update

RobotApp.Client/Pages/Dashboard.razor

@@ -270,7 +270,7 @@
                                 </MudChip>
                             </MudTd>
                             <MudTd>
-                                <MudText Typo="Typo.body2" Class="text-truncate" Style="max-width: 300px;" Title="@context.Description">
+                                <MudText Typo="Typo.body2" Class="text-truncate" Style="max-width: 300px;">
                                     @context.Description
                                 </MudText>
                             </MudTd>
@@ -309,7 +309,7 @@
                             <MudTh Style="text-align:right">Status</MudTh>
                         </HeaderContent>
                         <RowTemplate>
-                            <MudTd><MudText Typo="Typo.body2" Class="text-truncate" Title="@context.ActionType">@context.ActionType</MudText></MudTd>
+                            <MudTd><MudText Typo="Typo.body2" Class="text-truncate">@context.ActionType</MudText></MudTd>
                             <MudTd><MudText Typo="Typo.caption">@context.ActionId</MudText></MudTd>
                             <MudTd Style="text-align:right">
                                 <MudChip T="string"

RobotApp.Client/Pages/Order/EdgesPanel.razor

@@ -38,8 +38,7 @@
                             <MudIconButton Icon="@Icons.Material.Filled.Delete"
                                            Color="Color.Error"
                                            Size="Size.Small"
-                                           OnClick="@(() => RemoveEdgeAsync(edge))"
+                                           OnClick="@(() => RemoveEdgeAsync(edge))" />
-                                           StopPropagation="true" />
                         </div>
                     </TitleContent>
 
@@ -88,47 +87,6 @@
                                     }
                                 </MudSelect>
                             </MudItem>
-
-                          @*   <!-- Radius -->
-                            <MudItem xs="6">
-                                <MudNumericField T="double"
-                                                 Value="@edge.Radius"
-                                                 ValueChanged="@((double v) => SetValue(() => edge.Radius = v))"
-                                                 Immediate="true"
-                                                 Min="0"
-                                                 Step="0.1"
-                                                 Label="Radius (0 = straight line)" />
-                            </MudItem>
-
-                            <!-- Quadrant -->
-                            @if (edge.Radius > 0)
-                            {
-                                <MudItem xs="6">
-                                    <MudSelect T="Quadrant"
-                                               Value="@edge.Quadrant"
-                                               ValueChanged="@((Quadrant v) => SetValue(() => edge.Quadrant = v))"
-                                               Label="Quadrant">
-                                        <MudSelectItem Value="Quadrant.I">I</MudSelectItem>
-                                        <MudSelectItem Value="Quadrant.II">II</MudSelectItem>
-                                        <MudSelectItem Value="Quadrant.III">III</MudSelectItem>
-                                        <MudSelectItem Value="Quadrant.IV">IV</MudSelectItem>
-                                    </MudSelect>
-                                </MudItem>
-                            }
-
-                            <!-- Apply Curve -->
-                            @if (!edge.HasTrajectory && edge.Radius > 0 && !edge.Expanded)
-                            {
-                                <MudItem xs="12">
-                                    <MudButton Color="Color.Primary"
-                                               Variant="Variant.Outlined"
-                                               StartIcon="@Icons.Material.Filled.Merge"
-                                               OnClick="@(() => ApplyCurveAsync(edge))">
-                                        Apply Curve (generate node)
-                                    </MudButton>
-                                </MudItem>
-                            } *@
-
                         </MudGrid>
                     </ChildContent>
                 </MudExpansionPanel>

RobotApp.Client/Pages/Order/JsonOutputPanel.razor

@@ -1,7 +1,7 @@
 <MudPaper Class="pa-4 h-100 d-flex flex-column overflow-hidden" Elevation="2">
     <MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
               Class="mb-4 flex-shrink-0">
-        <MudText Typo="Typo.h6">📄 JSON Output (/order)</MudText>
+        <MudText Typo="Typo.h6">Output (/order)</MudText>
 
         <div class="d-flex gap-2">
 

RobotApp.Client/Pages/Order/OrderMess.razor

@@ -86,6 +86,7 @@
                 PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
             });
     }
+
     private async Task OpenImportDialog()
     {
         var dialog = await DialogService.ShowAsync<ImportOrderDialog>(
@@ -177,22 +178,19 @@
 
     void RemoveAction(Node node, VDA5050.InstantAction.Action action)
     {
-        node.Actions = node.Actions?.Where(a => a != action).ToArray()
+        node.Actions = node.Actions?.Where(a => a != action).ToArray() ?? [];
-                       ?? Array.Empty<VDA5050.InstantAction.Action>();
     }
 
     void AddActionParameter(VDA5050.InstantAction.Action act)
     {
-        var list = (act.ActionParameters ?? Array.Empty<ActionParameter>()).ToList();
+        var list = (act.ActionParameters ?? []).ToList();
         list.Add(new UiActionParameter());
         act.ActionParameters = list.ToArray();
     }
 
     void RemoveActionParameter(VDA5050.InstantAction.Action act, ActionParameter param)
     {
-        act.ActionParameters =
+        act.ActionParameters = act.ActionParameters?.Where(p => p != param).ToArray() ?? [];
-            act.ActionParameters?.Where(p => p != param).ToArray()
-            ?? Array.Empty<ActionParameter>();
     }
 
     // ================= SEND / COPY =================
@@ -302,7 +300,7 @@
         _copyCts?.Cancel();
         _copyCts = new();
 
-        await JS.InvokeVoidAsync("navigator.clipboard.writeText", OrderJson);
+        await JS.InvokeVoidAsync("copyToClipboardFallback", OrderJson);
 
         copied = true;
         StateHasChanged();

RobotApp.Client/Services/UiEdge.cs

@@ -1,127 +1,9 @@
 using RobotApp.VDA5050.InstantAction;
 using RobotApp.VDA5050.Order;
-using System.Text.Json;
 using System.Text.Json.Serialization;
-using System.Xml.Linq;
 
 namespace RobotApp.Client.Services;
 
-// ======================================================
-// EDGE UI
-// ======================================================
-public class UiEdge
-{
-    public string EdgeId { get; set; } = "";
-    public int SequenceId { get; set; }
-    public bool Released { get; set; } = true;
-
-    public string StartNodeId { get; set; } = "";
-    public string EndNodeId { get; set; } = "";
-
-    // ===== CURVE (EDITOR GENERATED) =====
-    public double Radius { get; set; } = 0;
-    public Quadrant Quadrant { get; set; }
-
-    // ===== IMPORTED TRAJECTORY =====
-    public bool HasTrajectory { get; set; } = false;
-    public UiTrajectory? Trajectory { get; set; }
-
-    // ===== UI STATE =====
-    public bool Expanded { get; private set; } = false;
-
-    public void MarkExpanded()
-    {
-        Expanded = true;
-    }
-}
-
-public class UiTrajectory
-{
-    public int Degree { get; set; }
-    public double[] KnotVector { get; set; } = Array.Empty<double>();
-    public List<Point> ControlPoints { get; set; } = new();
-}
-
-public enum Quadrant
-{
-    I,
-    II,
-    III,
-    IV
-}
-
-// ======================================================
-// GEOMETRY MODELS
-// ======================================================
-public record Point(double X, double Y);
-
-public record QuarterResult(
-    Point EndPoint,
-    object Trajectory
-);
-
-// ======================================================
-// GEOMETRY HELPER (QUARTER CIRCLE)
-// ======================================================
-public static class QuarterGeometry
-{
-    private const double K = 0.5522847498307936;
-
-    public static QuarterResult BuildQuarterTrajectory(
-        Point A,
-        double r,
-        Quadrant q
-    )
-    {
-        Point P1, P2, C;
-
-        switch (q)
-        {
-            case Quadrant.I:
-                P1 = new(A.X, A.Y + K * r);
-                P2 = new(A.X + K * r, A.Y + r);
-                C = new(A.X + r, A.Y + r);
-                break;
-
-            case Quadrant.II:
-                P1 = new(A.X - K * r, A.Y);
-                P2 = new(A.X - r, A.Y + K * r);
-                C = new(A.X - r, A.Y + r);
-                break;
-
-            case Quadrant.III:
-                P1 = new(A.X, A.Y - K * r);
-                P2 = new(A.X - K * r, A.Y - r);
-                C = new(A.X - r, A.Y - r);
-                break;
-
-            case Quadrant.IV:
-                P1 = new(A.X + K * r, A.Y);
-                P2 = new(A.X + r, A.Y - K * r);
-                C = new(A.X + r, A.Y - r);
-                break;
-
-            default:
-                throw new ArgumentOutOfRangeException(nameof(q));
-        }
-
-        return new QuarterResult(
-            C,
-            new
-            {
-                degree = 3,
-                knotVector = new[] { 0, 0, 0, 0, 1, 1, 1, 1 },
-                controlPoints = new[]
-                {
-                    new { x = A.X,  y = A.Y  },  // P0
-                    new { x = P1.X, y = P1.Y },  // P1
-                    new { x = P2.X, y = P2.Y },  // P2
-                    new { x = C.X,  y = C.Y  }   // P3
-                }
-            }
-        );
-    }
-}
 // ======================================================
 // ORDER MESSAGE
 // ======================================================
@@ -141,110 +23,6 @@ public class OrderMessage
 
     public OrderMsg ToSchemaObject()
     {
-        // ================= SORT NODES BY UI SEQUENCE =================
-        var orderedNodes = Nodes
-            .OrderBy(n => n.SequenceId)
-            .ToList();
-
-        // ================= BUILD NODE OBJECTS =================
-        var nodeObjects = orderedNodes
-            .Select((n, index) => new Node
-            {
-                NodeId = n.NodeId,
-                SequenceId = index * 2,               // ✅ NODE = EVEN
-                Released = n.Released,
-
-                NodePosition = new NodePosition
-                {
-                    X = n.NodePosition.X,
-                    Y = n.NodePosition.Y,
-                    Theta = n.NodePosition.Theta,
-
-                    AllowedDeviationXY = n.NodePosition.AllowedDeviationXY,
-                    AllowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,
-
-                    MapId = string.IsNullOrWhiteSpace(n.NodePosition.MapId)
-                        ? "MAP_01"
-                        : n.NodePosition.MapId
-                },
-
-                Actions = n.Actions?
-                    .Select(a => new VDA5050.InstantAction.Action
-                    {
-                        ActionId = a.ActionId,
-                        ActionType = a.ActionType,
-                        BlockingType = a.BlockingType,
-
-                        ActionParameters = a.ActionParameters?
-                            .Select(p => new ActionParameter
-                            {
-                                Key = p.Key,
-                                Value = p.Value
-                            })
-                            .ToArray()
-                            ?? []
-                    })
-                    .ToArray()
-                    ?? []
-            })
-            .ToArray();
-
-        // ================= BUILD EDGE OBJECTS =================
-        Edge[] edgeObjects = Edges
-            .Select((e, index) =>
-            {
-                int sequenceId = index * 2 + 1;        // ✅ EDGE = ODD
-
-                // ---------- BASE ----------
-                var baseEdge = new
-                {
-                    edgeId = e.EdgeId,
-                    sequenceId,
-                    released = true,
-                    startNodeId = e.StartNodeId,
-                    endNodeId = e.EndNodeId
-                };
-
-                // =================================================
-                // 1️⃣ IMPORTED TRAJECTORY
-                // =================================================
-                if (e.Trajectory != null)
-                {
-                    return new Edge
-                    {
-                        EdgeId = baseEdge.edgeId,
-                        SequenceId = baseEdge.sequenceId,
-                        Released= baseEdge.released,
-                        StartNodeId= baseEdge.startNodeId,
-                        EndNodeId= baseEdge.endNodeId,
-
-                        Trajectory = new Trajectory
-                        {
-                            Degree = e.Trajectory.Degree,
-                            KnotVector = e.Trajectory.KnotVector,
-                            ControlPoints = e.Trajectory.ControlPoints
-                                .Select(p => new ControlPoint { X = p.X, Y = p.Y , Weight = 1})
-                                .ToArray()
-                        },
-
-                        Actions = []
-                    };
-                }
-
-                return new Edge
-                {
-                    EdgeId = baseEdge.edgeId,
-                    SequenceId = baseEdge.sequenceId,
-                    Released = baseEdge.released,
-                    StartNodeId = baseEdge.startNodeId,
-                    EndNodeId = baseEdge.endNodeId,
-
-                    Actions = []
-                };
-            })
-            .ToArray();
-
-        // ================= FINAL SCHEMA OBJECT =================
         return new OrderMsg
         {
             HeaderId = (uint)HeaderId++,
@@ -262,8 +40,8 @@ public class OrderMessage
                 ? null
                 : ZoneSetId,
 
-            Nodes = nodeObjects,
+            Nodes = [..Nodes],
-            Edges = edgeObjects,
+            Edges = [..Edges],
         };
     }
 

RobotApp.Client/wwwroot/js/app.js

@@ -1 +1,10 @@
-
+window.copyToClipboardFallback = function (text) {
+    const textarea = document.createElement('textarea');
+    textarea.value = text;
+    textarea.style.position = 'fixed';
+    textarea.style.opacity = '0';
+    document.body.appendChild(textarea);
+    textarea.select();
+    document.execCommand('copy');
+    document.body.removeChild(textarea);
+}

RobotApp.VDA5050/State/EdgeState.cs

@@ -13,5 +13,5 @@ public class EdgeState
     public string EdgeDescription { get; set; } = string.Empty;
     [Required]
     public bool Released { get; set; }
-    public Trajectory Trajectory { get; set; } = new();
+    public Trajectory? Trajectory { get; set; }
 }

RobotApp/Services/Robot/RobotOrderController.cs

@@ -480,17 +480,22 @@ public class RobotOrderController(INavigation NavigationManager,
             for (int i = 0; i < nodes.Count - 1; i++)
             {
                 if (edges[i] is null) return (NodeStates, [.. pathEdges]);
+
+                var trajectory = edges[i].Trajectory;
+                var controlPoints = trajectory?.ControlPoints;
+
+
                 pathEdges.Add(new()
                 {
                     StartX = nodes[i].NodePosition.X,
                     StartY = nodes[i].NodePosition.Y,
                     EndX = nodes[i + 1].NodePosition.X,
                     EndY = nodes[i + 1].NodePosition.Y,
-                    ControlPoint1X = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].X : 0,
+                    ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
-                    ControlPoint1Y = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].Y : 0,
+                    ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
-                    ControlPoint2X = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].X : 0,
+                    ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
-                    ControlPoint2Y = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].Y : 0,
+                    ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
-                    Degree = edges[i].Trajectory is null ? 1 : edges[i].Trajectory.Degree,
+                    Degree = trajectory is null ? 1 : trajectory.Degree,
                 });
             }
         }

RobotApp/Services/Robot/RobotPathPlanner.cs

@@ -21,11 +21,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
             Y1 = inNode.NodePosition.Y,
             X2 = futureNode.NodePosition.X,
             Y2 = futureNode.NodePosition.Y,
-            ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
+            ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
-            ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
+            ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
-            ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
+            ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
-            ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
+            ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
-            TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
+            TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
         });
         (double robotx, double roboty) =
         (
@@ -61,30 +61,46 @@ public class RobotPathPlanner(IConfiguration Configuration)
         navigationNodes[0].Direction = GetDirectionInNode(currentTheta, nodes[0], nodes[1], edges[0]);
         for (int i = 1; i < nodes.Length - 1; i++)
         {
+            var trajectory = edges[i - 1].Trajectory;
+            var controlPoints = trajectory?.ControlPoints;
             (double lastx, double lasty) = MathExtensions.Curve(0.1, new()
             {
                 X1 = nodes[i - 1].NodePosition.X,
                 Y1 = nodes[i - 1].NodePosition.Y,
                 X2 = nodes[i].NodePosition.X,
                 Y2 = nodes[i].NodePosition.Y,
-                ControlPoint1X = edges[i - 1].Trajectory.ControlPoints.Length > 2 ? edges[i - 1].Trajectory.ControlPoints[1].X : 0,
+                ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
-                ControlPoint1Y = edges[i - 1].Trajectory.ControlPoints.Length > 2 ? edges[i - 1].Trajectory.ControlPoints[1].Y : 0,
+                ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
-                ControlPoint2X = edges[i - 1].Trajectory.ControlPoints.Length > 3 ? edges[i - 1].Trajectory.ControlPoints[2].X : 0,
+                ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
-                ControlPoint2Y = edges[i - 1].Trajectory.ControlPoints.Length > 3 ? edges[i - 1].Trajectory.ControlPoints[2].Y : 0,
+                ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
-                TrajectoryDegree = edges[i - 1].Trajectory.Degree == 1 ? TrajectoryDegree.One : edges[i - 1].Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
+                TrajectoryDegree = trajectory?.Degree switch
+                {
+                    1 => TrajectoryDegree.One,
+                    2 => TrajectoryDegree.Two,
+                    _ => TrajectoryDegree.Three
+                },
             });
+
+            trajectory = edges[i].Trajectory;
+            controlPoints = trajectory?.ControlPoints;
             (double futurex, double futurey) = MathExtensions.Curve(0.1, new()
             {
                 X1 = nodes[i].NodePosition.X,
                 Y1 = nodes[i].NodePosition.Y,
                 X2 = nodes[i + 1].NodePosition.X,
                 Y2 = nodes[i + 1].NodePosition.Y,
-                ControlPoint1X = edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].X : 0,
+                ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
-                ControlPoint1Y = edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].Y : 0,
+                ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
-                ControlPoint2X = edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].X : 0,
+                ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
-                ControlPoint2Y = edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].Y : 0,
+                ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
-                TrajectoryDegree = edges[i].Trajectory.Degree == 1 ? TrajectoryDegree.One : edges[i].Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
+                TrajectoryDegree = trajectory?.Degree switch
+                {
+                    1 => TrajectoryDegree.One,
+                    2 => TrajectoryDegree.Two,
+                    _ => TrajectoryDegree.Three
+                },
             });
+
             var angle = MathExtensions.GetVectorAngle(
                 nodes[i].NodePosition.X,
                 nodes[i].NodePosition.Y,
@@ -128,11 +144,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
                 Y1 = startNode.Y,
                 X2 = endNode.X,
                 Y2 = endNode.Y,
-                ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
+                ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
-                ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
+                ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
-                ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
+                ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
-                ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
+                ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
-                TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
+                TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
             };
 
             double length = EdgeCalculatorModel.GetEdgeLength();
@@ -194,11 +210,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
                 Y1 = startNode.NodePosition.Y,
                 X2 = endNode.NodePosition.X,
                 Y2 = endNode.NodePosition.Y,
-                ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
+                ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
-                ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
+                ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
-                ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
+                ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
-                ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
+                ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
-                TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
+                TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
             };
 
             double length = EdgeCalculatorModel.GetEdgeLength();