save

RobotApp.Client/Pages/Home.razor

@@ -1,4 +1,5 @@
 @page "/"
+@attribute [Authorize]
 @using RobotApp.Client.Services
 @using RobotApp.VDA5050.State
 @using MudBlazor

RobotApp.Client/Pages/Order/EdgesPanel.razor

@@ -117,14 +117,14 @@
                             }
 
                             <!-- Apply Curve -->
-                            @if (edge.Radius > 0 && !edge.Expanded)
+                            @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
+                                        Apply Curve (generate node)
                                     </MudButton>
                                 </MudItem>
                             }

RobotApp.Client/Pages/Order/ImportOrderDialog.razor

@@ -0,0 +1,104 @@
+@using System.Text.Json
+@using MudBlazor
+
+<MudDialog>
+    <TitleContent>
+        <MudText Typo="Typo.h6">Import Order JSON</MudText>
+    </TitleContent>
+
+    <DialogContent>
+
+        @if (ShowWarning)
+        {
+            <MudAlert Severity="Severity.Warning"
+                      Variant="Variant.Outlined"
+                      Class="mb-4">
+                Only valid <b>VDA 5050 Order JSON</b> is accepted.<br />
+                Invalid structure will be rejected.
+            </MudAlert>
+        }
+
+        <MudTextField @bind-Value="JsonText"
+                      Label="Paste Order JSON"
+                      Lines="20"
+                      Variant="Variant.Filled"
+                      Immediate
+                      Style="font-family: monospace" />
+
+        @if (!string.IsNullOrEmpty(ErrorMessage))
+        {
+            <MudAlert Severity="Severity.Error" Class="mt-3">
+                @ErrorMessage
+            </MudAlert>
+        }
+
+    </DialogContent>
+
+    <DialogActions>
+        <MudButton OnClick="Cancel">Cancel</MudButton>
+        <MudButton Variant="Variant.Filled"
+                   Color="Color.Primary"
+                   OnClick="ValidateAndImport">
+            Import
+        </MudButton>
+    </DialogActions>
+</MudDialog>
+@code {
+    [CascadingParameter] public IMudDialogInstance MudDialog { get; set; } = default!;
+
+    public string JsonText { get; set; } = "";
+    public string? ErrorMessage;
+    public bool ShowWarning { get; set; } = false;
+
+    private void Cancel() => MudDialog.Cancel();
+
+    private void ValidateAndImport()
+    {
+        ErrorMessage = null;
+        ShowWarning = false;
+
+        try
+        {
+            using var doc = JsonDocument.Parse(JsonText);
+            var root = doc.RootElement;
+
+            // ===== BASIC STRUCTURE CHECK =====
+            if (!root.TryGetProperty("nodes", out _) ||
+                !root.TryGetProperty("edges", out _))
+                throw new Exception("Missing 'nodes' or 'edges' field.");
+
+            var order = OrderMessage.FromSchemaObject(root);
+
+            ValidateOrder(order);
+
+            MudDialog.Close(DialogResult.Ok(order));
+        }
+        catch (JsonException)
+        {
+            ShowWarning = true;
+            ErrorMessage = "Invalid JSON format.";
+        }
+        catch (Exception ex)
+        {
+            ShowWarning = true;
+            ErrorMessage = ex.Message;
+        }
+    }
+
+    private void ValidateOrder(OrderMessage order)
+    {
+        if (order.Nodes.Count == 0)
+            throw new Exception("Order must contain at least one node.");
+
+        var nodeIds = order.Nodes.Select(n => n.NodeId).ToHashSet();
+
+        foreach (var e in order.Edges)
+        {
+            if (!nodeIds.Contains(e.StartNodeId) ||
+                !nodeIds.Contains(e.EndNodeId))
+                throw new Exception(
+                    $"Edge '{e.EdgeId}' references unknown node."
+                );
+        }
+    }
+}

RobotApp.Client/Pages/Order/JsonOutputPanel.razor

@@ -5,7 +5,16 @@
 
         <div class="d-flex gap-2">
 
-            <!-- ================= SEND BUTTON ================= -->
+            <!-- IMPORT -->
+            <MudButton Variant="Variant.Outlined"
+                       Color="Color.Secondary"
+                       Size="Size.Small"
+                       StartIcon="@Icons.Material.Filled.UploadFile"
+                       OnClick="OnImport">
+                Import JSON
+            </MudButton>
+
+            <!-- SEND -->
             <MudButton Variant="Variant.Filled"
                        Color="@SendButtonColor"
                        StartIcon="@SendButtonIcon"
@@ -14,7 +23,7 @@
                 @SendButtonText
             </MudButton>
 
-            <!-- ================= COPY ================= -->
+            <!-- COPY -->
             <MudTooltip Text="@(Copied ? "Copied!" : "Copy to clipboard")">
                 <MudButton Variant="Variant.Filled"
                            Color="@(Copied ? Color.Success : Color.Primary)"
@@ -27,15 +36,14 @@
         </div>
     </MudStack>
 
-    <!-- ================= JSON ================= -->
     <div class="flex-grow-1" style="overflow:auto;">
         <MudTextField Value="@OrderJson"
-                      ReadOnly="true"
+                      ReadOnly
                       Variant="Variant.Filled"
                       Lines="70"
                       Class="h-100"
-                      Style="font-family: 'Roboto Mono', Consolas, 'Courier New', monospace;
+                      Style="font-family: 'Roboto Mono', Consolas, monospace;
-                             font-size: 0.875rem;
+                             font-size: 0.85rem;
                              background:#1e1e1e;
                              color:#d4d4d4;" />
     </div>
@@ -45,10 +53,11 @@
     [Parameter] public string OrderJson { get; set; } = "";
     [Parameter] public bool Copied { get; set; }
     [Parameter] public bool? SendSuccess { get; set; }
+
     [Parameter] public EventCallback OnCopy { get; set; }
     [Parameter] public EventCallback OnSend { get; set; }
+    [Parameter] public EventCallback OnImport { get; set; }
 
-    // ================= SEND BUTTON STATE =================
     private string SendButtonText =>
         SendSuccess switch
         {

RobotApp.Client/Pages/Order/OrderMess.razor

@@ -50,7 +50,8 @@
                                      Copied="@copied"
                                      SendSuccess="@sendSuccess"
                                      OnCopy="CopyJsonToClipboard"
-                                     OnSend="SendOrderToServer" />
+                                     OnSend="SendOrderToServer"
+                                     OnImport="OpenImportDialog" />
 
                 </MudItem>
 
@@ -85,6 +86,25 @@
                 DefaultIgnoreCondition = JsonIgnoreCondition.WhenWritingNull
             });
     }
+    private async Task OpenImportDialog()
+    {
+        var dialog = await DialogService.ShowAsync<ImportOrderDialog>(
+            "Import Order JSON",
+            new DialogOptions
+            {
+                FullWidth = true,
+                MaxWidth = MaxWidth.Large
+            });
+
+        var result = await dialog.Result;
+
+        if (!result.Canceled && result.Data is OrderMessage imported)
+        {
+            Order = imported;
+            RebuildOrderJson();
+            StateHasChanged();
+        }
+    }
 
     private void OnOrderChanged()
     {
@@ -151,7 +171,7 @@
 
         Order.Nodes.Add(newNode);
         edge.EndNodeId = newNode.NodeId;
-        edge.Expanded = true;
+        edge.MarkExpanded(); // ✅
 
         ResequenceNodes();
     }

RobotApp.Client/Services/UiEdge.cs

@@ -1,5 +1,6 @@
 using RobotApp.VDA5050.InstantAction;
 using RobotApp.VDA5050.Order;
+using System.Text.Json;
 using System.Text.Json.Serialization;
 
 namespace RobotApp.Client.Services;
@@ -7,13 +8,37 @@ namespace RobotApp.Client.Services;
 // ======================================================
 // EDGE UI
 // ======================================================
-public class UiEdge : VDA5050.Order.Edge
+public class UiEdge
 {
-    public double Radius { get; set; } = 0.0;
+    public string EdgeId { get; set; } = "";
-    public Quadrant Quadrant { get; set; } = Quadrant.I;
+    public int SequenceId { get; set; }
+    public bool Released { get; set; } = true;
 
-    // Đánh dấu đã expand chưa
+    public string StartNodeId { get; set; } = "";
-    public bool Expanded { get; set; } = false;
+    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
@@ -138,7 +163,111 @@ public class OrderMessage
             }
         };
     }
+    public static OrderMessage FromSchemaObject(JsonElement root)
+    {
+        var order = new OrderMessage
+        {
+            HeaderId = root.GetProperty("headerId").GetInt32(),
+            Timestamp = root.GetProperty("timestamp").GetString(),
+            Version = root.GetProperty("version").GetString(),
+            Manufacturer = root.GetProperty("manufacturer").GetString(),
+            SerialNumber = root.GetProperty("serialNumber").GetString(),
+            OrderId = root.GetProperty("orderId").GetString(),
+            OrderUpdateId = root.GetProperty("orderUpdateId").GetInt32()
+        };
 
+        // ================= NODES =================
+        foreach (var n in root.GetProperty("nodes").EnumerateArray())
+        {
+            var node = new Node
+            {
+                NodeId = n.GetProperty("nodeId").GetString()!,
+                SequenceId = n.GetProperty("sequenceId").GetInt32(),
+                Released = n.GetProperty("released").GetBoolean(),
+
+                NodePosition = new NodePosition
+                {
+                    X = n.GetProperty("nodePosition").GetProperty("x").GetDouble(),
+                    Y = n.GetProperty("nodePosition").GetProperty("y").GetDouble(),
+                    Theta = n.GetProperty("nodePosition").GetProperty("theta").GetDouble(),
+                    AllowedDeviationXY = n.GetProperty("nodePosition").GetProperty("allowedDeviationXY").GetDouble(),
+                    AllowedDeviationTheta = n.GetProperty("nodePosition").GetProperty("allowedDeviationTheta").GetDouble(),
+                    MapId = n.GetProperty("nodePosition").GetProperty("mapId").GetString()
+                },
+
+                Actions = ParseActions(n)
+            };
+
+            order.Nodes.Add(node);
+        }
+
+        foreach (var e in root.GetProperty("edges").EnumerateArray())
+        {
+            var edge = new UiEdge
+            {
+                EdgeId = e.GetProperty("edgeId").GetString()!,
+                SequenceId = e.GetProperty("sequenceId").GetInt32(),
+                Released = e.GetProperty("released").GetBoolean(),
+                StartNodeId = e.GetProperty("startNodeId").GetString()!,
+                EndNodeId = e.GetProperty("endNodeId").GetString()!,
+            };
+
+            // ===== IMPORT TRAJECTORY =====
+            if (e.TryGetProperty("trajectory", out var traj))
+            {
+                edge.HasTrajectory = true;
+                edge.Trajectory = new UiTrajectory
+                {
+                    Degree = traj.GetProperty("degree").GetInt32(),
+                    KnotVector = traj.GetProperty("knotVector")
+                        .EnumerateArray()
+                        .Select(x => x.GetDouble())
+                        .ToArray(),
+
+                    ControlPoints = traj.GetProperty("controlPoints")
+                        .EnumerateArray()
+                        .Select(p => new Point(
+                            p.GetProperty("x").GetDouble(),
+                            p.GetProperty("y").GetDouble()
+                        ))
+                        .ToList()
+                };
+
+                // 🔥 IMPORTED CURVE → LOCK APPLY
+                edge.MarkExpanded();
+            }
+
+            order.Edges.Add(edge);
+        }
+
+        return order;
+    }
+
+    // ================= ACTION PARSER =================
+    private static VDA5050.InstantAction.Action[] ParseActions(JsonElement parent)
+    {
+        if (!parent.TryGetProperty("actions", out var acts))
+            return Array.Empty<VDA5050.InstantAction.Action>();
+
+        return acts.EnumerateArray().Select(a =>
+            new VDA5050.InstantAction.Action
+            {
+                ActionId = a.GetProperty("actionId").GetString(),
+                ActionType = a.GetProperty("actionType").GetString(),
+                BlockingType = a.GetProperty("blockingType").GetString(),
+
+                ActionParameters = a.TryGetProperty("actionParameters", out var ps)
+                    ? ps.EnumerateArray()
+                        .Select(p => new ActionParameter
+                        {
+                            Key = p.GetProperty("key").GetString(),
+                            Value = p.GetProperty("value").GetString()
+                        })
+                        .ToArray()
+                    : Array.Empty<ActionParameter>()
+            }
+        ).ToArray();
+    }
     public object ToSchemaObject()
     {
         int seq = 0;
@@ -199,7 +328,36 @@ public class OrderMessage
             // ================= EDGES =================
             edges = Edges.Select<UiEdge, object>(e =>
             {
-                // ---------- ĐƯỜNG THẲNG ----------
+                // =================================================
+                // 1️⃣ IMPORTED TRAJECTORY (ƯU TIÊN CAO NHẤT)
+                // =================================================
+                if (e.HasTrajectory && e.Trajectory != null)
+                {
+                    return new
+                    {
+                        edgeId = e.EdgeId,
+                        sequenceId = seq++,
+                        released = true,
+
+                        startNodeId = e.StartNodeId,
+                        endNodeId = e.EndNodeId,
+
+                        trajectory = new
+                        {
+                            degree = e.Trajectory.Degree,
+                            knotVector = e.Trajectory.KnotVector,
+                            controlPoints = e.Trajectory.ControlPoints
+                                .Select(p => new { x = p.X, y = p.Y })
+                                .ToArray()
+                        },
+
+                        actions = Array.Empty<object>()
+                    };
+                }
+
+                // =================================================
+                // 2️⃣ STRAIGHT EDGE (KHÔNG CÓ CURVE)
+                // =================================================
                 if (e.Radius <= 0)
                 {
                     return new
@@ -207,14 +365,19 @@ public class OrderMessage
                         edgeId = e.EdgeId,
                         sequenceId = seq++,
                         released = true,
+
                         startNodeId = e.StartNodeId,
                         endNodeId = e.EndNodeId,
+
                         actions = Array.Empty<object>()
                     };
                 }
 
-                // ---------- ĐƯỜNG CONG 1/4 ----------
+                // =================================================
+                // 3️⃣ EDITOR GENERATED CURVE (RADIUS + QUADRANT)
+                // =================================================
                 var startNode = Nodes.First(n => n.NodeId == e.StartNodeId);
+
                 var A = new Point(
                     startNode.NodePosition.X,
                     startNode.NodePosition.Y