update

RobotApp.Client/Pages/Dashboard.razor

@@ -13,7 +13,7 @@
     <!-- Header Dashboard -->
     <MudPaper Class="pa-6 mb-4 d-flex align-center justify-space-between" Elevation="3">
         <div>
-            <MudText Typo="Typo.h3" Class="mb-2" >Robot Dashboard</MudText>
+            <MudText Typo="Typo.h3" Class="mb-2">Robot Dashboard</MudText>
             @if (CurrentState != null)
             {
                 <MudText Typo="Typo.subtitle1">
@@ -38,8 +38,8 @@
         {
             <MudChip T="string"
                      Icon="@(IsConnected
-                                      ? Icons.Material.Filled.CheckCircle
+                                                           ? Icons.Material.Filled.CheckCircle
-                                  : Icons.Material.Filled.Error)"
+                                                   : Icons.Material.Filled.Error)"
                  Size="Size.Large"
                  Color="@(IsConnected ? Color.Success : Color.Error)"
                  Variant="Variant.Filled"
@@ -152,7 +152,7 @@
                                        Rounded="true"
                                        Striped="true"
                                        Color="@(msg.BatteryState.BatteryCharge > 50 ? Color.Success :
-                                                                                       msg.BatteryState.BatteryCharge > 20 ? Color.Warning : Color.Error)"
+                                                                                                                              msg.BatteryState.BatteryCharge > 20 ? Color.Warning : Color.Error)"
                                        Class="mb-4"
                                        Style="height: 28px;" />
 
@@ -266,7 +266,7 @@
                                 <MudChip T="string"
                                          Size="Size.Small"
                                          Color="@(context.Level.Contains("ERROR", StringComparison.OrdinalIgnoreCase) ? Color.Error :
-                                                                                           context.Level.Contains("WARN", StringComparison.OrdinalIgnoreCase) ? Color.Warning : Color.Info)"
+                                                                                                                                    context.Level.Contains("WARN", StringComparison.OrdinalIgnoreCase) ? Color.Warning : Color.Info)"
                                          Variant="@Variant.Filled">
                                     @context.Level
                                 </MudChip>
@@ -317,8 +317,8 @@
                                 <MudChip T="string"
                                          Size="Size.Small"
                                          Color="@(context.ActionStatus == "RUNNING" ? Color.Info :
-                                                                                           context.ActionStatus == "FINISHED" ? Color.Success :
+                                                                                                                                    context.ActionStatus == "FINISHED" ? Color.Success :
-                                                                                           context.ActionStatus == "FAILED" ? Color.Error : Color.Default)"
+                                                                                                                                    context.ActionStatus == "FAILED" ? Color.Error : Color.Default)"
                                          Variant="@Variant.Filled">
                                     @context.ActionStatus
                                 </MudChip>
@@ -373,45 +373,34 @@
 
     private StateMsg? CurrentState;
     private bool IsConnected;
-    private readonly string RobotSerial = "T800-002";
     private List<MessageRow> MessageRows = new();
 
-    protected override async Task OnInitializedAsync()
+    protected override async Task OnAfterRenderAsync(bool firstRender)
     {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
         RobotStateClient.OnStateReceived += OnRobotStateReceived;
         RobotStateClient.OnRobotConnectionChanged += OnRobotConnectionChanged;
 
-        if (RobotStateClient.ConnectionState == RobotClientState.Disconnected)
+        await RobotStateClient.StartAsync();
-        {
+        CurrentState = RobotStateClient.GetLatestState();
-            await RobotStateClient.StartAsync();
-        }
-
-        await RobotStateClient.SubscribeRobotAsync(RobotSerial);
-
-        CurrentState = RobotStateClient.GetLatestState(RobotSerial);
         IsConnected = RobotStateClient.IsRobotConnected;
 
         UpdateMessageRows();
     }
+
     private void OnRobotConnectionChanged(bool connected)
     {
-        InvokeAsync(() =>
+        IsConnected = connected;
-        {
+        StateHasChanged();
-            IsConnected = connected;
-            StateHasChanged();
-        });
     }
 
 
     private void OnRobotStateReceived(string serialNumber, StateMsg state)
     {
-        if (serialNumber != RobotSerial) return;
+        CurrentState = state;
-        InvokeAsync(() =>
+        UpdateMessageRows();
-        {
+        StateHasChanged();
-            CurrentState = state;
-            UpdateMessageRows();
-            StateHasChanged();
-        });
     }
 
     private void UpdateMessageRows()

RobotApp.Client/Pages/RobotMonitor.razor

@@ -17,6 +17,7 @@
 
     protected override async Task OnAfterRenderAsync(bool firstRender)
     {
+        await base.OnAfterRenderAsync(firstRender);
         if (firstRender)
         {
             MonitorService.OnDataReceived += OnMonitorDataReceived;
@@ -28,7 +29,7 @@
     {
         _monitorData = data;
         RobotMonitorViewRef?.UpdatePath();
-        InvokeAsync(StateHasChanged);
+        StateHasChanged();
     }
 
     public async ValueTask DisposeAsync()
@@ -41,3 +42,7 @@
 
 
 
+
+
+
+

RobotApp.Client/Services/RobotStateClient.cs

@@ -107,7 +107,7 @@ public sealed class RobotStateClient : IAsyncDisposable
         // ================= SIGNALR HANDLERS =================
 
         // VDA5050 State
-        _connection.On<string>("ReceiveState", HandleState);
+        _connection.On<StateMsg>("ReceiveState", HandleState);
 
         // Robot connection (bool only)
         _connection.On<bool>("ReceiveRobotConnection", HandleRobotConnection);
@@ -125,21 +125,21 @@ public sealed class RobotStateClient : IAsyncDisposable
     }
 
     // ================= HANDLE STATE =================
-    private void HandleState(string stateJson)
+    private void HandleState(StateMsg state)
     {
-        StateMsg? state;
+        //StateMsg? state;
 
-        try
+        //try
-        {
+        //{
-            state = JsonSerializer.Deserialize<StateMsg>(
+        //    state = JsonSerializer.Deserialize<StateMsg>(
-                stateJson,
+        //        stateJson,
-                JsonOptionExtends.Read
+        //        JsonOptionExtends.Read
-            );
+        //    );
-        }
+        //}
-        catch
+        //catch
-        {
+        //{
-            return;
+        //    return;
-        }
+        //}
 
         if (state?.SerialNumber == null)
             return;
@@ -189,10 +189,10 @@ public sealed class RobotStateClient : IAsyncDisposable
     }
 
     // ================= GET CACHE =================
-    public StateMsg? GetLatestState(string serialNumber)
+    public StateMsg? GetLatestState()
     {
-        LatestStates.TryGetValue(serialNumber, out var state);
+        if (!LatestStates.IsEmpty) return LatestStates.First().Value;
-        return state;
+        return null;
     }
 
     // ================= DISPOSE =================

RobotApp.Client/wwwroot/js/robotMonitor.js

@@ -60,3 +60,7 @@ window.robotMonitor = {
 
 
 
+
+
+
+

RobotApp/Controllers/OrderController.cs

@@ -28,7 +28,6 @@ public class OrderController(IOrder robotOrderController, IInstantActions instan
     {
         robotOrderController.StopOrder();
         instantActions.StopOrderAction();
-
         return Ok(new
         {
             success = true,

RobotApp/Hubs/RobotHub.cs

@@ -21,8 +21,8 @@ namespace RobotApp.Hubs
         // Phương thức này sẽ được gọi từ service để broadcast
         public async Task SendState(string serialNumber, StateMsg state)
         {
-            var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
+            //var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
-            await Clients.Group(serialNumber).SendAsync("ReceiveState", json);
+            await Clients.Group(serialNumber).SendAsync("ReceiveState", state);
         }
     }
 }

RobotApp/Hubs/RobotMonitorHub.cs

@@ -12,3 +12,7 @@ public class RobotMonitorHub : Hub
 
 
 
+
+
+
+

RobotApp/Program.cs

@@ -63,7 +63,7 @@ builder.Services.AddRobot();
 builder.Services.AddSingleton<RobotApp.Services.RobotMonitorService>();
 builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotApp.Services.RobotMonitorService>());
 
-builder.Services.AddScoped<RobotStateClient>();
+//builder.Services.AddScoped<RobotStateClient>();
 builder.Services.AddHostedService<RobotStatePublisher>();
 
 var app = builder.Build();

RobotApp/Services/Robot/RobotErrors.cs

@@ -105,7 +105,8 @@ public class RobotErrors : IError
         => 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 Error1019()
+        => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại Order", ErrorLevel.WARNING, "Order có node đầu tiên quá xa robot");
 
     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)");

RobotApp/Services/Robot/RobotOrderController.cs

@@ -9,6 +9,7 @@ using RobotApp.VDA5050.Order;
 using RobotApp.VDA5050.State;
 using System.Collections.Concurrent;
 using System.Data;
+using System.Xml.Linq;
 using Action = RobotApp.VDA5050.InstantAction.Action;
 
 namespace RobotApp.Services.Robot;
@@ -247,11 +248,6 @@ public class RobotOrderController(INavigation NavigationManager,
         UpdateState();
     }
 
-    private bool IsNewPath()
-    {
-        return true;
-    }
-
     private void ClearLastNode()
     {
         if (LastNode is null) return;
@@ -292,6 +288,7 @@ public class RobotOrderController(INavigation NavigationManager,
 
     private void HandleOrder()
     {
+        if (Nodes.Length <= 0) return;
         if (IsCancelOrder)
         {
             NavigationManager.CancelMovement();
@@ -309,9 +306,13 @@ public class RobotOrderController(INavigation NavigationManager,
             {
                 var action = FinalAction[0];
                 var robotAction = ActionManager[action.ActionId];
-                if (robotAction is null) return;
+                if (robotAction is null)
-                if (robotAction.IsCompleted) FinalAction.Remove(action);
+                {
-                if (robotAction.Status == ActionStatus.WAITING) ActionManager.StartOrderAction(action.ActionId);
+                    FinalAction.Remove(action);
+                    return;
+                }
+                if (robotAction.IsCompleted)
+                    if (robotAction.Status == ActionStatus.WAITING) ActionManager.StartOrderAction(action.ActionId);
             }
             else
             {
@@ -398,6 +399,10 @@ public class RobotOrderController(INavigation NavigationManager,
                 if (NodeStates.Length != 0 || EdgeStates.Length != 0) HandleUpdateOrder(NewOrderHandler);
                 else
                 {
+                    Node startNode = NewOrderHandler.Nodes[0];
+                    var nodeDeviation = startNode.NodePosition.AllowedDeviationXY == 0.0 ? NewOrderHandler.Nodes.Length == 1 ? 0.3 : 0.5 : startNode.NodePosition.AllowedDeviationXY;
+                    var distance = Localization.DistanceTo(startNode.NodePosition.X, startNode.NodePosition.Y);
+                    if (distance > nodeDeviation) throw new OrderException(RobotErrors.Error1019());
                     HandleNewOrder(NewOrderHandler);
                 }
             }
@@ -409,6 +414,7 @@ public class RobotOrderController(INavigation NavigationManager,
             {
                 ErrorManager.AddError(orEx.Error, TimeSpan.FromSeconds(10));
                 Logger.Warning($"Lỗi khi xử lí Order: {orEx.Error.ErrorDescription}");
+                HandleOrderStop();
             }
             else Logger.Warning($"Lỗi khi xử lí Order: {orEx.Message}");
         }

RobotApp/Services/Robot/RobotStatePublisher.cs

@@ -12,148 +12,27 @@ using System.Text.Json;
 
 namespace RobotApp.Services.Robot;
 
-public class RobotStatePublisher : BackgroundService
+public class RobotStatePublisher(
+    IHubContext<RobotHub> _hubContext,
+    RobotStates _robotState,
+    RobotConnection _robotConnection) : BackgroundService
 {
-    private readonly IHubContext<RobotHub> _hubContext;
-    private readonly RobotConfiguration _robotConfig;
-    private readonly IOrder _orderManager;
-    private readonly IInstantActions _actionManager;
-    private readonly IPeripheral _peripheralManager;
-    private readonly IInfomation _infoManager;
-    private readonly IError _errorManager;
-    private readonly ILocalization _localizationManager;
-    private readonly IBattery _batteryManager;
-    private readonly ILoad _loadManager;
-    private readonly INavigation _navigationManager;
-    private readonly RobotStateMachine _stateManager;
-    private readonly RobotConnection _robotConnection;
     private bool? _lastRobotConnectionState;
 
-    private uint _headerId = 0;
     private readonly PeriodicTimer _timer = new(TimeSpan.FromMilliseconds(1000)); // 1 giây/lần
 
-    public RobotStatePublisher(
-        IHubContext<RobotHub> hubContext,
-        RobotConfiguration robotConfig,
-        IOrder orderManager,
-        IInstantActions actionManager,
-        IPeripheral peripheralManager,
-        IInfomation infoManager,
-        IError errorManager,
-        ILocalization localizationManager,
-        IBattery batteryManager,
-        ILoad loadManager,
-        INavigation navigationManager,
-        RobotStateMachine stateManager,
-        RobotConnection robotConnection)
-    {
-        _hubContext = hubContext;
-        _robotConfig = robotConfig;
-        _orderManager = orderManager;
-        _actionManager = actionManager;
-        _peripheralManager = peripheralManager;
-        _infoManager = infoManager;
-        _errorManager = errorManager;
-        _localizationManager = localizationManager;
-        _batteryManager = batteryManager;
-        _loadManager = loadManager;
-        _navigationManager = navigationManager;
-        _stateManager = stateManager;
-        _robotConnection = robotConnection;
-    }
-
-    private StateMsg GetStateMsg()
-    {
-        return new StateMsg
-        {
-            HeaderId = _headerId++,
-            Timestamp = DateTime.UtcNow.ToString("o"), // ISO 8601
-            Manufacturer = _robotConfig.VDA5050Setting.Manufacturer,
-            Version = _robotConfig.VDA5050Setting.Version,
-            SerialNumber = _robotConfig.SerialNumber,
-            Maps = [],
-            OrderId = _orderManager.OrderId,
-            OrderUpdateId = _orderManager.OrderUpdateId,
-            ZoneSetId = "",
-            LastNodeId = _orderManager.LastNodeId,
-            LastNodeSequenceId = _orderManager.LastNodeSequenceId,
-            Driving = Math.Abs(_navigationManager.VelocityX) > 0.01 || Math.Abs(_navigationManager.Omega) > 0.01,
-            Paused = false,
-            NewBaseRequest = true,
-            DistanceSinceLastNode = 0,
-            OperatingMode = _peripheralManager.PeripheralMode.ToString(),
-            NodeStates = _orderManager.NodeStates,
-            EdgeStates = _orderManager.EdgeStates,
-            ActionStates = _actionManager.ActionStates,
-            Information = [General, .. _infoManager.InformationState],
-            Errors = _errorManager.ErrorsState,
-            AgvPosition = new AgvPosition
-            {
-                X = _localizationManager.X,
-                Y = _localizationManager.Y,
-                Theta = _localizationManager.Theta,
-                LocalizationScore = _localizationManager.MatchingScore,
-                MapId = _localizationManager.CurrentActiveMap,
-                DeviationRange = _localizationManager.Reliability,
-                PositionInitialized = _localizationManager.IsReady,
-            },
-            BatteryState = new BatteryState
-            {
-                Charging = _batteryManager.IsCharging,
-                BatteryHealth = _batteryManager.SOH,
-                Reach = 0,
-                BatteryVoltage = _batteryManager.Voltage,
-                BatteryCharge = _batteryManager.SOC,
-            },
-            Loads = _loadManager.Load,
-            Velocity = new Velocity
-            {
-                Vx = _navigationManager.VelocityX,
-                Vy = _navigationManager.VelocityY,
-                Omega = _navigationManager.Omega,
-            },
-            SafetyState = new SafetyState
-            {
-                FieldViolation = _peripheralManager.LidarBackProtectField ||
-                                 _peripheralManager.LidarFrontProtectField ||
-                                 _peripheralManager.LidarFrontTimProtectField,
-                EStop = (_peripheralManager.Emergency || _peripheralManager.Bumper)
-                    ? EStop.AUTOACK.ToString()
-                    : EStop.NONE.ToString(),
-            }
-        };
-    }
-
-    private Information General => new()
-    {
-        InfoType = InformationType.robot_general.ToString(),
-        InfoDescription = "Thông tin chung của robot",
-        InfoLevel = InfoLevel.INFO.ToString(),
-        InfoReferences =
-        [
-            new InfomationReferences
-            {
-                ReferenceKey = InformationReferencesKey.robot_state.ToString(),
-                ReferenceValue = _stateManager.CurrentStateName,
-            }
-        ]
-    };
-
     protected override async Task ExecuteAsync(CancellationToken stoppingToken)
     {
         while (await _timer.WaitForNextTickAsync(stoppingToken))
         {
             try
             {
-                var serialNumber = _robotConfig.SerialNumber;
-
                 // ===== SEND STATE =====
-                var state = GetStateMsg();
+                var state = _robotState.GetStateMsg();
-                var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
+                //var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
 
-                await _hubContext.Clients
+                await _hubContext.Clients.All
-                    .Group(serialNumber)
+                    .SendAsync("ReceiveState", state, stoppingToken);
-                    .SendAsync("ReceiveState", json, stoppingToken);
 
                 // ===== SEND ROBOT CONNECTION (ONLY WHEN CHANGED) =====
                 var isConnected = _robotConnection.IsConnected;
@@ -162,8 +41,7 @@ public class RobotStatePublisher : BackgroundService
                 {
                     _lastRobotConnectionState = isConnected;
 
-                    await _hubContext.Clients
+                    await _hubContext.Clients.All 
-                        .Group(serialNumber)   // routing only
                         .SendAsync(
                             "ReceiveRobotConnection",
                             isConnected,       // payload only bool
@@ -177,10 +55,10 @@ public class RobotStatePublisher : BackgroundService
         }
     }
 
-
+    public override Task StopAsync(CancellationToken cancellationToken)
-    public override void Dispose()
     {
         _timer?.Dispose();
         base.Dispose();
+        return base.StopAsync(cancellationToken);
     }
 }

RobotApp/Services/Robot/RobotStates.cs

@@ -36,7 +36,7 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
         catch { }
     }
 
-    private StateMsg GetStateMsg()
+    public StateMsg GetStateMsg()
     {
         return new StateMsg
         {