consequents' */
+            aggregatedOutputs += outputMFCache[b_0[ruleID] - 1] * rtb_antecedentOutputs_e;
+        }
+        /* MATLAB Function: '<S1>/Defuzzify Outputs' incorporates:
+         *  MATLAB Function: '<S1>/Evaluate Rule Antecedents'
+         *  MATLAB Function: '<S1>/Evaluate Rule Consequents'
+         */
+        if (sumAntecedentOutputs == 0.0)
+        {
+            result.wr = 0.5;
+        }
+        else
+        {
+            result.wr = 1.0 / sumAntecedentOutputs * aggregatedOutputs;
+        }
+        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
+        /* MATLAB Function: '<S2>/Evaluate Rule Antecedents' incorporates:
+         *  Constant: '<Root>/v'
+         *  SignalConversion generated from: '<S7>/ SFunction '
+         */
+        sumAntecedentOutputs = 0.0;
+        inputMFCache[0] = inputMFCache_tmp;
+        tmp[0] = -0.5;
+        tmp[1] = 0.0;
+        tmp[2] = 0.5;
+        inputMFCache[1] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
+        inputMFCache[2] = inputMFCache_tmp_0;
+        tmp[0] = -1.0;
+        tmp[1] = -0.5;
+        tmp[2] = 0.0;
+        inputMFCache[3] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
+        tmp[0] = 0.0;
+        tmp[1] = 0.5;
+        tmp[2] = 1.0;
+        inputMFCache[4] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
+        tmp[0] = 0.0;
+        tmp[1] = 0.25;
+        tmp[2] = 0.5;
+        inputMFCache[5] = Fuzzy_trimf(v, tmp);
+        tmp[0] = 0.25;
+        tmp[1] = 0.5;
+        tmp[2] = 0.75;
+        inputMFCache[6] = Fuzzy_trimf(v, tmp);
+        inputMFCache[7] = inputMFCache_tmp_1;
+        inputMFCache[8] = inputMFCache_tmp_2;
+        tmp[0] = 0.5;
+        tmp[1] = 0.75;
+        tmp[2] = 1.0;
+        inputMFCache[9] = Fuzzy_trimf(v, tmp);
+        /* MATLAB Function: '<S2>/Evaluate Rule Consequents' */
+        aggregatedOutputs = 0.0;
+        outputMFCache_0[0] = 0.0;
+        outputMFCache_0[1] = 0.25;
+        outputMFCache_0[2] = 0.5;
+        outputMFCache_0[3] = 0.75;
+        outputMFCache_0[4] = 1.0;
+        for (ruleID = 0; ruleID < 25; ruleID++)
+        {
+            /* MATLAB Function: '<S2>/Evaluate Rule Antecedents' */
+            rtb_antecedentOutputs_e = inputMFCache[b_1[ruleID + 25] + 4] * inputMFCache[b_1[ruleID] - 1];
+            sumAntecedentOutputs += rtb_antecedentOutputs_e;
+            /* MATLAB Function: '<S2>/Evaluate Rule Consequents' */
+            aggregatedOutputs += outputMFCache_0[b_2[ruleID] - 1] *
+              rtb_antecedentOutputs_e;
+        }
+        /* MATLAB Function: '<S2>/Defuzzify Outputs' incorporates:
+         *  MATLAB Function: '<S2>/Evaluate Rule Antecedents'
+         *  MATLAB Function: '<S2>/Evaluate Rule Consequents'
+         */
+        if (sumAntecedentOutputs == 0.0)
+        {
+            result.wl = 0.5;
+        }
+        else
+        {
+            result.wl = 1.0 / sumAntecedentOutputs * aggregatedOutputs;
+        }
+        return result;
+    }
+}

RobotApp/Services/Navigation/Algorithm/PID.cs

@@ -0,0 +1,47 @@
+namespace RobotApp.Services.Navigation.Algorithm;
+
+public class PID
+{
+    private double Kp = 0.3;
+    private double Ki = 0.0001;
+    private double Kd = 0.01;
+    private double Pre_Error;
+    private double Pre_Pre_Error;
+    private double Pre_Out;
+
+    private DateTime PreTime;
+
+    public PID WithKp(double kp)
+    {
+        Kp = kp;
+        return this;
+    }
+
+    public PID WithKi(double ki)
+    {
+        Ki = ki;
+        return this;
+    }
+
+    public PID WithKd(double kd)
+    {
+        Kd = kd;
+        return this;
+    }
+
+    public double PID_step(double error, double min, double max)
+    {
+        DateTime CurrentTime = DateTime.Now;
+        double TimeSample = (CurrentTime - PreTime).TotalSeconds;
+        double P_part = Kp * (error - Pre_Error);
+        double I_part = 0.5 * Ki * TimeSample * (error + Pre_Error);
+        double D_part = Kd / TimeSample * (error - 2 * Pre_Error + Pre_Pre_Error);
+        double Out = Pre_Out + P_part + I_part + D_part;
+        Pre_Pre_Error = Pre_Error;
+        Pre_Error = error;
+        Pre_Out = Out;
+        Out = Math.Clamp(Out, min, max);
+        PreTime = CurrentTime;
+        return Out;
+    }
+}

RobotApp/Services/Navigation/Algorithm/PurePursuit.cs

@@ -0,0 +1,156 @@
+//namespace RobotApp.Services.Navigation.Algorithm;
+//public class PurePursuit
+//{
+//    private double MaxAngularVelocity = 1.5;
+//    private double LookaheadDistance = 0.5;
+//    private List<NavigationNode> Waypoints_Value = [];
+//    public int OnNodeIndex = 0;
+//    public int GoalIndex = 0;
+//    public NavigationNode? Goal;
+
+//    public PurePursuit WithLookheadDistance(double distance)
+//    {
+//        LookaheadDistance = distance;
+//        return this;
+//    }
+
+//    public PurePursuit WithMaxAngularVelocity(double vel)
+//    {
+//        MaxAngularVelocity = vel;
+//        return this;
+//    }
+
+//    public PurePursuit WithPath(NavigationNode[] path)
+//    {
+//        Waypoints_Value = [.. path];
+//        return this;
+//    }
+
+//    public void UpdatePath(NavigationNode[] path)
+//    {
+//        Waypoints_Value = [.. path];
+//    }
+
+//    public void UpdateGoal(NavigationNode goal)
+//    {
+//        Goal = goal;
+//        GoalIndex = Waypoints_Value.IndexOf(Goal);
+//    }
+
+//    public (NavigationNode node, int index) GetOnNode(double x, double y)
+//    {
+//        double minDistance = double.MaxValue;
+//        NavigationNode onNode = Waypoints_Value[0];
+//        int index = 0;
+//        for (int i = 1; i < Waypoints_Value.Count; i++)
+//        {
+//            var distance = Math.Sqrt(Math.Pow(x - Waypoints_Value[i].X, 2) + Math.Pow(y - Waypoints_Value[i].Y, 2));
+//            if (distance < minDistance)
+//            {
+//                onNode = Waypoints_Value[i];
+//                minDistance = distance;
+//                index = i;
+//            }
+//        }
+//        return (onNode, index);
+//    }
+
+//    private (NavigationNode? node, int index) OnNode(double x, double y)
+//    {
+//        if (Waypoints_Value is null || Waypoints_Value.Count == 0) return (null, 0);
+//        double minDistance = double.MaxValue;
+//        int index = 0;
+//        NavigationNode? onNode = null;
+//        if (Goal is null) return (onNode, index);
+//        for (int i = OnNodeIndex; i < Waypoints_Value.IndexOf(Goal); i++)
+//        {
+//            var distance = Math.Sqrt(Math.Pow(x - Waypoints_Value[i].X, 2) + Math.Pow(y - Waypoints_Value[i].Y, 2));
+//            if (distance < minDistance)
+//            {
+//                onNode = Waypoints_Value[i];
+//                minDistance = distance;
+//                index = i;
+//            }
+//        }
+//        return (onNode, index);
+//    }
+
+//    public double PurePursuit_step(double X_Ref, double Y_Ref, double Angle_Ref)
+//    {
+//        if (Waypoints_Value is null || Waypoints_Value.Count < 2) return 0;
+//        NavigationNode? lookaheadStartPt = null;
+//        var (onNode, index) = OnNode(X_Ref, Y_Ref);
+//        if (onNode is null || Goal is null) return 0;
+//        OnNodeIndex = index;
+//        double lookDistance = 0;
+//        for (int i = OnNodeIndex + 1; i < Waypoints_Value.IndexOf(Goal); i++)
+//        {
+//            lookDistance += Math.Sqrt(Math.Pow(Waypoints_Value[i - 1].X - Waypoints_Value[i].X, 2) + Math.Pow(Waypoints_Value[i - 1].Y - Waypoints_Value[i].Y, 2));
+//            if (lookDistance >= LookaheadDistance || Waypoints_Value[i].Direction != onNode.Direction)
+//            {
+//                lookaheadStartPt = Waypoints_Value[i];
+//                break;
+//            }
+//        }
+//        lookaheadStartPt ??= Goal;
+//        if (onNode.Direction == RobotDirection.BACKWARD)
+//        {
+//            if (Angle_Ref > Math.PI) Angle_Ref -= Math.PI * 2;
+//            else if (Angle_Ref < -Math.PI) Angle_Ref += Math.PI * 2;
+//            Angle_Ref += Math.PI;
+//            if (Angle_Ref > Math.PI) Angle_Ref -= Math.PI * 2;
+//        }
+//        var distance = Math.Atan2(lookaheadStartPt.Y - Y_Ref, lookaheadStartPt.X - X_Ref) - Angle_Ref;
+
+//        if (Math.Abs(distance) > Math.PI)
+//        {
+//            double minDistance;
+//            if (distance + Math.PI == 0.0) minDistance = 0.0;
+//            else
+//            {
+//                double data = (distance + Math.PI) / (2 * Math.PI);
+//                if (data < 0) data = Math.Round(data + 0.5);
+//                else data = Math.Round(data - 0.5);
+//                minDistance = distance + Math.PI - data * (2 * Math.PI);
+//                double checker = 0;
+//                if (minDistance != 0.0)
+//                {
+//                    checker = Math.Abs((distance + Math.PI) / (2 * Math.PI));
+//                }
+//                if (!(Math.Abs(checker - Math.Floor(checker + 0.5)) > 2.2204460492503131E-16 * checker))
+//                {
+//                    minDistance = 0.0;
+//                }
+//                else if (distance + Math.PI < 0.0)
+//                {
+//                    minDistance += Math.PI * 2;
+//                }
+//            }
+//            if (minDistance == 0.0 && distance + Math.PI > 0.0)
+//            {
+//                minDistance = Math.PI * 2;
+//            }
+//            distance = minDistance - Math.PI;
+//        }
+
+//        var AngularVelocity = 2.0 * 0.5 * Math.Sin(distance) / LookaheadDistance;
+//        if (Math.Abs(AngularVelocity) > MaxAngularVelocity)
+//        {
+//            if (AngularVelocity < 0.0)
+//            {
+//                AngularVelocity = -1.0;
+//            }
+//            else if (AngularVelocity > 0.0)
+//            {
+//                AngularVelocity = 1.0;
+//            }
+//            else if (AngularVelocity == 0.0)
+//            {
+//                AngularVelocity = 0.0;
+//            }
+//            AngularVelocity *= MaxAngularVelocity;
+//        }
+//        return AngularVelocity;
+//    }
+
+//}

RobotApp/Services/Navigation/NavigationController.cs

@@ -0,0 +1,5 @@
+namespace RobotApp.Services.Navigation;
+
+public class NavigationController
+{
+}

RobotApp/Services/Navigation/NavigationManager.cs

@@ -0,0 +1,6 @@
+namespace RobotApp.Services.Navigation
+{
+    public class NavigationManager
+    {
+    }
+}

RobotApp/Services/Robot/RobotAction.cs

@@ -0,0 +1,6 @@
+namespace RobotApp.Services.Robot
+{
+    public class RobotAction
+    {
+    }
+}

RobotApp/Services/Robot/RobotConfiguration.cs

@@ -0,0 +1,9 @@
+using RobotApp.Common.Shares.Enums;
+
+namespace RobotApp.Services.Robot;
+
+public class RobotConfiguration
+{
+    public static string SerialNumber { get; set; } = "Robot-Demo";
+    public static NavigationType NavigationType { get; set; } = NavigationType.Differential;
+}

RobotApp/Services/Robot/RobotConnection.cs

@@ -0,0 +1,69 @@
+using RobotApp.Common.Shares;
+using RobotApp.VDA5050;
+using RobotApp.VDA5050.InstantAction;
+using RobotApp.VDA5050.Order;
+using System.Text.Json;
+
+namespace RobotApp.Services.Robot;
+
+public class RobotConnection(Logger<RobotConnection> Logger, Logger<MQTTClient> MQTTClientLogger) : BackgroundService
+{
+    private readonly VDA5050Setting VDA5050Setting = new()
+    {
+        HostServer = "172.20.235.170",
+        Port = 1886,
+    };
+    private MQTTClient? MqttClient;
+
+    public bool IsConnected => MqttClient is not null && MqttClient.IsConnected;
+    public readonly static string SerialNumber = "RobotDemo";
+
+    private void OrderChanged(string data)
+    {
+        try
+        {
+            var msg = JsonSerializer.Deserialize<OrderMsg>(data);
+            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != SerialNumber) return;
+        }
+        catch (Exception ex)
+        {
+            Logger.Warning($"Nhận Order xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
+        }
+    }
+
+    private void InstanceActionsChanged(string data)
+    {
+        try
+        {
+            var msg = JsonSerializer.Deserialize<InstantActionsMsg>(data);
+            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != SerialNumber) return;
+        }
+        catch (Exception ex)
+        {
+            Logger.Warning($"Nhận InstanceActions xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
+        }
+    }
+
+    public async Task<MessageResult> Publish(string topic, string data)
+    {
+        if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync(topic, data);
+        return new(false, "Chưa có kết nối tới broker");
+    }
+
+    protected override async Task ExecuteAsync(CancellationToken stoppingToken)
+    {
+        await Task.Yield();
+
+        MqttClient = new MQTTClient(SerialNumber, VDA5050Setting, MQTTClientLogger);
+        MqttClient.OrderChanged += OrderChanged;
+        MqttClient.InstanceActionsChanged += InstanceActionsChanged;
+        await MqttClient.ConnectAsync(stoppingToken);
+        await MqttClient.SubscribeAsync(stoppingToken);
+    }
+
+    public override async Task StopAsync(CancellationToken cancellationToken)
+    {
+        if(MqttClient is not null) await MqttClient.DisposeAsync();
+        await base.StopAsync(cancellationToken);
+    }
+}

RobotApp/Services/Robot/RobotController.cs

@@ -0,0 +1,6 @@
+namespace RobotApp.Services.Robot
+{
+    public class RobotController
+    {
+    }
+}

RobotApp/Services/Robot/RobotFactsheet.cs

@@ -0,0 +1,34 @@
+
+using RobotApp.Common.Shares;
+using RobotApp.VDA5050;
+using RobotApp.VDA5050.Factsheet;
+using System.Text.Json;
+
+namespace RobotApp.Services.Robot;
+
+public class RobotFactsheet(RobotConnection RobotConnection) : BackgroundService
+{
+    public async Task PubFactsheet()
+    {
+        if (!RobotConnection.IsConnected) return;
+        FactSheetMsg factSheet = new()
+        {
+            SerialNumber = RobotConnection.SerialNumber,
+            ProtocolFeatures = new()
+            {
+                AgvActions = [],
+            }
+        };
+        string factSheetJson = JsonSerializer.Serialize(factSheet, JsonOptionExtends.Write);
+        await RobotConnection.Publish(VDA5050Topic.FACTSHEET.ToTopicString(), factSheetJson);
+    }
+    protected override async Task ExecuteAsync(CancellationToken stoppingToken)
+    {
+        while(!stoppingToken.IsCancellationRequested)
+        {
+            await Task.Delay(1000, stoppingToken);
+            if (RobotConnection.IsConnected) break;
+        }
+
+    }
+}

RobotApp/Services/Robot/RobotOrderController.cs

@@ -0,0 +1,30 @@
+using RobotApp.Interfaces;
+using RobotApp.VDA5050.State;
+
+namespace RobotApp.Services.Robot;
+
+public class RobotOrderController : IOrder
+{
+    public string OrderId => throw new NotImplementedException();
+
+    public VDA5050.InstantAction.Action[] Actions => throw new NotImplementedException();
+
+    public NodeState[] NodeStates => throw new NotImplementedException();
+
+    public EdgeState[] EdgeStates => throw new NotImplementedException();
+
+    public bool StartOrder()
+    {
+        throw new NotImplementedException();
+    }
+
+    public bool UpdateOrder()
+    {
+        throw new NotImplementedException();
+    }
+
+    public bool StopOrder()
+    {
+        throw new NotImplementedException();
+    }
+}

RobotApp/Services/Robot/RobotVisualization.cs

@@ -0,0 +1,6 @@
+namespace RobotApp.Services.Robot
+{
+    public class RobotVisualization
+    {
+    }
+}

RobotApp/Services/WatchTimer.cs

@@ -0,0 +1,76 @@
+using System.Diagnostics;
+
+namespace RobotApp.Services;
+
+public class WatchTimer<T>(int Interval, Action Callback, Logger<T>? Logger) : IDisposable where T : class
+{
+    private Timer? Timer;
+    private readonly Stopwatch Watch = new();
+    public bool Disposed;
+
+    private void Handler(object? state)
+    {
+        try
+        {
+            Watch.Restart();
+
+            Callback.Invoke();
+
+            Watch.Stop();
+            if (Watch.ElapsedMilliseconds >= Interval || Interval - Watch.ElapsedMilliseconds <= 50)
+            {
+                Timer?.Change(Interval, Timeout.Infinite);
+            }
+            else
+            {
+                Timer?.Change(Interval - Watch.ElapsedMilliseconds, Timeout.Infinite);
+            }
+        }
+        catch (Exception ex)
+        {
+            Logger?.Error($"WatchTimer Error: {ex}");
+            Timer?.Change(Interval, Timeout.Infinite);
+        }
+    }
+
+    public void Start()
+    {
+        if (!Disposed)
+        {
+            Timer = new Timer(Handler, null, Timeout.Infinite, Timeout.Infinite);
+            Timer.Change(Interval, 0);
+        }
+        else throw new ObjectDisposedException(nameof(WatchTimer<T>));
+    }
+
+    public void Stop()
+    {
+        if (Disposed) return;
+        if (Timer != null)
+        {
+            Timer.Change(Timeout.Infinite, Timeout.Infinite);
+            Timer.Dispose();
+            Timer = null;
+        }
+    }
+
+    public void Dispose()
+    {
+        Dispose(true);
+        GC.SuppressFinalize(this);
+    }
+
+    protected virtual void Dispose(bool disposing)
+    {
+        if (Disposed) return;
+
+        if (disposing) Stop();
+
+        Disposed = true;
+    }
+
+    ~WatchTimer()
+    {
+        Dispose(false);
+    }
+}

RobotApp/Services/WatchTimerAsync.cs

@@ -0,0 +1,76 @@
+using System.Diagnostics;
+
+namespace RobotApp.Services;
+
+public class WatchTimerAsync<T>(int Interval, Func<Task> Callback, Logger<T>? Logger) : IDisposable where T : class
+{
+    private Timer? Timer;
+    private readonly Stopwatch Watch = new();
+    public bool Disposed;
+
+    private async void Handler(object? state)
+    {
+        try
+        {
+            Watch.Restart();
+
+            await Callback.Invoke();
+
+            Watch.Stop();
+            if (Watch.ElapsedMilliseconds >= Interval || Interval - Watch.ElapsedMilliseconds <= 50)
+            {
+                Timer?.Change(Interval, Timeout.Infinite);
+            }
+            else
+            {
+                Timer?.Change(Interval - Watch.ElapsedMilliseconds, Timeout.Infinite);
+            }
+        }
+        catch (Exception ex)
+        {
+            Logger?.Error($"WatchTimerAsync Error: {ex}");
+            Timer?.Change(Interval, Timeout.Infinite);
+        }
+    }
+
+    public void Start()
+    {
+        if (!Disposed)
+        {
+            Timer = new Timer(Handler, null, Timeout.Infinite, Timeout.Infinite);
+            Timer.Change(Interval, 0);
+        }
+        else throw new ObjectDisposedException(nameof(WatchTimerAsync<T>));
+    }
+
+    public void Stop()
+    {
+        if (Disposed) return;
+        if (Timer != null)
+        {
+            Timer.Change(Timeout.Infinite, Timeout.Infinite);
+            Timer.Dispose();
+            Timer = null;
+        }
+    }
+
+    public void Dispose()
+    {
+        Dispose(true);
+        GC.SuppressFinalize(this);
+    }
+
+    protected virtual void Dispose(bool disposing)
+    {
+        if (Disposed) return;
+
+        if (disposing) Stop();
+
+        Disposed = true;
+    }
+
+    ~WatchTimerAsync()
+    {
+        Dispose(false);
+    }
+}

RobotApp/appsettings.json

@@ -1,6 +1,6 @@
 {
   "ConnectionStrings": {
-    "DefaultConnection": "Server=(localdb)\\mssqllocaldb;Database=aspnet-RobotApp-1f61caa2-bbbb-40cd-88b6-409b408a84ea;Trusted_Connection=True;MultipleActiveResultSets=true"
+    "DefaultConnection": "Data Source=robot.db"
   },
   "Logging": {
     "LogLevel": {