From 6cd32f8c98ad5c9d2fdeed48ab08339adf5db4b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=C4=90=C4=83ng=20Nguy=E1=BB=85n?= <dangnv2512@gmail.com>
Date: Sat, 20 Dec 2025 15:16:59 +0700
Subject: [PATCH] update

---
 RobotApp.Client/MainLayout.razor              |   2 +-
 .../Config/RobotSimulationConfig.razor        |   2 +-
 .../Pages/RobotConfigManager.razor            |  11 +-
 RobotApp.VDA5050/Type/ActionType.cs           |  32 +-
 .../Controllers/RobotConfigsController.cs     |   3 +-
 .../Robot/Actions/RobotDockToAction.cs        |   2 +
 .../Actions/RobotFactsheetRequestAction.cs    |   1 +
 .../Actions/RobotMoveStraightToCoorAction.cs  |   2 +
 .../RobotMoveStraightWithDistanceAction.cs    |   2 +
 RobotApp/Services/Robot/RobotActionStorage.cs |  24 +-
 RobotApp/Services/Robot/RobotConfiguration.cs |   6 +
 RobotApp/Services/Robot/RobotConnection.cs    |   6 +-
 RobotApp/Services/Robot/RobotController.cs    |   7 -
 RobotApp/Services/Robot/RobotErrors.cs        |   7 +
 RobotApp/Services/Robot/RobotFactsheet.cs     | 366 +++++++++---------
 .../Services/Robot/RobotOrderController.cs    |  65 +++-
 RobotApp/Services/Robot/RobotStates.cs        |   4 +-
 .../Navigation/SimulationNavigation.cs        |   7 +-
 18 files changed, 298 insertions(+), 251 deletions(-)

diff --git a/RobotApp.Client/MainLayout.razor b/RobotApp.Client/MainLayout.razor
index 1528768..0e76f9d 100644
--- a/RobotApp.Client/MainLayout.razor
+++ b/RobotApp.Client/MainLayout.razor
@@ -70,7 +70,7 @@
 
     public NavModel[] Navs = [
         new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
+        // new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
         new(){Icon = "mdi-application-cog", Path="/robot-config", Label = "Config", Match = NavLinkMatch.All},
     ];
 
diff --git a/RobotApp.Client/Pages/Components/Config/RobotSimulationConfig.razor b/RobotApp.Client/Pages/Components/Config/RobotSimulationConfig.razor
index f6ca067..717f488 100644
--- a/RobotApp.Client/Pages/Components/Config/RobotSimulationConfig.razor
+++ b/RobotApp.Client/Pages/Components/Config/RobotSimulationConfig.razor
@@ -5,7 +5,7 @@
         <DataAnnotationsValidator />
 
         <div class="form-check mb-2">
-            <InputCheckbox class="form-check-input" @bind-Value="Model.EnableSimulation" />
+            <InputCheckbox class="form-check-input" Value="Model.EnableSimulation" />
             <label class="form-check-label">Enable Simulation</label>
             <ValidationMessage For="@(() => Model.EnableSimulation)" />
         </div>
diff --git a/RobotApp.Client/Pages/RobotConfigManager.razor b/RobotApp.Client/Pages/RobotConfigManager.razor
index a214fd2..ca8fc8f 100644
--- a/RobotApp.Client/Pages/RobotConfigManager.razor
+++ b/RobotApp.Client/Pages/RobotConfigManager.razor
@@ -16,7 +16,7 @@
             <label class="rcm-label" for="configType">Config Type</label>
             <div class="rcm-select-wrapper">
                 <select id="configType" class="form-select rcm-select" value="@SelectedType" @onchange="OnTypeChanged">
-                    @foreach (var type in Enum.GetValues<RobotConfigType>())
+                    @foreach (var type in GetConfigType)
                     {
                         <option value="@type">@type</option>
                     }
@@ -31,9 +31,9 @@
 
         <div class="rcm-toolbar-right">
             <div class="rcm-action-group">
-                <button type="button" class="btn rcm-icon-btn" data-tooltip="Add config" aria-label="Add" @onclick="OpenAddConfig">
+                @* <button type="button" class="btn rcm-icon-btn" data-tooltip="Add config" aria-label="Add" @onclick="OpenAddConfig">
                     <i class="mdi mdi-plus" aria-hidden="true"></i>
-                </button>
+                </button> *@
 
                 <button type="button" class="btn rcm-icon-btn" data-tooltip="Update config" aria-label="Update" @onclick="SaveConfig">
                     <i class="mdi mdi-content-save" aria-hidden="true"></i>
@@ -43,9 +43,9 @@
                     <i class="mdi mdi-file-download" aria-hidden="true"></i>
                 </button>
 
-                <button type="button" class="btn rcm-icon-btn rcm-danger" data-tooltip="Delete config" aria-label="Delete" @onclick="DeleteConfig">
+                @* <button type="button" class="btn rcm-icon-btn rcm-danger" data-tooltip="Delete config" aria-label="Delete" @onclick="DeleteConfig">
                     <i class="mdi mdi-delete" aria-hidden="true"></i>
-                </button>
+                </button> *@
             </div>
         </div>
     </div>
@@ -227,6 +227,7 @@
     private AddFormModel addForm = new();
 
     private string SelectedTemplateIdString = string.Empty;
+    private IEnumerable<RobotConfigType> GetConfigType = [RobotConfigType.VDA5050, RobotConfigType.Simulation];
 
     private IEnumerable<(Guid Id, string Name, bool Active)> GetTemplatesForSelectedType()
     {
diff --git a/RobotApp.VDA5050/Type/ActionType.cs b/RobotApp.VDA5050/Type/ActionType.cs
index 7b58bd5..b1e1acc 100644
--- a/RobotApp.VDA5050/Type/ActionType.cs
+++ b/RobotApp.VDA5050/Type/ActionType.cs
@@ -10,24 +10,24 @@ public enum ActionType
     stateRequest,
     factsheetRequest,
 
-    logReport,
+    //logReport,
     pick,
     drop,
-    detectObject,
-    finePositioning,
-    waitForTrigger,
+    //detectObject,
+    //finePositioning,
+    //waitForTrigger,
 
     cancelOrder,
-    liftUp,
-    liftDown,
-    liftRotate,
-    rotate,
-    rotateKeepLift,
-    mutedBaseOn,
-    mutedBaseOff,
-    mutedLoadOn,
-    mutedLoadOff,
-    dockTo,
-    moveStraightToCoor,
-    moveStraightWithDistance,
+    //liftUp,
+    //liftDown,
+    //liftRotate,
+    //rotate,
+    //rotateKeepLift,
+    //mutedBaseOn,
+    //mutedBaseOff,
+    //mutedLoadOn,
+    //mutedLoadOff,
+    //dockTo,
+    //moveStraightToCoor,
+    //moveStraightWithDistance,
 }
\ No newline at end of file
diff --git a/RobotApp/Controllers/RobotConfigsController.cs b/RobotApp/Controllers/RobotConfigsController.cs
index c3394ba..5fa4199 100644
--- a/RobotApp/Controllers/RobotConfigsController.cs
+++ b/RobotApp/Controllers/RobotConfigsController.cs
@@ -850,7 +850,8 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
     {
         try
         {
-            //await RobotConfiguration.LoadVDA5050ConfigAsync();
+            await RobotConfiguration.LoadVDA5050ConfigAsync();
+            await RobotConfiguration.LoadRobotSimulationConfigAsync();
             return new(true, "Robot configuration loaded successfully.");
         }
         catch (Exception ex)
diff --git a/RobotApp/Services/Robot/Actions/RobotDockToAction.cs b/RobotApp/Services/Robot/Actions/RobotDockToAction.cs
index d319905..ae91c42 100644
--- a/RobotApp/Services/Robot/Actions/RobotDockToAction.cs
+++ b/RobotApp/Services/Robot/Actions/RobotDockToAction.cs
@@ -4,6 +4,8 @@ public class RobotDockToAction(IServiceProvider ServiceProvider) : RobotAction(S
 {
     protected override Task StartAction()
     {
+        Status = VDA5050.State.ActionStatus.FINISHED;
+        ResultDescription = AgvAction is null ? ResultDescription : AgvAction.ResultDescription;
         return base.StartAction();
     }
 
diff --git a/RobotApp/Services/Robot/Actions/RobotFactsheetRequestAction.cs b/RobotApp/Services/Robot/Actions/RobotFactsheetRequestAction.cs
index 84ed488..163ac9e 100644
--- a/RobotApp/Services/Robot/Actions/RobotFactsheetRequestAction.cs
+++ b/RobotApp/Services/Robot/Actions/RobotFactsheetRequestAction.cs
@@ -10,6 +10,7 @@ public class RobotFactsheetRequestAction(IServiceProvider ServiceProvider) : Rob
         var RobotFactsheet = Scope.ServiceProvider.GetRequiredService<RobotFactsheet>();
         await RobotFactsheet.PubFactsheet();
         Status = VDA5050.State.ActionStatus.FINISHED;
+        ResultDescription = AgvAction is null ? ResultDescription : AgvAction.ResultDescription;
     }
 
     protected override Task ExecuteAction()
diff --git a/RobotApp/Services/Robot/Actions/RobotMoveStraightToCoorAction.cs b/RobotApp/Services/Robot/Actions/RobotMoveStraightToCoorAction.cs
index 1d93485..38f0391 100644
--- a/RobotApp/Services/Robot/Actions/RobotMoveStraightToCoorAction.cs
+++ b/RobotApp/Services/Robot/Actions/RobotMoveStraightToCoorAction.cs
@@ -4,6 +4,8 @@ public class RobotMoveStraightToCoorAction(IServiceProvider ServiceProvider) : R
 {
     protected override Task StartAction()
     {
+        Status = VDA5050.State.ActionStatus.FINISHED;
+        ResultDescription = AgvAction is null ? ResultDescription : AgvAction.ResultDescription;
         return base.StartAction();
     }
 
diff --git a/RobotApp/Services/Robot/Actions/RobotMoveStraightWithDistanceAction.cs b/RobotApp/Services/Robot/Actions/RobotMoveStraightWithDistanceAction.cs
index eda820f..b890562 100644
--- a/RobotApp/Services/Robot/Actions/RobotMoveStraightWithDistanceAction.cs
+++ b/RobotApp/Services/Robot/Actions/RobotMoveStraightWithDistanceAction.cs
@@ -4,6 +4,8 @@ public class RobotMoveStraightWithDistanceAction(IServiceProvider ServiceProvide
 {
     protected override Task StartAction()
     {
+        Status = VDA5050.State.ActionStatus.FINISHED;
+        ResultDescription = AgvAction is null ? ResultDescription : AgvAction.ResultDescription;
         return base.StartAction();
     }
 
diff --git a/RobotApp/Services/Robot/RobotActionStorage.cs b/RobotApp/Services/Robot/RobotActionStorage.cs
index a9f4e0e..738ae65 100644
--- a/RobotApp/Services/Robot/RobotActionStorage.cs
+++ b/RobotApp/Services/Robot/RobotActionStorage.cs
@@ -16,20 +16,20 @@ public class RobotActionStorage(IServiceProvider ServiceProvider)
         ActionType.stateRequest => new RobotStateRequestAction(ServiceProvider),
         ActionType.factsheetRequest => new RobotFactsheetRequestAction(ServiceProvider),
         ActionType.cancelOrder => new RobotCancelOrderAction(ServiceProvider),
-        ActionType.liftUp => new RobotLiftUpAction(ServiceProvider),
-        ActionType.liftDown => new RobotLiftDownAction(ServiceProvider),
+        //ActionType.liftUp => new RobotLiftUpAction(ServiceProvider),
+        //ActionType.liftDown => new RobotLiftDownAction(ServiceProvider),
         ActionType.drop => new RobotDropAction(ServiceProvider),
         ActionType.pick => new RobotPickAction(ServiceProvider),
-        ActionType.liftRotate => new RobotLiftRotateAction(ServiceProvider),
-        ActionType.rotate => new RobotRotateAction(ServiceProvider),
-        ActionType.rotateKeepLift => new RobotRotateKeepLift(ServiceProvider),
-        ActionType.mutedBaseOn => new RobotMutedBaseOnAction(ServiceProvider),
-        ActionType.mutedBaseOff => new RobotMutedBaseOffAction(ServiceProvider),
-        ActionType.mutedLoadOn => new RobotMutedLoadOnAction(ServiceProvider),
-        ActionType.mutedLoadOff => new RobotMutedLoadOffAction(ServiceProvider),
-        ActionType.dockTo => new RobotDockToAction(ServiceProvider),
-        ActionType.moveStraightToCoor => new RobotMoveStraightToCoorAction(ServiceProvider),
-        ActionType.moveStraightWithDistance => new RobotMoveStraightWithDistanceAction(ServiceProvider),
+        //ActionType.liftRotate => new RobotLiftRotateAction(ServiceProvider),
+        //ActionType.rotate => new RobotRotateAction(ServiceProvider),
+        //ActionType.rotateKeepLift => new RobotRotateKeepLift(ServiceProvider),
+        //ActionType.mutedBaseOn => new RobotMutedBaseOnAction(ServiceProvider),
+        //ActionType.mutedBaseOff => new RobotMutedBaseOffAction(ServiceProvider),
+        //ActionType.mutedLoadOn => new RobotMutedLoadOnAction(ServiceProvider),
+        //ActionType.mutedLoadOff => new RobotMutedLoadOffAction(ServiceProvider),
+        //ActionType.dockTo => new RobotDockToAction(ServiceProvider),
+        //ActionType.moveStraightToCoor => new RobotMoveStraightToCoorAction(ServiceProvider),
+        //ActionType.moveStraightWithDistance => new RobotMoveStraightWithDistanceAction(ServiceProvider),
         _ => null,
     };
 }
diff --git a/RobotApp/Services/Robot/RobotConfiguration.cs b/RobotApp/Services/Robot/RobotConfiguration.cs
index ea027c9..4f3c0f0 100644
--- a/RobotApp/Services/Robot/RobotConfiguration.cs
+++ b/RobotApp/Services/Robot/RobotConfiguration.cs
@@ -54,6 +54,12 @@ public class RobotConfiguration(IServiceProvider ServiceProvider, Logger<RobotCo
                 VDA5050Setting.CerFile = config.VDA5050Cer;
                 VDA5050Setting.KeyFile = config.VDA5050Key;
                 SerialNumber = config.SerialNumber;
+                if (IsReady)
+                {
+                    var robotConnection = scope.ServiceProvider.GetRequiredService<RobotConnection>();
+                    await robotConnection.StopConnection();
+                    _ = Task.Run(async () => await robotConnection.StartConnection(CancellationToken.None));
+                }
             }
             else throw new Exception("Chưa có cấu hình VDA5050.");
         }
diff --git a/RobotApp/Services/Robot/RobotConnection.cs b/RobotApp/Services/Robot/RobotConnection.cs
index 4bef6d3..dc35a47 100644
--- a/RobotApp/Services/Robot/RobotConnection.cs
+++ b/RobotApp/Services/Robot/RobotConnection.cs
@@ -65,6 +65,10 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
 
     public async Task StopConnection()
     {
-        if (MqttClient is not null) await MqttClient.DisposeAsync();
+        if (MqttClient is not null)
+        {
+            await MqttClient.DisposeAsync();
+            MqttClient = null;
+        }
     }
 }
diff --git a/RobotApp/Services/Robot/RobotController.cs b/RobotApp/Services/Robot/RobotController.cs
index f7d3581..2cc2896 100644
--- a/RobotApp/Services/Robot/RobotController.cs
+++ b/RobotApp/Services/Robot/RobotController.cs
@@ -40,13 +40,6 @@ public partial class RobotController(IOrder OrderManager,
             try
             {
                 if (StateManager.RootStateName != RootStateType.Auto.ToString()) throw new OrderException(RobotErrors.Error1013(StateManager.RootStateName));
-                //if (OrderManager.NodeStates.Length > 0)
-                //{
-                //    if (ActionManager.HasActionRunning) throw new OrderException(RobotErrors.Error1007());
-                //    if (ErrorManager.HasFatalError) throw new OrderException(RobotErrors.Error1008());
-                //    if (NavigationManager.Driving) throw new OrderException(RobotErrors.Error1009());
-                //}
-                //else if (order.OrderId != OrderManager.OrderId) throw new OrderException(RobotErrors.Error1001(OrderManager.OrderId, order.OrderId));
                 OrderManager.UpdateOrder(order);
             }
             catch (RobotExeption orEx)
diff --git a/RobotApp/Services/Robot/RobotErrors.cs b/RobotApp/Services/Robot/RobotErrors.cs
index 6ba52f2..a8b289c 100644
--- a/RobotApp/Services/Robot/RobotErrors.cs
+++ b/RobotApp/Services/Robot/RobotErrors.cs
@@ -99,6 +99,13 @@ public class RobotErrors : IError
         => CreateError(ErrorType.INITIALIZE_ORDER, "1014", ErrorLevel.WARNING, $"Edge {edgeId} chứa StartNodeId {nodeId} không tồn tại trong Nodes");
     public static Error Error1015(string edgeId, string nodeId)
         => CreateError(ErrorType.INITIALIZE_ORDER, "1015", ErrorLevel.WARNING, $"Edge {edgeId} chứa {nodeId} không tồn tại trong Nodes");
+    public static Error Error1016(string lastNodeId, string newStartNodeId)
+        => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại order", ErrorLevel.WARNING, $"Order mới nhận được không phải là nối tiếp của order khi lastNodeId: {lastNodeId} mà node đầu tiên của order mới là: {newStartNodeId}");
+    public static Error Error1017(int lastNodeSequenceId, int newStartNodeSequenceId)
+        => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại order", ErrorLevel.WARNING, $"Order mới nhận được không phải là nối tiếp của order khi LastNodeSequenceId: {lastNodeSequenceId} mà node đầu tiên của order mới có sequence: {newStartNodeSequenceId}");
+    public static Error Error1018(int oldOrderUpdateId, int newOrderUpdateId)
+        => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại OrderUpdateId", ErrorLevel.WARNING, $"OrderUpdateId {newOrderUpdateId} nhận được nhỏ hơn OrderUpdateId hiện tại là {oldOrderUpdateId}");
+
 
     public static Error Error2001()
         => CreateError(ErrorType.READ_PERIPHERAL_FAILURE, "2001", ErrorLevel.FATAL, "Có lỗi xảy ra trong quá trình đọc tín hiệu từ hệ thống ngoại vi(PLC)");
diff --git a/RobotApp/Services/Robot/RobotFactsheet.cs b/RobotApp/Services/Robot/RobotFactsheet.cs
index 61faa6a..eecbc43 100644
--- a/RobotApp/Services/Robot/RobotFactsheet.cs
+++ b/RobotApp/Services/Robot/RobotFactsheet.cs
@@ -20,20 +20,20 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
             { ActionType.stateRequest, StateRequest},
             { ActionType.factsheetRequest, FactsheetRequest},
             { ActionType.cancelOrder, CancelOrder},
-            { ActionType.liftUp, LiftUp},
-            { ActionType.liftDown, LiftDown},
+            //{ ActionType.liftUp, LiftUp},
+            //{ ActionType.liftDown, LiftDown},
             { ActionType.pick, Pick},
             { ActionType.drop, Drop},
-            { ActionType.liftRotate, LiftRotate},
-            { ActionType.rotate, Rotate},
-            { ActionType.rotateKeepLift, RotateKeepLift},
-            { ActionType.mutedBaseOn, MutedBaseOn},
-            { ActionType.mutedBaseOff, MutedBaseOff},
-            { ActionType.mutedLoadOn, MutedLoadOn},
-            { ActionType.mutedLoadOff, MutedLoadOff},
-            { ActionType.dockTo, DockTo},
-            { ActionType.moveStraightToCoor, MoveStraightToCoor},
-            { ActionType.moveStraightWithDistance, MoveStraightWithDistance},
+            //{ ActionType.liftRotate, LiftRotate},
+            //{ ActionType.rotate, Rotate},
+            //{ ActionType.rotateKeepLift, RotateKeepLift},
+            //{ ActionType.mutedBaseOn, MutedBaseOn},
+            //{ ActionType.mutedBaseOff, MutedBaseOff},
+            //{ ActionType.mutedLoadOn, MutedLoadOn},
+            //{ ActionType.mutedLoadOff, MutedLoadOff},
+            //{ ActionType.dockTo, DockTo},
+            //{ ActionType.moveStraightToCoor, MoveStraightToCoor},
+            //{ ActionType.moveStraightWithDistance, MoveStraightWithDistance},
         };
 
     public AgvAction? GetAction(ActionType actionType) => AgvActions.TryGetValue(actionType, out AgvAction? value) && value is not null ? value : null;
@@ -167,25 +167,25 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
         BlockingTypes = [BlockingType.NONE.ToString()],
     };
 
-    public readonly static AgvAction LiftUp = new()
-    {
-        ActionType = ActionType.liftUp.ToString(),
-        ActionDescription = "Nâng cao bàn nâng của robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã nâng cao bàn nâng.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction LiftUp = new()
+    //{
+    //    ActionType = ActionType.liftUp.ToString(),
+    //    ActionDescription = "Nâng cao bàn nâng của robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã nâng cao bàn nâng.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction LiftDown = new()
-    {
-        ActionType = ActionType.liftDown.ToString(),
-        ActionDescription = "Hạ thấp bàn nâng của robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã hạ thấp bàn nâng.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction LiftDown = new()
+    //{
+    //    ActionType = ActionType.liftDown.ToString(),
+    //    ActionDescription = "Hạ thấp bàn nâng của robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã hạ thấp bàn nâng.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
     public readonly static AgvAction Pick = new()
     {
@@ -207,166 +207,166 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
         BlockingTypes = [BlockingType.HARD.ToString()],
     };
 
-    public readonly static AgvAction LiftRotate = new()
-    {
-        ActionType = ActionType.liftRotate.ToString(),
-        ActionDescription = "Xoay bàn nâng của robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "angle",
-                Description = "Góc xoay của bàn nâng. (rad)",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            }],
-        ResultDescription = "Robot đã xoay bàn nâng.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction LiftRotate = new()
+    //{
+    //    ActionType = ActionType.liftRotate.ToString(),
+    //    ActionDescription = "Xoay bàn nâng của robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "angle",
+    //            Description = "Góc xoay của bàn nâng. (rad)",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        }],
+    //    ResultDescription = "Robot đã xoay bàn nâng.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction Rotate = new()
-    {
-        ActionType = ActionType.rotate.ToString(),
-        ActionDescription = "Xoay robot tại chỗ.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "angle",
-                Description = "Góc xoay của robot. (rad)",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            }],
-        ResultDescription = "Robot đã xoay tại chỗ.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction Rotate = new()
+    //{
+    //    ActionType = ActionType.rotate.ToString(),
+    //    ActionDescription = "Xoay robot tại chỗ.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "angle",
+    //            Description = "Góc xoay của robot. (rad)",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        }],
+    //    ResultDescription = "Robot đã xoay tại chỗ.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction RotateKeepLift = new()
-    {
-        ActionType = ActionType.rotateKeepLift.ToString(),
-        ActionDescription = "Xoay robot tại chỗ giữ nguyên trạng thái bàn nâng.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "angle",
-                Description = "Góc xoay của robot. (rad)",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            }],
-        ResultDescription = "Robot đã xoay tại chỗ giữ nguyên trạng thái bàn nâng.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction RotateKeepLift = new()
+    //{
+    //    ActionType = ActionType.rotateKeepLift.ToString(),
+    //    ActionDescription = "Xoay robot tại chỗ giữ nguyên trạng thái bàn nâng.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "angle",
+    //            Description = "Góc xoay của robot. (rad)",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        }],
+    //    ResultDescription = "Robot đã xoay tại chỗ giữ nguyên trạng thái bàn nâng.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MutedBaseOn = new()
-    {
-        ActionType = ActionType.mutedBaseOn.ToString(),
-        ActionDescription = "Bật chế độ muted base robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã bật chế độ muted base.",
-        BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MutedBaseOn = new()
+    //{
+    //    ActionType = ActionType.mutedBaseOn.ToString(),
+    //    ActionDescription = "Bật chế độ muted base robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã bật chế độ muted base.",
+    //    BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MutedBaseOff = new()
-    {
-        ActionType = ActionType.mutedBaseOff.ToString(),
-        ActionDescription = "Tắt chế độ muted base robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã tắt chế độ muted base.",
-        BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MutedBaseOff = new()
+    //{
+    //    ActionType = ActionType.mutedBaseOff.ToString(),
+    //    ActionDescription = "Tắt chế độ muted base robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã tắt chế độ muted base.",
+    //    BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MutedLoadOn = new()
-    {
-        ActionType = ActionType.mutedLoadOn.ToString(),
-        ActionDescription = "Bật chế độ muted load robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã bật chế độ muted load.",
-        BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MutedLoadOn = new()
+    //{
+    //    ActionType = ActionType.mutedLoadOn.ToString(),
+    //    ActionDescription = "Bật chế độ muted load robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã bật chế độ muted load.",
+    //    BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MutedLoadOff = new()
-    {
-        ActionType = ActionType.mutedLoadOff.ToString(),
-        ActionDescription = "Tắt chế độ muted load robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã tắt chế độ muted load.",
-        BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MutedLoadOff = new()
+    //{
+    //    ActionType = ActionType.mutedLoadOff.ToString(),
+    //    ActionDescription = "Tắt chế độ muted load robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã tắt chế độ muted load.",
+    //    BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction DockTo = new()
-    {
-        ActionType = ActionType.dockTo.ToString(),
-        ActionDescription = "Robot di chuyển vào vị trí đặc biết",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "dockId",
-                Description = "ID của vị trí dock.",
-                ValueDataType = ValueDataType.STRING.ToString(),
-                IsOptional = false,
-            }],
-        ResultDescription = "Robot đã dock đến vị trí sạc hoặc bến đỗ.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction DockTo = new()
+    //{
+    //    ActionType = ActionType.dockTo.ToString(),
+    //    ActionDescription = "Robot di chuyển vào vị trí đặc biết",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "dockId",
+    //            Description = "ID của vị trí dock.",
+    //            ValueDataType = ValueDataType.STRING.ToString(),
+    //            IsOptional = false,
+    //        }],
+    //    ResultDescription = "Robot đã dock đến vị trí sạc hoặc bến đỗ.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MoveStraightToCoor = new()
-    {
-        ActionType = ActionType.moveStraightToCoor.ToString(),
-        ActionDescription = "Di chuyển thẳng đến tọa độ xác định.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "x",
-                Description = "Tọa độ X đích đến.",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            },
-            new()
-            {
-                Key = "y",
-                Description = "Tọa độ Y đích đến.",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            }],
-        ResultDescription = "Robot đã di chuyển thẳng đến tọa độ xác định.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MoveStraightToCoor = new()
+    //{
+    //    ActionType = ActionType.moveStraightToCoor.ToString(),
+    //    ActionDescription = "Di chuyển thẳng đến tọa độ xác định.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "x",
+    //            Description = "Tọa độ X đích đến.",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        },
+    //        new()
+    //        {
+    //            Key = "y",
+    //            Description = "Tọa độ Y đích đến.",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        }],
+    //    ResultDescription = "Robot đã di chuyển thẳng đến tọa độ xác định.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MoveStraightWithDistance = new()
-    {
-        ActionType = ActionType.moveStraightWithDistance.ToString(),
-        ActionDescription = "Di chuyển thẳng với khoảng cách xác định.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "distance",
-                Description = "Khoảng cách di chuyển. (m)",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            },
-            new()
-            {
-                Key = "direction",
-                Description = "Hướng di chuyển: 1 - tiến, -1 - lùi.",
-                ValueDataType = ValueDataType.INTEGER.ToString(),
-                IsOptional = false,
-            },
-            new()
-            {
-                Key = "angle",
-                Description = "Góc di chuyển so với hướng hiện tại của robot. (rad)",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = true,
-            }],
-        ResultDescription = "Robot đã di chuyển thẳng với khoảng cách xác định.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MoveStraightWithDistance = new()
+    //{
+    //    ActionType = ActionType.moveStraightWithDistance.ToString(),
+    //    ActionDescription = "Di chuyển thẳng với khoảng cách xác định.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "distance",
+    //            Description = "Khoảng cách di chuyển. (m)",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        },
+    //        new()
+    //        {
+    //            Key = "direction",
+    //            Description = "Hướng di chuyển: 1 - tiến, -1 - lùi.",
+    //            ValueDataType = ValueDataType.INTEGER.ToString(),
+    //            IsOptional = false,
+    //        },
+    //        new()
+    //        {
+    //            Key = "angle",
+    //            Description = "Góc di chuyển so với hướng hiện tại của robot. (rad)",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = true,
+    //        }],
+    //    ResultDescription = "Robot đã di chuyển thẳng với khoảng cách xác định.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 }
diff --git a/RobotApp/Services/Robot/RobotOrderController.cs b/RobotApp/Services/Robot/RobotOrderController.cs
index a6432e7..ebe336b 100644
--- a/RobotApp/Services/Robot/RobotOrderController.cs
+++ b/RobotApp/Services/Robot/RobotOrderController.cs
@@ -84,8 +84,6 @@ public class RobotOrderController(INavigation NavigationManager,
     {
         OrderTimer?.Dispose();
         OrderTimer = null;
-        //OrderId = string.Empty;
-        //OrderUpdateId = 0;
         OrderActions.Clear();
         ActionWaitingRunning.Clear();
         CurrentBaseNode = null;
@@ -157,12 +155,29 @@ public class RobotOrderController(INavigation NavigationManager,
 
     private void HandleNewOrder(OrderMsg order)
     {
-        //if (NavigationManager.State != NavigationState.Idle) throw new OrderException(RobotErrors.Error1012(NavigationManager.State));
+        if (order.OrderId == OrderId)
+        {
+            if (order.OrderUpdateId < OrderUpdateId) throw new OrderException(RobotErrors.Error1018(OrderUpdateId, order.OrderUpdateId));
+            if (order.OrderUpdateId == OrderUpdateId) return;
+            if (order.Nodes[0].NodeId != LastNodeId)
+            {
+                throw new OrderException(RobotErrors.Error1016(LastNodeId, order.Nodes[0].NodeId));
+            }
+            if (order.Nodes[0].SequenceId != LastNodeSequenceId)
+            {
+                throw new OrderException(RobotErrors.Error1017(LastNodeSequenceId, order.Nodes[0].SequenceId));
+            }
+        }
 
         OrderActions.Clear();
+        ActionManager.ClearInstantActions();
         LastNode = null;
         FinalAction = [];
         IsNavigationFinished = false;
+        IsCancelOrder = false;
+        IsActionRunning = false;
+        IsWaitingPaused = false;
+        ActionHard = null;
 
         for (int i = 0; i < order.Edges.Length; i++)
         {
@@ -203,8 +218,6 @@ public class RobotOrderController(INavigation NavigationManager,
                 }
                 else OrderActions.Add(order.Nodes[i].NodeId, order.Edges[i].Actions);
             }
-            //if (i > 0 && order.Nodes[i].SequenceId <= order.Nodes[i - 1].SequenceId) throw new OrderException(RobotErrors.Error1010(order.Nodes[i].NodeId, order.Nodes[i].SequenceId, i));
-            //if (i < order.Nodes.Length - 1 && order.Edges[i].SequenceId != i) throw new OrderException(RobotErrors.Error1011(order.Edges[i].EdgeId, order.Edges[i].SequenceId, i));
             if (order.Nodes[i].Released) CurrentBaseNode = order.Nodes[i];
         }
         SafetyManager.OnSafetySpeedChanged += OnSafetySpeedChanged;
@@ -250,6 +263,15 @@ public class RobotOrderController(INavigation NavigationManager,
         if (order.OrderId != OrderId) throw new OrderException(RobotErrors.Error1001(OrderId, order.OrderId));
         if (order.OrderUpdateId <= OrderUpdateId) return;
 
+        if (CurrentBaseNode is not null && order.Nodes[0].NodeId != CurrentBaseNode.NodeId)
+        {
+            throw new OrderException(RobotErrors.Error1016(LastNodeId, order.Nodes[0].NodeId));
+        }
+        if (CurrentBaseNode is not null && order.Nodes[0].SequenceId != CurrentBaseNode.SequenceId)
+        {
+            throw new OrderException(RobotErrors.Error1017(LastNodeSequenceId, order.Nodes[0].SequenceId));
+        }
+
         var lastBastNode = order.Nodes.Last(n => n.Released);
         if (lastBastNode is not null && lastBastNode.NodeId != CurrentBaseNode?.NodeId)
         {
@@ -266,14 +288,17 @@ public class RobotOrderController(INavigation NavigationManager,
     {
         if (IsCancelOrder)
         {
-            IsCancelOrder = false;
             NavigationManager.CancelMovement();
-            NavigationFinished();
-            return;
         }
 
         if (IsNavigationFinished || IsOneceNode)
         {
+            if (IsCancelOrder && !ActionManager.HasActionRunning)
+            {
+                HandleOrderStop();
+                return;
+            }
+
             if (FinalAction.Count > 0)
             {
                 var action = FinalAction[0];
@@ -338,14 +363,14 @@ public class RobotOrderController(INavigation NavigationManager,
             }
             else
             {
-                if (IsWaitingPaused) IsWaitingPaused = false;
+                if (IsWaitingPaused)
+                {
+                    IsWaitingPaused = false;
+                    NavigationManager.Resume();
+                    if (CurrentBaseNode is not null && CurrentBaseNode.NodeId != Nodes[0].NodeId && Nodes.Length > 1) NavigationManager.UpdateOrder(CurrentBaseNode.NodeId);
+                }
             }
         }
-
-        if (ActionHard == null && ActionWaitingRunning.IsEmpty)
-        {
-            NavigationManager.Resume();
-        }
     }
 
     private void OrderHandler()
@@ -361,12 +386,14 @@ public class RobotOrderController(INavigation NavigationManager,
                     NewOrder = null;
                 }
 
-                if (NewOrderHandler.Nodes.Length < 2) throw new OrderException(RobotErrors.Error1002(NewOrderHandler.Nodes.Length));
-                //if (NewOrderHandler.Edges.Length < 1) throw new OrderException(RobotErrors.Error1003(NewOrderHandler.Edges.Length));
-                //if (NewOrderHandler.Edges.Length != NewOrderHandler.Nodes.Length - 1) throw new OrderException(RobotErrors.Error1004(NewOrderHandler.Nodes.Length, NewOrderHandler.Edges.Length));
+                if (NewOrderHandler.Nodes.Length < 1) throw new OrderException(RobotErrors.Error1002(NewOrderHandler.Nodes.Length));
+                if (NewOrderHandler.Edges.Length != NewOrderHandler.Nodes.Length - 1) throw new OrderException(RobotErrors.Error1004(NewOrderHandler.Nodes.Length, NewOrderHandler.Edges.Length));
 
-                if (NodeStates.Length == 0) HandleNewOrder(NewOrderHandler);
-                else HandleUpdateOrder(NewOrderHandler);
+                if (NodeStates.Length != 0 || EdgeStates.Length != 0) HandleUpdateOrder(NewOrderHandler);
+                else
+                {
+                    HandleNewOrder(NewOrderHandler);
+                }
             }
             HandleOrder();
         }
diff --git a/RobotApp/Services/Robot/RobotStates.cs b/RobotApp/Services/Robot/RobotStates.cs
index 99b07b9..a8f6032 100644
--- a/RobotApp/Services/Robot/RobotStates.cs
+++ b/RobotApp/Services/Robot/RobotStates.cs
@@ -47,8 +47,8 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
             Maps = [],
             OrderId = OrderManager.OrderId,
             OrderUpdateId = OrderManager.OrderUpdateId,
-            ZoneSetId = "9879E7A9-CF5F-4ABD-924E-08DE1C3D25FE",
-            LastNodeId = string.IsNullOrEmpty(OrderManager.LastNodeId) ? "EE9959EC-B670-4D22-8BD2-08DE1C3D71FC" : OrderManager.LastNodeId,
+            ZoneSetId = "",
+            LastNodeId = OrderManager.LastNodeId,
             LastNodeSequenceId = OrderManager.LastNodeSequenceId,
             Driving = NavigationManager.VelocityX > 0 || NavigationManager.Omega > 0,
             Paused = false,
diff --git a/RobotApp/Services/Robot/Simulation/Navigation/SimulationNavigation.cs b/RobotApp/Services/Robot/Simulation/Navigation/SimulationNavigation.cs
index e6bacc6..36c6b2b 100644
--- a/RobotApp/Services/Robot/Simulation/Navigation/SimulationNavigation.cs
+++ b/RobotApp/Services/Robot/Simulation/Navigation/SimulationNavigation.cs
@@ -22,7 +22,7 @@ public class SimulationNavigation : INavigation, IDisposable
     protected bool NavDriving = false;
 
     protected const int CycleHandlerMilliseconds = 50;
-    private const double Scale = 2;
+    private const double Scale = 1;
     //private WatchTimer<SimulationNavigation>? NavigationTimer;
     private HighPrecisionTimer<SimulationNavigation>? NavigationTimer;
 
@@ -45,7 +45,7 @@ public class SimulationNavigation : INavigation, IDisposable
 
     protected NavigationNode[] NavigationPath = [];
     protected NavigationNode? CurrentBaseNode;
-    protected NavigationState ResumeState = NavigationState.None;
+    protected NavigationState ResumeState = NavigationState.Idle;
 
     private readonly Logger<SimulationNavigation> Logger;
 
@@ -158,14 +158,15 @@ public class SimulationNavigation : INavigation, IDisposable
 
     public void Pause()
     {
+        Console.WriteLine($"Nav Pause");
         ResumeState = State;
         NavState = NavigationState.Paused;
     }
 
     public void Resume()
     {
+        Console.WriteLine($"Nav Resume");
         NavState = ResumeState;
-        ResumeState = NavigationState.None;
     }
 
     public void Rotate(double angle)