update

.dockerignore

@@ -0,0 +1,66 @@
+# Build artifacts
+**/bin/
+**/obj/
+**/out/
+
+# Visual Studio files
+**/.vs/
+**/.vscode/
+**/*.user
+**/*.suo
+**/*.userosscache
+**/*.sln.docstates
+
+# User-specific files
+**/.user
+**/.suo
+**/.userosscache
+
+# Build results
+[Dd]ebug/
+[Dd]ebugPublic/
+[Rr]elease/
+[Rr]eleases/
+x64/
+x86/
+[Aa][Rr][Mm]/
+[Aa][Rr][Mm]64/
+bld/
+[Bb]in/
+[Oo]bj/
+[Ll]og/
+[Ll]ogs/
+
+# NuGet packages
+**/packages/
+**/*.nupkg
+**/*.snupkg
+
+# Test results
+**/[Tt]est[Rr]esult*/
+**/[Bb]uild[Ll]og.*
+
+# Docker files
+Dockerfile*
+docker-compose*
+.dockerignore
+
+# Git
+.git/
+.gitignore
+.gitattributes
+
+# IDE
+.idea/
+*.swp
+*.swo
+*~
+
+# OS
+.DS_Store
+Thumbs.db
+
+# Data and logs (will be mounted as volumes)
+data/
+logs/
+

Dockerfile

@@ -0,0 +1,57 @@
+# Stage 1: Build
+# Note: Project files specify net10.0, but using .NET 9.0 based on package versions (9.0.9)
+# Adjust version if needed: 8.0 (LTS), 9.0 (current), or future 10.0
+FROM mcr.microsoft.com/dotnet/aspnet:10.0 AS base
+WORKDIR /app
+
+FROM mcr.microsoft.com/dotnet/sdk:10.0 AS build
+WORKDIR /src
+
+# Copy solution file
+COPY RobotApp.sln .
+
+# Copy project files
+COPY RobotApp/RobotApp.csproj RobotApp/
+COPY RobotApp.Client/RobotApp.Client.csproj RobotApp.Client/
+COPY RobotApp.Common.Shares/RobotApp.Common.Shares.csproj RobotApp.Common.Shares/
+COPY RobotApp.VDA5050/RobotApp.VDA5050.csproj RobotApp.VDA5050/
+
+# Restore dependencies
+RUN dotnet restore RobotApp.sln
+
+# Copy all source files
+COPY RobotApp/ RobotApp/
+COPY RobotApp.Client/ RobotApp.Client/
+COPY RobotApp.Common.Shares/ RobotApp.Common.Shares/
+COPY RobotApp.VDA5050/ RobotApp.VDA5050/
+
+RUN rm -rf ./RobotApp/RobotApp/bin
+RUN rm -rf ./RobotApp/RobotApp/obj
+RUN rm -rf ./RobotApp.Client/RobotApp.Client/bin
+RUN rm -rf ./RobotApp.Client/RobotApp.Client/obj
+RUN rm -rf ./RobotApp.Common.Shares/RobotApp.Common.Shares/bin
+RUN rm -rf ./RobotApp.Common.Shares/RobotApp.Common.Shares/obj
+RUN rm -rf ./RobotApp.VDA5050/RobotApp.VDA5050/bin
+RUN rm -rf ./RobotApp.VDA5050/RobotApp.VDA5050/obj
+
+# Build the solution
+WORKDIR /src/RobotApp
+RUN dotnet build -c Release -o /app/build
+
+# Stage 2: Publish
+FROM build AS publish
+WORKDIR /src/RobotApp
+RUN dotnet publish -c Release -o /app/publish /p:UseAppHost=false
+
+# Copy published files
+FROM base AS final
+WORKDIR /app
+COPY --from=publish /app/publish ./
+
+# Set environment variables
+#ENV ASPNETCORE_URLS=http://+:8080
+ENV ASPNETCORE_ENVIRONMENT=Production
+
+# Run the application
+ENTRYPOINT ["dotnet", "RobotApp.dll"]
+

RobotApp.Client/MainLayout.razor

@@ -69,8 +69,12 @@
     }
 
     public NavModel[] Navs = [
-        new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
+        new(){Icon = "mdi-view-dashboard", Path="/dashboard", 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-monitor", Path="/robot-monitor", Label = "Robot Monitor", Match = NavLinkMatch.All},
+        new(){Icon = "mdi-state-machine", Path="/robot-order", Label = "order", Match = NavLinkMatch.All},
+        new(){Icon = "mdi-application-cog", Path="/robot-config", Label = "Config", Match = NavLinkMatch.All },
+        new(){Icon = "mdi-math-log", Path="/logs", Label = "Logs", Match = NavLinkMatch.All},
     ];
 
     private bool collapseNavMenu = true;

RobotApp.Client/Models/LoggerModel.cs

@@ -0,0 +1,40 @@
+using System.Text.Json.Serialization;
+
+namespace RobotApp.Client.Models;
+
+public class LoggerModel
+{
+    [JsonPropertyName("time")]
+    public string? Time { get; set; }
+
+    [JsonPropertyName("level")]
+    public string? Level { get; set; }
+
+    [JsonPropertyName("message")]
+    public string? Message { get; set; }
+
+    [JsonPropertyName("exception")]
+    public string? Exception { get; set; }
+
+    public string ColorClass => Level switch
+    {
+        "WARN" => "text-warning",
+        "INFO" => "text-info",
+        "DEBUG" => "text-success",
+        "ERROR" => "text-danger",
+        "FATAL" => "text-secondary",
+        _ => "text-muted",
+    };
+
+    public string BackgroundClass => Level switch
+    {
+        "WARN" => "bg-warning text-dark",
+        "INFO" => "bg-info text-dark",
+        "DEBUG" => "bg-success text-white",
+        "ERROR" => "bg-danger text-white",
+        "FATAL" => "bg-secondary text-white",
+        _ => "bg-dark text-white",
+    };
+
+    public bool HasException => !string.IsNullOrEmpty(Exception);
+}

RobotApp.Client/Pages/Components/Config/RobotConfig.razor

@@ -0,0 +1,92 @@
+@implements IDisposable
+
+<div class ="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
+        <DataAnnotationsValidator />
+
+        <div class="mb-2">
+            <label class="form-label">Navigation Type</label>
+            <InputSelect class="form-select" @bind-Value="Model.NavigationType" TValue="NavigationType">
+                @foreach (var t in NavigationTypes)
+                {
+                    <option value="@t">@t</option>
+                }
+            </InputSelect>
+            <ValidationMessage For="@(() => Model.NavigationType)" />
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col">
+                <label class="form-label">Radius (wheel)</label>
+                <InputNumber class="form-control" @bind-Value="Model.RadiusWheel" />
+                <ValidationMessage For="@(() => Model.RadiusWheel)" />
+            </div>
+            <div class="col">
+                <label class="form-label">Width (m)</label>
+                <InputNumber class="form-control" @bind-Value="Model.Width" />
+                <ValidationMessage For="@(() => Model.Width)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col">
+                <label class="form-label">Length (m)</label>
+                <InputNumber class="form-control" @bind-Value="Model.Length" />
+                <ValidationMessage For="@(() => Model.Length)" />
+            </div>
+            <div class="col">
+                <label class="form-label">Height (m)</label>
+                <InputNumber class="form-control" @bind-Value="Model.Height" />
+                <ValidationMessage For="@(() => Model.Height)" />
+            </div>
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label">Description</label>
+            <InputTextArea class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
+        </div>
+    </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
+
+
+@code {
+    [Parameter]
+    public RobotConfigDto Model { get; set; } = new();
+
+    [Parameter]
+    public EventCallback<RobotConfigDto> ModelChanged { get; set; }
+
+    private EditContext? EditContext; 
+    private IEnumerable<NavigationType> NavigationTypes => Enum.GetValues(typeof(NavigationType)).Cast<NavigationType>();
+
+    protected override void OnParametersSet()
+    {
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+        }
+    }
+
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
+    {
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+    }
+}

RobotApp.Client/Pages/Components/Config/RobotPLCConfig.razor

@@ -0,0 +1,74 @@
+@implements IDisposable
+<div class="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
+        <DataAnnotationsValidator />
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-8">
+                <label class="form-label">PLC Address</label>
+                <InputText class="form-control" @bind-Value="Model.PLCAddress" />
+                <ValidationMessage For="@(() => Model.PLCAddress)" />
+            </div>
+            <div class="col-md-4">
+                <label class="form-label">Port</label>
+                <InputNumber class="form-control" @bind-Value="Model.PLCPort" />
+                <ValidationMessage For="@(() => Model.PLCPort)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-4">
+                <label class="form-label">Unit Id</label>
+                <InputNumber class="form-control" @bind-Value="Model.PLCUnitId" />
+                <ValidationMessage For="@(() => Model.PLCUnitId)" />
+            </div>
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label">Description</label>
+            <InputTextArea class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
+        </div>
+
+    </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
+
+@code {
+    [Parameter]
+    public RobotPlcConfigDto Model { get; set; } = new();
+
+    [Parameter]
+    public EventCallback<RobotPlcConfigDto> ModelChanged { get; set; }
+
+    private EditContext? EditContext;
+
+    protected override void OnParametersSet()
+    {
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+        }
+    }
+
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
+    {
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+    }
+}

RobotApp.Client/Pages/Components/Config/RobotSafetyConfig.razor

@@ -0,0 +1,97 @@
+@implements IDisposable
+<div class="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
+        <DataAnnotationsValidator />
+        <div class="row g-2 mb-2">
+            <div class="col-6">
+                <label class="form-label">Very Slow (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedVerySlow" />
+                <ValidationMessage For="@(() => Model.SafetySpeedVerySlow)" />
+            </div>
+            <div class="col-6">
+                <label class="form-label">Slow (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedSlow" />
+                <ValidationMessage For="@(() => Model.SafetySpeedSlow)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-6">
+                <label class="form-label">Normal (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedNormal" />
+                <ValidationMessage For="@(() => Model.SafetySpeedNormal)" />
+            </div>
+            <div class="col-6">
+                <label class="form-label">Medium (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedMedium" />
+                <ValidationMessage For="@(() => Model.SafetySpeedMedium)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-6">
+                <label class="form-label">Optimal (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedOptimal" />
+                <ValidationMessage For="@(() => Model.SafetySpeedOptimal)" />
+            </div>
+            <div class="col-6">
+                <label class="form-label">Fast (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedFast" />
+                <ValidationMessage For="@(() => Model.SafetySpeedFast)" />
+            </div>
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label">Very Fast (m/s)</label>
+            <InputNumber class="form-control" @bind-Value="Model.SafetySpeedVeryFast" />
+            <ValidationMessage For="@(() => Model.SafetySpeedVeryFast)" />
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label">Description</label>
+            <InputTextArea class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
+        </div>
+    </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
+
+
+@code {
+    [Parameter]
+    public RobotSafetyConfigDto Model { get; set; } = new();
+
+    [Parameter]
+    public EventCallback<RobotSafetyConfigDto> ModelChanged { get; set; }
+
+    private EditContext? EditContext;
+
+    protected override void OnParametersSet()
+    {
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+        }
+    }
+
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
+    {
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+    }
+}

RobotApp.Client/Pages/Components/Config/RobotSimulationConfig.razor

@@ -0,0 +1,85 @@
+@implements IDisposable
+
+<div class="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
+        <DataAnnotationsValidator />
+
+        <div class="form-check mb-2">
+            <InputCheckbox class="form-check-input" Value="Model.EnableSimulation" />
+            <label class="form-check-label">Enable Simulation</label>
+            <ValidationMessage For="@(() => Model.EnableSimulation)" />
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label">Max Velocity (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SimulationMaxVelocity" />
+                <ValidationMessage For="@(() => Model.SimulationMaxVelocity)" />
+            </div>
+            <div class="col-md-6">
+                <label class="form-label">Max Angular Velocity (rad/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SimulationMaxAngularVelocity" />
+                <ValidationMessage For="@(() => Model.SimulationMaxAngularVelocity)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label">Acceleration (m/s²)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SimulationAcceleration" />
+                <ValidationMessage For="@(() => Model.SimulationAcceleration)" />
+            </div>
+            <div class="col-md-6">
+                <label class="form-label">Deceleration (m/s²)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SimulationDeceleration" />
+                <ValidationMessage For="@(() => Model.SimulationDeceleration)" />
+            </div>
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label">Description</label>
+            <InputTextArea class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
+        </div>
+    </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
+
+@code {
+    [Parameter]
+    public RobotSimulationConfigDto Model { get; set; } = new();
+
+    [Parameter]
+    public EventCallback<RobotSimulationConfigDto> ModelChanged { get; set; }
+
+    private EditContext? EditContext;
+
+    protected override void OnParametersSet()
+    {
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+        }
+    }
+
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
+    {
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+    }
+}

RobotApp.Client/Pages/Components/Config/RobotVDA5050Config.razor

@@ -0,0 +1,329 @@
+@implements IDisposable
+
+<div class="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
+        <DataAnnotationsValidator />
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label" for="serialNumber">Serial Number</label>
+                <InputText id="serialNumber" class="form-control" @bind-Value="Model.SerialNumber" />
+                <ValidationMessage For="@(() => Model.SerialNumber)" />
+            </div>
+            <div class="col-md-6">
+                <label class="form-label" for="prefix">Topic Prefix</label>
+                <InputText id="prefix" class="form-control" @bind-Value="Model.VDA5050TopicPrefix"/>
+                <ValidationMessage For="@(() => Model.VDA5050TopicPrefix)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label" for="manufacturer">Manufacturer</label>
+                <InputText id="manufacturer" class="form-control" @bind-Value="Model.VDA5050Manufacturer" disabled="true" />
+                <ValidationMessage For="@(() => Model.VDA5050Manufacturer)" />
+            </div>
+            <div class="col-md-6">
+                <label class="form-label" for="version">Version</label>
+                <InputText id="version" class="form-control" @bind-Value="Model.VDA5050Version" disabled="true" />
+                <ValidationMessage For="@(() => Model.VDA5050Version)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label" for="host">Host</label>
+                <InputText id="host" class="form-control" @bind-Value="Model.VDA5050HostServer" />
+                <ValidationMessage For="@(() => Model.VDA5050HostServer)" />
+            </div>
+            <div class="col-md-3">
+                <label class="form-label" for="port">Port</label>
+                <InputNumber id="port" class="form-control" @bind-Value="Model.VDA5050Port" />
+                <ValidationMessage For="@(() => Model.VDA5050Port)" />
+            </div>
+            <div class="col-md-3">
+                <label class="form-label" for="publishRepeat">Publish Repeat</label>
+                <InputNumber id="publishRepeat" class="form-control" @bind-Value="Model.VDA5050PublishRepeat" />
+                <ValidationMessage For="@(() => Model.VDA5050PublishRepeat)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label" for="username">Username</label>
+                <InputText id="username" class="form-control" @bind-Value="Model.VDA5050UserName" />
+                <ValidationMessage For="@(() => Model.VDA5050UserName)" />
+            </div>
+            <div class="col-md-6">
+                <label class="form-label" for="password">Password</label>
+                <div class="password-input-wrapper">
+                    <InputText id="password" class="form-control password-input" @bind-Value="Model.VDA5050Password" inputmode="text" type="@PasswordInputType" autocomplete="new-password" spellcheck="false" />
+                    <button class="password-toggle-btn" type="button" @onclick="TogglePasswordVisibility" aria-label="Toggle password visibility">
+                        <i class="@PasswordIconClass" aria-hidden="true"></i>
+                    </button>
+                </div>
+                <ValidationMessage For="@(() => Model.VDA5050Password)" />
+            </div>
+        </div>
+
+        <div class="form-check mb-2">
+            <InputCheckbox id="enablePassword" class="form-check-input" @bind-Value="Model.VDA5050EnablePassword" />
+            <label class="form-check-label" for="enablePassword">Enable Password</label>
+            <ValidationMessage For="@(() => Model.VDA5050EnablePassword)" />
+        </div>
+
+        <div class="form-check mb-2">
+            <InputCheckbox id="enableTls" class="form-check-input" @bind-Value="Model.VDA5050EnableTls" />
+            <label class="form-check-label" for="enableTls">Enable TLS</label>
+            <ValidationMessage For="@(() => Model.VDA5050EnableTls)" />
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label" for="caFile">CA File</label>
+            <div class="custom-file-input-wrapper position-relative">
+                <InputFile class="d-none" id="caFile" OnChange="e => OnFileSelected(e, FileSlot.Ca)" accept=".crt,.pem,.cer,.pfx,.key,.jks" />
+                <div class="form-control d-flex align-items-center gap-2 ps-0">
+                    <label for="caFile" class="upload-btn d-flex align-items-center gap-1">
+                        <i class="mdi mdi-attachment"></i>
+                    </label>
+
+                    <span id="fileNameDisplay" class="text-muted flex-grow-1 text-truncate" style="max-width: 200px;">
+                        @Model.VDA5050CA
+                    </span>
+
+                    <button class="password-toggle-btn position-absolute rounded-end-2 top-50 translate-middle-y" type="button" @onclick="() => RemoveFile(FileSlot.Ca)" aria-label="Remove client certificate file">
+                        <i class="mdi mdi-close" aria-hidden="true"></i>
+                    </button>
+                </div>
+            </div>
+            @if (!string.IsNullOrEmpty(CaFileInfo))
+            {
+                <div class="small text-muted mt-1 mb-1">@CaFileInfo</div>
+            }
+            @if (!string.IsNullOrEmpty(CaFileError))
+            {
+                <div class="text-danger small mt-1 mb-1">@CaFileError</div>
+            }
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label" for="clientCertFile">Client Certificate File</label>
+            <div class="custom-file-input-wrapper position-relative">
+                <InputFile class="d-none" id="clientCertFile" OnChange="e => OnFileSelected(e, FileSlot.Cert)" accept=".crt,.pem,.cer,.pfx,.key,.jks" />
+                <div class="form-control d-flex align-items-center gap-2 ps-0">
+                    <label for="clientCertFile" class="upload-btn d-flex align-items-center gap-1">
+                        <i class="mdi mdi-attachment"></i>
+                    </label>
+
+                    <span id="fileNameDisplay" class="text-muted flex-grow-1 text-truncate" style="max-width: 200px;">
+                        @Model.VDA5050Cer
+                    </span>
+
+                    <button class="password-toggle-btn position-absolute rounded-end-2 top-50 translate-middle-y" type="button" @onclick="() => RemoveFile(FileSlot.Cert)" aria-label="Remove client certificate file">
+                        <i class="mdi mdi-close" aria-hidden="true"></i>
+                    </button>
+                </div>
+            </div>
+            @if (!string.IsNullOrEmpty(CertFileInfo))
+            {
+                <div class="small text-muted mt-1 mb-1">@CertFileInfo</div>
+            }
+            @if (!string.IsNullOrEmpty(CertFileError))
+            {
+                <div class="text-danger small mt-1 mb-1">@CertFileError</div>
+            }
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label" for="clientKeyFile">Client Key File</label>
+            <div class="custom-file-input-wrapper position-relative">
+                <InputFile class="d-none" id="clientKeyFile" OnChange="e => OnFileSelected(e, FileSlot.Key)" accept=".crt,.pem,.cer,.pfx,.key,.jks" />
+                <div class="form-control d-flex align-items-center gap-2 ps-0">
+                    <label for="clientKeyFile" class="upload-btn d-flex align-items-center gap-1">
+                        <i class="mdi mdi-attachment"></i>
+                    </label>
+
+                    <span id="fileNameDisplay" class="text-muted flex-grow-1 text-truncate" style="max-width: 200px;">
+                        @Model.VDA5050Key
+                    </span>
+
+                    <button class="password-toggle-btn position-absolute rounded-end-2 top-50 translate-middle-y" type="button" @onclick="() => RemoveFile(FileSlot.Key)" aria-label="Remove client key file">
+                        <i class="mdi mdi-close" aria-hidden="true"></i>
+                    </button>
+                </div>
+            </div>
+            @if (!string.IsNullOrEmpty(KeyFileInfo))
+            {
+                <div class="small text-muted mt-1 mb-1">@KeyFileInfo</div>
+            }
+            @if (!string.IsNullOrEmpty(KeyFileError))
+            {
+                <div class="text-danger small mt-1 mb-1">@KeyFileError</div>
+            }
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label" for="description">Description</label>
+            <InputTextArea id="description m-1" class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
+        </div>
+    </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
+
+@code {
+    [Parameter]
+    public RobotVDA5050ConfigDto Model { get; set; } = new();
+
+    [Parameter]
+    public EventCallback<RobotVDA5050ConfigDto> ModelChanged { get; set; }
+
+    public IBrowserFile? CaFile { get; set; }
+    public IBrowserFile? CertFile { get; set; }
+    public IBrowserFile? KeyFile { get; set; }
+    public long MaxFileSize { get; set; } = 10 * 1024 * 1024;
+
+    private EditContext? EditContext;
+    private bool showPassword;
+    private string PasswordInputType => showPassword ? "text" : "password";
+    private string PasswordIconClass => showPassword ? "mdi mdi-eye-off" : "mdi mdi-eye";
+
+    private enum FileSlot { Ca, Cert, Key }
+
+    private string? CaFileInfo;
+    private string? CaFileError;
+
+    private string? CertFileInfo;
+    private string? CertFileError;
+
+    private string? KeyFileInfo;
+    private string? KeyFileError;
+
+    private async Task OnFileSelected(InputFileChangeEventArgs e, FileSlot slot)
+    {
+        var file = e.File;
+        if (file is null)
+            return;
+
+        if (file.Size > MaxFileSize)
+        {
+            SetFileError(slot, $"File too large (max {FormatSize(MaxFileSize)})");
+            SetFileInfo(slot, string.Empty, 0);
+            return;
+        }
+
+        try
+        {
+            using var stream = file.OpenReadStream(MaxFileSize);
+            using var ms = new MemoryStream();
+            await stream.CopyToAsync(ms);
+            var data = ms.ToArray();
+
+            SetFileError(slot, null);
+            SetFileInfo(slot, file.Name, file.Size);
+            SetFileName(slot, file.Name);
+            SetBrowserFile(slot, file);
+            _ = ModelChanged.InvokeAsync(Model);
+        }
+        catch
+        {
+            SetFileError(slot, "Failed to read file");
+        }
+    }
+
+    private void RemoveFile(FileSlot slot)
+    {
+        SetFileInfo(slot, string.Empty, 0);
+        SetFileError(slot, null);
+        SetFileName(slot, string.Empty);
+
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    private void SetFileError(FileSlot slot, string? error)
+    {
+        switch (slot)
+        {
+            case FileSlot.Ca: CaFileError = error; break;
+            case FileSlot.Cert: CertFileError = error; break;
+            case FileSlot.Key: KeyFileError = error; break;
+        }
+    }
+
+    private void SetFileInfo(FileSlot slot, string? name, long size)
+    {
+        switch (slot)
+        {
+            case FileSlot.Ca: CaFileInfo = string.IsNullOrEmpty(name) ? "" : $"{name} {FormatSize(size)}"; break;
+            case FileSlot.Cert: CertFileInfo = string.IsNullOrEmpty(name) ? "" : $"{name} {FormatSize(size)}"; break;
+            case FileSlot.Key: KeyFileInfo = string.IsNullOrEmpty(name) ? "" : $"{name} {FormatSize(size)}"; break;
+        }
+    }
+
+    private void SetFileName(FileSlot slot, string? name)
+    {
+        switch (slot)
+        {
+            case FileSlot.Ca: Model.VDA5050CA = name; break;
+            case FileSlot.Cert: Model.VDA5050Cer = name; break;
+            case FileSlot.Key: Model.VDA5050Key = name; break;
+        }
+    }
+
+    private void SetBrowserFile(FileSlot slot, IBrowserFile file)
+    {
+        switch (slot)
+        {
+            case FileSlot.Ca: CaFile = file; break;
+            case FileSlot.Cert: CertFile = file; break;
+            case FileSlot.Key: KeyFile = file; break;
+        }
+    }
+
+    private static string FormatSize(long size)
+    {
+        if (size <= 0) return "0 B";
+        if (size < 1024) return $"{size} B";
+        double kb = size / 1024.0;
+        if (kb < 1024) return $"{kb:F1} KB";
+        double mb = kb / 1024.0;
+        return $"{mb:F2} MB";
+    }
+
+    protected override void OnParametersSet()
+    {
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+            CaFileInfo = string.Empty;
+            CertFileInfo = string.Empty;
+            KeyFileInfo = string.Empty;
+        }
+    }
+
+    private void TogglePasswordVisibility()
+    {
+        showPassword = !showPassword;
+    }
+
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
+    {
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+    }
+}

RobotApp.Client/Pages/Components/Config/RobotVDA5050Config.razor.css

@@ -0,0 +1,93 @@
+/* wrapper positions the toggle inside the input */
+.password-input-wrapper {
+    position: relative;
+    display: block;
+}
+
+/* add right padding so text doesn't overlap the icon */
+.password-input {
+    padding-right: 2.25rem; /* adjust as needed for icon size */
+}
+
+/* icon button sits absolutely inside the input at the right */
+.password-toggle-btn {
+    position: absolute;
+    right: 0.5rem;
+    top: 50%;
+    transform: translateY(-50%);
+    border: none;
+    background: transparent;
+    padding: 0;
+    display: inline-flex;
+    align-items: center;
+    justify-content: center;
+    cursor: pointer;
+    color: inherit;
+    line-height: 1;
+}
+
+/* keep the native focus behavior but provide visible ring for keyboard users */
+.password-toggle-btn:focus {
+    outline: none;
+}
+
+.password-toggle-btn:focus-visible {
+    box-shadow: 0 0 0 3px rgba(13, 110, 253, 0.15);
+    border-radius: 0.25rem;
+}
+
+/* tune icon size */
+.password-toggle-btn .mdi {
+    font-size: 1.15rem;
+    pointer-events: none; /* let clicks hit the button, not the icon */
+}
+
+.file-input-wrapper {
+    max-width: 100%;
+}
+
+.custom-file-input-wrapper {
+    max-width: 100%;
+}
+
+    .custom-file-input-wrapper .form-control {
+        height: 38px;
+        padding-right: 50px;
+        background-color: #f8f9fa;
+        border: 1px solid #ced4da;
+    }
+
+.text-truncate {
+    overflow: hidden;
+    text-overflow: ellipsis;
+    white-space: nowrap;
+}
+
+/* === NÚT LABEL GIỐNG BUTTON THẬT === */
+.upload-btn {
+    cursor: pointer;
+    transition: all 0.2s ease;
+    user-select: none;
+    min-width: 50px;
+    font-size: 23px;
+    justify-content: center;
+    border-right: 1px solid silver;
+    border-radius: 0.25rem;
+}
+
+    /* HOVER: đổi màu nền + viền */
+    .upload-btn:hover {
+        background-color: #e7f3ff !important;
+    }
+
+    /* FOCUS: khi tab đến (accessibility) */
+    .upload-btn:focus {
+        outline: 2px solid transparent;
+        box-shadow: 0 0 0 0.2rem rgba(13, 110, 253, 0.5) !important;
+    }
+
+    /* ACTIVE: khi nhấn */
+    .upload-btn:active {
+        transform: translateY(0);
+        background-color: #d0e8ff !important;
+    }

RobotApp.Client/Pages/Components/Mapping/MapPreview.razor

@@ -1,40 +0,0 @@
-@inject HttpClient Http
-
-<div class="d-flex flex-column h-100 w-100">
-    <span Class="title">@MapName</span>
-    <div class="d-flex flex-grow-1 w-100 flex-column">
-        <div class="map-item">
-            <img src="@imageSrc" alt="map image" onerror="this.onerror=null; this.src='/images/Image-not-found.png';" />
-        </div>
-        <MudButton StartIcon="@Icons.Material.Filled.FileDownload" Class="m-2" Size="Size.Small" Variant="Variant.Filled" Color="Color.Primary" Disabled="Disable">
-            DOWNLOAD
-        </MudButton>
-    </div>
-</div>
-
-@code {
-    private bool Disable = true;
-    private string imageSrc = "/images/Image-not-found.png";
-    private string MapName = "Map preview";
-    private Guid MapId = Guid.Empty;
-
-
-    public void SetMapPreview(MapDto? map)
-    {
-        if (map is null)
-        {
-            Disable = true;
-            MapName = "Map preview";
-            imageSrc = "/images/Image-not-found.png";
-            MapId = Guid.Empty;
-        }
-        else
-        {
-            imageSrc = $"api/Images/map/{map.Id}?t={DateTime.Now}";
-            MapName = map.Name;
-            MapId = map.Id;
-            Disable = false;
-        }
-        StateHasChanged();
-    }
-}

RobotApp.Client/Pages/Components/Mapping/MapPreview.razor.css

@@ -1,42 +0,0 @@
-.map-item {
-    display: flex;
-    justify-content: center;
-    width: 100%;
-    height: fit-content;
-}
-
-    .map-item img {
-        justify-content: center;
-        width: 95%;
-        height: 400px;
-        object-fit: contain;
-        border-radius: 10px;
-        image-rendering: pixelated;
-    }
-
-.title {
-    display: flex;
-    height: 77px;
-    width: 100%;
-    justify-content: center;
-    align-content: center;
-    /*border-bottom: 0.5px solid gray;*/
-    font-size: 30px;
-    flex-wrap: wrap;
-    padding-bottom: .5rem;
-}
-
-.map-update-item {
-    display: flex;
-    justify-content: center;
-    width: 100%;
-    height: fit-content;
-}
-
-    .map-update-item img {
-        width: 100%;
-        height: 400px;
-        object-fit: contain;
-        border-radius: 10px;
-        image-rendering: pixelated;
-    }

RobotApp.Client/Pages/Components/Mapping/MapTable.razor

@@ -1,9 +1,11 @@
 @inject HttpClient Http
+@inject IJSRuntime JS
 
+<div @ref="ViewContainerRef" class="w-100 h-100">
     <MudTable Class="h-100 w-100" @ref="Table" Items="@MapsShow" T="MapDto" Dense Hover ReadOnly FixedHeader RowClass="cursor-pointer" Striped Elevation="10"
-          ServerData="ReloadData" Loading=@IsLoading Height="88%" HorizontalScrollbar=true>
+              ServerData="ReloadData" Loading=@IsLoading Height="@($"{TableHeight}px")" HorizontalScrollbar=true>
         <ToolBarContent>
-        <MudText Typo="Typo.h6">Maps</MudText>
+            <h4>Maps</h4>
         </ToolBarContent>
         <HeaderContent>
             <MudTh>Nr</MudTh>
@@ -48,6 +50,8 @@
             </div>
         </PagerContent>
     </MudTable>
+</div>
+
 
 @code {
     private string txtSearch = "";
@@ -56,19 +60,22 @@
     private List<MapDto> Maps = [];
     private List<MapDto> MapsShow = [];
 
-    private int selectedRowNumber = -1;
     private MapDto MapSelected = new();
 
     private MudTable<MapDto>? Table;
+    private ElementReference ViewContainerRef;
 
-    private MapPreview? MapPreviewRef;
+    private double TableHeight = 105;
 
     protected override async Task OnAfterRenderAsync(bool firstRender)
     {
         await base.OnAfterRenderAsync(firstRender);
         if (!firstRender) return;
 
+        var containerSize = await JS.InvokeAsync<DomRect>("getElementSize", ViewContainerRef);
+        TableHeight = containerSize.Height - 105;
         // await LoadMaps();
+        StateHasChanged();
     }
 
     private async Task LoadMaps()
@@ -120,4 +127,10 @@
         MapsShow = tasks.Skip(state.Page * state.PageSize).Take(state.PageSize).ToList();
         return Task.FromResult(new TableData<MapDto>() { TotalItems = tasks.Count, Items = MapsShow });
     }
+
+    public class DomRect
+    {
+        public double Width { get; set; }
+        public double Height { get; set; }
+    }
 }

RobotApp.Client/Pages/Components/Mapping/MapView.razor

@@ -1,16 +1,15 @@
 @inject IJSRuntime JS
-@inject HttpClient Http
 @using Excubo.Blazor.Canvas.Contexts
 
 <div class="view">
     <div class="toolbar">
         <MudTooltip Text="Zoom In" role="button" Placement="Placement.Bottom" Color="Color.Info">
-            <button type="button" class="btn btn-secondary action-button" @onclick="ResetView">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ZoomIn">
                 <i class="mdi mdi-magnify-plus-outline icon-button"></i>
             </button>
         </MudTooltip>
         <MudTooltip Text="Zoom Out" role="button" Placement="Placement.Bottom" Color="Color.Info">
-            <button type="button" class="btn btn-secondary action-button" @onclick="ResetView">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ZoomOut">
                 <i class="mdi mdi-magnify-minus-outline icon-button"></i>
             </button>
         </MudTooltip>
@@ -32,27 +31,23 @@
         </MudTooltip>
         <MudTooltip Text="Start Mapping" role="button" Placement="Placement.Bottom" Color="Color.Info">
             <button type="button" class="btn btn-secondary action-button" disabled="@(false)">
-                <i class="mdi mdi-play icon-button"></i>
+                <i class="mdi mdi-plus icon-button"></i>
             </button>
         </MudTooltip>
         <MudTooltip Text="Stop Mapping" role="button" Placement="Placement.Bottom" Color="Color.Info">
             <button type="button" class="btn btn-secondary action-button" disabled="@(true)">
-                <i class="mdi mdi-pause icon-button"></i>
+                <i class="mdi mdi-stop icon-button"></i>
-            </button>
-        </MudTooltip>
-        <MudSpacer />
-        <MudTooltip Text="Reload Map" role="button" Placement="Placement.Bottom" Color="Color.Info">
-            <button type="button" class="btn btn-secondary action-button" @onclick="ReloadMapImage">
-                <i class="mdi mdi-map-outline icon-button"></i>
             </button>
         </MudTooltip>
     </div>
     <div @ref="ViewContainerRef">
         <canvas @ref="CanvasRef"
                 @onwheel="HandleWheel"
-                @onwheel:preventDefault="true"
                 @onmousemove="HandleMouseMove"
-                @onmouseleave="HandleMouseLeave"></canvas>
+                @onmouseleave="HandleMouseLeave"
+                @ontouchstart="HandleTouchStart"
+                @ontouchmove="HandleTouchMove"
+                @ontouchend="HandleTouchEnd"></canvas>
     </div>
 </div>
 
@@ -91,22 +86,27 @@
     private bool MapImageLoaded = false;
 
     private const double ImageX = -10;
-    private const double ImageY = -10;
+    private const double ImageY = -5;
     private const double ImageResolution = 0.05;
 
     private double MapImageWidth = 0;
     private double MapImageHeight = 0;
     private const string MAP_CACHE_KEY = "map_image";
 
+    private TouchPoint? LastTouchPoint;
+    private TouchPoint? LastSecondTouchPoint;
+    private double LastTouchDistance = 0;
+    private bool IsTouching = false;
+
     protected override async Task OnAfterRenderAsync(bool first_render)
     {
         await base.OnAfterRenderAsync(first_render);
         if (!first_render) return;
 
-        var parentSize = await JS.InvokeAsync<DomRect>("getElementSize", ViewContainerRef);
+        var containerSize = await JS.InvokeAsync<DomRect>("getElementSize", ViewContainerRef);
 
-        CanvasWidth = parentSize.Width;
+        CanvasWidth = containerSize.Width;
-        CanvasHeight = parentSize.Height;
+        CanvasHeight = containerSize.Height;
 
         await JS.InvokeVoidAsync("setCanvasSize", CanvasRef, CanvasWidth, CanvasHeight);
 
@@ -137,11 +137,10 @@
         try
         {
             MapImageLoaded = false;
-            string baseUrl = Http.BaseAddress?.ToString() ?? "";
+            string apiUrl = "api/images/mapping";
-            string apiUrl = $"{baseUrl}api/images/map";
             await JS.InvokeVoidAsync("preloadImageFromUrl", apiUrl, MAP_CACHE_KEY);
 
-            var imageDimensions = await JS.InvokeAsync<ImageDimensions>("getImageDimensions", MAP_CACHE_KEY);
+            var imageDimensions = await JS.InvokeAsync<DomRect>("getImageDimensions", MAP_CACHE_KEY);
             MapImageWidth = imageDimensions.Width * ImageResolution;
             MapImageHeight = imageDimensions.Height * ImageResolution;
             if (MapImageWidth > 0 && MapImageHeight > 0) MapImageLoaded = true;
@@ -152,545 +151,61 @@
         }
     }
 
-    private async Task DrawCanvas()
+    private async Task ResetView()
     {
-        await using var ctx = await JS.GetContext2DAsync(CanvasRef);
+        CanvasTranslateX = CanvasWidth / 2;
+        CanvasTranslateY = CanvasHeight / 2;
+        ZoomScale = 1.0;
+        StateHasChanged();
+        await DrawCanvas();
+    }
 
-        await ctx.ClearRectAsync(0, 0, CanvasWidth, CanvasHeight);
+    private async Task ZoomIn()
+    {
+        const double zoomFactor = 0.15;
+        double oldZoom = ZoomScale;
 
-        await DrawRulers(ctx);
+        ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * (1 + zoomFactor));
 
-        await ctx.SaveAsync();
+        if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
 
-        await ctx.TranslateAsync(CanvasTranslateX, CanvasTranslateY);
+        await ZoomAtCenter(oldZoom);
-        await ctx.ScaleAsync(ZoomScale, ZoomScale);
+    }
 
-        await DrawMapImage(ctx);
+    private async Task ZoomOut()
-        await DrawGrid(ctx);
+    {
-        await DrawAxes(ctx);
+        const double zoomFactor = 0.15;
-        await DrawLaserScannerPoints(ctx);
+        double oldZoom = ZoomScale;
-        await ctx.RestoreAsync();
+
+        ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * (1 - zoomFactor));
+
+        if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
+
+        await ZoomAtCenter(oldZoom);
+    }
+
+    private async Task ZoomAtCenter(double oldZoom)
+    {
+        double centerX = CanvasWidth / 2;
+        double centerY = CanvasHeight / 2;
+
+        double centerWorldX = (centerX - CanvasTranslateX) / oldZoom / BASE_PIXELS_PER_METER - OriginX;
+        double centerWorldY = (centerY - CanvasTranslateY) / oldZoom / BASE_PIXELS_PER_METER - OriginY;
+
+        double newCenterCanvasX = (centerWorldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale;
+        double newCenterCanvasY = (centerWorldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale;
+
+        CanvasTranslateX = centerX - newCenterCanvasX;
+        CanvasTranslateY = centerY - newCenterCanvasY;
 
         if (IsMouseInCanvas)
         {
-            await DrawMouseIndicator(ctx);
+            WorldMouseX = CanvasToWorldX(MouseX);
-        }
+            WorldMouseY = CanvasToWorldY(MouseY);
         }
 
-    private async Task DrawMapImage(Context2D ctx)
+        StateHasChanged();
-    {
+        await DrawCanvas();
-        if (!MapImageLoaded)
-        {
-            return; 
-        }
-
-        await ctx.SaveAsync();
-
-        try
-        {
-
-            double imageWidthCanvas = MapImageWidth * BASE_PIXELS_PER_METER;
-            double imageHeightCanvas = MapImageHeight * BASE_PIXELS_PER_METER;
-
-            double mapCanvasX = ImageX * BASE_PIXELS_PER_METER;
-            double mapCanvasY = (ImageY + MapImageHeight) * BASE_PIXELS_PER_METER;
-
-            bool success = await JS.InvokeAsync<bool>("drawCachedImageOnCanvas", 
-                CanvasRef, 
-                MAP_CACHE_KEY,
-                mapCanvasX,                                    
-                mapCanvasY - imageHeightCanvas,               
-                imageWidthCanvas,                             
-                imageHeightCanvas);   
-        }
-        catch
-        {
-        }
-
-        await ctx.RestoreAsync();
-    }
-
-    private async Task DrawLaserScannerPoints(Context2D ctx)
-    {
-        var scanData = GenerateLaserScanData();
-
-        double robotCanvasX = scanData.RobotX * BASE_PIXELS_PER_METER;
-        double robotCanvasY = scanData.RobotY * BASE_PIXELS_PER_METER;
-
-        await ctx.SaveAsync();
-
-        if (scanData.Points.Count > 0)
-        {
-            await ctx.BeginPathAsync();
-
-            for (int i = 0; i < scanData.Points.Count; i++)
-            {
-                var point = scanData.Points[i];
-                double pointCanvasX = point.X * BASE_PIXELS_PER_METER;
-                double pointCanvasY = point.Y * BASE_PIXELS_PER_METER;
-
-                if (i == 0)
-                {
-                    await ctx.MoveToAsync(pointCanvasX, pointCanvasY);
-                }
-                else
-                {
-                    await ctx.LineToAsync(pointCanvasX, pointCanvasY);
-                }
-            }
-
-            await ctx.StrokeStyleAsync("rgba(255, 100, 100, 0.8)"); 
-            await ctx.LineWidthAsync(2 / ZoomScale);
-            await ctx.StrokeAsync();
-
-            await ctx.LineToAsync(robotCanvasX, robotCanvasY); 
-            await ctx.ClosePathAsync();
-            await ctx.FillStyleAsync("rgba(255, 100, 100, 0.1)"); 
-            await ctx.FillAsync(FillRule.NonZero);
-        }
-
-        await DrawRobotImage(ctx, robotCanvasX, robotCanvasY, scanData.RobotOrientation);
-        await DrawRobotOrientationArrows(ctx, robotCanvasX, robotCanvasY, scanData.RobotOrientation);
-
-        await ctx.RestoreAsync();
-    }
-
-    private async Task DrawRobotImage(Context2D ctx, double robotCanvasX, double robotCanvasY, double robotOrientation)
-    {
-        if (!RobotImageLoaded)
-        {
-            // Fallback to circle if image not loaded
-            await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
-            await ctx.BeginPathAsync();
-            await ctx.ArcAsync(robotCanvasX, robotCanvasY, 8 / ZoomScale, 0, Math.PI * 2);
-            await ctx.FillAsync(FillRule.NonZero);
-            return;
-        }
-
-        await ctx.SaveAsync();
-
-        double robotWidthPixels = RobotWidth * BASE_PIXELS_PER_METER;
-        double robotLengthPixels = RobotLength * BASE_PIXELS_PER_METER;
-
-        double scaledWidth = ZoomScale < 1 ? robotWidthPixels / ZoomScale : robotWidthPixels;
-        double scaledLength = ZoomScale < 1 ? robotLengthPixels / ZoomScale : robotLengthPixels;
-
-        await ctx.TranslateAsync(robotCanvasX, robotCanvasY);
-        await ctx.RotateAsync(robotOrientation);
-
-        try
-        {
-            bool success = await JS.InvokeAsync<bool>("drawImageOnCanvas", 
-                CanvasRef, 
-                "images/AMR-250.png",
-                -scaledLength / 2, 
-                -scaledWidth / 2,  
-                scaledLength,     
-                scaledWidth);      
-
-            if (!success)
-            {
-                await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
-                await ctx.FillRectAsync(-scaledLength / 2, -scaledWidth / 2, scaledLength, scaledWidth);
-            }
-        }
-        catch
-        {
-            await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
-            await ctx.FillRectAsync(-scaledLength / 2, -scaledWidth / 2, scaledLength, scaledWidth);
-        }
-
-        await ctx.RestoreAsync();
-    }
-
-    private async Task DrawRobotOrientationArrows(Context2D ctx, double robotCanvasX, double robotCanvasY, double robotOrientation)
-    {
-        double arrowLength = 30 / ZoomScale;
-        double arrowHeadSize = 10 / ZoomScale;
-
-        await ctx.StrokeStyleAsync("rgba(0, 100, 255, 1.0)"); 
-        await ctx.FillStyleAsync("rgba(0, 100, 255, 1.0)");
-        await ctx.LineWidthAsync(3 / ZoomScale);
-
-        await ctx.BeginPathAsync();
-        await ctx.MoveToAsync(robotCanvasX, robotCanvasY);
-        double xAxisEndX = robotCanvasX + Math.Cos(robotOrientation) * (arrowLength - arrowHeadSize + 1);
-        double xAxisEndY = robotCanvasY + Math.Sin(robotOrientation) * (arrowLength - arrowHeadSize + 1);
-        await ctx.LineToAsync(xAxisEndX, xAxisEndY);
-        await ctx.StrokeAsync();
-
-        await ctx.BeginPathAsync();
-        double xArrowTipX = robotCanvasX + Math.Cos(robotOrientation) * arrowLength;
-        double xArrowTipY = robotCanvasY + Math.Sin(robotOrientation) * arrowLength;
-        await ctx.MoveToAsync(xArrowTipX, xArrowTipY);
-        double xArrowAngle = robotOrientation + Math.PI;
-        await ctx.LineToAsync(xArrowTipX + Math.Cos(xArrowAngle + Math.PI / 6) * arrowHeadSize, xArrowTipY + Math.Sin(xArrowAngle + Math.PI / 6) * arrowHeadSize);
-        await ctx.LineToAsync(xArrowTipX + Math.Cos(xArrowAngle - Math.PI / 6) * arrowHeadSize, xArrowTipY + Math.Sin(xArrowAngle - Math.PI / 6) * arrowHeadSize);
-        await ctx.ClosePathAsync();
-        await ctx.FillAsync(FillRule.NonZero);
-
-        await ctx.StrokeStyleAsync("rgba(255, 50, 50, 1.0)");
-        await ctx.FillStyleAsync("rgba(255, 50, 50, 1.0)");
-        await ctx.LineWidthAsync(3 / ZoomScale);
-
-        double yAxisAngle = robotOrientation + Math.PI / 2;
-
-        await ctx.BeginPathAsync();
-        await ctx.MoveToAsync(robotCanvasX, robotCanvasY);
-        double yAxisEndX = robotCanvasX + Math.Cos(yAxisAngle) * (arrowLength - arrowHeadSize + 1);
-        double yAxisEndY = robotCanvasY + Math.Sin(yAxisAngle) * (arrowLength - arrowHeadSize + 1);
-        await ctx.LineToAsync(yAxisEndX, yAxisEndY);
-        await ctx.StrokeAsync();
-
-        await ctx.BeginPathAsync();
-        double yArrowTipX = robotCanvasX + Math.Cos(yAxisAngle) * arrowLength;
-        double yArrowTipY = robotCanvasY + Math.Sin(yAxisAngle) * arrowLength;
-        await ctx.MoveToAsync(yArrowTipX, yArrowTipY);
-        double yArrowAngle = yAxisAngle + Math.PI;
-        await ctx.LineToAsync(yArrowTipX + Math.Cos(yArrowAngle + Math.PI / 6) * arrowHeadSize, yArrowTipY + Math.Sin(yArrowAngle + Math.PI / 6) * arrowHeadSize);
-        await ctx.LineToAsync(yArrowTipX + Math.Cos(yArrowAngle - Math.PI / 6) * arrowHeadSize, yArrowTipY + Math.Sin(yArrowAngle - Math.PI / 6) * arrowHeadSize);
-        await ctx.ClosePathAsync();
-        await ctx.FillAsync(FillRule.NonZero);
-    }
-
-    private async Task DrawMouseIndicator(Context2D ctx)
-    {
-        await ctx.SaveAsync();
-
-        await ctx.StrokeStyleAsync("rgba(255, 50, 50, 0.8)");
-        await ctx.LineWidthAsync(1);
-        await ctx.SetLineDashAsync(new double[] { 3, 3 });
-
-        await ctx.BeginPathAsync();
-        await ctx.MoveToAsync(MouseX, RulerHeight);
-        await ctx.LineToAsync(MouseX, CanvasHeight);
-        await ctx.StrokeAsync();
-
-        await ctx.BeginPathAsync();
-        await ctx.MoveToAsync(RulerHeight, MouseY);
-        await ctx.LineToAsync(CanvasWidth, MouseY);
-        await ctx.StrokeAsync();
-
-        await ctx.SetLineDashAsync(new double[] { });
-
-        const double labelPadding = 7;
-        const double labelMargin = 8;
-
-        string coordinateText = $"({WorldMouseX:F2}m, {WorldMouseY:F2}m)";
-
-        await ctx.FontAsync("bold 12px Arial");
-        var textMetrics = await ctx.MeasureTextAsync(coordinateText);
-        double textWidth = textMetrics.Width;
-        double textHeight = 16;
-
-        double labelX = MouseX + labelMargin;
-        double labelY = MouseY - textHeight - labelPadding * 2 - labelMargin;
-
-        if (labelX + textWidth + labelPadding * 2 > CanvasWidth)
-        {
-            labelX = MouseX - textWidth - labelPadding * 2 - labelMargin;
-        }
-        if (labelY - textHeight - labelPadding * 2 < RulerHeight)
-        {
-            labelY = MouseY + labelMargin;
-        }
-
-        await ctx.FillStyleAsync("rgba(0, 0, 0, 0.8)");
-        await ctx.FillRectAsync(labelX, labelY, textWidth + labelPadding * 2, textHeight + labelPadding * 2);
-
-        await ctx.StrokeStyleAsync("rgba(255,255,255,0.6)");
-        await ctx.LineWidthAsync(1);
-        await ctx.StrokeRectAsync(labelX, labelY, textWidth + labelPadding * 2, textHeight + labelPadding * 2);
-
-        await ctx.FillStyleAsync("rgba(255, 50, 50, 0.9)");
-        await ctx.BeginPathAsync();
-        await ctx.ArcAsync(MouseX, MouseY, 3, 0, Math.PI * 2);
-        await ctx.FillAsync(FillRule.NonZero);
-
-        await ctx.StrokeStyleAsync("rgba(255, 255, 255, 0.8)");
-        await ctx.LineWidthAsync(2);
-        await ctx.BeginPathAsync();
-        await ctx.ArcAsync(MouseX, MouseY, 6, 0, Math.PI * 2);
-        await ctx.StrokeAsync();
-
-        await ctx.SaveAsync();
-
-        await ctx.TranslateAsync(labelX + labelPadding + textWidth / 2, labelY + textHeight / 2);
-        await ctx.ScaleAsync(1, -1);
-
-        await ctx.FillStyleAsync("white");
-        await ctx.FontAsync("bold 12px Arial");
-        await ctx.TextAlignAsync(TextAlign.Center);
-        await ctx.TextBaseLineAsync(TextBaseLine.Bottom);
-        await ctx.FillTextAsync(coordinateText, 0, 0);
-
-        await ctx.RestoreAsync();
-    }
-
-    private async Task DrawRulers(Context2D ctx)
-    {
-        double visibleWorldLeft = CanvasToWorldX(0);
-        double visibleWorldRight = CanvasToWorldX(CanvasWidth);
-        double visibleWorldTop = CanvasToWorldY(0);
-        double visibleWorldBottom = CanvasToWorldY(CanvasHeight);
-
-        double scaleInterval = GetRulerScaleInterval();
-
-        await DrawXRuler(ctx, RulerHeight, visibleWorldLeft, visibleWorldRight, scaleInterval);
-        await DrawYRuler(ctx, RulerHeight, visibleWorldTop, visibleWorldBottom, scaleInterval);
-    }
-
-    private double GetRulerScaleInterval()
-    {
-        double pixelsPerMeter = BASE_PIXELS_PER_METER * ZoomScale;
-
-        if (pixelsPerMeter >= 400) return 0.1;
-        else if (pixelsPerMeter >= 200) return 0.2;
-        else if (pixelsPerMeter >= 100) return 0.5;
-        else if (pixelsPerMeter >= 50) return 1.0;
-        else if (pixelsPerMeter >= 25) return 2.0;
-        else if (pixelsPerMeter >= 12) return 5.0;
-        else if (pixelsPerMeter >= 6) return 10.0;
-        else return 20.0;
-    }
-
-    private async Task DrawXRuler(Context2D ctx, double rulerHeight, double visibleWorldLeft, double visibleWorldRight, double scaleInterval)
-    {
-        await ctx.FillStyleAsync("rgba(240, 240, 240, 0.9)");
-        await ctx.FillRectAsync(0, 0, CanvasWidth, rulerHeight);
-
-        await ctx.StrokeStyleAsync("rgba(100, 100, 100, 0.8)");
-        await ctx.LineWidthAsync(1);
-        await ctx.BeginPathAsync();
-        await ctx.MoveToAsync(0, rulerHeight);
-        await ctx.LineToAsync(CanvasWidth, rulerHeight);
-        await ctx.StrokeAsync();
-
-        double startWorld = Math.Floor(visibleWorldLeft / scaleInterval) * scaleInterval;
-        double endWorld = Math.Ceiling(visibleWorldRight / scaleInterval) * scaleInterval;
-
-        startWorld -= scaleInterval;
-        endWorld += scaleInterval;
-
-        for (double worldX = startWorld; worldX <= endWorld; worldX += scaleInterval)
-        {
-            double canvasX = WorldToCanvasX(worldX);
-
-            if (canvasX < -50 || canvasX > CanvasWidth + 50) continue;
-
-            bool isMajorTick = IsNearMultiple(worldX, scaleInterval * 2) || Math.Abs(worldX) < 0.001;
-            double tickHeight = isMajorTick ? rulerHeight * 0.4 : rulerHeight * 0.2;
-
-            await ctx.StrokeStyleAsync("rgba(60, 60, 60, 0.8)");
-            await ctx.LineWidthAsync(1);
-            await ctx.BeginPathAsync();
-            await ctx.MoveToAsync(canvasX, rulerHeight);
-            await ctx.LineToAsync(canvasX, rulerHeight - tickHeight);
-            await ctx.StrokeAsync();
-
-            if (isMajorTick && canvasX >= -20 && canvasX <= CanvasWidth + 20)
-            {
-                await ctx.SaveAsync();
-
-                await ctx.TranslateAsync(canvasX, rulerHeight - tickHeight - 8);
-                await ctx.ScaleAsync(1, -1);
-
-                await ctx.FillStyleAsync("blue");
-                await ctx.FontAsync("bold 10px Arial");
-                await ctx.TextAlignAsync(TextAlign.Center);
-
-                string labelText = FormatRulerLabel(worldX, scaleInterval);
-                await ctx.FillTextAsync(labelText, 0, 0);
-
-                await ctx.RestoreAsync();
-            }
-        }
-    }
-
-    private async Task DrawYRuler(Context2D ctx, double rulerWidth, double visibleWorldTop, double visibleWorldBottom, double scaleInterval)
-    {
-        await ctx.FillStyleAsync("rgba(240, 240, 240, 0.9)");
-        await ctx.FillRectAsync(0, 0, rulerWidth, CanvasHeight);
-
-        await ctx.StrokeStyleAsync("rgba(100, 100, 100, 0.8)");
-        await ctx.LineWidthAsync(1);
-        await ctx.BeginPathAsync();
-        await ctx.MoveToAsync(rulerWidth, 0);
-        await ctx.LineToAsync(rulerWidth, CanvasHeight);
-        await ctx.StrokeAsync();
-
-        double startWorld = Math.Floor(visibleWorldTop / scaleInterval) * scaleInterval;
-        double endWorld = Math.Ceiling(visibleWorldBottom / scaleInterval) * scaleInterval;
-
-        startWorld -= scaleInterval;
-        endWorld += scaleInterval;
-
-        for (double worldY = startWorld; worldY <= endWorld; worldY += scaleInterval)
-        {
-            double canvasY = WorldToCanvasY(worldY);
-
-            if (canvasY < -50 || canvasY > CanvasHeight + 50) continue;
-
-            bool isMajorTick = IsNearMultiple(worldY, scaleInterval * 2) || Math.Abs(worldY) < 0.001;
-            double tickWidth = isMajorTick ? rulerWidth * 0.4 : rulerWidth * 0.2;
-
-            await ctx.StrokeStyleAsync("rgba(60, 60, 60, 0.8)");
-            await ctx.LineWidthAsync(1);
-            await ctx.BeginPathAsync();
-            await ctx.MoveToAsync(rulerWidth, canvasY);
-            await ctx.LineToAsync(rulerWidth - tickWidth, canvasY);
-            await ctx.StrokeAsync();
-
-            if (isMajorTick && canvasY >= -20 && canvasY <= CanvasHeight + 20)
-            {
-                await ctx.SaveAsync();
-
-                await ctx.TranslateAsync(rulerWidth - tickWidth - 2, canvasY);
-                await ctx.ScaleAsync(1, -1);
-                await ctx.RotateAsync(-Math.PI / 2);
-
-                await ctx.FillStyleAsync("blue");
-                await ctx.FontAsync("bold 10px Arial");
-                await ctx.TextAlignAsync(TextAlign.Center);
-
-                string labelText = FormatRulerLabel(worldY, scaleInterval);
-                await ctx.FillTextAsync(labelText, 0, 0);
-
-                await ctx.RestoreAsync();
-            }
-        }
-    }
-
-    private bool IsNearMultiple(double value, double multiple)
-    {
-        if (multiple == 0) return false;
-        double remainder = Math.Abs(value % multiple);
-        double epsilon = multiple * 0.001;
-        return remainder < epsilon || remainder > multiple - epsilon;
-    }
-
-    private string FormatRulerLabel(double worldValue, double scaleInterval)
-    {
-        return scaleInterval < 1.0 ? $"{worldValue:F1}m" : $"{worldValue:F0}m";
-    }
-
-    private async Task DrawAxes(Context2D ctx)
-    {
-        double originCanvasX = OriginX * BASE_PIXELS_PER_METER;
-        double originCanvasY = OriginY * BASE_PIXELS_PER_METER;
-
-        await ctx.FillStyleAsync("red");
-        await ctx.BeginPathAsync();
-        await ctx.ArcAsync(originCanvasX, originCanvasY, 8 / ZoomScale, 0, Math.PI * 2);
-        await ctx.FillAsync(FillRule.NonZero);
-
-        double gridSpacingMeters = GetGridSpacingMeters();
-        double arrowLength = gridSpacingMeters * BASE_PIXELS_PER_METER;
-        double arrowHeadSize = 16 / ZoomScale;
-
-        await ctx.FillStyleAsync("blue");
-        await ctx.StrokeStyleAsync("blue");
-        await ctx.LineWidthAsync(4 / ZoomScale);
-
-        await ctx.BeginPathAsync();
-        await ctx.MoveToAsync(originCanvasX, originCanvasY);
-        await ctx.LineToAsync(originCanvasX + arrowLength - arrowHeadSize, originCanvasY);
-        await ctx.StrokeAsync();
-
-        await ctx.BeginPathAsync();
-        double xArrowTipX = originCanvasX + arrowLength;
-        double xArrowTipY = originCanvasY;
-        await ctx.MoveToAsync(xArrowTipX, xArrowTipY);
-        await ctx.LineToAsync(xArrowTipX - arrowHeadSize, xArrowTipY - arrowHeadSize / 2);
-        await ctx.LineToAsync(xArrowTipX - arrowHeadSize, xArrowTipY + arrowHeadSize / 2);
-        await ctx.ClosePathAsync();
-        await ctx.FillAsync(FillRule.NonZero);
-
-        await ctx.FillStyleAsync("red");
-        await ctx.StrokeStyleAsync("red");
-        await ctx.LineWidthAsync(4 / ZoomScale);
-
-        await ctx.BeginPathAsync();
-        await ctx.MoveToAsync(originCanvasX, originCanvasY);
-        await ctx.LineToAsync(originCanvasX, originCanvasY + arrowLength - arrowHeadSize);
-        await ctx.StrokeAsync();
-
-        await ctx.BeginPathAsync();
-        double yArrowTipX = originCanvasX;
-        double yArrowTipY = originCanvasY + arrowLength;
-        await ctx.MoveToAsync(yArrowTipX, yArrowTipY);
-        await ctx.LineToAsync(yArrowTipX - arrowHeadSize / 2, yArrowTipY - arrowHeadSize);
-        await ctx.LineToAsync(yArrowTipX + arrowHeadSize / 2, yArrowTipY - arrowHeadSize);
-        await ctx.ClosePathAsync();
-        await ctx.FillAsync(FillRule.NonZero);
-    }
-
-    private async Task DrawGrid(Context2D ctx)
-    {
-        await ctx.StrokeStyleAsync("rgba(200, 200, 200, 0.4)");
-        await ctx.LineWidthAsync(1 / ZoomScale);
-        await ctx.SetLineDashAsync(new double[] { 5 / ZoomScale, 5 / ZoomScale });
-
-        double gridSpacingMeters = GetGridSpacingMeters();
-        double gridSpacingPixels = gridSpacingMeters * BASE_PIXELS_PER_METER;
-
-        double visibleLeft = -CanvasTranslateX / ZoomScale;
-        double visibleRight = (CanvasWidth - CanvasTranslateX) / ZoomScale;
-        double visibleTop = -CanvasTranslateY / ZoomScale;
-        double visibleBottom = (CanvasHeight - CanvasTranslateY) / ZoomScale;
-
-        double startX = Math.Floor(visibleLeft / gridSpacingPixels) * gridSpacingPixels;
-        double startY = Math.Floor(visibleTop / gridSpacingPixels) * gridSpacingPixels;
-
-        for (double x = startX; x <= visibleRight; x += gridSpacingPixels)
-        {
-            await ctx.BeginPathAsync();
-            await ctx.MoveToAsync(x, visibleTop);
-            await ctx.LineToAsync(x, visibleBottom);
-            await ctx.StrokeAsync();
-        }
-
-        for (double y = startY; y <= visibleBottom; y += gridSpacingPixels)
-        {
-            await ctx.BeginPathAsync();
-            await ctx.MoveToAsync(visibleLeft, y);
-            await ctx.LineToAsync(visibleRight, y);
-            await ctx.StrokeAsync();
-        }
-
-        await ctx.SetLineDashAsync(new double[] { });
-    }
-
-    private double GetGridSpacingMeters()
-    {
-        double PixelsPerMeter = BASE_PIXELS_PER_METER * ZoomScale;
-        if (PixelsPerMeter >= 300) return 0.2;
-        else if (PixelsPerMeter >= 150) return 0.5;
-        else if (PixelsPerMeter >= 75) return 1.0;
-        else if (PixelsPerMeter >= 40) return 2.0;
-        else if (PixelsPerMeter >= 20) return 5.0;
-        else if (PixelsPerMeter >= 10) return 10.0;
-        else return 20.0;
-    }
-
-    private double CanvasToWorldX(double canvasX)
-    {
-        return (canvasX - CanvasTranslateX) / ZoomScale / BASE_PIXELS_PER_METER - OriginX;
-    }
-
-    private double CanvasToWorldY(double canvasY)
-    {
-        return (canvasY - CanvasTranslateY) / ZoomScale / BASE_PIXELS_PER_METER - OriginY;
-    }
-
-    private double WorldToCanvasX(double worldX)
-    {
-        return (worldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale + CanvasTranslateX;
-    }
-
-    private double WorldToCanvasY(double worldY)
-    {
-        return (worldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale + CanvasTranslateY;
     }
 
     private async Task HandleMouseMove(MouseEventArgs e)
@@ -751,21 +266,139 @@
         await DrawCanvas();
     }
 
-    private async Task ResetView()
+    private async Task HandleTouchMove(TouchEventArgs e)
     {
-        CanvasTranslateX = CanvasWidth / 2;
+        if (IsTouching)
-        CanvasTranslateY = CanvasHeight / 2;
+        {
-        ZoomScale = 1.0;
+            if (e.Touches.Length == 1)
+            {
+                await HandleSingleTouchMove(e.Touches[0]);
+            }
+            else if (e.Touches.Length == 2)
+            {
+                await HandlePinchZoom(e.Touches[0], e.Touches[1]);
+            }
+
             StateHasChanged();
             await DrawCanvas();
         }
+    }
 
-    private async Task ReloadMapImage()
+    private void HandleTouchStart(TouchEventArgs e)
     {
-        MapImageLoaded = false;
+        IsTouching = true;
-        await LoadMapImage();
+
-        await DrawCanvas();
+        if (e.Touches.Length == 1)
-        StateHasChanged();
+        {
+            LastTouchPoint = new TouchPoint
+            {
+                X = e.Touches[0].ClientX,
+                Y = e.Touches[0].ClientY
+            };
+        }
+        else if (e.Touches.Length == 2)
+        {
+            LastTouchPoint = new TouchPoint
+            {
+                X = e.Touches[0].ClientX,
+                Y = e.Touches[0].ClientY
+            };
+            LastSecondTouchPoint = new TouchPoint
+            {
+                X = e.Touches[1].ClientX,
+                Y = e.Touches[1].ClientY
+            };
+
+            LastTouchDistance = CalculateTouchDistance(LastTouchPoint, LastSecondTouchPoint);
+        }
+    }
+
+    private void HandleTouchEnd(TouchEventArgs e)
+    {
+        IsTouching = false;
+        LastTouchPoint = null;
+        LastSecondTouchPoint = null;
+        LastTouchDistance = 0;
+    }
+
+    private async Task HandleSingleTouchMove(Microsoft.AspNetCore.Components.Web.TouchPoint touch)
+    {
+        if (LastTouchPoint == null) return;
+
+        var currentPoint = new TouchPoint
+        {
+            X = touch.ClientX,
+            Y = touch.ClientY
+        };
+
+        double deltaX = currentPoint.X - LastTouchPoint.X;
+        double deltaY = currentPoint.Y - LastTouchPoint.Y;
+
+        CanvasTranslateX += deltaX;
+        CanvasTranslateY += deltaY;
+
+        LastTouchPoint = currentPoint;
+
+        var canvasRect = await JS.InvokeAsync<DomRect>("getElementBoundingRect", CanvasRef);
+        MouseX = currentPoint.X - canvasRect.X;
+        MouseY = currentPoint.Y - canvasRect.Y;
+        IsMouseInCanvas = true;
+
+        WorldMouseX = CanvasToWorldX(MouseX);
+        WorldMouseY = CanvasToWorldY(MouseY);
+    }
+
+    private async Task HandlePinchZoom(Microsoft.AspNetCore.Components.Web.TouchPoint touch1, Microsoft.AspNetCore.Components.Web.TouchPoint touch2)
+    {
+        if (LastTouchPoint == null || LastSecondTouchPoint == null) return;
+
+        var currentTouch1 = new TouchPoint { X = touch1.ClientX, Y = touch1.ClientY };
+        var currentTouch2 = new TouchPoint { X = touch2.ClientX, Y = touch2.ClientY };
+
+        double currentDistance = CalculateTouchDistance(currentTouch1, currentTouch2);
+
+        if (LastTouchDistance > 0)
+        {
+            double distanceRatio = currentDistance / LastTouchDistance;
+            double oldZoom = ZoomScale;
+
+            ZoomScale = Math.Max(MIN_ZOOM, Math.Min(MAX_ZOOM, ZoomScale * distanceRatio));
+
+            if (Math.Abs(ZoomScale - oldZoom) > 0.001)
+            {
+                double centerX = (currentTouch1.X + currentTouch2.X) / 2;
+                double centerY = (currentTouch1.Y + currentTouch2.Y) / 2;
+
+                var canvasRect = await JS.InvokeAsync<DomRect>("getElementBoundingRect", CanvasRef);
+                double canvasCenterX = centerX - canvasRect.X;
+                double canvasCenterY = centerY - canvasRect.Y;
+
+                ZoomAtPoint(oldZoom, canvasCenterX, canvasCenterY);
+            }
+        }
+
+        LastTouchDistance = currentDistance;
+        LastTouchPoint = currentTouch1;
+        LastSecondTouchPoint = currentTouch2;
+    }
+
+    private double CalculateTouchDistance(TouchPoint point1, TouchPoint point2)
+    {
+        double deltaX = point2.X - point1.X;
+        double deltaY = point2.Y - point1.Y;
+        return Math.Sqrt(deltaX * deltaX + deltaY * deltaY);
+    }
+
+    private void ZoomAtPoint(double oldZoom, double pointX, double pointY)
+    {
+        double pointWorldX = (pointX - CanvasTranslateX) / oldZoom / BASE_PIXELS_PER_METER - OriginX;
+        double pointWorldY = (pointY - CanvasTranslateY) / oldZoom / BASE_PIXELS_PER_METER - OriginY;
+
+        double newPointCanvasX = (pointWorldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale;
+        double newPointCanvasY = (pointWorldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale;
+
+        CanvasTranslateX = pointX - newPointCanvasX;
+        CanvasTranslateY = pointY - newPointCanvasY;
     }
 
     private LaserScanData GenerateLaserScanData()
@@ -779,7 +412,7 @@
 
         // Laser scanner parameters
         const double maxRange = 8.0; // meters
-        const double minRange = 0.2; // meters (fix: was 7.0, should be minimum)
+        const double minRange = 0.5; // meters (fix: was 7.0, should be minimum)
         const int numPoints = 270;   // Number of laser points
         const double startAngle = -Math.PI / 2 - Math.PI / 4;
         const double endAngle = Math.PI / 2 + Math.PI / 4;
@@ -830,30 +463,4 @@
 
         return scanData;
     }
-
-    public class LaserScanPoint
-    {
-        public double X { get; set; }
-        public double Y { get; set; }
-    }
-
-    public class LaserScanData
-    {
-        public double RobotX { get; set; }
-        public double RobotY { get; set; }
-        public double RobotOrientation { get; set; }
-        public List<LaserScanPoint> Points { get; set; } = new();
-    }
-
-    public class DomRect
-    {
-        public double Width { get; set; }
-        public double Height { get; set; }
-    }
-
-    public class ImageDimensions
-    {
-        public double Width { get; set; }
-        public double Height { get; set; }
-    }
 }

RobotApp.Client/Pages/Components/Mapping/MapView.razor.cs

@@ -0,0 +1,576 @@
+using Excubo.Blazor.Canvas;
+using Excubo.Blazor.Canvas.Contexts;
+using Microsoft.JSInterop;
+
+namespace RobotApp.Client.Pages.Components.Mapping;
+
+public partial class MapView
+{
+    public class TouchPoint
+    {
+        public double X { get; set; }
+        public double Y { get; set; }
+    }
+
+    public class LaserScanPoint
+    {
+        public double X { get; set; }
+        public double Y { get; set; }
+    }
+
+    public class LaserScanData
+    {
+        public double RobotX { get; set; }
+        public double RobotY { get; set; }
+        public double RobotOrientation { get; set; }
+        public List<LaserScanPoint> Points { get; set; } = [];
+    }
+
+    public class DomRect
+    {
+        public double Width { get; set; }
+        public double Height { get; set; }
+        public double X { get; set; }
+        public double Y { get; set; }
+        public double Left => X;
+        public double Top => Y;
+    }
+
+    private async Task DrawCanvas()
+    {
+        await using var ctx = await JS.GetContext2DAsync(CanvasRef);
+
+        await ctx.ClearRectAsync(0, 0, CanvasWidth, CanvasHeight);
+
+        await ctx.SaveAsync();
+
+        await ctx.TranslateAsync(CanvasTranslateX, CanvasTranslateY);
+        await ctx.ScaleAsync(ZoomScale, ZoomScale);
+
+        await DrawMapImage(ctx);
+        await DrawGrid(ctx);
+        await DrawAxes(ctx);
+        await DrawLaserScannerPoints(ctx);
+        await ctx.RestoreAsync();
+
+        if (IsMouseInCanvas)
+        {
+            await DrawMouseIndicator(ctx);
+        }
+        await DrawRulers(ctx);
+    }
+
+    private async Task DrawMouseIndicator(Context2D ctx)
+    {
+        await ctx.SaveAsync();
+
+        await ctx.StrokeStyleAsync("rgba(255, 50, 50, 0.8)");
+        await ctx.LineWidthAsync(1);
+        await ctx.SetLineDashAsync([3, 3]);
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(MouseX, RulerHeight);
+        await ctx.LineToAsync(MouseX, CanvasHeight);
+        await ctx.StrokeAsync();
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(RulerHeight, MouseY);
+        await ctx.LineToAsync(CanvasWidth, MouseY);
+        await ctx.StrokeAsync();
+
+        await ctx.SetLineDashAsync([]);
+
+        const double labelPadding = 7;
+        const double labelMargin = 8;
+
+        string coordinateText = $"({WorldMouseX:F2}m, {WorldMouseY:F2}m)";
+
+        await ctx.FontAsync("bold 12px Arial");
+        var textMetrics = await ctx.MeasureTextAsync(coordinateText);
+        double textWidth = textMetrics.Width;
+        double textHeight = 16;
+
+        double labelX = MouseX + labelMargin;
+        double labelY = MouseY - textHeight - labelPadding * 2 - labelMargin;
+
+        if (labelX + textWidth + labelPadding * 2 > CanvasWidth)
+        {
+            labelX = MouseX - textWidth - labelPadding * 2 - labelMargin;
+        }
+        if (labelY - textHeight - labelPadding * 2 < RulerHeight)
+        {
+            labelY = MouseY + labelMargin;
+        }
+
+        await ctx.FillStyleAsync("rgba(0, 0, 0, 0.8)");
+        await ctx.FillRectAsync(labelX, labelY, textWidth + labelPadding * 2, textHeight + labelPadding * 2);
+
+        await ctx.StrokeStyleAsync("rgba(255,255,255,0.6)");
+        await ctx.LineWidthAsync(1);
+        await ctx.StrokeRectAsync(labelX, labelY, textWidth + labelPadding * 2, textHeight + labelPadding * 2);
+
+        await ctx.FillStyleAsync("rgba(255, 50, 50, 0.9)");
+        await ctx.BeginPathAsync();
+        await ctx.ArcAsync(MouseX, MouseY, 3, 0, Math.PI * 2);
+        await ctx.FillAsync(FillRule.NonZero);
+
+        await ctx.StrokeStyleAsync("rgba(255, 255, 255, 0.8)");
+        await ctx.LineWidthAsync(2);
+        await ctx.BeginPathAsync();
+        await ctx.ArcAsync(MouseX, MouseY, 6, 0, Math.PI * 2);
+        await ctx.StrokeAsync();
+
+        await ctx.SaveAsync();
+
+        await ctx.TranslateAsync(labelX + labelPadding + textWidth / 2, labelY + textHeight / 2);
+        await ctx.ScaleAsync(1, -1);
+
+        await ctx.FillStyleAsync("white");
+        await ctx.FontAsync("bold 12px Arial");
+        await ctx.TextAlignAsync(TextAlign.Center);
+        await ctx.TextBaseLineAsync(TextBaseLine.Bottom);
+        await ctx.FillTextAsync(coordinateText, 0, 0);
+
+        await ctx.RestoreAsync();
+    }
+
+    private async Task DrawRulers(Context2D ctx)
+    {
+        double visibleWorldLeft = CanvasToWorldX(0);
+        double visibleWorldRight = CanvasToWorldX(CanvasWidth);
+        double visibleWorldTop = CanvasToWorldY(0);
+        double visibleWorldBottom = CanvasToWorldY(CanvasHeight);
+
+        double scaleInterval = GetRulerScaleInterval();
+
+        await DrawXRuler(ctx, RulerHeight, visibleWorldLeft, visibleWorldRight, scaleInterval);
+        await DrawYRuler(ctx, RulerHeight, visibleWorldTop, visibleWorldBottom, scaleInterval);
+    }
+
+    private double GetRulerScaleInterval()
+    {
+        double pixelsPerMeter = BASE_PIXELS_PER_METER * ZoomScale;
+
+        if (pixelsPerMeter >= 400) return 0.1;
+        else if (pixelsPerMeter >= 200) return 0.2;
+        else if (pixelsPerMeter >= 100) return 0.5;
+        else if (pixelsPerMeter >= 50) return 1.0;
+        else if (pixelsPerMeter >= 25) return 2.0;
+        else if (pixelsPerMeter >= 12) return 5.0;
+        else if (pixelsPerMeter >= 6) return 10.0;
+        else return 20.0;
+    }
+
+    private async Task DrawXRuler(Context2D ctx, double rulerHeight, double visibleWorldLeft, double visibleWorldRight, double scaleInterval)
+    {
+        await ctx.FillStyleAsync("rgba(240, 240, 240, 0.9)");
+        await ctx.FillRectAsync(0, 0, CanvasWidth, rulerHeight);
+
+        await ctx.StrokeStyleAsync("rgba(100, 100, 100, 0.8)");
+        await ctx.LineWidthAsync(1);
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(0, rulerHeight);
+        await ctx.LineToAsync(CanvasWidth, rulerHeight);
+        await ctx.StrokeAsync();
+
+        double startWorld = Math.Floor(visibleWorldLeft / scaleInterval) * scaleInterval;
+        double endWorld = Math.Ceiling(visibleWorldRight / scaleInterval) * scaleInterval;
+
+        startWorld -= scaleInterval;
+        endWorld += scaleInterval;
+
+        for (double worldX = startWorld; worldX <= endWorld; worldX += scaleInterval)
+        {
+            double canvasX = WorldToCanvasX(worldX);
+
+            if (canvasX < -50 || canvasX > CanvasWidth + 50) continue;
+
+            bool isMajorTick = IsNearMultiple(worldX, scaleInterval * 2) || Math.Abs(worldX) < 0.001;
+            double tickHeight = isMajorTick ? rulerHeight * 0.4 : rulerHeight * 0.2;
+
+            await ctx.StrokeStyleAsync("rgba(60, 60, 60, 0.8)");
+            await ctx.LineWidthAsync(1);
+            await ctx.BeginPathAsync();
+            await ctx.MoveToAsync(canvasX, rulerHeight);
+            await ctx.LineToAsync(canvasX, rulerHeight - tickHeight);
+            await ctx.StrokeAsync();
+
+            if (isMajorTick && canvasX >= -20 && canvasX <= CanvasWidth + 20)
+            {
+                await ctx.SaveAsync();
+
+                await ctx.TranslateAsync(canvasX, rulerHeight - tickHeight - 8);
+                await ctx.ScaleAsync(1, -1);
+
+                await ctx.FillStyleAsync("blue");
+                await ctx.FontAsync("bold 10px Arial");
+                await ctx.TextAlignAsync(TextAlign.Center);
+
+                string labelText = FormatRulerLabel(worldX, scaleInterval);
+                await ctx.FillTextAsync(labelText, 0, 0);
+
+                await ctx.RestoreAsync();
+            }
+        }
+    }
+
+    private async Task DrawYRuler(Context2D ctx, double rulerWidth, double visibleWorldTop, double visibleWorldBottom, double scaleInterval)
+    {
+        await ctx.FillStyleAsync("rgba(240, 240, 240, 0.9)");
+        await ctx.FillRectAsync(0, 0, rulerWidth, CanvasHeight);
+
+        await ctx.StrokeStyleAsync("rgba(100, 100, 100, 0.8)");
+        await ctx.LineWidthAsync(1);
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(rulerWidth, 0);
+        await ctx.LineToAsync(rulerWidth, CanvasHeight);
+        await ctx.StrokeAsync();
+
+        double startWorld = Math.Floor(visibleWorldTop / scaleInterval) * scaleInterval;
+        double endWorld = Math.Ceiling(visibleWorldBottom / scaleInterval) * scaleInterval;
+
+        startWorld -= scaleInterval;
+        endWorld += scaleInterval;
+
+        for (double worldY = startWorld; worldY <= endWorld; worldY += scaleInterval)
+        {
+            double canvasY = WorldToCanvasY(worldY);
+
+            if (canvasY < -50 || canvasY > CanvasHeight + 50) continue;
+
+            bool isMajorTick = IsNearMultiple(worldY, scaleInterval * 2) || Math.Abs(worldY) < 0.001;
+            double tickWidth = isMajorTick ? rulerWidth * 0.4 : rulerWidth * 0.2;
+
+            await ctx.StrokeStyleAsync("rgba(60, 60, 60, 0.8)");
+            await ctx.LineWidthAsync(1);
+            await ctx.BeginPathAsync();
+            await ctx.MoveToAsync(rulerWidth, canvasY);
+            await ctx.LineToAsync(rulerWidth - tickWidth, canvasY);
+            await ctx.StrokeAsync();
+
+            if (isMajorTick && canvasY >= -20 && canvasY <= CanvasHeight + 20)
+            {
+                await ctx.SaveAsync();
+
+                await ctx.TranslateAsync(rulerWidth - tickWidth - 2, canvasY);
+                await ctx.ScaleAsync(1, -1);
+                await ctx.RotateAsync(-Math.PI / 2);
+
+                await ctx.FillStyleAsync("blue");
+                await ctx.FontAsync("bold 10px Arial");
+                await ctx.TextAlignAsync(TextAlign.Center);
+
+                string labelText = FormatRulerLabel(worldY, scaleInterval);
+                await ctx.FillTextAsync(labelText, 0, 0);
+
+                await ctx.RestoreAsync();
+            }
+        }
+    }
+
+    private static bool IsNearMultiple(double value, double multiple)
+    {
+        if (multiple == 0) return false;
+        double remainder = Math.Abs(value % multiple);
+        double epsilon = multiple * 0.001;
+        return remainder < epsilon || remainder > multiple - epsilon;
+    }
+
+    private static string FormatRulerLabel(double worldValue, double scaleInterval)
+    {
+        return scaleInterval < 1.0 ? $"{worldValue:F1}m" : $"{worldValue:F0}m";
+    }
+
+    private async Task DrawAxes(Context2D ctx)
+    {
+        double originCanvasX = OriginX * BASE_PIXELS_PER_METER;
+        double originCanvasY = OriginY * BASE_PIXELS_PER_METER;
+
+        await ctx.FillStyleAsync("red");
+        await ctx.BeginPathAsync();
+        await ctx.ArcAsync(originCanvasX, originCanvasY, 8 / ZoomScale, 0, Math.PI * 2);
+        await ctx.FillAsync(FillRule.NonZero);
+
+        double gridSpacingMeters = GetGridSpacingMeters();
+        double arrowLength = gridSpacingMeters * BASE_PIXELS_PER_METER;
+        double arrowHeadSize = 16 / ZoomScale;
+
+        await ctx.FillStyleAsync("blue");
+        await ctx.StrokeStyleAsync("blue");
+        await ctx.LineWidthAsync(4 / ZoomScale);
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(originCanvasX, originCanvasY);
+        await ctx.LineToAsync(originCanvasX + arrowLength - arrowHeadSize, originCanvasY);
+        await ctx.StrokeAsync();
+
+        await ctx.BeginPathAsync();
+        double xArrowTipX = originCanvasX + arrowLength;
+        double xArrowTipY = originCanvasY;
+        await ctx.MoveToAsync(xArrowTipX, xArrowTipY);
+        await ctx.LineToAsync(xArrowTipX - arrowHeadSize, xArrowTipY - arrowHeadSize / 2);
+        await ctx.LineToAsync(xArrowTipX - arrowHeadSize, xArrowTipY + arrowHeadSize / 2);
+        await ctx.ClosePathAsync();
+        await ctx.FillAsync(FillRule.NonZero);
+
+        await ctx.FillStyleAsync("red");
+        await ctx.StrokeStyleAsync("red");
+        await ctx.LineWidthAsync(4 / ZoomScale);
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(originCanvasX, originCanvasY);
+        await ctx.LineToAsync(originCanvasX, originCanvasY + arrowLength - arrowHeadSize);
+        await ctx.StrokeAsync();
+
+        await ctx.BeginPathAsync();
+        double yArrowTipX = originCanvasX;
+        double yArrowTipY = originCanvasY + arrowLength;
+        await ctx.MoveToAsync(yArrowTipX, yArrowTipY);
+        await ctx.LineToAsync(yArrowTipX - arrowHeadSize / 2, yArrowTipY - arrowHeadSize);
+        await ctx.LineToAsync(yArrowTipX + arrowHeadSize / 2, yArrowTipY - arrowHeadSize);
+        await ctx.ClosePathAsync();
+        await ctx.FillAsync(FillRule.NonZero);
+    }
+
+    private async Task DrawGrid(Context2D ctx)
+    {
+        await ctx.StrokeStyleAsync("rgba(200, 200, 200, 0.4)");
+        await ctx.LineWidthAsync(1 / ZoomScale);
+        await ctx.SetLineDashAsync([5 / ZoomScale, 5 / ZoomScale]);
+
+        double gridSpacingMeters = GetGridSpacingMeters();
+        double gridSpacingPixels = gridSpacingMeters * BASE_PIXELS_PER_METER;
+
+        double visibleLeft = -CanvasTranslateX / ZoomScale;
+        double visibleRight = (CanvasWidth - CanvasTranslateX) / ZoomScale;
+        double visibleTop = -CanvasTranslateY / ZoomScale;
+        double visibleBottom = (CanvasHeight - CanvasTranslateY) / ZoomScale;
+
+        double startX = Math.Floor(visibleLeft / gridSpacingPixels) * gridSpacingPixels;
+        double startY = Math.Floor(visibleTop / gridSpacingPixels) * gridSpacingPixels;
+
+        for (double x = startX; x <= visibleRight; x += gridSpacingPixels)
+        {
+            await ctx.BeginPathAsync();
+            await ctx.MoveToAsync(x, visibleTop);
+            await ctx.LineToAsync(x, visibleBottom);
+            await ctx.StrokeAsync();
+        }
+
+        for (double y = startY; y <= visibleBottom; y += gridSpacingPixels)
+        {
+            await ctx.BeginPathAsync();
+            await ctx.MoveToAsync(visibleLeft, y);
+            await ctx.LineToAsync(visibleRight, y);
+            await ctx.StrokeAsync();
+        }
+
+        await ctx.SetLineDashAsync([]);
+    }
+
+    private double GetGridSpacingMeters()
+    {
+        double PixelsPerMeter = BASE_PIXELS_PER_METER * ZoomScale;
+        if (PixelsPerMeter >= 300) return 0.2;
+        else if (PixelsPerMeter >= 150) return 0.5;
+        else if (PixelsPerMeter >= 75) return 1.0;
+        else if (PixelsPerMeter >= 40) return 2.0;
+        else if (PixelsPerMeter >= 20) return 5.0;
+        else if (PixelsPerMeter >= 10) return 10.0;
+        else return 20.0;
+    }
+
+    private async Task DrawMapImage(Context2D ctx)
+    {
+        if (!MapImageLoaded)
+        {
+            return;
+        }
+
+        await ctx.SaveAsync();
+
+        try
+        {
+            double imageWidthCanvas = MapImageWidth * BASE_PIXELS_PER_METER;
+            double imageHeightCanvas = MapImageHeight * BASE_PIXELS_PER_METER;
+
+            double mapCanvasX = ImageX * BASE_PIXELS_PER_METER;
+            double mapCanvasY = (ImageY + MapImageHeight) * BASE_PIXELS_PER_METER;
+
+            bool success = await JS.InvokeAsync<bool>("drawCachedImageOnCanvas",
+                CanvasRef,
+                MAP_CACHE_KEY,
+                mapCanvasX,
+                mapCanvasY - imageHeightCanvas,
+                imageWidthCanvas,
+                imageHeightCanvas);
+        }
+        catch
+        {
+        }
+
+        await ctx.RestoreAsync();
+    }
+
+    private async Task DrawLaserScannerPoints(Context2D ctx)
+    {
+        var scanData = GenerateLaserScanData();
+
+        double robotCanvasX = scanData.RobotX * BASE_PIXELS_PER_METER;
+        double robotCanvasY = scanData.RobotY * BASE_PIXELS_PER_METER;
+
+        await ctx.SaveAsync();
+
+        if (scanData.Points.Count > 0)
+        {
+            await ctx.BeginPathAsync();
+
+            for (int i = 0; i < scanData.Points.Count; i++)
+            {
+                var point = scanData.Points[i];
+                double pointCanvasX = point.X * BASE_PIXELS_PER_METER;
+                double pointCanvasY = point.Y * BASE_PIXELS_PER_METER;
+
+                if (i == 0)
+                {
+                    await ctx.MoveToAsync(pointCanvasX, pointCanvasY);
+                }
+                else
+                {
+                    await ctx.LineToAsync(pointCanvasX, pointCanvasY);
+                }
+            }
+
+            await ctx.StrokeStyleAsync("rgba(255, 100, 100, 0.8)");
+            await ctx.LineWidthAsync(2 / ZoomScale);
+            await ctx.StrokeAsync();
+
+            await ctx.LineToAsync(robotCanvasX, robotCanvasY);
+            await ctx.ClosePathAsync();
+            await ctx.FillStyleAsync("rgba(255, 100, 100, 0.1)");
+            await ctx.FillAsync(FillRule.NonZero);
+        }
+
+        await DrawRobotImage(ctx, robotCanvasX, robotCanvasY, scanData.RobotOrientation);
+        await DrawRobotOrientationArrows(ctx, robotCanvasX, robotCanvasY, scanData.RobotOrientation);
+
+        await ctx.RestoreAsync();
+    }
+
+    private async Task DrawRobotImage(Context2D ctx, double robotCanvasX, double robotCanvasY, double robotOrientation)
+    {
+        if (!RobotImageLoaded)
+        {
+            await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
+            await ctx.BeginPathAsync();
+            await ctx.ArcAsync(robotCanvasX, robotCanvasY, 8 / ZoomScale, 0, Math.PI * 2);
+            await ctx.FillAsync(FillRule.NonZero);
+            return;
+        }
+
+        await ctx.SaveAsync();
+
+        double robotWidthPixels = RobotWidth * BASE_PIXELS_PER_METER;
+        double robotLengthPixels = RobotLength * BASE_PIXELS_PER_METER;
+
+        double scaledWidth = ZoomScale < 1 ? robotWidthPixels / ZoomScale : robotWidthPixels;
+        double scaledLength = ZoomScale < 1 ? robotLengthPixels / ZoomScale : robotLengthPixels;
+
+        await ctx.TranslateAsync(robotCanvasX, robotCanvasY);
+        await ctx.RotateAsync(robotOrientation);
+
+        try
+        {
+            bool success = await JS.InvokeAsync<bool>("drawImageOnCanvas",
+                CanvasRef,
+                "images/AMR-250.png",
+                -scaledLength / 2,
+                -scaledWidth / 2,
+                scaledLength,
+                scaledWidth);
+
+            if (!success)
+            {
+                await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
+                await ctx.FillRectAsync(-scaledLength / 2, -scaledWidth / 2, scaledLength, scaledWidth);
+            }
+        }
+        catch
+        {
+            await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
+            await ctx.FillRectAsync(-scaledLength / 2, -scaledWidth / 2, scaledLength, scaledWidth);
+        }
+
+        await ctx.RestoreAsync();
+    }
+
+    private async Task DrawRobotOrientationArrows(Context2D ctx, double robotCanvasX, double robotCanvasY, double robotOrientation)
+    {
+        double arrowLength = 30 / ZoomScale;
+        double arrowHeadSize = 10 / ZoomScale;
+
+        await ctx.StrokeStyleAsync("rgba(0, 100, 255, 1.0)");
+        await ctx.FillStyleAsync("rgba(0, 100, 255, 1.0)");
+        await ctx.LineWidthAsync(3 / ZoomScale);
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(robotCanvasX, robotCanvasY);
+        double xAxisEndX = robotCanvasX + Math.Cos(robotOrientation) * (arrowLength - arrowHeadSize + 1);
+        double xAxisEndY = robotCanvasY + Math.Sin(robotOrientation) * (arrowLength - arrowHeadSize + 1);
+        await ctx.LineToAsync(xAxisEndX, xAxisEndY);
+        await ctx.StrokeAsync();
+
+        await ctx.BeginPathAsync();
+        double xArrowTipX = robotCanvasX + Math.Cos(robotOrientation) * arrowLength;
+        double xArrowTipY = robotCanvasY + Math.Sin(robotOrientation) * arrowLength;
+        await ctx.MoveToAsync(xArrowTipX, xArrowTipY);
+        double xArrowAngle = robotOrientation + Math.PI;
+        await ctx.LineToAsync(xArrowTipX + Math.Cos(xArrowAngle + Math.PI / 6) * arrowHeadSize, xArrowTipY + Math.Sin(xArrowAngle + Math.PI / 6) * arrowHeadSize);
+        await ctx.LineToAsync(xArrowTipX + Math.Cos(xArrowAngle - Math.PI / 6) * arrowHeadSize, xArrowTipY + Math.Sin(xArrowAngle - Math.PI / 6) * arrowHeadSize);
+        await ctx.ClosePathAsync();
+        await ctx.FillAsync(FillRule.NonZero);
+
+        await ctx.StrokeStyleAsync("rgba(255, 50, 50, 1.0)");
+        await ctx.FillStyleAsync("rgba(255, 50, 50, 1.0)");
+        await ctx.LineWidthAsync(3 / ZoomScale);
+
+        double yAxisAngle = robotOrientation + Math.PI / 2;
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(robotCanvasX, robotCanvasY);
+        double yAxisEndX = robotCanvasX + Math.Cos(yAxisAngle) * (arrowLength - arrowHeadSize + 1);
+        double yAxisEndY = robotCanvasY + Math.Sin(yAxisAngle) * (arrowLength - arrowHeadSize + 1);
+        await ctx.LineToAsync(yAxisEndX, yAxisEndY);
+        await ctx.StrokeAsync();
+
+        await ctx.BeginPathAsync();
+        double yArrowTipX = robotCanvasX + Math.Cos(yAxisAngle) * arrowLength;
+        double yArrowTipY = robotCanvasY + Math.Sin(yAxisAngle) * arrowLength;
+        await ctx.MoveToAsync(yArrowTipX, yArrowTipY);
+        double yArrowAngle = yAxisAngle + Math.PI;
+        await ctx.LineToAsync(yArrowTipX + Math.Cos(yArrowAngle + Math.PI / 6) * arrowHeadSize, yArrowTipY + Math.Sin(yArrowAngle + Math.PI / 6) * arrowHeadSize);
+        await ctx.LineToAsync(yArrowTipX + Math.Cos(yArrowAngle - Math.PI / 6) * arrowHeadSize, yArrowTipY + Math.Sin(yArrowAngle - Math.PI / 6) * arrowHeadSize);
+        await ctx.ClosePathAsync();
+        await ctx.FillAsync(FillRule.NonZero);
+    }
+
+    private double CanvasToWorldX(double canvasX)
+    {
+        return (canvasX - CanvasTranslateX) / ZoomScale / BASE_PIXELS_PER_METER - OriginX;
+    }
+
+    private double CanvasToWorldY(double canvasY)
+    {
+        return (canvasY - CanvasTranslateY) / ZoomScale / BASE_PIXELS_PER_METER - OriginY;
+    }
+
+    private double WorldToCanvasX(double worldX)
+    {
+        return (worldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale + CanvasTranslateX;
+    }
+
+    private double WorldToCanvasY(double worldY)
+    {
+        return (worldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale + CanvasTranslateY;
+    }
+}

RobotApp.Client/Pages/Components/Mapping/MapView.razor.css

@@ -5,7 +5,7 @@
     display: flex;
     flex-direction: column;
     position: relative;
-    background-color: var(--mud-palette-surface);
+    background-color: #808080;
     border-radius: var(--mud-default-borderradius);
     transition: box-shadow 300ms cubic-bezier(0.4, 0, 0.2, 1) 0ms;
     box-shadow: var(--mud-elevation-10);

RobotApp.Client/Pages/Components/Mapping/RobotInfomation.razor

@@ -0,0 +1,60 @@
+<div class="view">
+    <h4 class="info-title">Informations</h4>
+
+    <div class="info-grid">
+        <div class="info-col">
+            <dl class="info-list">
+                <dt class="info-term">X (m)</dt>
+                <dd class="info-desc">@Localization.X.ToString("F3")</dd>
+
+                <dt class="info-term">Y (m)</dt>
+                <dd class="info-desc">@Localization.Y.ToString("F3")</dd>
+
+                <dt class="info-term">Theta (rad)</dt>
+                <dd class="info-desc">@Localization.Theta.ToString("F4")</dd>
+
+                <dt class="info-term">Theta (deg)</dt>
+                <dd class="info-desc">@($"{Localization.Theta * 180.0 / Math.PI:F2}°")</dd>
+
+                <dt class="info-term">Ready</dt>
+                <dd class="info-desc">@((Localization.IsReady) ? "Yes" : "No")</dd>
+            </dl>
+        </div>
+
+        <div class="info-col">
+            <dl class="info-list">
+                <dt class="info-term">SlamState</dt>
+                <dd class="info-desc">@Localization.SlamState</dd>
+
+                <dt class="info-term">SlamDetail</dt>
+                <dd class="info-desc text-truncate" title="@Localization.SlamStateDetail">@Localization.SlamStateDetail</dd>
+
+                <dt class="info-term">Active Map</dt>
+                <dd class="info-desc text-truncate" title="@Localization.CurrentActiveMap">@Localization.CurrentActiveMap</dd>
+
+                <dt class="info-term">Reliability</dt>
+                <dd class="info-desc">@($"{Localization.Reliability:F1}%")</dd>
+
+                <dt class="info-term">MatchingScore</dt>
+                <dd class="info-desc">@($"{Localization.MatchingScore:F1}%")</dd>
+            </dl>
+        </div>
+    </div>
+</div>
+
+@code {
+    private class LocalizationDto
+    {
+        public bool IsReady { get; set; }
+        public double X { get; set; }
+        public double Y { get; set; }
+        public double Theta { get; set; }
+        public string SlamState { get; set; } = "Localization";
+        public string SlamStateDetail { get; set; } = "/r/n";
+        public string CurrentActiveMap { get; set; } = "Localization";
+        public double Reliability { get; set; }
+        public double MatchingScore { get; set; }
+    }
+
+    private LocalizationDto Localization = new();
+}

RobotApp.Client/Pages/Components/Mapping/RobotInfomation.razor.css

@@ -0,0 +1,121 @@
+.view {
+    height: 100%;
+    width: 100%;
+    overflow: hidden;
+    display: flex;
+    flex-direction: column;
+    position: relative;
+    background-color: var(--mud-palette-surface, #ffffff);
+    border-radius: var(--mud-default-borderradius, 8px);
+    transition: box-shadow 300ms cubic-bezier(0.4, 0, 0.2, 1) 0ms;
+    box-shadow: var(--mud-elevation-10, 0 4px 12px rgba(0,0,0,0.08));
+    padding: 12px;
+    box-sizing: border-box;
+    border: 1px solid rgba(0,0,0,0.04);
+}
+
+    .view::before {
+        content: "";
+        position: absolute;
+        left: 0;
+        top: 0;
+        bottom: 0;
+        width: 6px;
+        border-top-left-radius: inherit;
+        border-bottom-left-radius: inherit;
+        background: linear-gradient(180deg, var(--mud-palette-primary, #1976d2), rgba(25,118,210,0.7));
+    }
+
+.info-title {
+    margin: 0 0 10px 12px;
+    font-weight: 600;
+    font-size: 1rem;
+    color: var(--mud-palette-primary, #1976d2);
+}
+
+.info-grid {
+    display: flex;
+    gap: 14px;
+    align-items: flex-start;
+    flex: 1 1 auto;
+    overflow: hidden;
+    padding: 1.5em;
+}
+
+.info-col {
+    flex: 1 1 50%;
+    min-width: 0; 
+    overflow: hidden;
+}
+
+.info-list {
+    margin: 0;
+    padding: 0;
+}
+
+    .info-list dt,
+    .info-list dd {
+        display: flex;
+        align-items: center;
+        padding: 6px 0;
+        font-size: 0.95rem;
+        line-height: 1.2;
+    }
+
+.info-term {
+    width: 42%;
+    text-align: right;
+    padding-right: 12px;
+    color: var(--mud-palette-text-secondary, rgba(0,0,0,0.6));
+    font-weight: 600;
+    box-sizing: border-box;
+    white-space: nowrap;
+}
+
+.info-desc {
+    width: 58%;
+    text-align: left;
+    font-weight: 700;
+    color: var(--mud-palette-text-primary, rgba(0,0,0,0.85));
+    overflow: hidden;
+    text-overflow: ellipsis;
+    white-space: nowrap;
+    font-variant-numeric: tabular-nums;
+}
+
+.text-truncate {
+    white-space: nowrap;
+    overflow: hidden;
+    text-overflow: ellipsis;
+}
+
+.info-list dt + dd {
+    border-bottom: 1px dashed rgba(0,0,0,0.03);
+}
+
+.ready-yes {
+    color: var(--mud-palette-success, #2e7d32);
+}
+
+.ready-no {
+    color: var(--mud-palette-error, #d32f2f);
+}
+
+.percent {
+    color: var(--mud-palette-primary, #1976d2);
+}
+
+@media (max-width: 640px) {
+    .info-grid {
+        flex-direction: column;
+        gap: 8px;
+    }
+
+    .info-term {
+        width: 45%;
+    }
+
+    .info-desc {
+        width: 55%;
+    }
+}

RobotApp.Client/Pages/Components/Monitor/RobotMonitorView.razor

@@ -0,0 +1,342 @@
+@inject IJSRuntime JS
+
+<div class="robot-monitor-container">
+    <div class="toolbar">
+        <MudTooltip Text="Zoom In" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ZoomIn">
+                <i class="mdi mdi-magnify-plus-outline icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudTooltip Text="Zoom Out" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ZoomOut">
+                <i class="mdi mdi-magnify-minus-outline icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudTooltip Text="Reset View" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ResetView">
+                <i class="mdi mdi-fit-to-screen-outline icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudSpacer />
+        @if (MonitorData?.RobotPosition != null)
+        {
+            <div class="robot-position-info">
+                <i class="mdi mdi-map-marker"></i>
+                <span>X: @MonitorData.RobotPosition.X.ToString("F2")m | Y: @MonitorData.RobotPosition.Y.ToString("F2")m | θ: @((MonitorData.RobotPosition.Theta * 180 / Math.PI).ToString("F1"))°</span>
+            </div>
+        }
+       @*  <MudChip T="string" Color="@(IsConnected? Color.Success: Color.Error)" Size="Size.Small">
+            @(IsConnected ? "Connected" : "Disconnected")
+        </MudChip> *@
+    </div>
+    <div @ref="SvgContainerRef" class="svg-container">
+        <svg @ref="SvgRef"
+             @onwheel="HandleWheel"
+             @onmousedown="HandleMouseDown"
+             @onmousemove="HandleMouseMove"
+             @onmouseup="HandleMouseUp"
+             @onmouseleave="HandleMouseLeave">
+            <g transform="@GetTransform()">
+                @if (MonitorData?.HasOrder == true)
+                {
+                    @* @for (int i = 0; i < MonitorData.EdgeStates.Length; i++)
+                    {
+                        var edge = MonitorData.EdgeStates[i];
+                        var (startX, startY, endX, endY) = GetEdgeEndpoints(i, edge);
+                        <path d="@GetPathFromTrajectory(edge.Trajectory, startX, startY, endX, endY)" 
+                              fill="none"
+                              stroke="#42A5F5"
+                              stroke-width="0.08" />
+                    } *@
+                    <path d="@PathView"
+                          fill="none"
+                          stroke="#42A5F5"
+                          stroke-width="0.08"
+                          visibility="@PathIsNot" />
+
+                    @foreach (var node in MonitorData.NodeStates)
+                    {
+                        <circle cx="@WorldToSvgX(node.NodePosition.X)"
+                                cy="@WorldToSvgY(node.NodePosition.Y)"
+                                r="@GetNodeRadius()"
+                                fill="#66BB6A"
+                                stroke="#555"
+                                stroke-width="@GetNodeStrokeWidth()" />
+                    }
+                }
+
+                @* Render Robot *@
+                @if (MonitorData?.RobotPosition != null)
+                {
+                    <g transform="@GetRobotTransform()">
+                        @{
+                            var (robotX, robotY, robotWidth, robotHeight) = GetRobotSize();
+                        }
+                        <image href="images/AMR-250.png"
+                               x="@robotX"
+                               y="@robotY"
+                               width="@robotWidth"
+                               height="@robotHeight"
+                               preserveAspectRatio="xMidYMid meet" />
+                    </g>
+                }
+            </g>
+        </svg>
+    </div>
+</div>
+
+@code {
+    [Parameter] public RobotMonitorDto? MonitorData { get; set; }
+    [Parameter] public bool IsConnected { get; set; }
+
+    public class ElementSize
+    {
+        public double Width { get; set; }
+        public double Height { get; set; }
+    }
+
+    public class ElementBoundingRect
+    {
+        public double X { get; set; }
+        public double Y { get; set; }
+        public double Width { get; set; }
+        public double Height { get; set; }
+    }
+
+    private ElementReference SvgRef;
+    private ElementReference SvgContainerRef;
+
+    private double ZoomScale = 2.0; // Zoom vào robot hơn khi mở
+    private const double MIN_ZOOM = 0.1;
+    private const double MAX_ZOOM = 5.0;
+    private const double BASE_PIXELS_PER_METER = 50.0;
+
+    private double TranslateX = 0;
+    private double TranslateY = 0;
+
+    private bool IsPanning = false;
+    private double PanStartX = 0;
+    private double PanStartY = 0;
+
+    private double SvgWidth = 800;
+    private double SvgHeight = 600;
+
+    private string PathView = "";
+    private string PathIsNot = "hidden";
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        if (firstRender)
+        {
+            var containerSize = await JS.InvokeAsync<ElementSize>("getElementSize", SvgContainerRef);
+            SvgWidth = containerSize.Width;
+            SvgHeight = containerSize.Height;
+
+            // Center view on robot if available with initial zoom
+            if (MonitorData?.RobotPosition != null)
+            {
+                // Zoom vào robot hơn một chút
+                ZoomScale = 2.5;
+                TranslateX = SvgWidth / 2 - MonitorData.RobotPosition.X * BASE_PIXELS_PER_METER * ZoomScale;
+                TranslateY = SvgHeight / 2 + MonitorData.RobotPosition.Y * BASE_PIXELS_PER_METER * ZoomScale;
+            }
+            else
+            {
+                TranslateX = SvgWidth / 2;
+                TranslateY = SvgHeight / 2;
+            }
+
+            StateHasChanged();
+        }
+    }
+
+    private string GetTransform()
+    {
+        return $"translate({TranslateX}, {TranslateY}) scale({ZoomScale * BASE_PIXELS_PER_METER})";
+    }
+
+    private string GetRobotTransform()
+    {
+        if (MonitorData?.RobotPosition == null) return "";
+        var x = WorldToSvgX(MonitorData.RobotPosition.X);
+        var y = WorldToSvgY(MonitorData.RobotPosition.Y);
+        // Theta là radian, convert sang độ
+        // SVG rotate quay theo chiều kim đồng hồ, cần đảo dấu
+        var angleDegrees = -MonitorData.RobotPosition.Theta * 180 / Math.PI;
+        return $"translate({x}, {y}) rotate({angleDegrees})";
+    }
+
+    private (double x, double y, double width, double height) GetRobotSize()
+    {
+        // Kích thước robot trong world coordinates (mét)
+        const double RobotWidthMeters = 0.606;
+        const double RobotLengthMeters = 1.106;
+        
+        // Điều chỉnh kích thước dựa trên ZoomScale
+        // Tăng kích thước lên 1.5x để robot to hơn
+        double scaleFactor = 3 / ZoomScale; // Tăng kích thước hiển thị
+        
+        double width = RobotWidthMeters * scaleFactor;
+        double height = RobotLengthMeters * scaleFactor;
+        double x = -width / 2;
+        double y = -height / 2;
+        
+        return (x, y, width, height);
+    }
+
+    private double GetNodeRadius()
+    {
+        // Kích thước node cơ bản trong world coordinates - tăng lên 1.5x
+        const double BaseNodeRadius = 0.15;
+        
+        // Điều chỉnh theo ZoomScale tương tự robot
+        double scaleFactor = 1.5 / ZoomScale; // Tăng kích thước hiển thị
+        
+        return BaseNodeRadius * scaleFactor;
+    }
+
+    private double GetNodeStrokeWidth()
+    {
+        // Stroke width cơ bản - tăng lên một chút
+        const double BaseStrokeWidth = 0.03;
+        
+        // Điều chỉnh theo ZoomScale
+        double scaleFactor = 1.5 / ZoomScale;
+        
+        return BaseStrokeWidth * scaleFactor;
+    }
+
+    private double WorldToSvgX(double worldX)
+    {
+        return worldX;
+    }
+
+    private double WorldToSvgY(double worldY)
+    {
+        // Flip Y axis: World Y↑ → SVG Y↓
+        return -worldY;
+    }
+
+    public void UpdatePath()
+    {
+        if (MonitorData is not null && MonitorData.EdgeStates.Length > 0)
+        {
+            var path = MonitorData.EdgeStates.Select(e => new EdgeStateDto
+            {
+                Degree = e.Degree,
+                StartX = WorldToSvgX(e.StartX),
+                StartY = WorldToSvgY(e.StartY),
+                EndX = WorldToSvgX(e.EndX),
+                EndY = WorldToSvgY(e.EndY),
+                ControlPoint1X = WorldToSvgX(e.ControlPoint1X),
+                ControlPoint1Y = WorldToSvgY(e.ControlPoint1Y),
+                ControlPoint2X = WorldToSvgX(e.ControlPoint2X),
+                ControlPoint2Y = WorldToSvgY(e.ControlPoint2Y),
+            }).ToList();
+            var inPath = $"M {path[0].StartX} {path[0].StartY}";
+            for (int i = 0; i < path.Count; i++)
+            {
+                if (path[i].Degree == 1) inPath = $"{inPath} L {path[i].EndX} {path[i].EndY}";
+                else if (path[i].Degree == 2) inPath = $"{inPath} Q {path[i].ControlPoint1X} {path[i].ControlPoint1Y} {path[i].EndX} {path[i].EndY}";
+                else inPath = $"{inPath} C {path[i].ControlPoint1X} {path[i].ControlPoint1Y}, {path[i].ControlPoint2X} {path[i].ControlPoint2Y}, {path[i].EndX} {path[i].EndY}";
+            }
+            PathView = inPath;
+            PathIsNot = "visible";
+        }
+        else
+        {
+            PathView = "";
+            PathIsNot = "hidden";
+        }
+        StateHasChanged();
+    }
+
+    private async Task ZoomIn()
+    {
+        ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * 1.15);
+        await Task.CompletedTask;
+        StateHasChanged();
+    }
+
+    private async Task ZoomOut()
+    {
+        ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * 0.85);
+        await Task.CompletedTask;
+        StateHasChanged();
+    }
+
+    private async Task ResetView()
+    {
+        // Reset về zoom ban đầu (2.5x) khi có robot position
+        if (MonitorData?.RobotPosition != null)
+        {
+            ZoomScale = 2.5;
+            TranslateX = SvgWidth / 2 - MonitorData.RobotPosition.X * BASE_PIXELS_PER_METER * ZoomScale;
+            TranslateY = SvgHeight / 2 + MonitorData.RobotPosition.Y * BASE_PIXELS_PER_METER * ZoomScale;
+        }
+        else
+        {
+            ZoomScale = 1.0;
+            TranslateX = SvgWidth / 2;
+            TranslateY = SvgHeight / 2;
+        }
+        await Task.CompletedTask;
+        StateHasChanged();
+    }
+
+    private void HandleMouseDown(MouseEventArgs e)
+    {
+        IsPanning = true;
+        PanStartX = e.ClientX - TranslateX;
+        PanStartY = e.ClientY - TranslateY;
+    }
+
+    private void HandleMouseMove(MouseEventArgs e)
+    {
+        if (IsPanning)
+        {
+            TranslateX = e.ClientX - PanStartX;
+            TranslateY = e.ClientY - PanStartY;
+            StateHasChanged();
+        }
+    }
+
+    private void HandleMouseUp(MouseEventArgs e)
+    {
+        IsPanning = false;
+    }
+
+    private void HandleMouseLeave(MouseEventArgs e)
+    {
+        IsPanning = false;
+    }
+
+    private async Task HandleWheel(WheelEventArgs e)
+    {
+        const double zoomFactor = 0.1;
+        double oldZoom = ZoomScale;
+
+        if (e.DeltaY < 0)
+            ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * (1 + zoomFactor));
+        else
+            ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * (1 - zoomFactor));
+
+        if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
+
+        // Zoom at mouse position
+        var svgRect = await JS.InvokeAsync<ElementBoundingRect>("getElementBoundingRect", SvgRef);
+        double mouseX = e.ClientX - svgRect.X;
+        double mouseY = e.ClientY - svgRect.Y;
+
+        // Calculate world coordinates at mouse position
+        double worldX = (mouseX - TranslateX) / (oldZoom * BASE_PIXELS_PER_METER);
+        double worldY = -(mouseY - TranslateY) / (oldZoom * BASE_PIXELS_PER_METER);
+
+        // Adjust translate to keep world point under mouse
+        TranslateX = mouseX - worldX * ZoomScale * BASE_PIXELS_PER_METER;
+        TranslateY = mouseY + worldY * ZoomScale * BASE_PIXELS_PER_METER;
+
+        StateHasChanged();
+    }
+}
+

RobotApp.Client/Pages/Components/Monitor/RobotMonitorView.razor.css

@@ -0,0 +1,74 @@
+.robot-monitor-container {
+    display: flex;
+    flex-direction: column;
+    width: 100%;
+    height: 100%;
+    overflow: hidden;
+}
+
+.toolbar {
+    display: flex;
+    align-items: center;
+    padding: 8px 16px;
+    background-color: #2d2d2d;
+    border-bottom: 1px solid #444;
+    gap: 8px;
+    min-height: 48px;
+}
+
+.action-button {
+    padding: 8px;
+    border: none;
+    background: #3d3d3d;
+    border-radius: 4px;
+    cursor: pointer;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    color: #fff;
+    transition: background-color 0.2s;
+}
+
+.action-button:hover {
+    background: #4d4d4d;
+}
+
+.action-button:active {
+    background: #5d5d5d;
+}
+
+.icon-button {
+    font-size: 20px;
+    color: #fff;
+}
+
+.robot-position-info {
+    color: #fff;
+    font-size: 14px;
+    font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
+    padding: 4px 12px;
+    background-color: #3d3d3d;
+    border-radius: 4px;
+    display: flex;
+    align-items: center;
+    gap: 8px;
+}
+
+.svg-container {
+    flex: 1;
+    overflow: hidden;
+    position: relative;
+    background-color: #fafafa;
+}
+
+.svg-container svg {
+    width: 100%;
+    height: 100%;
+    cursor: grab;
+    background-color: dimgray;
+}
+
+.svg-container svg:active {
+    cursor: grabbing;
+}
+

RobotApp.Client/Pages/Dashboard.razor

@@ -0,0 +1,443 @@
+@page "/dashboard"
+
+@using RobotApp.Client.Services
+@using RobotApp.VDA5050.State
+@using MudBlazor
+
+@implements IDisposable
+
+@inject RobotStateClient RobotStateClient
+@rendermode InteractiveWebAssemblyNoPrerender
+
+<MudContainer MaxWidth="MaxWidth.False" Class="pa-4" Style="overflow-y:auto">
+    <!-- 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>
+            @if (CurrentState != null)
+            {
+                <MudText Typo="Typo.subtitle1">
+                    <MudIcon Icon="@Icons.Material.Filled.Memory" Class="mr-2" />
+                    @CurrentState.Version •
+                    <MudIcon Icon="@Icons.Material.Filled.Business" Class="mr-2 ml-4" />
+                    @CurrentState.Manufacturer •
+                    <MudIcon Icon="@Icons.Material.Filled.Tag" Class="mr-2 ml-4" />
+                    @CurrentState.SerialNumber
+                </MudText>
+            }
+            else
+            {
+                <MudText Typo="Typo.subtitle1">
+                    <MudIcon Icon="@Icons.Material.Filled.Sync" Class="mr-2" />
+                    Connecting to robot...
+                </MudText>
+            }
+        </div>
+
+        @if (CurrentState != null)
+        {
+            <MudChip T="string"
+                     Icon="@(IsConnected
+                                      ? Icons.Material.Filled.CheckCircle
+                                  : Icons.Material.Filled.Error)"
+                 Size="Size.Large"
+                 Color="@(IsConnected ? Color.Success : Color.Error)"
+                 Variant="Variant.Filled"
+                 Class="px-6 py-4 text-white"
+                 Style="font-weight: bold; font-size: 1.1rem;">
+            @(IsConnected ? "ONLINE" : "OFFLINE")
+        </MudChip>
+                }
+
+    </MudPaper>
+
+    @{
+        var msg = CurrentState ?? EmptyState;
+    }
+
+    <!-- Thông tin header state -->
+    <MudPaper Class="pa-5 mb-6 rounded-lg" Elevation="4">
+        <MudGrid Spacing="4" Class="align-center">
+            <MudItem xs="12" sm="4">
+                <MudText Typo="Typo.caption" Color="Color.Tertiary">Header ID</MudText>
+                <MudText Typo="Typo.h6">@msg.HeaderId</MudText>
+            </MudItem>
+            <MudItem xs="12" sm="4">
+                <MudText Typo="Typo.caption" Color="Color.Tertiary">Timestamp (UTC)</MudText>
+                <MudText Typo="Typo.h6">@msg.Timestamp</MudText>
+            </MudItem>
+            <MudItem xs="12" sm="2">
+                <MudText Typo="Typo.caption" Color="Color.Tertiary">Version</MudText>
+                <MudText Typo="Typo.h6">@msg.Version</MudText>
+            </MudItem>
+            <MudItem xs="12" sm="2" Class="d-flex justify-center">
+                <MudText Typo="Typo.caption" Color="Color.Tertiary">Order Update ID</MudText>
+                <MudChip T="string" Color="Color.Primary" Variant="@Variant.Filled" Class="mt-2">
+                    @msg.OrderUpdateId
+                </MudChip>
+            </MudItem>
+        </MudGrid>
+    </MudPaper>
+
+    <MudGrid Spacing="4">
+        <!-- POSITION + VELOCITY -->
+        <MudItem xs="12" md="6" lg="4">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.LocationOn" Class="mr-2" />
+                            Position & Velocity
+                        </MudText>
+                    </CardHeaderContent>
+                    <CardHeaderActions>
+                        <MudChip T="string"
+                                 Size="Size.Small"
+                                 Color="@(msg.NewBaseRequest ? Color.Success : Color.Error)"
+                                 Variant="@Variant.Filled">
+                            NewBase: @(msg.NewBaseRequest ? "TRUE" : "FALSE")
+                        </MudChip>
+                    </CardHeaderActions>
+                </MudCardHeader>
+                <MudCardContent Class="pa-4">
+                    <MudGrid Spacing="3">
+                        <MudItem xs="6">
+                            <MudText>X: <strong>@msg.AgvPosition.X.ToString("F2")</strong> m</MudText>
+                            <MudText>Y: <strong>@msg.AgvPosition.Y.ToString("F2")</strong> m</MudText>
+                            <MudText>θ: <strong>@msg.AgvPosition.Theta.ToString("F2")</strong> rad</MudText>
+                        </MudItem>
+                        <MudItem xs="6">
+                            <MudText>Vx: <strong>@msg.Velocity.Vx.ToString("F2")</strong> m/s</MudText>
+                            <MudText>Vy: <strong>@msg.Velocity.Vy.ToString("F2")</strong> m/s</MudText>
+                            <MudText>Ω: <strong>@msg.Velocity.Omega.ToString("F3")</strong> rad/s</MudText>
+                        </MudItem>
+                    </MudGrid>
+                    <MudDivider Class="my-4" />
+                    <div class="d-flex justify-space-between align-center">
+                        <MudChip T="string"
+                                 Size="Size.Small"
+                                 Color="@(msg.AgvPosition.PositionInitialized ? Color.Success : Color.Error)"
+                                 Variant="@Variant.Filled">
+                            @(msg.AgvPosition.PositionInitialized ? "Initialized" : "Not Initialized")
+                        </MudChip>
+                        <MudText Typo="Typo.caption">
+                            Deviation: <strong>@msg.AgvPosition.DeviationRange</strong>
+                        </MudText>
+                    </div>
+                    <MudProgressLinear Value="@(msg.AgvPosition.LocalizationScore * 100)"
+                                       Color="Color.Success"
+                                       Class="mt-4 rounded"
+                                       Style="height: 10px;" />
+                    <MudText Typo="Typo.caption" Class="mt-2 text-center">
+                        Localization Score: <strong>@(msg.AgvPosition.LocalizationScore * 100)%</strong>
+                    </MudText>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+
+        <!-- BATTERY -->
+        <MudItem xs="12" md="6" lg="4">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.BatteryFull" Class="mr-2" />
+                            Battery Status
+                        </MudText>
+                    </CardHeaderContent>
+                </MudCardHeader>
+                <MudCardContent Class="pa-6">
+                    <MudProgressLinear Value="@msg.BatteryState.BatteryCharge"
+                                       Size="Size.Large"
+                                       Rounded="true"
+                                       Striped="true"
+                                       Color="@(msg.BatteryState.BatteryCharge > 50 ? Color.Success :
+                                                                                       msg.BatteryState.BatteryCharge > 20 ? Color.Warning : Color.Error)"
+                                       Class="mb-4"
+                                       Style="height: 28px;" />
+
+                    <!-- Phần mới: % pin và trạng thái Charging/Discharging cùng dòng -->
+                    <div class="d-flex align-center justify-space-between mb-6">
+                        <MudText Typo="Typo.h3" Class="mb-0">
+                            @msg.BatteryState.BatteryCharge<span class="mud-typography-h4">%</span>
+                        </MudText>
+
+                        <MudChip T="string"
+                                 Icon="@(msg.BatteryState.Charging ? Icons.Material.Filled.Bolt : Icons.Material.Filled.PowerOff)"
+                                 Size="Size.Large"
+                                 Color="@(msg.BatteryState.Charging ? Color.Info : Color.Default)"
+                                 Variant="@Variant.Filled"
+                                 Class="px-5 py-3">
+                            @(msg.BatteryState.Charging ? "Charging" : "Discharging")
+                        </MudChip>
+                    </div>
+
+                    <!-- Các thông tin phụ -->
+                    <MudGrid Spacing="3">
+                        <MudItem xs="4">
+                            <MudText Typo="Typo.caption">Voltage</MudText>
+                            <MudText Typo="Typo.h6">@msg.BatteryState.BatteryVoltage:F1 V</MudText>
+                        </MudItem>
+                        <MudItem xs="4">
+                            <MudText Typo="Typo.caption">Health (SOH)</MudText>
+                            <MudText Typo="Typo.h6">@msg.BatteryState.BatteryHealth%</MudText>
+                        </MudItem>
+                        <MudItem xs="4">
+                            <MudText Typo="Typo.caption">Reach</MudText>
+                            <MudText Typo="Typo.h6">@((int)msg.BatteryState.Reach) m</MudText>
+                        </MudItem>
+                    </MudGrid>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+        <!-- ORDER & PATH -->
+        <MudItem xs="12" md="6" lg="4">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.Navigation" Class="mr-2" />
+                            Order & Path
+                        </MudText>
+                    </CardHeaderContent>
+                </MudCardHeader>
+                <MudCardContent Class="pa-4">
+                    <MudText>Order ID: <strong>@(msg.OrderId ?? "—")</strong></MudText>
+                    <MudText>Update ID: <strong>@msg.OrderUpdateId</strong></MudText>
+                    <MudDivider Class="my-4" />
+                    <MudText>Last Node: <strong>@msg.LastNodeId</strong> <span class="mud-typography-caption">(Seq: @msg.LastNodeSequenceId)</span></MudText>
+                    <MudText>Distance since last: <strong>@msg.DistanceSinceLastNode m</strong></MudText>
+                    <MudDivider Class="my-4" />
+                    @{
+                        var nodeReleased = msg.NodeStates?.Count(n => n.Released) ?? 0;
+                        var nodeTotal = msg.NodeStates?.Length ?? 0;
+                        var edgeReleased = msg.EdgeStates?.Count(e => e.Released) ?? 0;
+                        var edgeTotal = msg.EdgeStates?.Length ?? 0;
+                    }
+                    <div class="d-flex flex-wrap gap-3 mt-3">
+                        <MudChip T="string" Color="Color.Primary" Variant="@Variant.Filled">Nodes: @nodeReleased/@nodeTotal</MudChip>
+                        <MudChip T="string" Color="Color.Secondary" Variant="@Variant.Filled">Edges: @edgeReleased/@edgeTotal</MudChip>
+                        <MudChip T="string" Size="Size.Small" Color="@(msg.Driving? Color.Success: Color.Default)" Variant="@Variant.Filled">
+                            @(msg.Driving ? "DRIVING" : "STOPPED")
+                        </MudChip>
+                        <MudChip T="string" Size="Size.Small" Color="@(msg.Paused? Color.Warning: Color.Success)" Variant="@Variant.Filled">
+                            @(msg.Paused ? "PAUSED" : "ACTIVE")
+                        </MudChip>
+                    </div>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+
+        <!-- ERRORS + INFORMATION -->
+        <MudItem xs="12" lg="6">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.WarningAmber" Class="mr-2" />
+                            Errors & Information
+                        </MudText>
+                    </CardHeaderContent>
+                </MudCardHeader>
+                <MudCardContent>
+                    <MudTable Items="@MessageRows"
+                              Dense="true"
+                              Hover="true"
+                              Bordered="true"
+                              FixedHeader="true"
+                              Height="250px">
+                        <ColGroup>
+                            <col style="width:30%" />
+                            <col style="width:15%" />
+                            <col />
+                        </ColGroup>
+                        <HeaderContent>
+                            <MudTh><MudText Typo="Typo.subtitle2">Type</MudText></MudTh>
+                            <MudTh><MudText Typo="Typo.subtitle2">Level</MudText></MudTh>
+                            <MudTh><MudText Typo="Typo.subtitle2">Description</MudText></MudTh>
+                        </HeaderContent>
+                        <RowTemplate>
+                            <MudTd>
+                                <MudText Color="@(context.IsError? Color.Error: Color.Info)" Typo="Typo.body1">
+                                    <strong>@context.Type</strong>
+                                </MudText>
+                            </MudTd>
+                            <MudTd>
+                                <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)"
+                                         Variant="@Variant.Filled">
+                                    @context.Level
+                                </MudChip>
+                            </MudTd>
+                            <MudTd>
+                                <MudText Typo="Typo.body2" Class="text-truncate" Style="max-width: 300px;" Title="@context.Description">
+                                    @context.Description
+                                </MudText>
+                            </MudTd>
+                        </RowTemplate>
+                        <NoRecordsContent>
+                            <MudAlert Severity="Severity.Info" Class="mx-4 my-8" Variant="@Variant.Text">
+                                <MudText>No errors or information messages</MudText>
+                            </MudAlert>
+                        </NoRecordsContent>
+                    </MudTable>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+
+        <!-- ACTIONS -->
+        <MudItem xs="12" md="6" lg="3">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.Settings" Class="mr-2" />
+                            Active Actions
+                        </MudText>
+                    </CardHeaderContent>
+                </MudCardHeader>
+                <MudCardContent>
+                    <MudTable Items="msg.ActionStates"
+                              Dense="true"
+                              Hover="true"
+                              Bordered="true"
+                              FixedHeader="true"
+                              Height="220px">
+                        <HeaderContent>
+                            <MudTh>Action</MudTh>
+                            <MudTh>ID</MudTh>
+                            <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.caption">@context.ActionId</MudText></MudTd>
+                            <MudTd Style="text-align:right">
+                                <MudChip T="string"
+                                         Size="Size.Small"
+                                         Color="@(context.ActionStatus == "RUNNING" ? Color.Info :
+                                                                                           context.ActionStatus == "FINISHED" ? Color.Success :
+                                                                                           context.ActionStatus == "FAILED" ? Color.Error : Color.Default)"
+                                         Variant="@Variant.Filled">
+                                    @context.ActionStatus
+                                </MudChip>
+                            </MudTd>
+                        </RowTemplate>
+                        <NoRecordsContent>
+                            <MudText Class="pa-8 text-center" Color="Color.Secondary">No active actions</MudText>
+                        </NoRecordsContent>
+                    </MudTable>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+
+        <!-- SAFETY -->
+        <MudItem xs="12" md="6" lg="3">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.Security" Class="mr-2" />
+                            Safety State
+                        </MudText>
+                    </CardHeaderContent>
+                </MudCardHeader>
+                <MudCardContent Class="pa-6 d-flex flex-column gap-4">
+                    <MudChip T="string"
+                             Icon="@(msg.SafetyState.EStop == "NONE" ? Icons.Material.Filled.CheckCircle : Icons.Material.Filled.ErrorOutline)"
+                             Size="Size.Large"
+                             Color="@(msg.SafetyState.EStop == "NONE" ? Color.Success : Color.Error)"
+                             Variant="@Variant.Filled"
+                             Class="py-6">
+                        E-STOP: @msg.SafetyState.EStop
+                    </MudChip>
+                    <MudChip T="string"
+                             Icon="@(msg.SafetyState.FieldViolation ? Icons.Material.Filled.Warning : Icons.Material.Filled.Shield)"
+                             Size="Size.Large"
+                             Color="@(msg.SafetyState.FieldViolation ? Color.Error : Color.Success)"
+                             Variant="@Variant.Filled"
+                             Class="py-6">
+                        Field Violation: @(msg.SafetyState.FieldViolation ? "YES" : "NO")
+                    </MudChip>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+    </MudGrid>
+</MudContainer>
+
+@code {
+    private static readonly StateMsg EmptyState = new()
+    {
+    };
+
+    private StateMsg? CurrentState;
+    private bool IsConnected;
+    private readonly string RobotSerial = "T800-002";
+    private List<MessageRow> MessageRows = new();
+
+    protected override async Task OnInitializedAsync()
+    {
+        RobotStateClient.OnStateReceived += OnRobotStateReceived;
+        RobotStateClient.OnRobotConnectionChanged += OnRobotConnectionChanged;
+
+        if (RobotStateClient.ConnectionState == RobotClientState.Disconnected)
+        {
+            await RobotStateClient.StartAsync();
+        }
+
+        await RobotStateClient.SubscribeRobotAsync(RobotSerial);
+
+        CurrentState = RobotStateClient.GetLatestState(RobotSerial);
+        IsConnected = RobotStateClient.IsRobotConnected;
+
+        UpdateMessageRows();
+    }
+    private void OnRobotConnectionChanged(bool connected)
+    {
+        InvokeAsync(() =>
+        {
+            IsConnected = connected;
+            StateHasChanged();
+        });
+    }
+
+
+    private void OnRobotStateReceived(string serialNumber, StateMsg state)
+    {
+        if (serialNumber != RobotSerial) return;
+        InvokeAsync(() =>
+        {
+            CurrentState = state;
+            UpdateMessageRows();
+            StateHasChanged();
+        });
+    }
+
+    private void UpdateMessageRows()
+    {
+        MessageRows.Clear();
+        if (CurrentState?.Errors != null)
+        {
+            foreach (var err in CurrentState.Errors)
+            {
+                MessageRows.Add(new MessageRow(err.ErrorType ?? "-", err.ErrorLevel ?? "ERROR", err.ErrorDescription ?? "", true));
+            }
+        }
+        if (CurrentState?.Information != null)
+        {
+            foreach (var info in CurrentState.Information)
+            {
+                MessageRows.Add(new MessageRow(info.InfoType ?? "-", info.InfoLevel ?? "INFO", info.InfoDescription ?? "", false));
+            }
+        }
+    }
+
+    public void Dispose()
+    {
+        RobotStateClient.OnStateReceived -= OnRobotStateReceived;
+        RobotStateClient.OnRobotConnectionChanged -= OnRobotConnectionChanged;
+    }
+
+    private record MessageRow(string Type, string Level, string Description, bool IsError);
+}

RobotApp.Client/Pages/Logs.razor

@@ -0,0 +1,175 @@
+@page "/logs"
+@rendermode InteractiveWebAssemblyNoPrerender
+
+@using Microsoft.AspNetCore.Components.WebAssembly.Authentication
+@using RobotApp.Client.Models
+
+@inject IJSRuntime JSRuntime
+@inject HttpClient Http
+@inject IConfiguration Configuration
+@inject ISnackbar Snackbar
+
+<PageTitle>Logs</PageTitle>
+
+<div class="w-100 h-100 d-flex flex-column">
+    <div class="d-flex flex-row align-items-center justify-content-between" style="border-bottom: 1px solid silver">
+        <MudTextField Class="mt-1 ms-2" T="string" Value="FilterLog" Adornment="Adornment.End" ValueChanged="OnSearch" AdornmentIcon="@Icons.Material.Filled.Search"
+                      IconSize="Size.Medium" Variant="Variant.Outlined" Margin="Margin.Dense" AdornmentColor="Color.Secondary" Label="Search"></MudTextField>
+        <MudSpacer />
+        <div class="m-1 d-flex flex-row">
+            <MudDatePicker Class="mx-4" Label="Date" Date="DateLog" DateChanged="OnDateChanged" MaxDate="DateTime.Today" Variant="Variant.Outlined" Color="Color.Primary"
+                           ShowToolbar="false" Margin="Margin.Dense" AdornmentColor="Color.Primary" />
+
+            <MudTooltip Text="Export">
+                <MudFab Class="mt-2" Color="Color.Info" StartIcon="@Icons.Material.Filled.ImportExport" Size="Size.Small" OnClick="ExportLogs" />
+            </MudTooltip>
+            <MudTooltip Text="Refresh">
+                <MudFab Class="mx-4 mt-2" StartIcon="@Icons.Material.Filled.Refresh" Color="Color.Primary" Size="Size.Small" OnClick="LoadLogs" />
+            </MudTooltip>
+        </div>
+    </div>
+    <div class="flex-grow-1 mt-2 ms-2 position-relative" style="background-color: rgba(0, 0, 0, 0);">
+        <MudOverlay Visible="IsLoading" DarkBackground="true" Absolute="true">
+            <MudProgressCircular Color="Color.Info" Indeterminate="true" />
+        </MudOverlay>
+        <div class="h-100 w-100 position-relative">
+            <div class="log-container" @ref="LogContainerRef">
+                @if (ShowRawLog)
+                {
+                    <div class="d-flex justify-content-center my-3">
+                        <div><MudButton Variant="Variant.Outlined" Size="Size.Small" OnClick="@(() => ShowRawLog = false)">Normal</MudButton></div>
+                    </div>
+                    <big style="font-size: 14px;">
+                        @foreach (var log in ShowLogs)
+                        {
+                            @log <br />
+                        }
+                    </big>
+                }
+                else
+                {
+                    @if (SearchLogs.Count < ShowLogs.Count)
+                    {
+                        <div class="d-flex justify-content-center my-3">
+                            <div><MudButton Variant="Variant.Outlined" Size="Size.Small" OnClick="@(() => ShowRawLog = true)">Raw log</MudButton></div>
+                        </div>
+                    }
+
+                    @foreach (var log in SearchLogs)
+                    {
+                        <div class="log">
+                            <span class="log-head @log.BackgroundClass">
+                                @log.Time <span class="log-level">@log.Level</span>
+                            </span>
+                            <span>@log.Message</span>
+                            @if (log.HasException)
+                            {
+                                <br />
+                                <pre class="log-exception">
+                                    @log.Exception
+                                                                    </pre>
+                            }
+                        </div>
+                    }
+                }
+            </div>
+        </div>
+    </div>
+</div>
+
+
+@code {
+    private DateTime DateLog = DateTime.Today;
+    private bool IsLoading;
+    private readonly List<string> ShowLogs = new();
+    private readonly List<LoggerModel> SearchLogs = new();
+    private ElementReference LogContainerRef { get; set; }
+    private bool ShowRawLog { get; set; }
+    private string? FilterLog { get; set; }
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
+
+        await LoadLogs();
+    }
+
+    private async Task LoadLogs()
+    {
+        try
+        {
+            IsLoading = true;
+            ShowLogs.Clear();
+            StateHasChanged();
+
+            var logs = await Http.GetFromJsonAsync<IEnumerable<string>>($"api/LogsManager?date={DateLog}");
+            ShowLogs.AddRange(logs ?? []);
+
+            IsLoading = false;
+            StateHasChanged();
+
+            await ReloadLogs();
+        }
+        catch (AccessTokenNotAvailableException ex)
+        {
+            ex.Redirect();
+            return;
+        }
+    }
+
+    private async Task ReloadLogs()
+    {
+        IsLoading = true;
+        SearchLogs.Clear();
+        StateHasChanged();
+
+        foreach (var line in ShowLogs.Where(log => string.IsNullOrEmpty(FilterLog) || log.Contains(FilterLog)).TakeLast(2000))
+        {
+            try
+            {
+                var log = System.Text.Json.JsonSerializer.Deserialize<LoggerModel>(line);
+                if (log is not null) SearchLogs.Add(log);
+            }
+            catch (System.Text.Json.JsonException)
+            {
+                continue;
+            }
+        }
+
+        IsLoading = false;
+        StateHasChanged();
+        await JSRuntime.InvokeVoidAsync("ScrollToBottom", LogContainerRef);
+    }
+
+    private async Task OnSearch(string text)
+    {
+        FilterLog = text;
+        await ReloadLogs();
+    }
+
+    private async Task OnDateChanged(DateTime? date)
+    {
+        if (date is not null && date.HasValue)
+        {
+            DateLog = date.Value;
+            await LoadLogs();
+        }
+    }
+
+    private async Task ExportLogs()
+    {
+        try
+        {
+            var fileContent = await Http.GetFromJsonAsync<IEnumerable<string>>($"api/LogsManager?date={DateLog}");
+            var formattedContent = string.Join("\n", fileContent ?? []);
+            var fileName = $"LogsManager_{DateLog.ToShortDateString()}.txt";
+            await JSRuntime.InvokeVoidAsync("downloadFile", fileName, formattedContent, "text/plain");
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Lỗi khi tải file: {ex.Message}", Severity.Warning);
+        }
+    }
+}
+

RobotApp.Client/Pages/Logs.razor.css

@@ -0,0 +1,38 @@
+.log-container {
+    height: 100%;
+    width: 100%;
+    overflow-x: hidden;
+    overflow-y: auto;
+    position: absolute;
+    top: 0px;
+    left: 0px;
+    display: flex;
+    flex-direction: column;
+}
+
+.log {
+    word-wrap: break-word;
+    line-height: 18px;
+    margin-bottom: 12px;
+}
+
+.log-logger {
+    color: rgba(0, 0, 0, 0.3);
+    font-size: 12px;
+}
+
+.log-level {
+    display: inline-block;
+    width: 46px;
+}
+
+.log-head {
+    border-radius: 3px;
+    padding: 2px 5px;
+}
+
+.log-exception {
+    line-height: 16px;
+    margin-left: 30px;
+    color: crimson;
+}

RobotApp.Client/Pages/MapsManager.razor

@@ -2,14 +2,17 @@
 
 @rendermode InteractiveWebAssemblyNoPrerender
 
-@attribute [Authorize]
-
 <PageTitle>Map Manager</PageTitle>
 
 <div class="d-flex w-100 h-100 p-2  overflow-hidden flex-row">
-    <div class="me-4" style="height: 100%; width: 40%">
+    <div class="me-4 d-flex flex-column" style="height: 100%; width: 40%">
+        <div class="mb-4" style="height: 50%; width: 100%">
             <RobotApp.Client.Pages.Components.Mapping.MapTable />
         </div>
+        <div class="flex-grow-1" style="height: 50%; width: 100%">
+            <RobotApp.Client.Pages.Components.Mapping.RobotInfomation />
+        </div>
+    </div>
     <div class="flex-grow-1 h-100" style="width: 60%">
         <RobotApp.Client.Pages.Components.Mapping.MapView />
     </div>

RobotApp.Client/Pages/Order/EdgesPanel.razor

@@ -0,0 +1,172 @@
+<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
+    <MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
+              Class="mb-4 flex-shrink-0">
+        <MudText Typo="Typo.h6">🔗 Edges</MudText>
+
+        <MudButton Variant="Variant.Filled"
+                   Color="Color.Primary"
+                   StartIcon="@Icons.Material.Filled.Add"
+                   OnClick="AddEdgeAsync">
+            Add Edge
+        </MudButton>
+    </MudStack>
+
+    <div class="flex-grow-1" style="overflow:auto;">
+        <MudExpansionPanels MultiExpansion>
+            @foreach (var edge in Order.Edges)
+            {
+                <MudExpansionPanel @key="edge">
+                    <!-- ================= HEADER ================= -->
+                    <TitleContent>
+                        <div class="d-flex align-center justify-space-between w-100">
+
+                            <!-- LEFT: Edge information -->
+                            <div class="d-flex align-center gap-3">
+                                <MudText Typo="Typo.subtitle1" Class="fw-bold">
+                                    @edge.EdgeId
+                                </MudText>
+
+                                <MudChip T="string"
+                                         Size="Size.Small"
+                                         Color="Color.Info"
+                                         Variant="Variant.Outlined">
+                                    @edge.StartNodeId → @edge.EndNodeId
+                                </MudChip>
+                            </div>
+
+                            <!-- RIGHT: Delete -->
+                            <MudIconButton Icon="@Icons.Material.Filled.Delete"
+                                           Color="Color.Error"
+                                           Size="Size.Small"
+                                           OnClick="@(() => RemoveEdgeAsync(edge))"
+                                           StopPropagation="true" />
+                        </div>
+                    </TitleContent>
+
+                    <!-- ================= BODY ================= -->
+                    <ChildContent>
+                        <MudGrid Spacing="3">
+
+                            <!-- Edge ID -->
+                            <MudItem xs="12">
+                                <MudTextField Value="@edge.EdgeId"
+                                              ValueChanged="@((string v) => SetValue(() => edge.EdgeId = v))"
+                                              Immediate="true"
+                                              Label="Edge ID" />
+                            </MudItem>
+
+                            <!-- Start Node -->
+                            <MudItem xs="12">
+                                <MudSelect T="string"
+                                           Value="@edge.StartNodeId"
+                                           ValueChanged="@((string v) => SetValue(() => edge.StartNodeId = v))"
+                                           Dense
+                                           Label="Start Node"
+                                           Required="true">
+                                    @foreach (var n in Order.Nodes)
+                                    {
+                                        <MudSelectItem Value="@n.NodeId">
+                                            @n.NodeId
+                                        </MudSelectItem>
+                                    }
+                                </MudSelect>
+                            </MudItem>
+
+                            <!-- End Node -->
+                            <MudItem xs="12">
+                                <MudSelect T="string"
+                                           Value="@edge.EndNodeId"
+                                           ValueChanged="@((string v) => SetValue(() => edge.EndNodeId = v))"
+                                           Dense
+                                           Label="End Node"
+                                           Required="true">
+                                    @foreach (var n in Order.Nodes)
+                                    {
+                                        <MudSelectItem Value="@n.NodeId">
+                                            @n.NodeId
+                                        </MudSelectItem>
+                                    }
+                                </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>
+            }
+        </MudExpansionPanels>
+    </div>
+</MudPaper>
+
+@code {
+    [Parameter] public OrderMessage Order { get; set; } = default!;
+
+    [Parameter] public EventCallback OnAddEdge { get; set; }
+    [Parameter] public EventCallback<UiEdge> OnRemoveEdge { get; set; }
+    [Parameter] public EventCallback<UiEdge> OnApplyCurve { get; set; }
+
+    [Parameter] public EventCallback OnOrderChanged { get; set; }
+
+    private async Task SetValue(System.Action setter)
+    {
+        setter();
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task AddEdgeAsync()
+    {
+        await OnAddEdge.InvokeAsync();
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task RemoveEdgeAsync(UiEdge edge)
+    {
+        await OnRemoveEdge.InvokeAsync(edge);
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task ApplyCurveAsync(UiEdge edge)
+    {
+        await OnApplyCurve.InvokeAsync(edge);
+        await OnOrderChanged.InvokeAsync();
+    }
+}

RobotApp.Client/Pages/Order/EditNodeDialog.razor

@@ -0,0 +1,201 @@
+@inherits MudComponentBase
+
+<MudDialog>
+    <TitleContent>
+        <MudText Typo="Typo.h6">Edit Node: @Node.NodeId</MudText>
+    </TitleContent>
+
+    <DialogContent>
+        <MudGrid Spacing="3">
+            <MudItem xs="12">
+                <MudTextField @bind-Value="Node.NodeId" Label="Node ID" Required="true" />
+            </MudItem>
+            <MudItem xs="6">
+                <MudNumericField T="double" @bind-Value="Node.NodePosition.X" Label="X" />
+            </MudItem>
+
+            <MudItem xs="6">
+                <MudNumericField T="double" @bind-Value="Node.NodePosition.Y" Label="Y" />
+            </MudItem>
+
+            <MudItem xs="6">
+                <MudNumericField T="double" @bind-Value="Node.NodePosition.Theta" Label="Theta (rad)" />
+            </MudItem>
+
+            <MudItem xs="6">
+                <MudNumericField T="double" @bind-Value="Node.NodePosition.AllowedDeviationXY"
+                                 Label="Allowed Dev XY" />
+            </MudItem>
+
+            <MudItem xs="6">
+                <MudNumericField T="double" @bind-Value="Node.NodePosition.AllowedDeviationTheta"
+                                 Label="Allowed Dev Theta" />
+            </MudItem>
+
+            <MudItem xs="12">
+                <MudTextField @bind-Value="Node.NodePosition.MapId" Label="Map ID" />
+            </MudItem>
+
+
+            <MudItem xs="12">
+                <MudDivider Class="my-4" />
+                <MudText Typo="Typo.subtitle1" Class="mb-3">Actions</MudText>
+
+                @foreach (var act in Node.Actions)
+                {
+                    <MudPaper Class="pa-3 mb-3" Outlined="true">
+                        <MudGrid Spacing="3">
+                            <MudItem xs="10">
+                                <MudItem xs="12">
+                                    <MudSelect T="string"
+                                               Label="Action Type"
+                                               Dense="true"
+                                               Required="true"
+                                               @bind-Value="act.ActionType">
+
+                                        @foreach (var at in Enum.GetValues<ActionType>())
+                                        {
+                                            <MudSelectItem Value="@at.ToString()">
+                                                @at
+                                            </MudSelectItem>
+                                        }
+                                    </MudSelect>
+                                </MudItem>
+                            </MudItem>
+                            <MudItem xs="12">
+                                <MudSelect T="string" @bind-Value="act.BlockingType" Label="Blocking Type">
+                                    <MudSelectItem Value="@("NONE")">NONE</MudSelectItem>
+                                    <MudSelectItem Value="@("SOFT")">SOFT</MudSelectItem>
+                                    <MudSelectItem Value="@("HARD")">HARD</MudSelectItem>
+                                </MudSelect>
+                            </MudItem>
+                            <MudItem xs="12">
+                                <MudTextField @bind-Value="act.ActionId" Label="Action ID" />
+                            </MudItem>
+                        </MudGrid>
+
+                        <MudText Typo="Typo.caption" Class="mt-3 mb-2">Action Parameters</MudText>
+
+                        @{
+                            var parameters = act.ActionParameters ?? Array.Empty<ActionParameter>();
+                        }
+                        @foreach (var p in parameters.Cast<UiActionParameter>().ToList())
+                        {
+                            var param = p; // capture cho lambda
+                                           <MudGrid Class="mt-1">
+                                               <MudItem xs="5">
+                                                   <MudTextField @bind-Value="param.Key" Label="Key" />
+                                               </MudItem>
+                                               <MudItem xs="5">
+                                                   <MudTextField @bind-Value="param.ValueString" Label="Value" />
+                                               </MudItem>
+                                               <MudItem xs="2">
+                                                   <MudIconButton Icon="@Icons.Material.Filled.Delete"
+                                                                  Color="Color.Error"
+                                                                  Size="Size.Small"
+                                                                  OnClick="@(() => RemoveParameter(act, param))" />
+                                               </MudItem>
+                                           </MudGrid>
+                        }
+
+                        <MudButton Size="Size.Small"
+                                   StartIcon="@Icons.Material.Filled.Add"
+                                   Class="mt-3"
+                                   OnClick="@(() => AddParameter(act))">
+                            Add Parameter
+                        </MudButton>
+
+                        <MudDivider Class="my-3" />
+
+                        <MudButton Size="Size.Small"
+                                   Color="Color.Error"
+                                   Variant="Variant.Text"
+                                   StartIcon="@Icons.Material.Filled.Delete"
+                                   OnClick="@(() => RemoveAction(act))">
+                            Remove Action
+                        </MudButton>
+                    </MudPaper>
+                }
+
+                <MudButton Size="Size.Small"
+                           StartIcon="@Icons.Material.Filled.Add"
+                           OnClick="AddNewAction">
+                    Add Action
+                </MudButton>
+            </MudItem>
+        </MudGrid>
+    </DialogContent>
+
+    <DialogActions>
+        <MudButton OnClick="Cancel">Cancel</MudButton>
+        <MudButton Color="Color.Primary" Variant="Variant.Filled" OnClick="Submit">Save</MudButton>
+    </DialogActions>
+</MudDialog>
+
+@code {
+    [CascadingParameter] public IMudDialogInstance MudDialog { get; set; } = default!;
+    [Parameter] public Node Node { get; set; } = default!;
+
+    private void Cancel() => MudDialog.Cancel();
+    private void Submit() => MudDialog.Close(DialogResult.Ok(true));
+
+    private void RemoveAction(VDA5050.InstantAction.Action actToRemove)
+    {
+        Node.Actions = Node.Actions
+            .Where(a => a != actToRemove)
+            .ToArray();
+    }
+
+
+    private void AddNewAction()
+    {
+        Node.Actions = Node.Actions
+            .Append(new VDA5050.InstantAction.Action
+            {
+                ActionId = Guid.NewGuid().ToString(),
+                ActionType = ActionType.startPause.ToString(),
+                BlockingType = "NONE",
+                ActionParameters = Array.Empty<ActionParameter>()
+            })
+            .ToArray();
+    }
+
+
+
+    private void AddParameter(VDA5050.InstantAction.Action act)
+    {
+        var newParam = new UiActionParameter();
+
+        if (act.ActionParameters == null || act.ActionParameters.Length == 0)
+        {
+            act.ActionParameters = new[] { newParam };
+        }
+        else
+        {
+            var list = act.ActionParameters.ToList();
+            list.Add(newParam);
+            act.ActionParameters = list.ToArray();
+        }
+    }
+
+    private void RemoveParameter(VDA5050.InstantAction.Action act, UiActionParameter paramToRemove)
+    {
+        if (act.ActionParameters == null || act.ActionParameters.Length == 0)
+            return;
+
+        act.ActionParameters = act.ActionParameters
+            .Where(p => p != paramToRemove) // so sánh reference
+            .ToArray();
+    }
+
+    // UiActionParameter vẫn giữ như cũ trong trang chính
+    public class UiActionParameter : ActionParameter
+    {
+        [JsonIgnore]
+        public string ValueString
+        {
+            get => Value?.ToString() ?? "";
+            set => Value = value;
+        }
+    }
+}

RobotApp.Client/Pages/Order/ImportOrderDialog.razor

@@ -0,0 +1,199 @@
+@using System.Text.Json
+@using MudBlazor
+@using Microsoft.AspNetCore.Components.Forms
+
+<MudDialog>
+
+    <!-- ================= TITLE ================= -->
+    <TitleContent>
+        <MudStack Row AlignItems="AlignItems.Center" Spacing="2">
+            <MudIcon Icon="@Icons.Material.Filled.UploadFile"
+                     Color="Color.Primary" />
+            <MudText Typo="Typo.h6">
+                Import Order JSON
+            </MudText>
+        </MudStack>
+    </TitleContent>
+
+    <!-- ================= CONTENT ================= -->
+    <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>
+        }
+
+        <!-- ===== FILE INPUT (PURE BLAZOR) ===== -->
+        <div class="mb-4">
+            <label class="mud-button-root mud-button mud-button-outlined mud-button-outlined-primary"
+                   style="cursor:pointer;">
+                <MudIcon Icon="@Icons.Material.Filled.AttachFile" Class="mr-2" />
+                Choose JSON file
+                <InputFile OnChange="OnFileSelected"
+                           accept=".json"
+                           style="display:none" />
+            </label>
+        </div>
+
+        <MudDivider Class="my-3" />
+
+        <!-- ===== PASTE JSON ===== -->
+        <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>
+
+    <!-- ================= ACTIONS ================= -->
+    <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; }
+
+    private void Cancel() => MudDialog.Cancel();
+
+    // ================= FILE HANDLER =================
+    private async Task OnFileSelected(InputFileChangeEventArgs e)
+    {
+        ErrorMessage = null;
+        ShowWarning = false;
+
+        var file = e.File;
+        if (file == null)
+            return;
+
+        if (!file.Name.EndsWith(".json", StringComparison.OrdinalIgnoreCase) &&
+            !file.Name.EndsWith(".txt", StringComparison.OrdinalIgnoreCase))
+        {
+            ShowWarning = true;
+            ErrorMessage = "Only .json or .txt files are supported.";
+            return;
+        }
+
+        try
+        {
+            using var stream = file.OpenReadStream(maxAllowedSize: 1_048_576);
+            using var reader = new StreamReader(stream);
+
+            JsonText = await reader.ReadToEndAsync();
+            StateHasChanged();
+        }
+        catch (Exception ex)
+        {
+            ShowWarning = true;
+            ErrorMessage = $"Failed to read file: {ex.Message}";
+        }
+    }
+
+    // ================= VALIDATE & IMPORT =================
+    private void ValidateAndImport()
+    {
+        ErrorMessage = null;
+        ShowWarning = false;
+
+        if (string.IsNullOrWhiteSpace(JsonText))
+        {
+            ShowWarning = true;
+            ErrorMessage = "JSON content is empty.";
+            return;
+        }
+
+        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;
+        }
+    }
+
+    // ================= DOMAIN VALIDATION =================
+    private void ValidateOrder(OrderMessage order)
+    {
+        if (order.Nodes.Count == 0)
+            throw new Exception("Order must contain at least one node.");
+
+        if (order.Nodes.Count != order.Edges.Count + 1)
+            throw new Exception(
+                $"Invalid path structure: Nodes count ({order.Nodes.Count}) " +
+                $"must equal Edges count + 1 ({order.Edges.Count + 1})."
+            );
+
+        var nodeIds = order.Nodes
+            .Select(n => n.NodeId)
+            .ToHashSet(StringComparer.Ordinal);
+
+        foreach (var e in order.Edges)
+        {
+            if (string.IsNullOrWhiteSpace(e.StartNodeId) ||
+                string.IsNullOrWhiteSpace(e.EndNodeId))
+            {
+                throw new Exception(
+                    $"Edge '{e.EdgeId}' must define both StartNodeId and EndNodeId."
+                );
+            }
+
+            if (!nodeIds.Contains(e.StartNodeId))
+                throw new Exception(
+                    $"Edge '{e.EdgeId}' references unknown StartNodeId '{e.StartNodeId}'."
+                );
+
+            if (!nodeIds.Contains(e.EndNodeId))
+                throw new Exception(
+                    $"Edge '{e.EdgeId}' references unknown EndNodeId '{e.EndNodeId}'."
+                );
+        }
+    }
+}

RobotApp.Client/Pages/Order/JsonOutputPanel.razor

@@ -0,0 +1,131 @@
+<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>
+
+        <div class="d-flex gap-2">
+
+            <!-- IMPORT -->
+            <MudButton Variant="Variant.Outlined"
+                       Color="Color.Secondary"
+                       Size="Size.Small"
+                       StartIcon="@Icons.Material.Filled.UploadFile"
+                       OnClick="OnImport">
+                Import JSON
+            </MudButton>
+
+            <!-- CANCEL -->
+            <MudButton Variant="Variant.Filled"
+                       Color="@CancelButtonColor"
+                       StartIcon="@CancelButtonIcon"
+                       Disabled="@DisableCancel"
+                       OnClick="OnCancel">
+                @CancelButtonText
+            </MudButton>
+
+
+            <!-- SEND -->
+            <MudButton Variant="Variant.Filled"
+                       Color="@SendButtonColor"
+                       StartIcon="@SendButtonIcon"
+                       OnClick="OnSend"
+                       Disabled="@(string.IsNullOrEmpty(OrderJson.Trim()))">
+                @SendButtonText
+            </MudButton>
+
+            <!-- COPY -->
+            <MudTooltip Text="@(Copied ? "Copied!" : "Copy to clipboard")">
+                <MudButton Variant="Variant.Filled"
+                           Color="@(Copied ? Color.Success : Color.Primary)"
+                           StartIcon="@(Copied ? Icons.Material.Filled.Check : Icons.Material.Filled.ContentCopy)"
+                           OnClick="OnCopy">
+                    @(Copied ? "Copied!" : "Copy")
+                </MudButton>
+            </MudTooltip>
+        </div>
+    </MudStack>
+
+    <div class="flex-grow-1">
+        <MudTextField Value="@OrderJson"
+                      T="string"
+                      ValueChanged="OrderJsonChange"
+                      Variant="Variant.Filled"
+                      Immediate=true
+                      Lines="50"
+                      Style="font-family: 'Roboto Mono', Consolas, monospace;
+                             font-size: 0.85rem;
+                             background:#1e1e1e;
+                             color:#d4d4d4;" />
+    </div>
+</MudPaper>
+
+@code {
+    [Parameter] public string OrderJson { get; set; } = "";
+    [Parameter] public bool Copied { get; set; }
+    [Parameter] public bool? SendSuccess { get; set; }
+    [Parameter] public bool DisableCancel { get; set; }
+    [Parameter] public bool? CancelSuccess { get; set; }
+
+    [Parameter] public EventCallback<string> OrderJsonChanged { get; set; }
+
+    [Parameter] public EventCallback OnCopy { get; set; }
+    [Parameter] public EventCallback OnSend { get; set; }
+    [Parameter] public EventCallback OnImport { get; set; }
+    [Parameter] public EventCallback OnCancel { get; set; }
+
+    private string SendButtonText =>
+        SendSuccess switch
+        {
+            true => "Done",
+            false => "Error",
+            _ => "Send"
+        };
+
+    private Color SendButtonColor =>
+        SendSuccess switch
+        {
+            true => Color.Success,
+            false => Color.Error,
+            _ => Color.Success
+        };
+
+    private string SendButtonIcon =>
+        SendSuccess switch
+        {
+            true => Icons.Material.Filled.CheckCircle,
+            false => Icons.Material.Filled.Error,
+            _ => Icons.Material.Filled.Send
+        };
+
+    private string CancelButtonText =>
+    CancelSuccess switch
+    {
+        true => "Done",
+        false => "Error",
+        _ => "Cancel"
+    };
+
+    private Color CancelButtonColor =>
+        CancelSuccess switch
+        {
+            true => Color.Success,
+            false => Color.Error,
+            _ => Color.Error
+        };
+
+    private string CancelButtonIcon =>
+        CancelSuccess switch
+        {
+            true => Icons.Material.Filled.CheckCircle,
+            false => Icons.Material.Filled.Error,
+            _ => Icons.Material.Filled.Cancel
+        };
+
+
+    private void OrderJsonChange(string value)
+    {
+        OrderJson = value;
+        OrderJsonChanged.InvokeAsync(OrderJson);
+        StateHasChanged();
+    }
+}

RobotApp.Client/Pages/Order/NodesPanel.razor

@@ -0,0 +1,276 @@
+<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
+    <MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween" Class="mb-4 flex-shrink-0">
+        <MudText Typo="Typo.h6">📍 Nodes</MudText>
+        <MudButton Variant="Variant.Filled"
+                   Color="Color.Primary"
+                   StartIcon="@Icons.Material.Filled.Add"
+                   OnClick="AddNodeAsync">
+            Add Node
+        </MudButton>
+    </MudStack>
+
+    <div class="flex-grow-1" style="overflow:auto;">
+        <MudExpansionPanels MultiExpansion>
+            @foreach (var node in Order.Nodes)
+            {
+                <MudExpansionPanel @key="node.NodeId">
+                    <TitleContent>
+                        <div class="d-flex align-center justify-space-between w-100">
+                            <MudText Typo="Typo.subtitle1" Class="fw-bold">@node.NodeId</MudText>
+                            <div>
+                                <MudIconButton Icon="@Icons.Material.Filled.Edit"
+                                               Color="Color.Primary"
+                                               Size="Size.Small"
+                                               OnClick="@(() => EditNodeAsync(node))"
+                                               StopPropagation />
+                                <MudIconButton Icon="@Icons.Material.Filled.Delete"
+                                               Color="Color.Error"
+                                               Size="Size.Small"
+                                               OnClick="@(() => RemoveNodeAsync(node))"
+                                               StopPropagation />
+                            </div>
+                        </div>
+                    </TitleContent>
+
+                    <ChildContent>
+                        <MudGrid Spacing="3">
+
+                            <!-- Node ID -->
+                            <MudItem xs="12">
+                                <MudTextField Value="@node.NodeId"
+                                              ValueChanged="@((string v) => SetValue(() => node.NodeId = v))"
+                                              Immediate="true"
+                                              Label="Node ID" />
+                            </MudItem>
+
+                            <!-- Sequence -->
+                            @* <MudItem xs="12">
+                                <MudNumericField T="int"
+                                                 Value="@node.SequenceId"
+                                                 ValueChanged="@((int v) => SetValue(() => node.SequenceId = v))"
+                                                 Immediate="true"
+                                                 Label="Sequence ID" />
+                            </MudItem> *@
+
+                            <!-- Released -->
+                            @* <MudItem xs="12">
+                                <MudSwitch T="bool"
+                                           Checked="@node.Released"
+                                           CheckedChanged="@((bool v) => SetValue(() => node.Released = v))"
+                                           Label="Released" />
+
+                            </MudItem> *@
+
+                            <!-- Position -->
+                            <MudItem xs="6">
+                                <MudNumericField T="double"
+                                                 Value="@node.NodePosition.X"
+                                                 ValueChanged="@((double v) => SetValue(() => node.NodePosition.X = v))"
+                                                 Immediate="true"
+                                                 Label="X" />
+                            </MudItem>
+
+                            <MudItem xs="6">
+                                <MudNumericField T="double"
+                                                 Value="@node.NodePosition.Y"
+                                                 ValueChanged="@((double v) => SetValue(() => node.NodePosition.Y = v))"
+                                                 Immediate="true"
+                                                 Label="Y" />
+                            </MudItem>
+
+                            <MudItem xs="12">
+                                <MudTextField Value="@node.NodePosition.MapId"
+                                              ValueChanged="@((string v) => SetValue(() => node.NodePosition.MapId = v))"
+                                              Immediate="true"
+                                              Label="Map ID" />
+                            </MudItem>
+
+                            <MudItem xs="6">
+                                <MudNumericField T="double"
+                                                 Value="@node.NodePosition.Theta"
+                                                 ValueChanged="@((double v) => SetValue(() => node.NodePosition.Theta = v))"
+                                                 Immediate="true"
+                                                 Label="Theta (rad)" />
+                            </MudItem>
+
+                            <MudItem xs="6">
+                                <MudNumericField T="double"
+                                                 Value="@node.NodePosition.AllowedDeviationXY"
+                                                 ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationXY = v))"
+                                                 Immediate="true"
+                                                 Label="Allowed Dev XY" />
+                            </MudItem>
+
+                            <MudItem xs="6">
+                                <MudNumericField T="double"
+                                                 Value="@node.NodePosition.AllowedDeviationTheta"
+                                                 ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationTheta = v))"
+                                                 Immediate="true"
+                                                 Label="Allowed Dev Theta" />
+                            </MudItem>
+
+                            <!-- Actions -->
+                            <MudItem xs="12">
+                                <MudDivider Class="my-4" />
+                                <MudText Typo="Typo.subtitle1" Class="mb-3">Actions</MudText>
+
+                                @foreach (var act in node.Actions ?? Array.Empty<VDA5050.InstantAction.Action>())
+                                {
+                                    <MudPaper Class="pa-3 mb-3" Outlined>
+                                        <MudGrid Spacing="3">
+
+                                            <MudItem xs="12">
+                                                <MudSelect T="string"
+                                                           Value="@act.ActionType"
+                                                           ValueChanged="@((string v) => SetValue(() => act.ActionType = v))"
+                                                           Dense
+                                                           Label="Action Type">
+                                                    @foreach (var at in Enum.GetValues<ActionType>())
+                                                    {
+                                                        <MudSelectItem Value="@at.ToString()">@at</MudSelectItem>
+                                                    }
+                                                </MudSelect>
+                                            </MudItem>
+
+                                            <MudItem xs="12">
+                                                <MudSelect T="string"
+                                                           Value="@act.BlockingType"
+                                                           ValueChanged="@((string v) => SetValue(() => act.BlockingType = v))"
+                                                           Label="Blocking Type">
+                                                    <MudSelectItem Value="@("NONE")">NONE</MudSelectItem>
+                                                    <MudSelectItem Value="@("SOFT")">SOFT</MudSelectItem>
+                                                    <MudSelectItem Value="@("HARD")">HARD</MudSelectItem>
+                                                </MudSelect>
+                                            </MudItem>
+
+                                            <MudItem xs="12">
+                                                <MudTextField Value="@act.ActionId"
+                                                              ValueChanged="@((string v) => SetValue(() => act.ActionId = v))"
+                                                              Immediate="true"
+                                                              Label="Action ID" />
+                                            </MudItem>
+                                        </MudGrid>
+
+                                        <MudText Typo="Typo.caption" Class="mt-3 mb-2">Action Parameters</MudText>
+
+                                        @foreach (var p in act.ActionParameters.Cast<UiActionParameter>())
+                                        {
+                                            <MudGrid Class="mt-1">
+                                                <MudItem xs="6">
+                                                    <MudTextField Value="@p.Key"
+                                                                  ValueChanged="@((string v) => SetValue(() => p.Key = v))"
+                                                                  Immediate="true"
+                                                                  Label="Key" />
+                                                </MudItem>
+
+                                                <MudItem xs="6">
+                                                    <MudTextField Value="@p.ValueString"
+                                                                  ValueChanged="@((string v) => SetValue(() => p.ValueString = v))"
+                                                                  Immediate="true"
+                                                                  Label="Value" />
+                                                </MudItem>
+
+                                                <MudItem xs="2">
+                                                    <MudIconButton Icon="@Icons.Material.Filled.Delete"
+                                                                   Color="Color.Error"
+                                                                   OnClick="@(() => RemoveActionParameterAsync(act, p))" />
+                                                </MudItem>
+                                            </MudGrid>
+                                        }
+
+                                        <MudButton Size="Size.Small"
+                                                   StartIcon="@Icons.Material.Filled.Add"
+                                                   Class="mt-3"
+                                                   OnClick="@(() => AddActionParameterAsync(act))">
+                                            Add Parameter
+                                        </MudButton>
+
+                                        <MudDivider Class="my-3" />
+
+                                        <MudButton Size="Size.Small"
+                                                   Color="Color.Error"
+                                                   Variant="Variant.Text"
+                                                   StartIcon="@Icons.Material.Filled.Delete"
+                                                   OnClick="@(() => RemoveActionAsync(node, act))">
+                                            Remove Action
+                                        </MudButton>
+                                    </MudPaper>
+                                }
+
+                                <MudButton Size="Size.Small"
+                                           StartIcon="@Icons.Material.Filled.Add"
+                                           OnClick="@(() => AddActionAsync(node))">
+                                    Add Action
+                                </MudButton>
+                            </MudItem>
+                        </MudGrid>
+                    </ChildContent>
+                </MudExpansionPanel>
+            }
+        </MudExpansionPanels>
+    </div>
+</MudPaper>
+
+@code {
+    [Parameter] public OrderMessage Order { get; set; } = default!;
+    [Parameter] public EventCallback OnAddNode { get; set; }
+    [Parameter] public EventCallback<Node> OnRemoveNode { get; set; }
+    [Parameter] public EventCallback<Node> OnEditNode { get; set; }
+    [Parameter] public EventCallback<Node> OnAddAction { get; set; }
+    [Parameter] public EventCallback<NodeActionWrapper> OnRemoveAction { get; set; }
+    [Parameter] public EventCallback<VDA5050.InstantAction.Action> OnAddActionParameter { get; set; }
+    [Parameter] public EventCallback<ActionParamWrapper> OnRemoveActionParameter { get; set; }
+    [Parameter] public EventCallback OnOrderChanged { get; set; }
+
+    // 🔥 helper realtime – KHÔNG ambiguous
+    private async Task SetValue(System.Action setter)
+    {
+        setter();
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task AddNodeAsync()
+    {
+        await OnAddNode.InvokeAsync();
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task RemoveNodeAsync(Node node)
+    {
+        await OnRemoveNode.InvokeAsync(node);
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task EditNodeAsync(Node node)
+    {
+        await OnEditNode.InvokeAsync(node);
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task AddActionAsync(Node node)
+    {
+        await OnAddAction.InvokeAsync(node);
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task RemoveActionAsync(Node node, VDA5050.InstantAction.Action action)
+    {
+        await OnRemoveAction.InvokeAsync(new NodeActionWrapper(node, action));
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task AddActionParameterAsync(VDA5050.InstantAction.Action act)
+    {
+        await OnAddActionParameter.InvokeAsync(act);
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task RemoveActionParameterAsync(VDA5050.InstantAction.Action act, ActionParameter param)
+    {
+        await OnRemoveActionParameter.InvokeAsync(new ActionParamWrapper(act, param));
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    public record NodeActionWrapper(Node Node, VDA5050.InstantAction.Action Action);
+    public record ActionParamWrapper(VDA5050.InstantAction.Action Action, ActionParameter Parameter);
+}

RobotApp.Client/Pages/Order/OrderMess.razor

@@ -0,0 +1,314 @@
+@page "/robot-order"
+
+@rendermode InteractiveWebAssemblyNoPrerender
+
+@using System.Text.Json
+@using System.Text.Json.Serialization
+
+@inject IJSRuntime JS
+@inject IDialogService DialogService
+@inject HttpClient Http
+
+<MudMainContent Class="pa-0 ma-0">
+    <div style="height:100vh; overflow:hidden;">
+        <MudContainer MaxWidth="MaxWidth.False"
+                      Class="pa-4"
+                      Style="max-width:100%; height:100%; display:flex; flex-direction:column;">
+            <MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
+
+                <!-- ================= LEFT ================= -->
+                <MudItem xs="12" md="7" Class="d-flex flex-column h-100" Style="gap:16px;">
+                    <MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
+
+                        <MudItem xs="12" md="6" Class="h-100">
+                            <NodesPanel Order="Order"
+                                        OnAddNode="AddNode"
+                                        OnRemoveNode="RemoveNode"
+                                        OnEditNode="OpenEditNodeDialog"
+                                        OnAddAction="AddAction"
+                                        OnRemoveAction="@(w => RemoveAction(w.Node, w.Action))"
+                                        OnAddActionParameter="AddActionParameter"
+                                        OnRemoveActionParameter="@(w => RemoveActionParameter(w.Action, w.Parameter))"
+                                        OnOrderChanged="OnOrderChanged" />
+                        </MudItem>
+
+                        <MudItem xs="12" md="6" Class="h-100">
+                            <EdgesPanel Order="Order"
+                                        OnAddEdge="AddEdge"
+                                        OnRemoveEdge="RemoveEdge"
+                                        OnApplyCurve="ApplyCurve"
+                                        OnOrderChanged="OnOrderChanged" />
+                        </MudItem>
+
+                    </MudGrid>
+                </MudItem>
+
+                <!-- ================= RIGHT ================= -->
+                <MudItem xs="12" md="5" Class="h-100">
+                    <JsonOutputPanel @bind-OrderJson="@OrderJson"
+                                     Copied="@copied"
+                                     SendSuccess="@sendSuccess"
+                                     CancelSuccess="@cancelSuccess"
+                                     OnCopy="CopyJsonToClipboard"
+                                     OnSend="SendOrderToServer"
+                                     OnImport="OpenImportDialog"
+                                     OnCancel="CancelOrder" />
+                </MudItem>
+
+            </MudGrid>
+        </MudContainer>
+    </div>
+</MudMainContent>
+
+@code {
+    // ================= STATE =================
+    private OrderMessage Order { get; set; } = new();
+    private string OrderJson = "";          // 🔥 CACHE JSON (QUAN TRỌNG)
+    private bool copied;
+    private bool? sendSuccess;
+    private bool? cancelSuccess;
+    private CancellationTokenSource? _copyCts;
+
+    // ================= INIT =================
+    protected override void OnInitialized()
+    {
+        RebuildOrderJson();
+    }
+
+    // ================= CORE FIX =================
+    private void RebuildOrderJson()
+    {
+        OrderJson = JsonSerializer.Serialize(
+            Order.ToSchemaObject(),
+            new JsonSerializerOptions
+            {
+                WriteIndented = true,
+                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()
+    {
+        RebuildOrderJson();   // 🔥 JSON luôn rebuild
+        StateHasChanged();    // 🔥 ép render
+    }
+
+    // ================= NODE =================
+    void AddNode()
+    {
+        Order.Nodes.Add(new Node
+        {
+            NodeId = $"NODE_{Order.Nodes.Count + 1}",
+            SequenceId = Order.Nodes.Count,
+            Released = true,
+            NodePosition = new VDA5050.Order.NodePosition { MapId = "MAP_01" }
+        });
+    }
+
+    void RemoveNode(Node node)
+    {
+        Order.Nodes.Remove(node);
+        Order.Edges.RemoveAll(e => e.StartNodeId == node.NodeId || e.EndNodeId == node.NodeId);
+        ResequenceNodes();
+    }
+
+    void ResequenceNodes()
+    {
+        for (int i = 0; i < Order.Nodes.Count; i++)
+            Order.Nodes[i].SequenceId = i;
+    }
+
+    // ================= EDGE =================
+    void AddEdge()
+    {
+        if (Order.Nodes.Count == 0)
+            return;
+
+        var start = Order.Nodes[0].NodeId;
+        var end = Order.Nodes.Count > 1
+            ? Order.Nodes[1].NodeId
+            : start; // 👈 1 node thì start = end
+
+        Order.Edges.Add(new UiEdge
+        {
+            EdgeId = $"EDGE_{Order.Edges.Count + 1}",
+            StartNodeId = start,
+            EndNodeId = end
+        });
+    }
+
+
+    void RemoveEdge(UiEdge edge)
+    {
+        Order.Edges.Remove(edge);
+    }
+
+    void ApplyCurve(UiEdge edge)
+    {
+        if (edge.Radius <= 0 || edge.Expanded) return;
+
+        var startNode = Order.Nodes.First(n => n.NodeId == edge.StartNodeId);
+        var newNode = OrderMessage.CreateCurveNode(startNode, edge);
+
+        Order.Nodes.Add(newNode);
+        edge.EndNodeId = newNode.NodeId;
+        edge.MarkExpanded(); // ✅
+
+        ResequenceNodes();
+    }
+
+    // ================= ACTION =================
+    void AddAction(Node node)
+    {
+        var list = node.Actions?.ToList() ?? new();
+        list.Add(new VDA5050.InstantAction.Action
+        {
+            ActionId = Guid.NewGuid().ToString(),
+            ActionType = ActionType.startPause.ToString(),
+            BlockingType = "NONE",
+            ActionParameters = Array.Empty<ActionParameter>()
+        });
+        node.Actions = list.ToArray();
+    }
+
+    void RemoveAction(Node node, VDA5050.InstantAction.Action action)
+    {
+        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();
+        list.Add(new UiActionParameter());
+        act.ActionParameters = list.ToArray();
+    }
+
+    void RemoveActionParameter(VDA5050.InstantAction.Action act, ActionParameter param)
+    {
+        act.ActionParameters =
+            act.ActionParameters?.Where(p => p != param).ToArray()
+            ?? Array.Empty<ActionParameter>();
+    }
+
+    // ================= SEND / COPY =================
+    async Task SendOrderToServer()
+    {
+        // reset trạng thái trước khi gửi
+        sendSuccess = null;
+        StateHasChanged();
+
+        try
+        {
+            var response = await Http.PostAsJsonAsync(
+                "/api/order",
+                JsonSerializer.Deserialize<JsonElement>(OrderJson)
+            );
+
+            sendSuccess = response.IsSuccessStatusCode;
+
+        }
+        catch
+        {
+            sendSuccess = false;
+        }
+
+        StateHasChanged();
+
+        // 🔥 AUTO RESET SAU 2 GIÂY
+        _ = Task.Run(async () =>
+        {
+            await Task.Delay(2000);
+
+            // quay về trạng thái Send
+            sendSuccess = null;
+
+            await InvokeAsync(StateHasChanged);
+        });
+    }
+
+    async Task CancelOrder()
+    {
+        // reset trạng thái trước khi gửi
+        cancelSuccess = null;
+        StateHasChanged();
+
+        try
+        {
+            var res = await Http.PostAsync("/api/order/cancel", null);
+            cancelSuccess = res.IsSuccessStatusCode;
+        }
+        catch
+        {
+            cancelSuccess = false;
+        }
+
+        StateHasChanged();
+
+        // 🔥 AUTO RESET SAU 2 GIÂY
+        _ = Task.Run(async () =>
+        {
+            await Task.Delay(2000);
+            cancelSuccess = null;
+            await InvokeAsync(StateHasChanged);
+        });
+    }
+
+
+
+    async Task CopyJsonToClipboard()
+    {
+        _copyCts?.Cancel();
+        _copyCts = new();
+
+        await JS.InvokeVoidAsync("navigator.clipboard.writeText", OrderJson);
+
+        copied = true;
+        StateHasChanged();
+
+        try { await Task.Delay(1500, _copyCts.Token); } catch { }
+        copied = false;
+        StateHasChanged();
+    }
+
+    // ================= DIALOG =================
+    async Task OpenEditNodeDialog(Node node)
+    {
+        var parameters = new DialogParameters<EditNodeDialog>
+        {
+            { x => x.Node, node }
+        };
+
+        var options = new DialogOptions
+        {
+            CloseButton = true,
+            FullWidth = true,
+            MaxWidth = MaxWidth.Large
+        };
+
+        var dialog = await DialogService.ShowAsync<EditNodeDialog>(
+            $"Edit Node: {node.NodeId}", parameters, options);
+
+        await dialog.Result;
+        OnOrderChanged(); // 🔥 cập nhật JSON sau dialog
+    }
+}

RobotApp.Client/Pages/RobotConfigManager.razor

@@ -0,0 +1,436 @@
+@page "/robot-config"
+@rendermode InteractiveWebAssemblyNoPrerender
+
+@inject HttpClient Http
+@inject ISnackbar Snackbar
+
+@using System.Net.Http.Json
+@using RobotApp.Common.Shares.Dtos
+
+<PageTitle>Robot Configuration</PageTitle>
+
+<div class="d-flex w-100 h-100 p-2 overflow-hidden flex-column position-relative">
+    <div class="rcm-toolbar">
+        <div class="rcm-toolbar-left">
+            <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 GetConfigType)
+                    {
+                        <option value="@type">@type</option>
+                    }
+                </select>
+                <span class="rcm-select-icon" aria-hidden="true">
+                    <svg width="16" height="16" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg" aria-hidden="true">
+                        <path d="M7 10l5 5 5-5" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" />
+                    </svg>
+                </span>
+            </div>
+        </div>
+
+        <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">
+                    <i class="mdi mdi-plus" aria-hidden="true"></i>
+                </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>
+                </button>
+
+                <button type="button" class="btn rcm-icon-btn" data-tooltip="Load config" aria-label="Update" @onclick="LoadConfig">
+                    <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">
+                    <i class="mdi mdi-delete" aria-hidden="true"></i>
+                </button> *@
+            </div>
+        </div>
+    </div>
+    <div class="content rcm-content flex-grow-1 d-flex gap-3 mt-3">
+        <div class="card p-2 config-list rcm-config-list">
+            <div class="card-body list-body p-0">
+                @switch (SelectedType)
+                {
+                    case RobotConfigType.VDA5050:
+                        @RenderList(VdaConfigs, SelectVda, v => v.ConfigName, v => v.IsActive)
+                        break;
+                    case RobotConfigType.Safety:
+                        @RenderList(SafetyConfigs, SelectSafety, s => s.ConfigName, s => s.IsActive)
+                        break;
+                    case RobotConfigType.Simulation:
+                        @RenderList(SimulationConfigs, SelectSimulation, s => s.ConfigName, s => s.IsActive)
+                        break;
+                    case RobotConfigType.PLC:
+                        @RenderList(PlcConfigs, SelectPlc, p => p.ConfigName, p => p.IsActive)
+                        break;
+                    case RobotConfigType.Core:
+                        @RenderList(CoreConfigs, SelectCore, c => c.ConfigName, c => c.IsActive)
+                        break;
+                    default:
+                        <div class="p-2">No configs.</div>
+                        break;
+                }
+            </div>
+        </div>
+
+        <div class="card p-2 config-content rcm-config-content">
+            <div class="card-body">
+                @if (!HasSelection)
+                {
+                    <div class="text-muted">Select a config from the list or click Add to create one.</div>
+                }
+                else
+                {
+                    @switch (SelectedType)
+                    {
+                        case RobotConfigType.VDA5050:
+                            <RobotApp.Client.Pages.Components.Config.RobotVDA5050Config @ref="@RobotVDA5050ConfigRef" @bind-Model="SelectedVda" />
+                            break;
+                        case RobotConfigType.Safety:
+                            <RobotApp.Client.Pages.Components.Config.RobotSafetyConfig @bind-Model="SelectedSafety" />
+                            break;
+                        case RobotConfigType.Simulation:
+                            <RobotApp.Client.Pages.Components.Config.RobotSimulationConfig @bind-Model="SelectedSimulation" />
+                            break;
+                        case RobotConfigType.PLC:
+                            <RobotApp.Client.Pages.Components.Config.RobotPLCConfig @bind-Model="SelectedPlc" />
+                            break;
+                        case RobotConfigType.Core:
+                            <RobotApp.Client.Pages.Components.Config.RobotConfig @bind-Model="SelectedCore" />
+                            break;
+                    }
+                }
+            </div>
+        </div>
+    </div>
+
+    @if (IsLoading)
+    {
+        <div class="rcm-overlay" role="status" aria-live="polite" aria-busy="true">
+            <div class="rcm-overlay-content" aria-hidden="false">
+                <div class="spinner-border text-light" role="status" aria-hidden="true"></div>
+                <div class="rcm-overlay-message ms-2">Loading…</div>
+            </div>
+        </div>
+    }
+
+    @if (IsAddingNew)
+    {
+        <div class="rcm-modal-overlay" role="dialog" aria-modal="true">
+            <div class="rcm-modal">
+                <div class="card">
+                    <div class="card-header d-flex justify-content-between align-items-center">
+                        <strong>Create @SelectedType Config</strong>
+                        <button class="btn btn-sm btn-link text-muted" @onclick="CloseAddDialog" aria-label="Close">✕</button>
+                    </div>
+
+                    <div class="card-body">
+                        <EditForm Model="addForm" OnValidSubmit="SaveNewConfigAsync">
+                            <DataAnnotationsValidator />
+                            <ValidationSummary />
+
+                            <div class="mb-2">
+                                <label class="form-label">Config name</label>
+                                <InputText class="form-control" @bind-Value="addForm.ConfigName" />
+                            </div>
+
+                            <div class="mb-2">
+                                <label class="form-label">Description</label>
+                                <InputText class="form-control" @bind-Value="addForm.Description" />
+                            </div>
+
+                            <div class="mb-2">
+                                <label class="form-label">Copy parameters from existing (@SelectedType)</label>
+                                <select class="form-select" @bind="SelectedTemplateIdString">
+                                    @foreach (var t in GetTemplatesForSelectedType())
+                                    {
+                                        <option value="@t.Id">@t.Name</option>
+                                    }
+                                </select>
+                                <div class="form-text">If you choose an existing config, its parameter fields will be copied into the new config; you can still change name/description.</div>
+                            </div>
+
+                            <div class="d-flex justify-content-end gap-2 mt-3">
+                                <button type="button" class="btn btn-outline-secondary" @onclick="CloseAddDialog">Cancel</button>
+                                <button type="submit" class="btn btn-primary">Create</button>
+                            </div>
+                        </EditForm>
+                    </div>
+                </div>
+            </div>
+        </div>
+    }
+
+    @if (ShowDeleteConfirm)
+    {
+        <div class="rcm-modal-overlay" role="dialog" aria-modal="true">
+            <div class="rcm-modal">
+                <div class="card">
+                    <div class="card-header d-flex justify-content-between align-items-center">
+                        <strong>Confirm Delete</strong>
+                        <button class="btn btn-sm btn-link text-muted" @onclick="CancelDelete" aria-label="Close">✕</button>
+                    </div>
+                    <div class="card-body">
+                        <p>Are you sure you want to delete configuration "<strong>@DeletePendingName</strong>"?</p>
+                        <div class="d-flex justify-content-end gap-2 mt-3">
+                            <button class="btn btn-outline-secondary" @onclick="CancelDelete">Cancel</button>
+                            <button class="btn btn-danger" @onclick="ConfirmDeleteAsync">Delete</button>
+                        </div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    }
+
+</div>
+
+@code {
+    private List<RobotVDA5050ConfigDto> VdaConfigs { get; set; } = new();
+    private List<RobotSafetyConfigDto> SafetyConfigs { get; set; } = new();
+    private List<RobotSimulationConfigDto> SimulationConfigs { get; set; } = new();
+    private List<RobotPlcConfigDto> PlcConfigs { get; set; } = new();
+    private List<RobotConfigDto> CoreConfigs { get; set; } = new();
+
+    private RobotVDA5050ConfigDto? SelectedVda { get; set; }
+    private RobotSafetyConfigDto? SelectedSafety { get; set; }
+    private RobotSimulationConfigDto? SelectedSimulation { get; set; }
+    private RobotPlcConfigDto? SelectedPlc { get; set; }
+    private RobotConfigDto? SelectedCore { get; set; }
+
+    private CreateRobotVDA5050ConfigDto CreateVda = new();
+    private CreateRobotConfigDto CreateSafety = new();
+    private CreateRobotSafetyConfigDto CreateSimulation = new();
+    private CreateRobotSimulationConfigDto CreatePlc = new();
+    private CreateRobotPlcConfigDto CreateCore = new();
+
+    private RobotConfigType SelectedType = RobotConfigType.VDA5050;
+
+    private RobotApp.Client.Pages.Components.Config.RobotVDA5050Config RobotVDA5050ConfigRef = default!;
+
+    private int SelectedIndex = -1;
+    private bool HasSelection => SelectedIndex >= 0;
+    private bool IsLoading = false;
+    private bool IsAddingNew = false;
+
+    private bool ShowDeleteConfirm = false;
+    private Guid? DeletePendingId;
+    private string DeletePendingName = string.Empty;
+
+    private class AddFormModel
+    {
+        public string ConfigName { get; set; } = string.Empty;
+        public string Description { get; set; } = string.Empty;
+    }
+    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()
+    {
+        return SelectedType switch
+        {
+            RobotConfigType.VDA5050 => VdaConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
+            RobotConfigType.Safety => SafetyConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
+            RobotConfigType.Simulation => SimulationConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
+            RobotConfigType.PLC => PlcConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
+            RobotConfigType.Core => CoreConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
+            _ => [],
+        };
+    }
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
+        await LoadForTypeAsync(SelectedType);
+    }
+
+    private async Task OnTypeChanged(ChangeEventArgs e)
+    {
+        if (e?.Value is null) return;
+        if (!Enum.TryParse<RobotConfigType>(e.Value.ToString(), out var newType)) return;
+        if (newType == SelectedType) return;
+
+        SelectedType = newType;
+        await LoadForTypeAsync(newType);
+    }
+
+    private async Task LoadForTypeAsync(RobotConfigType type)
+    {
+        IsLoading = true;
+        StateHasChanged();
+
+        try
+        {
+            switch (type)
+            {
+                case RobotConfigType.VDA5050:
+                    await LoadVDA5050Configs();
+                    break;
+                case RobotConfigType.Safety:
+                    await LoadRobotSafetyConfigs();
+                    break;
+                case RobotConfigType.Simulation:
+                    await LoadRobotSimulationConfigs();
+                    break;
+                case RobotConfigType.PLC:
+                    await LoadRobotPlcConfigs();
+                    break;
+                case RobotConfigType.Core:
+                    await LoadRobotConfigs();
+                    break;
+            }
+        }
+        finally
+        {
+            IsLoading = false;
+            StateHasChanged();
+        }
+    }
+
+    RenderFragment RenderList<T>(List<T> list, Action<int> onSelect, Func<T, string> nameSelector, Func<T, bool>? isActiveSelector = null) where T : class
+    {
+        return builder =>
+        {
+            if (list is null || !list.Any())
+            {
+                builder.OpenElement(0, "div");
+                builder.AddAttribute(1, "class", "p-2 text-muted");
+                builder.AddContent(2, "No configs found.");
+                builder.CloseElement();
+                return;
+            }
+
+            builder.OpenElement(3, "ul");
+            builder.AddAttribute(4, "class", "list-group list-group-flush");
+
+            for (int i = 0; i < list.Count; i++)
+            {
+                var item = list[i];
+                var idx = i;
+                builder.OpenElement(10 + i * 6, "li");
+                builder.AddAttribute(11 + i * 6, "class", $"list-group-item {(SelectedIndex == idx ? "active" : "")}");
+                builder.AddAttribute(12 + i * 6, "style", "cursor:pointer;padding:0.75rem 1rem;");
+                builder.AddAttribute(13 + i * 6, "onclick", EventCallback.Factory.Create(this, () => onSelect(idx)));
+
+                string name;
+                try
+                {
+                    name = nameSelector(item) ?? "Unnamed";
+                }
+                catch
+                {
+                    name = "Unnamed";
+                }
+                builder.AddContent(14 + i * 6, name);
+
+                bool isActive = false;
+                if (isActiveSelector is not null)
+                {
+                    try
+                    {
+                        isActive = isActiveSelector(item);
+                    }
+                    catch
+                    {
+                        isActive = false;
+                    }
+                }
+
+                if (isActive)
+                {
+                    builder.OpenElement(15 + i * 6, "span");
+                    builder.AddAttribute(16 + i * 6, "class", "badge bg-success ms-2 float-end");
+                    builder.AddContent(17 + i * 6, "Active");
+                    builder.CloseElement();
+                }
+
+                builder.CloseElement();
+            }
+
+            builder.CloseElement();
+        };
+    }
+
+    private Action<int> SelectVda => idx =>
+    {
+        SelectedIndex = idx;
+        SelectedVda = idx >= 0 && idx < VdaConfigs.Count ? VdaConfigs[idx] with { } : null;
+        StateHasChanged();
+    };
+
+    private Action<int> SelectSafety => idx =>
+    {
+        SelectedIndex = idx;
+        SelectedSafety = idx >= 0 && idx < SafetyConfigs.Count ? SafetyConfigs[idx] with { } : null;
+        StateHasChanged();
+    };
+
+    private Action<int> SelectSimulation => idx =>
+    {
+        SelectedIndex = idx;
+        SelectedSimulation = idx >= 0 && idx < SimulationConfigs.Count ? SimulationConfigs[idx] with { } : null;
+        StateHasChanged();
+    };
+
+    private Action<int> SelectPlc => idx =>
+    {
+        SelectedIndex = idx;
+        SelectedPlc = idx >= 0 && idx < PlcConfigs.Count ? PlcConfigs[idx] with { } : null;
+        StateHasChanged();
+    };
+
+    private Action<int> SelectCore => idx =>
+    {
+        SelectedIndex = idx;
+        SelectedCore = idx >= 0 && idx < CoreConfigs.Count ? CoreConfigs[idx] with { } : null;
+        StateHasChanged();
+    };
+
+    private void OpenAddConfig()
+    {
+        addForm = new AddFormModel();
+        var model = GetTemplatesForSelectedType();
+        var modelActive = model.Where(x => x.Active).ToList();
+        SelectedTemplateIdString = modelActive.Count > 0 ? modelActive.First().Id.ToString() : model.Any() ? model.First().Id.ToString() : string.Empty;
+        IsAddingNew = true;
+    }
+
+    private void CloseAddDialog()
+    {
+        IsAddingNew = false;
+    }
+
+    private void DeleteConfig()
+    {
+        var tuple = SelectedType switch
+        {
+            RobotConfigType.VDA5050 => (Id: SelectedVda?.Id, Name: SelectedVda?.ConfigName),
+            RobotConfigType.Safety => (Id: SelectedSafety?.Id, Name: SelectedSafety?.ConfigName),
+            RobotConfigType.Simulation => (Id: SelectedSimulation?.Id, Name: SelectedSimulation?.ConfigName),
+            RobotConfigType.PLC => (Id: SelectedPlc?.Id, Name: SelectedPlc?.ConfigName),
+            RobotConfigType.Core => (Id: SelectedCore?.Id, Name: SelectedCore?.ConfigName),
+            _ => (Id: (Guid?)null, Name: (string?)null)
+        };
+
+        if (tuple.Id is null || tuple.Id == Guid.Empty)
+        {
+            Snackbar.Add("No config selected to delete.", Severity.Warning);
+            return;
+        }
+
+        DeletePendingId = tuple.Id;
+        DeletePendingName = tuple.Name ?? string.Empty;
+        ShowDeleteConfirm = true;
+    }
+
+    private void CancelDelete()
+    {
+        ShowDeleteConfirm = false;
+        DeletePendingId = null;
+        DeletePendingName = string.Empty;
+    }
+}

RobotApp.Client/Pages/RobotConfigManager.razor.cs

@@ -0,0 +1,569 @@
+using MudBlazor;
+using RobotApp.Common.Shares;
+using RobotApp.Common.Shares.Dtos;
+using RobotApp.Common.Shares.Enums;
+using System.Net.Http.Headers;
+using System.Net.Http.Json;
+using System.Xml.Schema;
+
+namespace RobotApp.Client.Pages;
+
+public partial class RobotConfigManager
+{
+    private async Task LoadVDA5050Configs()
+    {
+        try
+        {
+            var res = await Http.GetFromJsonAsync<MessageResult<RobotVDA5050ConfigDto[]>>("api/RobotConfigs/vda5050");
+            if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
+            else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
+            else if (res.Data is not null)
+            {
+                VdaConfigs.Clear();
+                VdaConfigs.AddRange(res.Data);
+
+                var activeIdx = VdaConfigs.FindIndex(x => x.IsActive);
+                if (activeIdx >= 0)
+                {
+                    SelectedIndex = activeIdx;
+                    SelectedVda = VdaConfigs[activeIdx] with { };
+                }
+                else
+                {
+                    SelectedIndex = -1;
+                    SelectedVda = null;
+                }
+
+                StateHasChanged();
+            }
+            else
+            {
+                Snackbar.Add("No VDA5050 configs found", Severity.Info);
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
+        }
+    }
+
+    private async Task LoadRobotConfigs()
+    {
+        try
+        {
+            var res = await Http.GetFromJsonAsync<MessageResult<RobotConfigDto[]>>("api/RobotConfigs/robot");
+            if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
+            else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
+            else if (res.Data is not null)
+            {
+                CoreConfigs.Clear();
+                CoreConfigs.AddRange(res.Data);
+
+                var activeIdx = CoreConfigs.FindIndex(x => x.IsActive);
+                if (activeIdx >= 0)
+                {
+                    SelectedIndex = activeIdx;
+                    SelectedCore = CoreConfigs[activeIdx] with { };
+                }
+                else
+                {
+                    SelectedIndex = -1;
+                    SelectedCore = null;
+                }
+
+                StateHasChanged();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
+        }
+    }
+
+    private async Task LoadRobotSafetyConfigs()
+    {
+        try
+        {
+            var res = await Http.GetFromJsonAsync<MessageResult<RobotSafetyConfigDto[]>>("api/RobotConfigs/safety");
+            if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
+            else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
+            else if (res.Data is not null)
+            {
+                SafetyConfigs.Clear();
+                SafetyConfigs.AddRange(res.Data);
+
+                var activeIdx = SafetyConfigs.FindIndex(x => x.IsActive);
+                if (activeIdx >= 0)
+                {
+                    SelectedIndex = activeIdx;
+                    SelectedSafety = SafetyConfigs[activeIdx] with { };
+                }
+                else
+                {
+                    SelectedIndex = -1;
+                    SelectedSafety = null;
+                }
+
+                StateHasChanged();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
+        }
+    }
+
+    private async Task LoadRobotSimulationConfigs()
+    {
+        try
+        {
+            var res = await Http.GetFromJsonAsync<MessageResult<RobotSimulationConfigDto[]>>("api/RobotConfigs/simulation");
+            if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
+            else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
+            else if (res.Data is not null)
+            {
+                SimulationConfigs.Clear();
+                SimulationConfigs.AddRange(res.Data);
+
+                var activeIdx = SimulationConfigs.FindIndex(x => x.IsActive);
+                if (activeIdx >= 0)
+                {
+                    SelectedIndex = activeIdx;
+                    SelectedSimulation = SimulationConfigs[activeIdx] with { };
+                }
+                else
+                {
+                    SelectedIndex = -1;
+                    SelectedSimulation = null;
+                }
+
+                StateHasChanged();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
+        }
+    }
+
+    private async Task LoadRobotPlcConfigs()
+    {
+        try
+        {
+            var res = await Http.GetFromJsonAsync<MessageResult<RobotPlcConfigDto[]>>("api/RobotConfigs/plc");
+            if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
+            else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
+            else if (res.Data is not null)
+            {
+                PlcConfigs.Clear();
+                PlcConfigs.AddRange(res.Data);
+                var activeIdx = PlcConfigs.FindIndex(x => x.IsActive);
+                if (activeIdx >= 0)
+                {
+                    SelectedIndex = activeIdx;
+                    SelectedPlc = PlcConfigs[activeIdx] with { };
+                }
+                else
+                {
+                    SelectedIndex = -1;
+                    SelectedPlc = null;
+                }
+                StateHasChanged();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
+        }
+    }
+
+    private async Task SaveNewConfigAsync()
+    {
+        try
+        {
+            HttpResponseMessage? res = null;
+            _ = Guid.TryParse(SelectedTemplateIdString, out Guid templateId);
+
+            switch (SelectedType)
+            {
+                case RobotConfigType.VDA5050:
+                    {
+                        var template = VdaConfigs.FirstOrDefault(x => x.Id == templateId);
+                        if (template is null) return;
+                        var payload = new
+                        {
+                            addForm.ConfigName,
+                            addForm.Description,
+                            template.SerialNumber,
+                            template.VDA5050HostServer,
+                            template.VDA5050Port,
+                            template.VDA5050UserName,
+                            template.VDA5050Password,
+                            template.VDA5050Manufacturer,
+                            template.VDA5050Version,
+                            template.VDA5050TopicPrefix,
+                            template.VDA5050PublishRepeat,
+                            template.VDA5050EnablePassword,
+                            template.VDA5050EnableTls
+                        };
+
+                        res = await Http.PostAsJsonAsync("api/RobotConfigs/vda5050", payload);
+                        break;
+                    }
+
+                case RobotConfigType.PLC:
+                    {
+                        var template = PlcConfigs.FirstOrDefault(x => x.Id == templateId);
+                        if (template is null) return;
+                        var payload = new
+                        {
+                            addForm.ConfigName,
+                            addForm.Description,
+                            template.PLCAddress,
+                            template.PLCPort,
+                            template.PLCUnitId
+                        };
+
+                        res = await Http.PostAsJsonAsync("api/RobotConfigs/plc", payload);
+                        break;
+                    }
+
+                case RobotConfigType.Safety:
+                    {
+                        var template = SafetyConfigs.FirstOrDefault(x => x.Id == templateId);
+                        if (template is null) return;
+                        var payload = new
+                        {
+                            addForm.ConfigName,
+                            addForm.Description,
+                            template.SafetySpeedVerySlow,
+                            template.SafetySpeedSlow,
+                            template.SafetySpeedNormal,
+                            template.SafetySpeedMedium,
+                            template.SafetySpeedOptimal,
+                            template.SafetySpeedFast,
+                            template.SafetySpeedVeryFast
+                        };
+
+                        res = await Http.PostAsJsonAsync("api/RobotConfigs/safety", payload);
+                        break;
+                    }
+
+                case RobotConfigType.Simulation:
+                    {
+                        var template = SimulationConfigs.FirstOrDefault(x => x.Id == templateId);
+                        if (template is null) return;
+                        var payload = new
+                        {
+                            addForm.ConfigName,
+                            addForm.Description,
+                            template.EnableSimulation,
+                            template.SimulationMaxVelocity,
+                            template.SimulationMaxAngularVelocity,
+                            template.SimulationAcceleration,
+                            template.SimulationDeceleration
+                        };
+
+                        res = await Http.PostAsJsonAsync("api/RobotConfigs/simulation", payload);
+                        break;
+                    }
+
+                case RobotConfigType.Core:
+                default:
+                    {
+                        var template = CoreConfigs.FirstOrDefault(x => x.Id == templateId);
+                        if (template is null) return;
+                        var payload = new
+                        {
+                            addForm.ConfigName,
+                            addForm.Description,
+                            template.NavigationType,
+                            template.RadiusWheel,
+                            template.Width,
+                            template.Length,
+                            template.Height
+                        };
+
+                        res = await Http.PostAsJsonAsync("api/RobotConfigs/robot", payload);
+                        break;
+                    }
+            }
+
+            if (res is not null && res.IsSuccessStatusCode)
+            {
+                Snackbar.Add("Config created", Severity.Success);
+                IsAddingNew = false;
+                await LoadForTypeAsync(SelectedType);
+            }
+            else
+            {
+                var message = res is null ? "No response" : await res.Content.ReadAsStringAsync();
+                Snackbar.Add($"Create failed: {message}", Severity.Error);
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error creating config: {ex.Message}", Severity.Error);
+        }
+    }
+
+    private async Task<bool> SaveCertificates()
+    {
+        using var content = new MultipartFormDataContent();
+
+        if (RobotVDA5050ConfigRef.CaFile is not null)
+        {
+            var fileContent = new StreamContent(RobotVDA5050ConfigRef.CaFile.OpenReadStream(maxAllowedSize: RobotVDA5050ConfigRef.MaxFileSize));
+            content.Add(fileContent, "CaFile", RobotVDA5050ConfigRef.CaFile.Name);
+        }
+        if (RobotVDA5050ConfigRef.CertFile is not null)
+        {
+            var fileContent = new StreamContent(RobotVDA5050ConfigRef.CertFile.OpenReadStream(maxAllowedSize: RobotVDA5050ConfigRef.MaxFileSize));
+            content.Add(fileContent, "CertFile", RobotVDA5050ConfigRef.CertFile.Name);
+        }
+        if (RobotVDA5050ConfigRef.KeyFile is not null)
+        {
+            var fileContent = new StreamContent(RobotVDA5050ConfigRef.KeyFile.OpenReadStream(maxAllowedSize: RobotVDA5050ConfigRef.MaxFileSize));
+            content.Add(fileContent, "KeyFile", RobotVDA5050ConfigRef.KeyFile.Name);
+        }
+        if (content.Any())
+        {
+            var response = await (await Http.PostAsync($"api/File/certificates", content)).Content.ReadFromJsonAsync<MessageResult>();
+            if (response is null) Snackbar.Add("Failed to update certificates", Severity.Warning);
+            else if (!response.IsSuccess) Snackbar.Add(response.Message ?? "Failed to update certificates", Severity.Warning);
+            else return true;
+            StateHasChanged();
+            return false;
+        }
+        return true;
+    }
+
+    private async Task SaveConfig()
+    {
+        try
+        {
+            Guid? id = SelectedType switch
+            {
+                RobotConfigType.VDA5050 => SelectedVda?.Id,
+                RobotConfigType.Safety => SelectedSafety?.Id,
+                RobotConfigType.Simulation => SelectedSimulation?.Id,
+                RobotConfigType.PLC => SelectedPlc?.Id,
+                RobotConfigType.Core => SelectedCore?.Id,
+                _ => null
+            };
+
+            if (id == null || id == Guid.Empty)
+            {
+                Snackbar.Add("No config selected to save.", Severity.Warning);
+                return;
+            }
+
+            MessageResult? result = null;
+
+            switch (SelectedType)
+            {
+                case RobotConfigType.VDA5050:
+                    {
+                        if (SelectedVda is null) { Snackbar.Add("No VDA5050 config selected.", Severity.Warning); return; }
+                        var updateDto = new
+                        {
+                            SelectedVda.SerialNumber,
+                            SelectedVda.VDA5050HostServer,
+                            SelectedVda.VDA5050Port,
+                            SelectedVda.VDA5050UserName,
+                            SelectedVda.VDA5050Password,
+                            SelectedVda.VDA5050Manufacturer,
+                            SelectedVda.VDA5050Version,
+                            SelectedVda.VDA5050TopicPrefix,
+                            SelectedVda.VDA5050PublishRepeat,
+                            SelectedVda.VDA5050EnablePassword,
+                            SelectedVda.VDA5050EnableTls,
+                            SelectedVda.VDA5050CA,
+                            SelectedVda.VDA5050Cer,
+                            SelectedVda.VDA5050Key,
+                            SelectedVda.Description
+                        };
+                        var saveCer = await SaveCertificates();
+                        if (saveCer) result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/vda5050/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
+                        else return;
+                        break;
+                    }
+
+                case RobotConfigType.PLC:
+                    {
+                        if (SelectedPlc is null) { Snackbar.Add("No PLC config selected.", Severity.Warning); return; }
+                        var updateDto = new
+                        {
+                            SelectedPlc.Description,
+                            SelectedPlc.PLCAddress,
+                            SelectedPlc.PLCPort,
+                            SelectedPlc.PLCUnitId
+                        };
+
+                        result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/plc/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
+                        break;
+                    }
+
+                case RobotConfigType.Safety:
+                    {
+                        if (SelectedSafety is null) { Snackbar.Add("No Safety config selected.", Severity.Warning); return; }
+                        var updateDto = new
+                        {
+                            SelectedSafety.SafetySpeedVerySlow,
+                            SelectedSafety.SafetySpeedSlow,
+                            SelectedSafety.SafetySpeedNormal,
+                            SelectedSafety.SafetySpeedMedium,
+                            SelectedSafety.SafetySpeedOptimal,
+                            SelectedSafety.SafetySpeedFast,
+                            SelectedSafety.SafetySpeedVeryFast,
+                            SelectedSafety.Description
+                        };
+
+                        result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/safety/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
+                        break;
+                    }
+
+                case RobotConfigType.Simulation:
+                    {
+                        if (SelectedSimulation is null) { Snackbar.Add("No Simulation config selected.", Severity.Warning); return; }
+                        var updateDto = new
+                        {
+                            SelectedSimulation.EnableSimulation,
+                            SelectedSimulation.SimulationMaxVelocity,
+                            SelectedSimulation.SimulationMaxAngularVelocity,
+                            SelectedSimulation.SimulationAcceleration,
+                            SelectedSimulation.SimulationDeceleration,
+                            SelectedSimulation.Description
+                        };
+
+                        result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/simulation/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
+                        break;
+                    }
+
+                case RobotConfigType.Core:
+                default:
+                    {
+                        if (SelectedCore is null) { Snackbar.Add("No Core config selected.", Severity.Warning); return; }
+                        var updateDto = new
+                        {
+                            SelectedCore.NavigationType,
+                            SelectedCore.RadiusWheel,
+                            SelectedCore.Width,
+                            SelectedCore.Length,
+                            SelectedCore.Height,
+                            SelectedCore.Description
+                        };
+
+                        result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/robot/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
+                        break;
+                    }
+            }
+
+            if (result is null) Snackbar.Add("Failed to update config", Severity.Warning);
+            else if (!result.IsSuccess) Snackbar.Add(result.Message ?? "Failed to update config", Severity.Warning);
+            else
+            {
+                Snackbar.Add("Config saved", Severity.Success);
+
+                await LoadForTypeAsync(SelectedType);
+
+                switch (SelectedType)
+                {
+                    case RobotConfigType.VDA5050:
+                        var vIdx = VdaConfigs.FindIndex(x => x.Id == id);
+                        if (vIdx >= 0) { SelectedIndex = vIdx; SelectedVda = VdaConfigs[vIdx] with { }; }
+                        break;
+                    case RobotConfigType.Safety:
+                        var sIdx = SafetyConfigs.FindIndex(x => x.Id == id);
+                        if (sIdx >= 0) { SelectedIndex = sIdx; SelectedSafety = SafetyConfigs[sIdx] with { }; }
+                        break;
+                    case RobotConfigType.Simulation:
+                        var simIdx = SimulationConfigs.FindIndex(x => x.Id == id);
+                        if (simIdx >= 0) { SelectedIndex = simIdx; SelectedSimulation = SimulationConfigs[simIdx] with { }; }
+                        break;
+                    case RobotConfigType.PLC:
+                        var pIdx = PlcConfigs.FindIndex(x => x.Id == id);
+                        if (pIdx >= 0) { SelectedIndex = pIdx; SelectedPlc = PlcConfigs[pIdx] with { }; }
+                        break;
+                    case RobotConfigType.Core:
+                        var cIdx = CoreConfigs.FindIndex(x => x.Id == id);
+                        if (cIdx >= 0) { SelectedIndex = cIdx; SelectedCore = CoreConfigs[cIdx] with { }; }
+                        break;
+                }
+
+                StateHasChanged();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error saving config: {ex.Message}", Severity.Error);
+        }
+    }
+
+    private async Task ConfirmDeleteAsync()
+    {
+        try
+        {
+            if (DeletePendingId is null || DeletePendingId == Guid.Empty)
+            {
+                Snackbar.Add("No config selected to delete.", Severity.Warning);
+                CancelDelete();
+                return;
+            }
+
+            var id = DeletePendingId.Value;
+            string path = SelectedType switch
+            {
+                RobotConfigType.VDA5050 => $"api/RobotConfigs/vda5050/{id}",
+                RobotConfigType.Safety => $"api/RobotConfigs/safety/{id}",
+                RobotConfigType.Simulation => $"api/RobotConfigs/simulation/{id}",
+                RobotConfigType.PLC => $"api/RobotConfigs/plc/{id}",
+                RobotConfigType.Core => $"api/RobotConfigs/robot/{id}",
+                _ => throw new InvalidOperationException("Unsupported config type")
+            };
+
+            IsLoading = true;
+            StateHasChanged();
+
+            var httpRes = await Http.DeleteFromJsonAsync<MessageResult>(path);
+
+            if (httpRes is null) Snackbar.Add("Failed to delete config", Severity.Warning);
+            else if (!httpRes.IsSuccess) Snackbar.Add(httpRes.Message ?? "Failed to delete config", Severity.Warning);
+            else
+            {
+                Snackbar.Add("Config deleted", Severity.Success);
+
+                SelectedIndex = -1;
+                switch (SelectedType)
+                {
+                    case RobotConfigType.VDA5050: SelectedVda = null; break;
+                    case RobotConfigType.Safety: SelectedSafety = null; break;
+                    case RobotConfigType.Simulation: SelectedSimulation = null; break;
+                    case RobotConfigType.PLC: SelectedPlc = null; break;
+                    case RobotConfigType.Core: SelectedCore = null; break;
+                }
+
+                await LoadForTypeAsync(SelectedType);
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error deleting config: {ex.Message}", Severity.Error);
+        }
+        finally
+        {
+            IsLoading = false;
+            CancelDelete();
+            StateHasChanged();
+        }
+    }
+
+    private async Task LoadConfig()
+    {
+        var response = await (await Http.PostAsync($"api/RobotConfigs/load", null)).Content.ReadFromJsonAsync<MessageResult>();
+        if (response is null) Snackbar.Add("Failed to load config", Severity.Warning);
+        else if (!response.IsSuccess) Snackbar.Add(response.Message ?? "Failed to load config", Severity.Warning);
+        else Snackbar.Add("Config loaded", Severity.Success);
+        StateHasChanged();
+    }
+}

RobotApp.Client/Pages/RobotConfigManager.razor.css

@@ -0,0 +1,520 @@
+/* Toolbar layout */
+.rcm-toolbar {
+    display: flex;
+    gap: 1rem;
+    align-items: center;
+    justify-content: space-between;
+    background: var(--mud-palette-surface, #ffffff);
+    color: #e6e6e6;
+    padding: 0.75rem 1rem;
+    border-radius: 0.375rem;
+    box-shadow: 0 2px 6px rgba(0,0,0,0.6);
+    border: 1px solid rgba(255,255,255,0.04);
+}
+
+/* Content layout: take remaining height */
+.rcm-content {
+    height: calc(100vh - 90px); /* approximate toolbar + padding height; adjust if needed */
+    min-height: 0; /* allow flex children to shrink properly */
+}
+
+/* Config list uses flexible basis and can shrink instead of forcing overflow */
+.rcm-config-list {
+    /* replace fixed width with flex basis + shrink */
+    flex: 0 1 35%; /* flex-grow:0, flex-shrink:1, flex-basis:35% */
+    min-width: 240px; /* allow smaller than before but keep readable */
+    display: flex;
+    flex-direction: column;
+    min-height: 0;
+}
+
+/* Config content uses remaining space and can shrink/grow */
+.rcm-config-content {
+    flex: 1 1 65%; /* flex-grow:1 to take remaining, flex-shrink:1 */
+    min-width: 220px;
+    display: flex;
+    flex-direction: column;
+}
+
+/* Make card body scrollable if content overflows */
+.config-list .list-body,
+.rcm-config-content .card-body,
+.config-list .list-body ul {
+    overflow: auto;
+}
+
+/* Ensure list-body and editor body expand to fill container */
+.config-list .list-body {
+    height: 100%;
+}
+
+.rcm-config-content .card-body {
+    height: 100%;
+}
+
+/* Make config list body fill available height and scroll when content overflows */
+.rcm-config-list .card-body.list-body {
+  flex: 1 1 auto; /* expand to fill container */
+  min-height: 0;   /* allow flex children to shrink in many browsers */
+  overflow: auto;  /* enable scrolling when content overflows */
+  padding: 0.25rem 0.5rem; /* keep slight padding for list */
+}
+
+/* Ensure the list itself doesn't add extra margins that affect scrolling */
+.rcm-config-list .list-group {
+  margin: 0;
+  padding: 0;
+}
+
+/* Each list item keeps its padding but stays in flow */
+.rcm-config-list .list-group-item {
+  padding: 0.75rem 1rem;
+}
+
+/* List items spacing */
+.list-group-item {
+    cursor: pointer;
+}
+
+/* Left side controls (robot id + select) */
+.rcm-toolbar-left {
+    display: flex;
+    gap: 0.5rem;
+    align-items: center;
+    flex-wrap: wrap;
+}
+
+/* Right side action buttons */
+.rcm-toolbar-right {
+    display: flex;
+    align-items: center;
+}
+
+/* Group buttons with small spacing */
+.rcm-action-group {
+    display: flex;
+    gap: 0.5rem;
+}
+
+/* Inputs sizing */
+.rcm-input {
+    width: 160px;
+    background: #1a1a1a;
+    border: 1px solid rgba(255,255,255,0.06);
+    color: #e6e6e6;
+}
+
+.rcm-select-wrapper {
+    position: relative;
+    display: inline-flex;
+    align-items: center;
+}
+
+/* Make select background brighter and match button gradients (blue tone similar to Update) */
+.rcm-select {
+    width: 180px;
+    margin-left: 6px; /* bring select closer to left controls */
+    background: linear-gradient(180deg, #4aa0db, #2b87c9);
+    border: 1px solid rgba(0,0,0,0.12);
+    color: #fff;
+    appearance: none;
+    padding-right: 28px; /* space for icon */
+    box-shadow: 0 1px 0 rgba(255,255,255,0.04) inset;
+}
+
+/* Hover effect: slightly brighter */
+.rcm-select-wrapper:hover .rcm-select {
+    background: linear-gradient(180deg, #5bb6ee, #399ad6);
+    border-color: rgba(58,123,184,0.22);
+    transform: translateY(-1px);
+}
+
+/* Select icon color to contrast with brighter select */
+.rcm-select-icon {
+    position: absolute;
+    right: 6px;
+    pointer-events: none;
+    color: rgba(255,255,255,0.9);
+    display: inline-flex;
+    align-items: center;
+}
+
+/* Toolbar labels */
+.rcm-label {
+    font-size: 0.9rem;
+    margin-right: 6px;
+    color: #cfcfcf;
+}
+
+/* Minor button styling to match toolbar */
+.rcm-btn {
+    min-width: 84px;
+}
+
+/* Icon button styles */
+.rcm-icon-btn {
+    display: inline-flex;
+    align-items: center;
+    justify-content: center;
+    width: 38px;
+    height: 34px;
+    padding: 0.25rem;
+    border-radius: 6px;
+    background: transparent;
+    color: #e6e6e6;
+    border: 1px solid rgba(255,255,255,0.04);
+}
+
+.rcm-icon-btn svg { 
+    display: block;
+}
+
+/* Icon button hover and focus states */
+.rcm-icon-btn:hover, .rcm-icon-btn:focus {
+    background: rgba(255,255,255,0.03);
+    color: #fff;
+    border-color: rgba(255,255,255,0.08);
+}
+
+.rcm-danger {
+    color: #ffb3b3;
+    border-color: rgba(255,100,100,0.18);
+}
+
+/* Adjust bootstrap button colors for dark toolbar when using outline variants */
+.rcm-toolbar .btn-outline-primary {
+    color: #cfe2ff;
+    border-color: rgba(95,160,255,0.2);
+}
+
+.rcm-toolbar .btn-outline-success {
+    color: #d4f5d4;
+    border-color: rgba(60,200,120,0.18);
+}
+
+.rcm-toolbar .btn-outline-danger {
+    color: #ffcfcf;
+    border-color: rgba(255,100,100,0.18);
+}
+
+/* Specific styles for action buttons (Add, Update, Delete) */
+.rcm-action-group button[aria-label="Add"] {
+  background: linear-gradient(180deg, #4bb24b, #2f9a2f); /* bright green */
+  color: #fff;
+  border: 1px solid rgba(0,0,0,0.08);
+  box-shadow: 0 1px 0 rgba(255,255,255,0.06) inset;
+}
+
+.rcm-action-group button[aria-label="Add"]:hover {
+  background: linear-gradient(180deg, #66d166, #3fb83f);
+  transform: translateY(-1px);
+}
+
+.rcm-action-group button[aria-label="Add"]:focus {
+  outline: none;
+  box-shadow: 0 0 0 3px rgba(56,160,56,0.18);
+}
+
+.rcm-action-group button[aria-label="Update"] {
+  background: linear-gradient(180deg, #4aa0db, #2b87c9); /* bright blue */
+  color: #fff;
+  border: 1px solid rgba(0,0,0,0.08);
+  box-shadow: 0 1px 0 rgba(255,255,255,0.08) inset;
+}
+
+.rcm-action-group button[aria-label="Update"]:hover {
+  background: linear-gradient(180deg, #5bb6ee, #399ad6);
+  transform: translateY(-1px);
+}
+
+.rcm-action-group button[aria-label="Update"]:focus {
+  outline: none;
+  box-shadow: 0 0 0 3px rgba(58,123,184,0.18);
+}
+
+.rcm-action-group button[aria-label="Delete"] {
+  background: linear-gradient(180deg, #ff6b6b, #e04848); /* bright red */
+  color: #fff;
+  border: 1px solid rgba(0,0,0,0.08);
+  box-shadow: 0 1px 0 rgba(255,255,255,0.06) inset;
+}
+
+.rcm-action-group button[aria-label="Delete"]:hover {
+  background: linear-gradient(180deg, #ff8282, #ec5b5b);
+  transform: translateY(-1px);
+}
+
+.rcm-action-group button[aria-label="Delete"]:focus {
+  outline: none;
+  box-shadow: 0 0 0 3px rgba(224,72,72,0.18);
+}
+
+/* Ensure icons inside the action buttons remain visible */
+.rcm-action-group button[aria-label="Add"] .mdi,
+.rcm-action-group button[aria-label="Update"] .mdi,
+.rcm-action-group button[aria-label="Delete"] .mdi {
+  color: #fff;
+}
+
+/* Ensure dropdown options use dark theme matching select */
+.rcm-select option {
+  background-color: #141414 !important;
+  color: #e6e6e6 !important;
+}
+
+/* Hover/active state inside dropdown */
+.rcm-select option:hover,
+.rcm-select option:checked {
+  background-color: #2b87c9 !important; /* match update button blue */
+  color: #fff !important;
+}
+
+/* Optgroup styling (if used) */
+.rcm-select optgroup {
+  color: #e6e6e6;
+  background: #141414;
+}
+
+/* Tooltip for action buttons using data-tooltip attribute */
+.rcm-action-group button[data-tooltip] {
+  position: relative;
+}
+
+.rcm-action-group button[data-tooltip]::after {
+  content: attr(data-tooltip);
+  position: absolute;
+  left: 50%;
+  transform: translateX(-50%) translateY(8px);
+  bottom: -9999px; /* hidden by default below flow */
+  background: rgba(20,20,20,0.98);
+  color: #fff;
+  padding: 6px 10px;
+  border-radius: 6px;
+  font-size: 0.85rem;
+  white-space: nowrap;
+  box-shadow: 0 2px 6px rgba(0,0,0,0.5);
+  opacity: 0;
+  pointer-events: none;
+  transition: opacity 0.12s ease, transform 0.12s ease;
+  z-index: 50;
+}
+
+/* Arrow below tooltip */
+.rcm-action-group button[data-tooltip]::before {
+  content: "";
+  position: absolute;
+  left: 50%;
+  transform: translateX(-50%);
+  bottom: -9999px;
+  width: 8px;
+  height: 8px;
+  background: rgba(20,20,20,0.98);
+  transform-origin: center;
+  rotate: 45deg;
+  z-index: 49;
+}
+
+/* Show tooltip on hover */
+.rcm-action-group button[data-tooltip]:hover::after,
+.rcm-action-group button[data-tooltip]:hover::before {
+  bottom: -45px; /* reduced gap: place tooltip closer to the button */
+  opacity: 1;
+  transform: translateX(-50%) translateY(0);
+}
+
+/* Adjust for danger button (slightly different color) */
+.rcm-action-group button[data-tooltip].rcm-danger::after {
+  background: rgba(224,72,72,0.95);
+}
+
+/* Slightly lift the button on hover to match tooltip */
+.rcm-action-group button[data-tooltip]:hover {
+  transform: translateY(-2px);
+}
+
+/* Tooltip backgrounds matching their buttons */
+.rcm-action-group button[aria-label="Add"][data-tooltip]::after {
+  background: linear-gradient(180deg, #4bb24b, #2f9a2f);
+}
+.rcm-action-group button[aria-label="Add"][data-tooltip]::before {
+  background: #2f9a2f;
+}
+
+.rcm-action-group button[aria-label="Update"][data-tooltip]::after {
+  background: linear-gradient(180deg, #4aa0db, #2b87c9);
+}
+.rcm-action-group button[aria-label="Update"][data-tooltip]::before {
+  background: #2b87c9;
+}
+
+/* Delete already had a red variant, update the arrow to match precisely */
+.rcm-action-group button[aria-label="Delete"][data-tooltip]::after,
+.rcm-action-group button[data-tooltip].rcm-danger::after {
+  background: linear-gradient(180deg, #ff6b6b, #e04848);
+}
+.rcm-action-group button[aria-label="Delete"][data-tooltip]::before,
+.rcm-action-group button[data-tooltip].rcm-danger::before {
+  background: #e04848;
+}
+
+/* Ensure tooltip text stays readable on gradients */
+.rcm-action-group button[data-tooltip]::after {
+  color: #fff;
+}
+
+/* Active badge in config list: make slightly larger and more visible */
+.rcm-config-list .list-group-item .badge {
+  font-size: 1.05rem; /* slightly larger */
+  padding: 0.45rem 0.8rem;
+  border-radius: 0.5rem;
+  line-height: 1;
+  margin-left: 0.6rem;
+  opacity: 0.98;
+  display: inline-block;
+  vertical-align: middle;
+}
+
+/* Overlay that blocks the whole viewport while loading */
+.rcm-overlay {
+    position: absolute;
+    inset: 0; /* top:0; right:0; bottom:0; left:0; */
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    background: rgba(7, 10, 13, 0.55);
+    z-index: 1050; /* above most UI layers */
+    pointer-events: auto; /* capture mouse interactions */
+}
+
+/* inner content: spinner + optional message */
+.rcm-overlay-content {
+    display: inline-flex;
+    align-items: center;
+    gap: 0.6rem;
+    background: rgba(20, 20, 20, 0.85);
+    padding: 0.75rem 1rem;
+    border-radius: 8px;
+    box-shadow: 0 8px 24px rgba(0,0,0,0.45);
+    color: #fff;
+    font-weight: 500;
+    transform: translateY(-6px);
+}
+
+/* message text */
+.rcm-overlay-message {
+    font-size: 0.95rem;
+    color: #eef3ff;
+}
+
+/* ensure spinner is visible on dark overlay */
+.rcm-overlay .spinner-border {
+    width: 1.25rem;
+    height: 1.25rem;
+    border-width: 0.18rem;
+    color: #ffffff;
+}
+
+/* Modal overlay (create dialog) */
+.rcm-modal-overlay {
+    position: absolute;
+    inset: 0;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    background: rgba(7, 10, 13, 0.45);
+    z-index: 1065;
+    pointer-events: auto;
+}
+
+/* Modal container */
+.rcm-modal {
+    width: 820px;
+    max-width: calc(100% - 40px);
+    border-radius: 8px;
+    box-shadow: 0 12px 40px rgba(0,0,0,0.5);
+    background: var(--mud-palette-surface, #0f1720);
+    color: #e6e6e6;
+}
+
+    /* Ensure card inside modal uses default spacing already present */
+    .rcm-modal .card {
+        background: #0f1720;
+        border: 1px solid rgba(255,255,255,0.04);
+    }
+
+    /* Header styling */
+    .rcm-modal .card-header {
+        padding: 0.6rem 0.9rem;
+        background: rgba(255,255,255,0.02);
+        border-bottom: 1px solid rgba(255,255,255,0.03);
+    }
+
+/* Modal message / spinner adjustments (already defined for overlay) */
+.rcm-overlay .spinner-border {
+    width: 1.25rem;
+    height: 1.25rem;
+    border-width: 0.18rem;
+    color: #ffffff;
+}
+
+/* Keep responsive layout for modal form inputs */
+.rcm-modal .card-body {
+    padding: 0.8rem;
+    color: #e6e6e6;
+}
+
+/* --- Contrast adjustments for modal form elements --- */
+/* Improve readability by increasing text contrast and adjusting input backgrounds */
+.rcm-modal {
+    color: #eaf4ff; /* default text inside modal */
+}
+
+    /* labels, headers and small notes */
+    .rcm-modal .form-label,
+    .rcm-modal label,
+    .rcm-modal .card-header strong,
+    .rcm-modal .card-header,
+    .rcm-modal .form-text,
+    .rcm-modal .validation-message,
+    .rcm-modal .text-muted {
+        color: #cfe6ff;
+    }
+
+    /* form controls */
+    .rcm-modal .form-control,
+    .rcm-modal .form-select,
+    .rcm-modal input[type="text"],
+    .rcm-modal input[type="number"],
+    .rcm-modal textarea {
+        /*background: rgba(255,255,255,0.03);*/ /* subtle contrast with modal bg */
+        /*color: #ffffff;*/
+        border: 1px solid rgba(255,255,255,0.08);
+        box-shadow: none;
+        caret-color: #ffffff;
+    }
+
+        /* placeholder text */
+        .rcm-modal .form-control::placeholder,
+        .rcm-modal input::placeholder,
+        .rcm-modal textarea::placeholder {
+            color: rgba(255,255,255,0.55);
+        }
+
+    /* validation / summary messages */
+    .rcm-modal .validation-message,
+    .rcm-modal .validation-summary-valid,
+    .rcm-modal .validation-summary-errors,
+    .rcm-modal .field-validation-error {
+        color: #ffd2d2;
+    }
+
+    /* modal buttons */
+    .rcm-modal .btn-link {
+        color: #cfcfcf;
+    }
+
+    /* keep modal small text readable */
+    .rcm-modal .card-body {
+        font-size: 0.95rem;
+        line-height: 1.4;
+    }

RobotApp.Client/Pages/RobotMonitor.razor

@@ -0,0 +1,43 @@
+@page "/robot-monitor"
+@rendermode InteractiveWebAssemblyNoPrerender
+@inject RobotApp.Client.Services.RobotMonitorService MonitorService
+@implements IAsyncDisposable
+
+<PageTitle>Robot Monitor</PageTitle>
+
+<div class="d-flex w-100 h-100 overflow-hidden">
+    <RobotApp.Client.Pages.Components.Monitor.RobotMonitorView @ref="@RobotMonitorViewRef"
+        MonitorData="@_monitorData" 
+        IsConnected="@MonitorService.IsConnected" />
+</div>
+
+@code {
+    private RobotMonitorDto? _monitorData;
+    private RobotApp.Client.Pages.Components.Monitor.RobotMonitorView? RobotMonitorViewRef;
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        if (firstRender)
+        {
+            MonitorService.OnDataReceived += OnMonitorDataReceived;
+            await MonitorService.StartAsync();
+        }
+    }
+
+    private void OnMonitorDataReceived(RobotMonitorDto data)
+    {
+        _monitorData = data;
+        RobotMonitorViewRef?.UpdatePath();
+        InvokeAsync(StateHasChanged);
+    }
+
+    public async ValueTask DisposeAsync()
+    {
+        MonitorService.OnDataReceived -= OnMonitorDataReceived;
+        await MonitorService.StopAsync();
+    }
+}
+
+
+
+

RobotApp.Client/Pages/_Imports.razor

@@ -16,3 +16,11 @@
 @using RobotApp.Common.Shares.Dtos
 @using Excubo.Blazor.Canvas
 @using Excubo.Blazor.Canvas.Contexts
+@using System.Text.Json
+@using System.Text.Json.Serialization
+@using RobotApp.Client.Pages.Order
+@using RobotApp.Client.Services
+@using RobotApp.VDA5050.InstantAction
+@using RobotApp.VDA5050.Order
+@using RobotApp.VDA5050.Type
+@using System.ComponentModel.DataAnnotations

RobotApp.Client/Program.cs

@@ -1,5 +1,6 @@
 using Microsoft.AspNetCore.Components.WebAssembly.Hosting;
 using MudBlazor.Services;
+using RobotApp.Client.Services;
 using System.Globalization;
 
 CultureInfo.DefaultThreadCurrentCulture = new CultureInfo("en-US");
@@ -10,6 +11,9 @@ builder.Services.AddCascadingAuthenticationState();
 builder.Services.AddAuthenticationStateDeserialization();
 
 builder.Services.AddScoped(_ => new HttpClient() { BaseAddress = new Uri(builder.HostEnvironment.BaseAddress) });
+builder.Services.AddScoped<RobotApp.Client.Services.RobotMonitorService>();
+builder.Services.AddScoped<RobotApp.Client.Services.RobotStateClient>();
+
 builder.Services.AddMudServices(config =>
 {
     config.SnackbarConfiguration.VisibleStateDuration = 2000;

RobotApp.Client/RobotApp.Client.csproj

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk.BlazorWebAssembly">
 
   <PropertyGroup>
-    <TargetFramework>net9.0</TargetFramework>
+    <TargetFramework>net10.0</TargetFramework>
     <ImplicitUsings>enable</ImplicitUsings>
     <Nullable>enable</Nullable>
     <NoDefaultLaunchSettingsFile>true</NoDefaultLaunchSettingsFile>
@@ -9,18 +9,17 @@
   </PropertyGroup>
 
   <ItemGroup>
+    <PackageReference Include="Blazored.LocalStorage" Version="4.5.0" />
     <PackageReference Include="Excubo.Blazor.Canvas" Version="3.2.91" />
     <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly" Version="9.0.1" />
     <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Authentication" Version="9.0.1" />
-    <PackageReference Include="MudBlazor" Version="8.12.0" />
+    <PackageReference Include="Microsoft.AspNetCore.SignalR.Client" Version="10.0.1" />
+    <PackageReference Include="MudBlazor" Version="8.15.0" />
   </ItemGroup>
 
   <ItemGroup>
     <ProjectReference Include="..\RobotApp.Common.Shares\RobotApp.Common.Shares.csproj" />
-  </ItemGroup>
+    <ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
-
-  <ItemGroup>
-    <Folder Include="Models\" />
   </ItemGroup>
 
 </Project>

RobotApp.Client/Services/RobotMonitorService.cs

@@ -0,0 +1,52 @@
+using Microsoft.AspNetCore.Components;
+using Microsoft.AspNetCore.SignalR.Client;
+using RobotApp.Common.Shares.Dtos;
+
+namespace RobotApp.Client.Services;
+
+public class RobotMonitorService : IAsyncDisposable
+{
+    private HubConnection? _hubConnection;
+    private readonly string _hubUrl;
+
+    public event Action<RobotMonitorDto>? OnDataReceived;
+    public bool IsConnected => _hubConnection?.State == HubConnectionState.Connected;
+
+    public RobotMonitorService(NavigationManager navigationManager)
+    {
+        var baseUrl = navigationManager.BaseUri.TrimEnd('/');
+        _hubUrl = $"{baseUrl}/hubs/robotMonitor";
+    }
+
+    public async Task StartAsync()
+    {
+        if (_hubConnection is not null) return;
+
+        _hubConnection = new HubConnectionBuilder()
+            .WithUrl(_hubUrl)
+            .WithAutomaticReconnect()
+            .Build();
+
+        _hubConnection.On<RobotMonitorDto>("ReceiveRobotMonitorData", data =>
+        {
+            OnDataReceived?.Invoke(data);
+        });
+
+        await _hubConnection.StartAsync();
+    }
+
+    public async Task StopAsync()
+    {
+        if (_hubConnection is null) return;
+
+        await _hubConnection.StopAsync();
+        await _hubConnection.DisposeAsync();
+        _hubConnection = null;
+    }
+
+    public async ValueTask DisposeAsync()
+    {
+        await StopAsync();
+    }
+}
+

RobotApp.Client/Services/RobotStateClient.cs

@@ -0,0 +1,211 @@
+using Microsoft.AspNetCore.Components;
+using Microsoft.AspNetCore.SignalR.Client;
+using RobotApp.Common.Shares;
+using RobotApp.VDA5050.State;
+using System.Collections.Concurrent;
+using System.Text.Json;
+
+namespace RobotApp.Client.Services;
+
+// ================= SIGNALR CONNECTION STATE =================
+public enum RobotClientState
+{
+    Disconnected,
+    Connecting,
+    Connected,
+    Reconnecting
+}
+
+// ================= ROBOT STATE CLIENT =================
+public sealed class RobotStateClient : IAsyncDisposable
+{
+    private readonly NavigationManager _nav;
+    private HubConnection? _connection;
+
+    private readonly object _lock = new();
+    private bool _started;
+
+    // ================= STATE CACHE =================
+    public ConcurrentDictionary<string, StateMsg> LatestStates { get; } = new();
+
+    // ================= ROBOT CONNECTION =================
+    private bool _isRobotConnected;
+    public bool IsRobotConnected => _isRobotConnected;
+
+    // ================= EVENTS =================
+    public event Action<string, StateMsg>? OnStateReceived;
+    public event Action<StateMsg>? OnStateReceivedAny;
+    public event Action<bool>? OnRobotConnectionChanged;
+    public event Action<RobotClientState>? OnConnectionStateChanged;
+
+    public RobotClientState ConnectionState { get; private set; } = RobotClientState.Disconnected;
+
+    // ================= CTOR =================
+    public RobotStateClient(NavigationManager nav)
+    {
+        _nav = nav;
+    }
+
+    // ================= STATE HELPER =================
+    private void SetState(RobotClientState state)
+    {
+        if (ConnectionState == state)
+            return;
+
+        ConnectionState = state;
+        OnConnectionStateChanged?.Invoke(state);
+    }
+
+    // ================= START =================
+    public async Task StartAsync(string hubPath = "/hubs/robot")
+    {
+        lock (_lock)
+        {
+            if (_started) return;
+            _started = true;
+        }
+
+        SetState(RobotClientState.Connecting);
+
+        _connection = new HubConnectionBuilder()
+            .WithUrl(_nav.ToAbsoluteUri(hubPath))
+            .WithAutomaticReconnect(new[]
+            {
+                TimeSpan.Zero,
+                TimeSpan.FromSeconds(2),
+                TimeSpan.FromSeconds(10)
+            })
+            .Build();
+
+        _connection.Reconnecting += _ =>
+        {
+            SetState(RobotClientState.Reconnecting);
+            return Task.CompletedTask;
+        };
+
+        _connection.Reconnected += _ =>
+        {
+            SetState(RobotClientState.Connected);
+            return Task.CompletedTask;
+        };
+
+        _connection.Closed += async _ =>
+        {
+            _started = false;
+            SetState(RobotClientState.Disconnected);
+
+            if (_connection != null)
+            {
+                try
+                {
+                    await StartAsync(hubPath);
+                }
+                catch { }
+            }
+        };
+
+        // ================= SIGNALR HANDLERS =================
+
+        // VDA5050 State
+        _connection.On<string>("ReceiveState", HandleState);
+
+        // Robot connection (bool only)
+        _connection.On<bool>("ReceiveRobotConnection", HandleRobotConnection);
+
+        try
+        {
+            await _connection.StartAsync();
+            SetState(RobotClientState.Connected);
+        }
+        catch
+        {
+            _started = false;
+            SetState(RobotClientState.Disconnected);
+        }
+    }
+
+    // ================= HANDLE STATE =================
+    private void HandleState(string stateJson)
+    {
+        StateMsg? state;
+
+        try
+        {
+            state = JsonSerializer.Deserialize<StateMsg>(
+                stateJson,
+                JsonOptionExtends.Read
+            );
+        }
+        catch
+        {
+            return;
+        }
+
+        if (state?.SerialNumber == null)
+            return;
+
+        LatestStates[state.SerialNumber] = state;
+
+        OnStateReceived?.Invoke(state.SerialNumber, state);
+        OnStateReceivedAny?.Invoke(state);
+    }
+
+    // ================= HANDLE ROBOT CONNECTION =================
+    private void HandleRobotConnection(bool isConnected)
+    {
+        _isRobotConnected = isConnected;
+        OnRobotConnectionChanged?.Invoke(isConnected);
+    }
+
+    // ================= SUBSCRIBE =================
+    public async Task SubscribeRobotAsync(string serialNumber)
+    {
+        if (_connection?.State != HubConnectionState.Connected)
+            return;
+
+        try
+        {
+            await _connection.InvokeAsync("JoinRobot", serialNumber);
+        }
+        catch
+        {
+            // ignore – reconnect sẽ tự join lại
+        }
+    }
+
+    public async Task UnsubscribeRobotAsync(string serialNumber)
+    {
+        if (_connection?.State == HubConnectionState.Connected)
+        {
+            try
+            {
+                await _connection.InvokeAsync("LeaveRobot", serialNumber);
+            }
+            catch { }
+        }
+
+        LatestStates.TryRemove(serialNumber, out _);
+        _isRobotConnected = false;
+    }
+
+    // ================= GET CACHE =================
+    public StateMsg? GetLatestState(string serialNumber)
+    {
+        LatestStates.TryGetValue(serialNumber, out var state);
+        return state;
+    }
+
+    // ================= DISPOSE =================
+    public async ValueTask DisposeAsync()
+    {
+        _started = false;
+        _isRobotConnected = false;
+        SetState(RobotClientState.Disconnected);
+
+        if (_connection != null)
+        {
+            await _connection.DisposeAsync();
+            _connection = null;
+        }
+    }
+}

RobotApp.Client/Services/UiEdge.cs

@@ -0,0 +1,446 @@
+using RobotApp.VDA5050.InstantAction;
+using RobotApp.VDA5050.Order;
+using System.Text.Json;
+using System.Text.Json.Serialization;
+
+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
+// ======================================================
+public class OrderMessage
+{
+    public int HeaderId { get; set; }
+    public string Timestamp { get; set; } = "";
+    public string Version { get; set; } = "v1";
+    public string Manufacturer { get; set; } = "PNKX";
+    public string SerialNumber { get; set; } = "T800-002";
+    public string OrderId { get; set; } 
+    public int OrderUpdateId { get; set; }
+    public string? ZoneSetId { get; set; }
+
+    public List<Node> Nodes { get; set; } = new();
+    public List<UiEdge> Edges { get; set; } = new();
+    public static Node CreateCurveNode(Node startNode, UiEdge edge)
+    {
+        var A = new Point(
+            startNode.NodePosition.X,
+            startNode.NodePosition.Y
+        );
+
+        var result = QuarterGeometry.BuildQuarterTrajectory(
+            A,
+            edge.Radius,
+            edge.Quadrant
+        );
+
+        return new Node
+        {
+            NodeId = $"NODE_C{Guid.NewGuid():N}".Substring(0, 12),
+            Released = true,
+            NodePosition = new NodePosition
+            {
+                X = result.EndPoint.X,
+                Y = result.EndPoint.Y,
+                Theta = startNode.NodePosition.Theta,
+                MapId = startNode.NodePosition.MapId
+            }
+        };
+    }
+    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()
+    {
+        // ================= SORT NODES BY UI SEQUENCE =================
+        var orderedNodes = Nodes
+            .OrderBy(n => n.SequenceId)
+            .ToList();
+
+        // ================= BUILD NODE OBJECTS =================
+        var nodeObjects = orderedNodes
+            .Select((n, index) => new
+            {
+                nodeId = n.NodeId,
+                sequenceId = index * 2,               // ✅ NODE = EVEN
+                released = n.Released,
+
+                nodePosition = new
+                {
+                    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
+                    {
+                        actionId = a.ActionId,
+                        actionType = a.ActionType,
+                        blockingType = a.BlockingType,
+
+                        actionParameters = a.ActionParameters?
+                            .Select(p => new
+                            {
+                                key = p.Key,
+                                value = p.Value
+                            })
+                            .ToArray()
+                            ?? Array.Empty<object>()
+                    })
+                    .ToArray()
+                    ?? Array.Empty<object>()
+            })
+            .ToArray();
+
+        // ================= BUILD EDGE OBJECTS =================
+        var edgeObjects = Edges
+            .Select<UiEdge, object>((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.HasTrajectory && e.Trajectory != null)
+                {
+                    return new
+                    {
+                        baseEdge.edgeId,
+                        baseEdge.sequenceId,
+                        baseEdge.released,
+                        baseEdge.startNodeId,
+                        baseEdge.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
+                // =================================================
+                if (e.Radius <= 0)
+                {
+                    return new
+                    {
+                        baseEdge.edgeId,
+                        baseEdge.sequenceId,
+                        baseEdge.released,
+                        baseEdge.startNodeId,
+                        baseEdge.endNodeId,
+                        actions = Array.Empty<object>()
+                    };
+                }
+
+                // =================================================
+                // 3️⃣ GENERATED CURVE (EDITOR)
+                // =================================================
+                var startNode = orderedNodes.First(n => n.NodeId == e.StartNodeId);
+
+                var A = new Point(
+                    startNode.NodePosition.X,
+                    startNode.NodePosition.Y
+                );
+
+                var result = QuarterGeometry.BuildQuarterTrajectory(
+                    A,
+                    e.Radius,
+                    e.Quadrant
+                );
+
+                return new
+                {
+                    baseEdge.edgeId,
+                    baseEdge.sequenceId,
+                    baseEdge.released,
+                    baseEdge.startNodeId,
+                    baseEdge.endNodeId,
+
+                    trajectory = result.Trajectory,
+                    actions = Array.Empty<object>()
+                };
+            })
+            .ToArray();
+
+        // ================= FINAL SCHEMA OBJECT =================
+        return new
+        {
+            headerId = HeaderId++,
+
+            timestamp = string.IsNullOrWhiteSpace(Timestamp)
+                ? DateTime.UtcNow.ToString("O")
+                : Timestamp,
+
+            version = Version,
+            manufacturer = Manufacturer,
+            serialNumber = SerialNumber,
+
+            orderId = OrderId= Guid.NewGuid().ToString(),
+            orderUpdateId = OrderUpdateId,
+
+            zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
+                ? null
+                : ZoneSetId,
+
+            nodes = nodeObjects,
+            edges = edgeObjects
+        };
+    }
+}
+
+// ======================================================
+// UI ACTION PARAM
+// ======================================================
+public class UiActionParameter : ActionParameter
+{
+    [JsonIgnore]
+    public string ValueString
+    {
+        get => Value?.ToString() ?? "";
+        set => Value = value;
+    }
+}

RobotApp.Client/_Imports.razor

@@ -11,3 +11,8 @@
 @using RobotApp.Client
 @using Microsoft.AspNetCore.Authorization
 @using MudBlazor
+@using RobotApp.Common.Shares.Dtos
+@using RobotApp.Common.Shares.Enums
+@using Blazored.LocalStorage
+@using RobotApp.Client.Services
+@using RobotApp.VDA5050.State

RobotApp.Client/wwwroot/js/app.js

@@ -0,0 +1 @@
+

RobotApp.Client/wwwroot/js/canvas.js

@@ -5,12 +5,23 @@
     };
 }
 
+window.getElementBoundingRect = (element) => {
+    const rect = element.getBoundingClientRect();
+    return {
+        width: rect.width,
+        height: rect.height,
+        x: rect.x,
+        y: rect.y,
+        left: rect.left,
+        top: rect.top
+    };
+}
+
 window.setCanvasSize = (canvas, width, height) => {
     canvas.width = width;
     canvas.height = height;
 }
 
-// Image loading and caching functionality
 window.imageCache = new Map();
 
 window.preloadImage = (imagePath) => {
@@ -47,11 +58,6 @@ window.preloadImageFromUrl = (url, cacheKey) => {
         img.onerror = (error) => {
             reject(new Error(`Failed to load image from URL: ${url}`));
         };
-        
-        // Don't set crossOrigin for same-origin requests
-        // Only set it if you're loading from a different domain
-        // img.crossOrigin = 'anonymous';
-        
         img.src = url;
     });
 };

RobotApp.Client/wwwroot/js/robotMonitor.js

@@ -0,0 +1,62 @@
+// Helper functions for Robot Monitor
+
+window.robotMonitor = {
+    // Get element size
+    getElementSize: function (element) {
+        const rect = element.getBoundingClientRect();
+        return {
+            Width: rect.width,
+            Height: rect.height
+        };
+    },
+
+    // Get element bounding rect
+    getElementBoundingRect: function (element) {
+        const rect = element.getBoundingClientRect();
+        return {
+            X: rect.x,
+            Y: rect.y,
+            Width: rect.width,
+            Height: rect.height
+        };
+    },
+
+    // Convert trajectory to SVG path
+    trajectoryToPath: function (trajectory, startX, startY, endX, endY) {
+        if (!trajectory || !trajectory.ControlPoints || trajectory.ControlPoints.length === 0) {
+            // Linear path
+            return `M ${startX} ${startY} L ${endX} ${endY}`;
+        }
+
+        const degree = trajectory.Degree || 1;
+        const controlPoints = trajectory.ControlPoints;
+
+        if (degree === 1) {
+            // Linear
+            return `M ${startX} ${startY} L ${endX} ${endY}`;
+        } else if (degree === 2) {
+            // Quadratic bezier
+            if (controlPoints.length > 0) {
+                const cp1 = controlPoints[0];
+                return `M ${startX} ${startY} Q ${cp1.X} ${cp1.Y} ${endX} ${endY}`;
+            }
+            return `M ${startX} ${startY} L ${endX} ${endY}`;
+        } else if (degree === 3) {
+            // Cubic bezier
+            if (controlPoints.length >= 2) {
+                const cp1 = controlPoints[0];
+                const cp2 = controlPoints[1];
+                return `M ${startX} ${startY} C ${cp1.X} ${cp1.Y}, ${cp2.X} ${cp2.Y}, ${endX} ${endY}`;
+            } else if (controlPoints.length === 1) {
+                const cp1 = controlPoints[0];
+                return `M ${startX} ${startY} Q ${cp1.X} ${cp1.Y} ${endX} ${endY}`;
+            }
+            return `M ${startX} ${startY} L ${endX} ${endY}`;
+        }
+
+        return `M ${startX} ${startY} L ${endX} ${endY}`;
+    }
+};
+
+
+

RobotApp.Common.Shares/Dtos/RobotConfigDto.cs

@@ -0,0 +1,47 @@
+using RobotApp.Common.Shares.Enums;
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+#nullable disable
+
+public record RobotConfigDto
+{
+    public Guid Id { get; set; }
+    public NavigationType NavigationType { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double RadiusWheel { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double Width { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double Length { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double Height { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    [Required]
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}
+
+public record UpdateRobotConfigDto
+{
+    public NavigationType NavigationType { get; set; }
+    public double RadiusWheel { get; set; }
+    public double Width { get; set; }
+    public double Length { get; set; }
+    public double Height { get; set; }
+    public string Description { get; set; }
+}
+
+public record CreateRobotConfigDto
+{
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+    public NavigationType NavigationType { get; set; }
+    public double RadiusWheel { get; set; }
+    public double Width { get; set; }
+    public double Length { get; set; }
+    public double Height { get; set; }
+}

RobotApp.Common.Shares/Dtos/RobotMonitorDto.cs

@@ -0,0 +1,31 @@
+using RobotApp.VDA5050.State;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+public class RobotMonitorDto
+{
+    public RobotPositionDto RobotPosition { get; set; } = new();
+    public EdgeStateDto[] EdgeStates { get; set; } = [];
+    public NodeState[] NodeStates { get; set; } = [];
+    public bool HasOrder { get; set; }
+    public DateTime Timestamp { get; set; } = DateTime.UtcNow;
+}
+
+public class RobotPositionDto
+{
+    public double X { get; set; }
+    public double Y { get; set; }
+    public double Theta { get; set; }
+}
+public class EdgeStateDto()
+{
+    public double StartX { get; set; }
+    public double StartY { get; set; }
+    public double EndX { get; set; }
+    public double EndY { get; set; }
+    public double ControlPoint1X { get; set; }
+    public double ControlPoint1Y { get; set; }
+    public double ControlPoint2X { get; set; }
+    public double ControlPoint2Y { get; set; }
+    public int Degree { get; set; }
+}

RobotApp.Common.Shares/Dtos/RobotPlcConfigDto.cs

@@ -0,0 +1,39 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+#nullable disable
+
+public record RobotPlcConfigDto
+{
+    public Guid Id { get; set; }
+    [Required]
+    public string PLCAddress { get; set; }
+    [Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
+    public int PLCPort { get; set; }
+    [Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
+    public int PLCUnitId { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    [Required]
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}
+
+public record UpdateRobotPlcConfigDto
+{
+    public string Description { get; set; }
+    public string PLCAddress { get; set; }
+    public int PLCPort { get; set; }
+    public int PLCUnitId { get; set; }
+}
+
+public record CreateRobotPlcConfigDto
+{
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+    public string PLCAddress { get; set; }
+    public int PLCPort { get; set; }
+    public int PLCUnitId { get; set; }
+}

RobotApp.Common.Shares/Dtos/RobotSafetyConfigDto.cs

@@ -0,0 +1,54 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+#nullable disable
+
+public record RobotSafetyConfigDto
+{
+    public Guid Id { get; set; }
+    public double SafetySpeedVerySlow { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedSlow { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedNormal { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedMedium { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedOptimal { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedFast { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedVeryFast { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    [Required]
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}
+
+public record UpdateRobotSafetyConfigDto
+{
+    public double SafetySpeedVerySlow { get; set; }
+    public double SafetySpeedSlow { get; set; }
+    public double SafetySpeedNormal { get; set; }
+    public double SafetySpeedMedium { get; set; }
+    public double SafetySpeedOptimal { get; set; }
+    public double SafetySpeedFast { get; set; }
+    public double SafetySpeedVeryFast { get; set; }
+    public string Description { get; set; }
+}
+
+public record CreateRobotSafetyConfigDto
+{
+    public double SafetySpeedVerySlow { get; set; }
+    public double SafetySpeedSlow { get; set; }
+    public double SafetySpeedNormal { get; set; }
+    public double SafetySpeedMedium { get; set; }
+    public double SafetySpeedOptimal { get; set; }
+    public double SafetySpeedFast { get; set; }
+    public double SafetySpeedVeryFast { get; set; }
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}

RobotApp.Common.Shares/Dtos/RobotSimulationConfigDto.cs

@@ -0,0 +1,46 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+#nullable disable
+
+public record RobotSimulationConfigDto
+{
+    public Guid Id { get; set; }
+    public bool EnableSimulation { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double SimulationMaxVelocity { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double SimulationMaxAngularVelocity { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double SimulationAcceleration { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double SimulationDeceleration { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    [Required]
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}
+
+public record UpdateRobotSimulationConfigDto
+{
+    public bool EnableSimulation { get; set; }
+    public double SimulationMaxVelocity { get; set; }
+    public double SimulationMaxAngularVelocity { get; set; }
+    public double SimulationAcceleration { get; set; }
+    public double SimulationDeceleration { get; set; }
+    public string Description { get; set; }
+}
+
+public record CreateRobotSimulationConfigDto
+{
+    public bool EnableSimulation { get; set; }
+    public double SimulationMaxVelocity { get; set; }
+    public double SimulationMaxAngularVelocity { get; set; }
+    public double SimulationAcceleration { get; set; }
+    public double SimulationDeceleration { get; set; }
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}

RobotApp.Common.Shares/Dtos/RobotVDA5050ConfigDto.cs

@@ -0,0 +1,74 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+#nullable disable
+
+public record RobotVDA5050ConfigDto
+{
+    public Guid Id { get; set; }
+    [Required]
+    public string SerialNumber { get; set; }
+    [Required]
+    public string VDA5050HostServer { get; set; }
+    [Required]
+    [Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
+    public int VDA5050Port { get; set; }
+    public string VDA5050UserName { get; set; }
+    public string VDA5050Password { get; set; }
+    public string VDA5050Manufacturer { get; set; }
+    public string VDA5050Version { get; set; }
+    public string VDA5050TopicPrefix { get; set; }
+    [Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
+    public int VDA5050PublishRepeat { get; set; }
+    public bool VDA5050EnablePassword { get; set; }
+    public bool VDA5050EnableTls { get; set; }
+    public string VDA5050CA { get; set; }
+    public string VDA5050Cer { get; set; }
+    public string VDA5050Key { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    [Required]
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}
+
+public record UpdateRobotVDA5050ConfigDto
+{
+    public string SerialNumber { get; set; }
+    public string VDA5050HostServer { get; set; }
+    public int VDA5050Port { get; set; }
+    public string VDA5050UserName { get; set; }
+    public string VDA5050Password { get; set; }
+    public string VDA5050Manufacturer { get; set; }
+    public string VDA5050Version { get; set; }
+    public string VDA5050TopicPrefix { get; set; }
+    public int VDA5050PublishRepeat { get; set; }
+    public bool VDA5050EnablePassword { get; set; }
+    public bool VDA5050EnableTls { get; set; }
+    public string VDA5050CA { get; set; }
+    public string VDA5050Cer { get; set; }
+    public string VDA5050Key { get; set; }
+    public string Description { get; set; }
+}
+
+public record CreateRobotVDA5050ConfigDto
+{
+    public string SerialNumber { get; set; }
+    public string VDA5050HostServer { get; set; }
+    public int VDA5050Port { get; set; }
+    public string VDA5050UserName { get; set; }
+    public string VDA5050Password { get; set; }
+    public string VDA5050Manufacturer { get; set; }
+    public string VDA5050Version { get; set; }
+    public string VDA5050TopicPrefix { get; set; }
+    public int VDA5050PublishRepeat { get; set; }
+    public bool VDA5050EnablePassword { get; set; }
+    public bool VDA5050EnableTls { get; set; }
+    public string VDA5050CA { get; set; }
+    public string VDA5050Cer { get; set; }
+    public string VDA5050Key { get; set; }
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}

RobotApp.Common.Shares/Enums/RobotConfigType.cs

@@ -0,0 +1,10 @@
+namespace RobotApp.Common.Shares.Enums;
+
+public enum RobotConfigType
+{
+    VDA5050,
+    Core,
+    Safety ,
+    Simulation,
+    PLC,
+}

RobotApp.Common.Shares/Enums/StateType.cs

@@ -2,22 +2,29 @@
 
 public enum RootStateType
 {
-    Booting,
+    System,
-    Operational,
+    Auto,
+    Manual,
+    Service,
+    Stop,
+    Fault,
 }
 
-public enum OperationalStateType
+public enum SystemStateType
 {
-
+    Initializing,
+    Standby,
+    Shutting_Down,
 }
 
-public enum AutomationStateType
+public enum AutoStateType
 {
     Idle,
     Executing,
     Paused,
-    Charging,
+    Holding,
-    Error,
+    Canceling,
+    Recovering,
     Remote_Override,
 }
 
@@ -27,13 +34,61 @@ public enum ManualStateType
     Active,
 }
 
-public enum SafetyStateType
+public enum ServiceStateType
 {
-    Init,
+    Idle,
-    Run_Ok,
+    Active,
-    SS1,
+}
-    STO,
+
-    PDS,
+public enum StopStateType
-    SLS,
+{
-    Error,
+    EMC,
+    Bumber,
+    Protective,
+    Manual,
+}
+
+public enum FaultStateType
+{
+    Navigation,
+    Localization,
+    Shielf,
+    Battery,
+    Driver,
+    Peripherals,
+    Safety,
+    Communication,
+}
+
+public enum ExecutingStateType
+{
+    Planning,
+    Moving,
+    ACT,
+}
+
+public enum ACTStateType
+{
+    Docking,
+    Docked,
+    Charging,
+    Undocking,
+    Loading,
+    Unloading,
+    TechAction,
+}
+
+public enum MoveStateType
+{
+    Navigation,
+    Avoidance,
+    Approach,
+    Tracking,
+    Repositioning,
+}
+
+public enum PlanStateType
+{
+    Task,
+    Path,
 }

RobotApp.Common.Shares/MathExtensions.cs

@@ -4,6 +4,14 @@ namespace RobotApp.Common.Shares;
 
 public static class MathExtensions
 {
+    public static double NormalizeAngle(double angle)
+    {
+        angle = angle % 360;
+        if (angle > 180)  angle -= 360;
+        else if (angle < -180) angle += 360;
+        return angle;
+    }
+
     public static (double x, double y) CurveDegreeTwo(double t, double x1, double y1, double controlPointX, double controlPointY, double x2, double y2)
     {
         var x = (1 - t) * (1 - t) * x1 + 2 * t * (1 - t) * controlPointX + t * t * x2;
@@ -77,4 +85,26 @@ public static class MathExtensions
         }
         return distance;
     }
+
+    public static double GetVectorAngle(double originNodeX, double originNodeY, double vector1X, double vector1Y, double vector2X, double vector2Y)
+    {
+        double BA_x = vector1X - originNodeX;
+        double BA_y = vector1Y - originNodeY;
+        double BC_x = vector2X - originNodeX;
+        double BC_y = vector2Y - originNodeY;
+        // Tính độ dài của các vector AB và BC
+        double lengthAB = Math.Sqrt(BA_x * BA_x + BA_y * BA_y);
+        double lengthBC = Math.Sqrt(BC_x * BC_x + BC_y * BC_y);
+        // Tính tích vô hướng của AB và BC
+        double dotProduct = BA_x * BC_x + BA_y * BC_y;
+        if (lengthAB * lengthBC == 0) return 0;
+        if (dotProduct / (lengthAB * lengthBC) > 1) return 0;
+        if (dotProduct / (lengthAB * lengthBC) < -1) return 180;
+        return Math.Acos(dotProduct / (lengthAB * lengthBC)) * (180.0 / Math.PI);
+    }
+
+    public static double Distance(double x1, double y1, double x2, double y2)
+    {
+        return Math.Sqrt(Math.Pow(x2 - x1, 2) + Math.Pow(y2 - y1, 2));
+    }
 }

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

@@ -1,9 +1,13 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFramework>net9.0</TargetFramework>
+    <TargetFramework>net10.0</TargetFramework>
     <ImplicitUsings>enable</ImplicitUsings>
     <Nullable>enable</Nullable>
   </PropertyGroup>
 
+  <ItemGroup>
+    <ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
+  </ItemGroup>
+
 </Project>

RobotApp.VDA5050/Factsheet/AgvActions.cs

@@ -9,7 +9,8 @@ public enum ActionScopes
     NODE,
     EDGE,
 }
-public class AgvActions
+
+public class AgvAction
 {
     [Required]
     public string ActionType { get; set; } = string.Empty;

RobotApp.VDA5050/Factsheet/ProtocolFeatures.cs

@@ -8,5 +8,5 @@ public class ProtocolFeatures
     [Required]
     public OptionalParameters[] OptionalParameters { get; set; } = [];
     [Required]
-    public AgvActions[] AgvActions { get; set; } = [];
+    public AgvAction[] AgvActions { get; set; } = [];
 }

RobotApp.VDA5050/RobotApp.VDA5050.csproj

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFramework>net9.0</TargetFramework>
+    <TargetFramework>net10.0</TargetFramework>
     <ImplicitUsings>enable</ImplicitUsings>
     <Nullable>enable</Nullable>
   </PropertyGroup>

RobotApp.VDA5050/State/Error.cs

@@ -20,6 +20,7 @@ public class ErrorReferences
 public enum ErrorType
 {
     INITIALIZE_ORDER,
+    READ_PERIPHERAL_FAILURE,
 }
 
 public class Error

RobotApp.VDA5050/Type/ActionType.cs

@@ -2,16 +2,32 @@
 
 public enum ActionType
 {
-    START_PAUSE,
+    startPause,
-    STOP_PAUSE,
+    stopPause,
-    START_CHARGING,
+    startCharging,
-    STOP_CHARGING,
+    stopCharging,
-    INITIALIZATION_POSITION,             
+    initPosition,
-    PICK,                   
+    stateRequest,
-    DROP,               
+    factsheetRequest,
-    CANCEL_ORDER,       
+
-    ROTATE,
+    //logReport,
-    REQUEST_FACTSHEET,
+    pick,
-    REQUEST_VISUALIZATION,
+    drop,
-    REQUEST_STATE,
+    //detectObject,
+    //finePositioning,
+    //waitForTrigger,
+
+    cancelOrder,
+    //liftUp,
+    //liftDown,
+    //liftRotate,
+    //rotate,
+    //rotateKeepLift,
+    //mutedBaseOn,
+    //mutedBaseOff,
+    //mutedLoadOn,
+    //mutedLoadOff,
+    //dockTo,
+    //moveStraightToCoor,
+    //moveStraightWithDistance,
 }

RobotApp.VDA5050/Type/InformationType.cs

@@ -0,0 +1,12 @@
+namespace RobotApp.VDA5050.Type;
+
+public enum InformationType
+{
+    robot_general
+}
+
+
+public enum InformationReferencesKey
+{
+    robot_state,
+}

RobotApp.VDA5050/VDA5050Setting.cs

@@ -1,5 +1,6 @@
 namespace RobotApp.VDA5050;
 
+
 public class VDA5050Setting
 {
     public string HostServer { get; set; } = string.Empty;
@@ -7,6 +8,12 @@ public class VDA5050Setting
     public string UserName { get; set; } = "robotics";
     public string Password { get; set; } = "robotics";
     public string Manufacturer { get; set; } = "PhenikaaX";
-    public string Version { get; set; } = "0.0.1";
+    public string Version { get; set; } = "2.1.0";
     public int PublishRepeat { get; set; } = 2;
+    public bool EnablePassword { get; set; } = false;
+    public bool EnableTls { get; set; } = false;
+    public string? CAFile { get; set; }
+    public string? CerFile { get; set; }
+    public string? KeyFile { get; set; }
+    public string? TopicPrefix { get; set; }
 }

RobotApp.sln

@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 17
+# Visual Studio Version 18
-VisualStudioVersion = 17.14.36511.14 d17.14
+VisualStudioVersion = 18.0.11205.157
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp", "RobotApp\RobotApp.csproj", "{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}"
 EndProject

RobotApp/Components/Account/IdentityRedirectManager.cs

@@ -18,7 +18,9 @@ namespace RobotApp.Components.Account
         [DoesNotReturn]
         public void RedirectTo(string? uri)
         {
-            uri ??= "";
+            try
+            {
+                uri ??= "/";
 
                 // Prevent open redirects.
                 if (!Uri.IsWellFormedUriString(uri, UriKind.Relative))
@@ -31,6 +33,8 @@ namespace RobotApp.Components.Account
                 navigationManager.NavigateTo(uri);
                 throw new InvalidOperationException($"{nameof(IdentityRedirectManager)} can only be used during static rendering.");
             }
+            catch (NavigationException) { }
+        }
 
         [DoesNotReturn]
         public void RedirectTo(string uri, Dictionary<string, object?> queryParameters)

RobotApp/Components/App.razor

@@ -41,6 +41,7 @@
     <script src="@Assets["lib/bootstrap/js/bootstrap.min.js"]"></script>
     <script src="@Assets["_content/MudBlazor/MudBlazor.min.js"]"></script>
     <script src="@Assets["js/canvas.js"]"></script>
+    <script src="@Assets["js/app.js"]"></script>
 </body>
 
 </html>

RobotApp/Components/Pages/Home.razor

@@ -3,5 +3,13 @@
 
 @rendermode InteractiveServer
 
-@attribute [Authorize]
+@inject NavigationManager Nav
-<h1>Welcome to RobotApp!</h1>
+
+@code
+{
+    protected override void OnAfterRender(bool firstRender)
+    {
+        base.OnAfterRender(firstRender);
+        if (firstRender) Nav.NavigateTo("/dashboard", forceLoad: true);
+    }
+}

RobotApp/Controllers/FileController.cs

@@ -0,0 +1,77 @@
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+using RobotApp.Common.Shares;
+
+namespace RobotApp.Controllers;
+
+[Route("api/[controller]")]
+[ApiController]
+//[Authorize]
+[AllowAnonymous]
+public class FileController(Services.Logger<FileController> Logger) : ControllerBase
+{
+    private readonly string certificatesPath = "MqttCertificates";
+    private readonly string caFilePath = "ca";
+    private readonly string cerFilePath = "cer";
+    private readonly string keyFilePath = "key";
+
+    [HttpPost]
+    [Route("certificates")]
+    public async Task<MessageResult> UpdateMqttCertificates([FromForm(Name = "CaFile")] IFormFile? caFile,
+                                                                     [FromForm(Name = "CertFile")] IFormFile? certFile,
+                                                                     [FromForm(Name = "KeyFile")] IFormFile? keyFile)
+    {
+        try
+        {
+            if (!Directory.Exists(certificatesPath)) Directory.CreateDirectory(certificatesPath);
+
+            if (caFile is not null)
+            {
+                var caFolder = Path.Combine(certificatesPath, caFilePath);
+                if (!Directory.Exists(caFolder)) Directory.CreateDirectory(caFolder);
+                string caExtension = Path.GetExtension(caFile.FileName);
+                var caLocal = Path.Combine(caFolder, caFile.FileName);
+
+                if (System.IO.File.Exists($"{caLocal}.bk")) System.IO.File.Delete($"{caLocal}.bk");
+                if (System.IO.File.Exists(caLocal)) System.IO.File.Move(caLocal, $"{caLocal}.bk");
+
+                using Stream fileStream = new FileStream(caLocal, FileMode.Create);
+                await caFile.OpenReadStream().CopyToAsync(fileStream);
+            }
+
+            if (certFile is not null)
+            {
+                var certFolder = Path.Combine(certificatesPath, cerFilePath);
+                if (!Directory.Exists(certFolder)) Directory.CreateDirectory(certFolder);
+                string certExtension = Path.GetExtension(certFile.FileName);
+                var certLocal = Path.Combine(certFolder, certFile.FileName);
+
+                if (System.IO.File.Exists($"{certLocal}.bk")) System.IO.File.Delete($"{certLocal}.bk");
+                if (System.IO.File.Exists(certLocal)) System.IO.File.Move(certLocal, $"{certLocal}.bk");
+
+                using Stream fileStream = new FileStream(certLocal, FileMode.Create);
+                await certFile.OpenReadStream().CopyToAsync(fileStream);
+            }
+
+            if (keyFile is not null)
+            {
+                var keyFolder = Path.Combine(certificatesPath, keyFilePath);
+                if (!Directory.Exists(keyFolder)) Directory.CreateDirectory(keyFolder);
+                string keyExtension = Path.GetExtension(keyFile.FileName);
+                var keyLocal = Path.Combine(keyFolder, keyFile.FileName);
+
+                if (System.IO.File.Exists($"{keyLocal}.bk")) System.IO.File.Delete($"{keyLocal}.bk");
+                if (System.IO.File.Exists(keyLocal)) System.IO.File.Move(keyLocal, $"{keyLocal}.bk");
+
+                using Stream fileStream = new FileStream(keyLocal, FileMode.Create);
+                await keyFile.OpenReadStream().CopyToAsync(fileStream);
+            }
+            return new(true, "");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Update Mqtt Certificates is failed: {ex.Message}");
+            return new(false, "An error occurred while retrieving update Mqtt Certificates.");
+        }
+    }
+}

RobotApp/Controllers/ImagesController.cs

@@ -1,16 +1,16 @@
 using Microsoft.AspNetCore.Authorization;
 using Microsoft.AspNetCore.Mvc;
-using RobotApp.Services;
 
 namespace RobotApp.Controllers;
 
 [Route("api/[controller]")]
 [ApiController]
+//[Authorize]
 [AllowAnonymous]
 public class ImagesController(Services.Logger<ImagesController> Logger) : ControllerBase
 {
     [HttpGet]
-    [Route("map")]
+    [Route("mapping")]
     public async Task<IActionResult> GetMapImage()
     {
         try

RobotApp/Controllers/LogsManagerController.cs

@@ -0,0 +1,49 @@
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+
+namespace RobotApp.Controllers;
+
+[Route("api/[controller]")]
+[ApiController]
+//[Authorize]
+[AllowAnonymous]
+public class LogsManagerController(Services.Logger<LogsManagerController> Logger) : ControllerBase
+{
+    private readonly string LoggerDirectory = "logs";
+
+    [HttpGet]
+    public async Task<IEnumerable<string>> GetLogs([FromQuery(Name = "date")] DateTime date)
+    {
+        string temp = "";
+        try
+        {
+            string fileName = $"{date:yyyy-MM-dd}.log";
+            string path = Path.Combine(LoggerDirectory, fileName);
+            if (!Path.GetFullPath(path).StartsWith(Path.GetFullPath(LoggerDirectory)))
+            {
+                Logger.Warning($"GetLogs: phát hiện đường dẫn không hợp lệ.");
+                return [];
+            }
+
+            if (!System.IO.File.Exists(path))
+            {
+                Logger.Warning($"GetLogs: không tìm thấy file log của ngày {date.ToShortDateString()} - {path}.");
+                return [];
+            }
+
+            temp = Path.Combine(LoggerDirectory, $"{Guid.NewGuid()}.log");
+            System.IO.File.Copy(path, temp);
+
+            return await System.IO.File.ReadAllLinesAsync(temp);
+        }
+        catch (Exception ex)
+        {
+            Logger.Warning($"GetLogs: Hệ thống có lỗi xảy ra - {ex.Message}");
+            return [];
+        }
+        finally
+        {
+            if (System.IO.File.Exists(temp)) System.IO.File.Delete(temp);
+        }
+    }
+}

RobotApp/Controllers/OrderController.cs

@@ -0,0 +1,38 @@
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+using RobotApp.Interfaces;
+using RobotApp.VDA5050.Order;
+using System.Text.Json;
+
+namespace RobotApp.Controllers;
+
+[ApiController]
+[Route("api/order")]
+//[Authorize]
+[AllowAnonymous]
+public class OrderController(IOrder robotOrderController, IInstantActions instantActions) : ControllerBase
+{
+    [HttpPost]
+    public IActionResult SendOrder([FromBody] OrderMsg order)
+    {
+        robotOrderController.UpdateOrder(order);
+        return Ok(new
+        {
+            success = true,
+            message = "Order received"
+        });
+    }
+
+    [HttpPost("cancel")]
+    public IActionResult CancelOrder()
+    {
+        robotOrderController.StopOrder();
+        instantActions.StopOrderAction();
+
+        return Ok(new
+        {
+            success = true,
+            message = "Order and actions have been cancelled"
+        });
+    }
+}

RobotApp/Controllers/RobotConfigsController.cs

@@ -0,0 +1,864 @@
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+using Microsoft.EntityFrameworkCore;
+using RobotApp.Common.Shares;
+using RobotApp.Common.Shares.Dtos;
+using RobotApp.Data;
+using RobotApp.Services.Robot;
+
+namespace RobotApp.Controllers;
+
+[Route("api/[controller]")]
+[ApiController]
+//[Authorize]
+[AllowAnonymous]
+public class RobotConfigsController(Services.Logger<RobotConfigsController> Logger, ApplicationDbContext AppDb, RobotConfiguration RobotConfiguration) : ControllerBase
+{
+    [HttpGet]
+    [Route("plc")]
+    public async Task<MessageResult<RobotPlcConfigDto[]>> GetAllPLCConfigs()
+    {
+        try
+        {
+            var configs = await AppDb.RobotPlcConfigs
+                .OrderByDescending(c => c.UpdatedAt)
+                .ToListAsync();
+            if (configs is null || configs.Count == 0) return new(false, "PLC configuration not found.");
+            return new(true)
+            {
+                Data = [.. configs.Select(config => new RobotPlcConfigDto
+                {
+                    Id = config.Id,
+                    ConfigName = config.ConfigName,
+                    Description = config.Description,
+                    PLCAddress = config.PLCAddress,
+                    PLCPort = config.PLCPort,
+                    PLCUnitId = config.PLCUnitId,
+                    CreatedAt = config.CreatedAt,
+                    UpdatedAt = config.UpdatedAt,
+                    IsActive = config.IsActive,
+                })]
+            };
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Get PLC Configs: {ex.Message}");
+            return new(false, "An error occurred while retrieving the PLC configuration.");
+        }
+
+    }
+
+    [HttpPut]
+    [Route("plc/{id:guid}")]
+    public async Task<MessageResult> UpdatePLCConfig(Guid id, [FromBody] UpdateRobotPlcConfigDto updateDto)
+    {
+        try
+        {
+            var config = await AppDb.RobotPlcConfigs.FindAsync(id);
+            if (config is null) return new(false, "PLC configuration not found.");
+
+            config.Description = updateDto.Description ?? config.Description;
+            config.PLCAddress = updateDto.PLCAddress ?? config.PLCAddress;
+            config.PLCPort = updateDto.PLCPort;
+            config.PLCUnitId = (byte)updateDto.PLCUnitId;
+            config.UpdatedAt = DateTime.Now;
+
+            await AppDb.SaveChangesAsync();
+            return new(true, "PLC configuration updated successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Update PLC Config: {ex.Message}");
+            return new(false, "An error occurred while updating the PLC configuration.");
+        }
+    }
+
+    [HttpPost]
+    [Route("plc")]
+    public async Task<MessageResult<RobotPlcConfigDto>> CreatePLCConfig([FromBody] CreateRobotPlcConfigDto createDto)
+    {
+        try
+        {
+            if (string.IsNullOrEmpty(createDto.ConfigName)) return new(false, "ConfigName cannot be null or empty.");
+            if (await AppDb.RobotPlcConfigs.AnyAsync(cf => cf.ConfigName == createDto.ConfigName))
+                return new(false, "A PLC configuration with the same name already exists.");
+
+            var config = new RobotPlcConfig
+            {
+                ConfigName = createDto.ConfigName,
+                Description = createDto.Description,
+                PLCAddress = createDto.PLCAddress,
+                PLCPort = createDto.PLCPort,
+                PLCUnitId = (byte)createDto.PLCUnitId,
+                CreatedAt = DateTime.Now,
+                UpdatedAt = DateTime.Now,
+                IsActive = false
+            };
+
+            AppDb.RobotPlcConfigs.Add(config);
+            await AppDb.SaveChangesAsync();
+
+            return new(true, "PLC configuration created successfully.")
+            {
+                Data = new RobotPlcConfigDto
+                {
+                    Id = config.Id,
+                    ConfigName = config.ConfigName,
+                    Description = config.Description,
+                    PLCAddress = config.PLCAddress,
+                    PLCPort = config.PLCPort,
+                    PLCUnitId = config.PLCUnitId,
+                    CreatedAt = config.CreatedAt,
+                    UpdatedAt = config.UpdatedAt,
+                    IsActive = config.IsActive,
+                }
+            };
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Create PLC Config: {ex.Message}");
+            return new(false, "An error occurred while creating the PLC configuration.");
+        }
+    }
+
+    [HttpDelete]
+    [Route("plc/{id:guid}")]
+    public async Task<MessageResult> DeletePLCConfig(Guid id)
+    {
+        try
+        {
+            var config = await AppDb.RobotPlcConfigs.FindAsync(id);
+            if (config is null) return new(false, "PLC configuration not found.");
+            if (config.IsActive) return new(false, "Cannot delete an active PLC configuration.");
+            if (config.ConfigName == "Default") return new(false, "Cannot delete the default PLC configuration.");
+
+            AppDb.RobotPlcConfigs.Remove(config);
+            await AppDb.SaveChangesAsync();
+            return new(true, "Configuration deleted successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Delete PLC Config: {ex.Message}");
+            return new(false, "An error occurred while deleting the PLC configuration.");
+        }
+    }
+
+    [HttpPut]
+    [Route("plc/active/{id:guid}")]
+    public async Task<MessageResult> ActivePLCConfig(Guid id)
+    {
+        try
+        {
+            var config = await AppDb.RobotPlcConfigs.FindAsync(id);
+            if (config is null) return new(false, "PLC configuration not found.");
+
+            await AppDb.RobotPlcConfigs.ExecuteUpdateAsync(cf => cf.SetProperty(c => c.IsActive, false));
+            config.IsActive = true;
+            config.UpdatedAt = DateTime.Now;
+
+            await AppDb.SaveChangesAsync();
+            return new(true, $"PLC configuration {config.ConfigName} activated successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Update Active PLC Config: {ex.Message}");
+            return new(false, "An error occurred while updating the active PLC configuration.");
+        }
+    }
+
+    [HttpGet]
+    [Route("vda5050")]
+    public async Task<MessageResult<RobotVDA5050ConfigDto[]>> GetAllVDA5050Configs()
+    {
+        try
+        {
+            var configs = await AppDb.RobotVDA5050Configs
+                .OrderByDescending(c => c.UpdatedAt)
+                .ToListAsync();
+
+            if (configs is null || configs.Count == 0) return new(false, "VDA5050 configuration not found.");
+            var configDtos = configs.Select(config => new RobotVDA5050ConfigDto
+            {
+                Id = config.Id,
+                SerialNumber = config.SerialNumber,
+                VDA5050HostServer = config.VDA5050HostServer,
+                VDA5050Port = config.VDA5050Port,
+                VDA5050UserName = config.VDA5050UserName,
+                VDA5050Password = config.VDA5050Password,
+                VDA5050Manufacturer = config.VDA5050Manufacturer,
+                VDA5050Version = config.VDA5050Version,
+                VDA5050TopicPrefix = config.VDA5050TopicPrefix,
+                VDA5050PublishRepeat = config.VDA5050PublishRepeat,
+                VDA5050EnablePassword = config.VDA5050EnablePassword,
+                VDA5050EnableTls = config.VDA5050EnableTls,
+                VDA5050CA = config.VDA5050CA,
+                VDA5050Cer = config.VDA5050Cer,
+                VDA5050Key = config.VDA5050Key,
+                CreatedAt = config.CreatedAt,
+                UpdatedAt = config.UpdatedAt,
+                IsActive = config.IsActive,
+                ConfigName = config.ConfigName,
+                Description = config.Description
+            }).ToArray();
+
+            return new(true) { Data = configDtos };
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Get All VDA5050 Configs: {ex.Message}");
+            return new(false, "An error occurred while retrieving VDA5050 configurations.");
+        }
+    }
+
+    [HttpPut]
+    [Route("vda5050/{id:guid}")]
+    public async Task<MessageResult> UpdateVDA5050Config(Guid id, [FromBody] UpdateRobotVDA5050ConfigDto updateDto)
+    {
+        try
+        {
+            var config = await AppDb.RobotVDA5050Configs.FindAsync(id);
+            if (config is null) return new(false, "VDA5050 configuration not found.");
+
+            config.SerialNumber = updateDto.SerialNumber ?? config.SerialNumber;
+            config.VDA5050HostServer = updateDto.VDA5050HostServer ?? config.VDA5050HostServer;
+            config.VDA5050Port = updateDto.VDA5050Port;
+            config.VDA5050UserName = updateDto.VDA5050UserName;
+            config.VDA5050Password = updateDto.VDA5050Password;
+            config.VDA5050Manufacturer = updateDto.VDA5050Manufacturer ?? config.VDA5050Manufacturer;
+            config.VDA5050Version = updateDto.VDA5050Version ?? config.VDA5050Version;
+            config.VDA5050TopicPrefix = updateDto.VDA5050TopicPrefix;
+            config.VDA5050PublishRepeat = updateDto.VDA5050PublishRepeat;
+            config.VDA5050EnablePassword = updateDto.VDA5050EnablePassword;
+            config.VDA5050EnableTls = updateDto.VDA5050EnableTls;
+            config.VDA5050CA = updateDto.VDA5050CA;
+            config.VDA5050Cer = updateDto.VDA5050Cer;
+            config.VDA5050Key = updateDto.VDA5050Key;
+            config.Description = updateDto.Description ?? config.Description;
+            config.UpdatedAt = DateTime.Now;
+
+            await AppDb.SaveChangesAsync();
+            return new(true, "VDA5050 configuration updated successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Update VDA5050 Config: {ex.Message}");
+            return new(false, "An error occurred while updating the VDA5050 configuration.");
+        }
+    }
+
+    [HttpPost]
+    [Route("vda5050")]
+    public async Task<MessageResult<RobotVDA5050ConfigDto>> CreateVDA5050Config([FromBody] CreateRobotVDA5050ConfigDto createDto)
+    {
+        try
+        {
+            if (string.IsNullOrEmpty(createDto.ConfigName)) return new(false, "ConfigName cannot be null or empty.");
+            if (await AppDb.RobotVDA5050Configs.AnyAsync(cf => cf.ConfigName == createDto.ConfigName))
+                return new(false, "A VDA5050 configuration with the same name already exists.");
+
+            var config = new RobotVDA5050Config
+            {
+                ConfigName = createDto.ConfigName,
+                Description = createDto.Description,
+                SerialNumber = createDto.SerialNumber,
+                VDA5050HostServer = createDto.VDA5050HostServer,
+                VDA5050Port = createDto.VDA5050Port,
+                VDA5050UserName = createDto.VDA5050UserName,
+                VDA5050Password = createDto.VDA5050Password,
+                VDA5050Manufacturer = createDto.VDA5050Manufacturer,
+                VDA5050Version = createDto.VDA5050Version,
+                VDA5050TopicPrefix = createDto.VDA5050TopicPrefix,
+                VDA5050PublishRepeat = createDto.VDA5050PublishRepeat,
+                VDA5050EnablePassword = createDto.VDA5050EnablePassword,
+                VDA5050EnableTls = createDto.VDA5050EnableTls,
+                VDA5050CA = createDto.VDA5050CA,
+                VDA5050Cer = createDto.VDA5050Cer,
+                VDA5050Key = createDto.VDA5050Key,
+                CreatedAt = DateTime.Now,
+                UpdatedAt = DateTime.Now,
+                IsActive = false
+            };
+
+            AppDb.RobotVDA5050Configs.Add(config);
+            await AppDb.SaveChangesAsync();
+
+            return new(true, "VDA5050 configuration created successfully.")
+            {
+                Data = new RobotVDA5050ConfigDto
+                {
+                    Id = config.Id,
+                    ConfigName = config.ConfigName,
+                    Description = config.Description,
+                    SerialNumber = config.SerialNumber,
+                    VDA5050HostServer = config.VDA5050HostServer,
+                    VDA5050Port = config.VDA5050Port,
+                    VDA5050UserName = config.VDA5050UserName,
+                    VDA5050Password = config.VDA5050Password,
+                    VDA5050Manufacturer = config.VDA5050Manufacturer,
+                    VDA5050Version = config.VDA5050Version,
+                    VDA5050TopicPrefix = config.VDA5050TopicPrefix,
+                    VDA5050PublishRepeat = config.VDA5050PublishRepeat,
+                    VDA5050EnablePassword = config.VDA5050EnablePassword,
+                    VDA5050EnableTls = config.VDA5050EnableTls,
+                    VDA5050CA = config.VDA5050CA,
+                    VDA5050Cer = config.VDA5050Cer,
+                    VDA5050Key = config.VDA5050Key,
+                    CreatedAt = config.CreatedAt,
+                    UpdatedAt = config.UpdatedAt,
+                    IsActive = config.IsActive,
+                }
+            };
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Create VDA5050 Config: {ex.Message}");
+            return new(false, "An error occurred while creating the VDA5050 configuration.");
+        }
+    }
+
+    [HttpDelete]
+    [Route("vda5050/{id:guid}")]
+    public async Task<MessageResult> DeleteVDA5050Config(Guid id)
+    {
+        try
+        {
+            var config = await AppDb.RobotVDA5050Configs.FindAsync(id);
+            if (config is null) return new(false, "VDA5050 configuration not found.");
+            if (config.IsActive) return new(false, "Cannot delete an active VDA5050 configuration.");
+            if (config.ConfigName == "Default") return new(false, "Cannot delete the default PLC configuration.");
+
+            AppDb.RobotVDA5050Configs.Remove(config);
+            await AppDb.SaveChangesAsync();
+            return new(true, "Configuration deleted successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Delete VDA5050 Config: {ex.Message}");
+            return new(false, "An error occurred while deleting the VDA5050 configuration.");
+        }
+    }
+
+    [HttpPut]
+    [Route("vda5050/active/{id:guid}")]
+    public async Task<MessageResult> ActiveVDA5050Config(Guid id)
+    {
+        try
+        {
+            var config = await AppDb.RobotVDA5050Configs.FindAsync(id);
+            if (config is null) return new(false, "VDA5050 configuration not found.");
+
+            await AppDb.RobotVDA5050Configs.ExecuteUpdateAsync(cf => cf.SetProperty(c => c.IsActive, false));
+            config.IsActive = true;
+            config.UpdatedAt = DateTime.Now;
+
+            await AppDb.SaveChangesAsync();
+            return new(true, $"VDA5050 configuration {config.ConfigName} activated successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Update Active VDA5050 Config: {ex.Message}");
+            return new(false, "An error occurred while updating the active VDA5050 configuration.");
+        }
+    }
+
+    [HttpGet]
+    [Route("robot")]
+    public async Task<MessageResult<RobotConfigDto[]>> GetAllRobotConfigs()
+    {
+        try
+        {
+            var configs = await AppDb.RobotConfigs
+                .OrderByDescending(c => c.UpdatedAt)
+                .ToListAsync();
+            if (configs is null || configs.Count == 0) return new(false, "Robot configuration not found.");
+
+            var configDtos = configs.Select(config => new RobotConfigDto
+            {
+                Id = config.Id,
+                NavigationType = config.NavigationType,
+                RadiusWheel = config.RadiusWheel,
+                Width = config.Width,
+                Length = config.Length,
+                Height = config.Height,
+                CreatedAt = config.CreatedAt,
+                UpdatedAt = config.UpdatedAt,
+                IsActive = config.IsActive,
+                ConfigName = config.ConfigName,
+                Description = config.Description
+            }).ToArray();
+
+            return new(true) { Data = configDtos };
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Get All Robot Configs: {ex.Message}");
+            return new(false, "An error occurred while retrieving Robot configurations.");
+        }
+    }
+
+    [HttpPut]
+    [Route("robot/{id:guid}")]
+    public async Task<MessageResult> UpdateRobotConfig(Guid id, [FromBody] UpdateRobotConfigDto updateDto)
+    {
+        try
+        {
+            var config = await AppDb.RobotConfigs.FindAsync(id);
+            if (config is null) return new(false, "Robot configuration not found.");
+
+            config.NavigationType = updateDto.NavigationType;
+            config.RadiusWheel = updateDto.RadiusWheel;
+            config.Width = updateDto.Width;
+            config.Length = updateDto.Length;
+            config.Height = updateDto.Height;
+            config.Description = updateDto.Description ?? config.Description;
+            config.UpdatedAt = DateTime.Now;
+
+            await AppDb.SaveChangesAsync();
+            return new(true, "Robot configuration updated successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Update Robot Config: {ex.Message}");
+            return new(false, "An error occurred while updating the Robot configuration.");
+        }
+    }
+
+    [HttpPost]
+    [Route("robot")]
+    public async Task<MessageResult<RobotConfigDto>> CreateRobotConfig([FromBody] CreateRobotConfigDto createDto)
+    {
+        try
+        {
+            if (string.IsNullOrEmpty(createDto.ConfigName)) return new(false, "ConfigName cannot be null or empty.");
+            if (await AppDb.RobotConfigs.AnyAsync(cf => cf.ConfigName == createDto.ConfigName))
+                return new(false, "A Robot configuration with the same name already exists.");
+
+            var config = new RobotConfig
+            {
+                ConfigName = createDto.ConfigName,
+                Description = createDto.Description,
+                NavigationType = createDto.NavigationType,
+                RadiusWheel = createDto.RadiusWheel,
+                Width = createDto.Width,
+                Length = createDto.Length,
+                Height = createDto.Height,
+                CreatedAt = DateTime.Now,
+                UpdatedAt = DateTime.Now,
+                IsActive = false
+            };
+
+            AppDb.RobotConfigs.Add(config);
+            await AppDb.SaveChangesAsync();
+
+            return new(true, "Robot configuration created successfully.")
+            {
+                Data = new RobotConfigDto
+                {
+                    Id = config.Id,
+                    ConfigName = config.ConfigName,
+                    Description = config.Description,
+                    NavigationType = config.NavigationType,
+                    RadiusWheel = config.RadiusWheel,
+                    Width = config.Width,
+                    Length = config.Length,
+                    Height = config.Height,
+                    CreatedAt = config.CreatedAt,
+                    UpdatedAt = config.UpdatedAt,
+                    IsActive = config.IsActive,
+                }
+            };
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Create Robot Config: {ex.Message}");
+            return new(false, "An error occurred while creating the Robot configuration.");
+        }
+    }
+
+    [HttpDelete]
+    [Route("robot/{id:guid}")]
+    public async Task<MessageResult> DeleteRobotConfig(Guid id)
+    {
+        try
+        {
+            var config = await AppDb.RobotConfigs.FindAsync(id);
+            if (config is null) return new(false, "Robot configuration not found.");
+            if (config.IsActive) return new(false, "Cannot delete an active Robot configuration.");
+            if (config.ConfigName == "Default") return new(false, "Cannot delete the default PLC configuration.");
+
+            AppDb.RobotConfigs.Remove(config);
+            await AppDb.SaveChangesAsync();
+            return new(true, "Configuration deleted successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Delete Robot Config: {ex.Message}");
+            return new(false, "An error occurred while deleting the Robot configuration.");
+        }
+    }
+
+    [HttpPut]
+    [Route("robot/active/{id:guid}")]
+    public async Task<MessageResult> ActiveRobotConfig(Guid id)
+    {
+        try
+        {
+            var config = await AppDb.RobotConfigs.FindAsync(id);
+            if (config is null) return new(false, "Robot configuration not found.");
+
+            await AppDb.RobotConfigs.ExecuteUpdateAsync(cf => cf.SetProperty(c => c.IsActive, false));
+            config.IsActive = true;
+            config.UpdatedAt = DateTime.Now;
+
+            await AppDb.SaveChangesAsync();
+            return new(true, $"Robot configuration {config.ConfigName} activated successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Update Active Robot Config: {ex.Message}");
+            return new(false, "An error occurred while updating the active Robot configuration.");
+        }
+    }
+
+    [HttpGet]
+    [Route("simulation")]
+    public async Task<MessageResult<RobotSimulationConfigDto[]>> GetAllSimulationConfigs()
+    {
+        try
+        {
+            var configs = await AppDb.RobotSimulationConfigs
+                .OrderByDescending(c => c.UpdatedAt)
+                .ToListAsync();
+
+            if (configs is null || configs.Count == 0) return new(false, "Simulation configuration not found.");
+            var configDtos = configs.Select(config => new RobotSimulationConfigDto
+            {
+                Id = config.Id,
+                EnableSimulation = config.EnableSimulation,
+                SimulationMaxVelocity = config.SimulationMaxVelocity,
+                SimulationMaxAngularVelocity = config.SimulationMaxAngularVelocity,
+                SimulationAcceleration = config.SimulationAcceleration,
+                SimulationDeceleration = config.SimulationDeceleration,
+                CreatedAt = config.CreatedAt,
+                UpdatedAt = config.UpdatedAt,
+                IsActive = config.IsActive,
+                ConfigName = config.ConfigName,
+                Description = config.Description
+            }).ToArray();
+
+            return new(true) { Data = configDtos };
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Get All Simulation Configs: {ex.Message}");
+            return new(false, "An error occurred while retrieving Simulation configurations.");
+        }
+    }
+
+    [HttpPut]
+    [Route("simulation/{id:guid}")]
+    public async Task<MessageResult> UpdateSimulationConfig(Guid id, [FromBody] UpdateRobotSimulationConfigDto updateDto)
+    {
+        try
+        {
+            var config = await AppDb.RobotSimulationConfigs.FindAsync(id);
+            if (config is null) return new(false, "Simulation configuration not found.");
+
+            config.EnableSimulation = updateDto.EnableSimulation;
+            config.SimulationMaxVelocity = updateDto.SimulationMaxVelocity;
+            config.SimulationMaxAngularVelocity = updateDto.SimulationMaxAngularVelocity;
+            config.SimulationAcceleration = updateDto.SimulationAcceleration;
+            config.SimulationDeceleration = updateDto.SimulationDeceleration;
+            config.Description = updateDto.Description ?? config.Description;
+            config.UpdatedAt = DateTime.Now;
+
+            await AppDb.SaveChangesAsync();
+            return new(true, "Simulation configuration updated successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Update Simulation Config: {ex.Message}");
+            return new(false, "An error occurred while updating the Simulation configuration.");
+        }
+    }
+
+    [HttpPost]
+    [Route("simulation")]
+    public async Task<MessageResult<RobotSimulationConfigDto>> CreateRobotSimulationConfig([FromBody] CreateRobotSimulationConfigDto createDto)
+    {
+        try
+        {
+            if (string.IsNullOrEmpty(createDto.ConfigName)) return new(false, "ConfigName cannot be null or empty.");
+            if (await AppDb.RobotSimulationConfigs.AnyAsync(cf => cf.ConfigName == createDto.ConfigName))
+                return new(false, "A Simulation configuration with the same name already exists.");
+
+            var config = new RobotSimulationConfig
+            {
+                ConfigName = createDto.ConfigName,
+                Description = createDto.Description,
+                EnableSimulation = createDto.EnableSimulation,
+                SimulationMaxVelocity = createDto.SimulationMaxVelocity,
+                SimulationMaxAngularVelocity = createDto.SimulationMaxAngularVelocity,
+                SimulationAcceleration = createDto.SimulationAcceleration,
+                SimulationDeceleration = createDto.SimulationDeceleration,
+                CreatedAt = DateTime.Now,
+                UpdatedAt = DateTime.Now,
+                IsActive = false
+            };
+
+            AppDb.RobotSimulationConfigs.Add(config);
+            await AppDb.SaveChangesAsync();
+
+            return new(true, "Simulation configuration created successfully.")
+            {
+                Data = new RobotSimulationConfigDto
+                {
+                    Id = config.Id,
+                    ConfigName = config.ConfigName,
+                    Description = config.Description,
+                    EnableSimulation = config.EnableSimulation,
+                    SimulationMaxVelocity = config.SimulationMaxVelocity,
+                    SimulationMaxAngularVelocity = config.SimulationMaxAngularVelocity,
+                    SimulationAcceleration = config.SimulationAcceleration,
+                    SimulationDeceleration = config.SimulationDeceleration,
+                    CreatedAt = config.CreatedAt,
+                    UpdatedAt = config.UpdatedAt,
+                    IsActive = config.IsActive,
+                }
+            };
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Create Simulation Config: {ex.Message}");
+            return new(false, "An error occurred while creating the Simulation configuration.");
+        }
+    }
+
+    [HttpDelete]
+    [Route("simulation/{id:guid}")]
+    public async Task<MessageResult> DeleteRobotSimulationConfig(Guid id)
+    {
+        try
+        {
+            var config = await AppDb.RobotSimulationConfigs.FindAsync(id);
+            if (config is null) return new(false, "Simulation configuration not found.");
+            if (config.IsActive) return new(false, "Cannot delete an active Simulation configuration.");
+            if (config.ConfigName == "Default") return new(false, "Cannot delete the default PLC configuration.");
+
+            AppDb.RobotSimulationConfigs.Remove(config);
+            await AppDb.SaveChangesAsync();
+            return new(true, "Configuration deleted successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Delete Simulation Config: {ex.Message}");
+            return new(false, "An error occurred while deleting the Simulation configuration.");
+        }
+    }
+
+    [HttpPut]
+    [Route("simulation/active/{id:guid}")]
+    public async Task<MessageResult> ActiveSimulationConfig(Guid id)
+    {
+        try
+        {
+            var config = await AppDb.RobotSimulationConfigs.FindAsync(id);
+            if (config is null) return new(false, "Simulation configuration not found.");
+
+            await AppDb.RobotSimulationConfigs.ExecuteUpdateAsync(cf => cf.SetProperty(c => c.IsActive, false));
+            config.IsActive = true;
+            config.UpdatedAt = DateTime.Now;
+
+            await AppDb.SaveChangesAsync();
+            return new(true, $"Simulation configuration {config.ConfigName} activated successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Update Active Simulation Config: {ex.Message}");
+            return new(false, "An error occurred while updating the active Simulation configuration.");
+        }
+    }
+
+    [HttpGet]
+    [Route("safety")]
+    public async Task<MessageResult<RobotSafetyConfigDto[]>> GetAllSafetyConfigs()
+    {
+        try
+        {
+            var configs = await AppDb.RobotSafetyConfigs
+                .OrderByDescending(c => c.UpdatedAt)
+                .ToListAsync();
+            if (configs is null || configs.Count == 0) return new(false, "Safety configuration not found.");
+            var configDtos = configs.Select(config => new RobotSafetyConfigDto
+            {
+                Id = config.Id,
+                SafetySpeedVerySlow = config.SafetySpeedVerySlow,
+                SafetySpeedSlow = config.SafetySpeedSlow,
+                SafetySpeedNormal = config.SafetySpeedNormal,
+                SafetySpeedMedium = config.SafetySpeedMedium,
+                SafetySpeedOptimal = config.SafetySpeedOptimal,
+                SafetySpeedFast = config.SafetySpeedFast,
+                SafetySpeedVeryFast = config.SafetySpeedVeryFast,
+                CreatedAt = config.CreatedAt,
+                UpdatedAt = config.UpdatedAt,
+                IsActive = config.IsActive,
+                ConfigName = config.ConfigName,
+                Description = config.Description
+            }).ToArray();
+
+            return new(true) { Data = configDtos };
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Get All Safety Configs: {ex.Message}");
+            return new(false, "An error occurred while retrieving Safety configurations.");
+        }
+    }
+
+    [HttpPut]
+    [Route("safety/{id:guid}")]
+    public async Task<MessageResult> UpdateSafetyConfig(Guid id, [FromBody] UpdateRobotSafetyConfigDto updateDto)
+    {
+        try
+        {
+            var config = await AppDb.RobotSafetyConfigs.FindAsync(id);
+            if (config is null) return new(false, "Safety configuration not found.");
+
+            config.SafetySpeedVerySlow = updateDto.SafetySpeedVerySlow;
+            config.SafetySpeedSlow = updateDto.SafetySpeedSlow;
+            config.SafetySpeedNormal = updateDto.SafetySpeedNormal;
+            config.SafetySpeedMedium = updateDto.SafetySpeedMedium;
+            config.SafetySpeedOptimal = updateDto.SafetySpeedOptimal;
+            config.SafetySpeedFast = updateDto.SafetySpeedFast;
+            config.SafetySpeedVeryFast = updateDto.SafetySpeedVeryFast;
+            config.Description = updateDto.Description ?? config.Description;
+            config.UpdatedAt = DateTime.Now;
+
+            await AppDb.SaveChangesAsync();
+            return new(true, "Safety configuration updated successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Update Safety Config: {ex.Message}");
+            return new(false, "An error occurred while updating the Safety configuration.");
+        }
+    }
+
+    [HttpPost]
+    [Route("safety")]
+    public async Task<MessageResult<RobotSafetyConfigDto>> CreateRobotSafetyConfig([FromBody] CreateRobotSafetyConfigDto createDto)
+    {
+        try
+        {
+            if (string.IsNullOrEmpty(createDto.ConfigName)) return new(false, "ConfigName cannot be null or empty.");
+            if (await AppDb.RobotSafetyConfigs.AnyAsync(cf => cf.ConfigName == createDto.ConfigName))
+                return new(false, "A Safety configuration with the same name already exists.");
+
+            var config = new RobotSafetyConfig
+            {
+                ConfigName = createDto.ConfigName,
+                Description = createDto.Description,
+                SafetySpeedVerySlow = createDto.SafetySpeedVerySlow,
+                SafetySpeedSlow = createDto.SafetySpeedSlow,
+                SafetySpeedNormal = createDto.SafetySpeedNormal,
+                SafetySpeedMedium = createDto.SafetySpeedMedium,
+                SafetySpeedOptimal = createDto.SafetySpeedOptimal,
+                SafetySpeedFast = createDto.SafetySpeedFast,
+                SafetySpeedVeryFast = createDto.SafetySpeedVeryFast,
+                CreatedAt = DateTime.Now,
+                UpdatedAt = DateTime.Now,
+                IsActive = false
+            };
+
+            AppDb.RobotSafetyConfigs.Add(config);
+            await AppDb.SaveChangesAsync();
+
+            return new(true, "Safety configuration created successfully.")
+            {
+                Data = new RobotSafetyConfigDto
+                {
+                    Id = config.Id,
+                    ConfigName = config.ConfigName,
+                    Description = config.Description,
+                    SafetySpeedVerySlow = config.SafetySpeedVerySlow,
+                    SafetySpeedSlow = config.SafetySpeedSlow,
+                    SafetySpeedNormal = config.SafetySpeedNormal,
+                    SafetySpeedMedium = config.SafetySpeedMedium,
+                    SafetySpeedOptimal = config.SafetySpeedOptimal,
+                    SafetySpeedFast = config.SafetySpeedFast,
+                    SafetySpeedVeryFast = config.SafetySpeedVeryFast,
+                    CreatedAt = config.CreatedAt,
+                    UpdatedAt = config.UpdatedAt,
+                    IsActive = config.IsActive,
+                }
+            };
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Create Safety Config: {ex.Message}");
+            return new(false, "An error occurred while creating the Safety configuration.");
+        }
+    }
+
+    [HttpDelete]
+    [Route("safety/{id:guid}")]
+    public async Task<MessageResult> DeleteRobotSafetyConfig(Guid id)
+    {
+        try
+        {
+            var config = await AppDb.RobotSafetyConfigs.FindAsync(id);
+            if (config is null) return new(false, "Safety configuration not found.");
+            if (config.IsActive) return new(false, "Cannot delete an active Safety configuration.");
+            if (config.ConfigName == "Default") return new(false, "Cannot delete the default PLC configuration.");
+
+            AppDb.RobotSafetyConfigs.Remove(config);
+            await AppDb.SaveChangesAsync();
+            return new(true, "Configuration deleted successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Delete Safety Config: {ex.Message}");
+            return new(false, "An error occurred while deleting the Safety configuration.");
+        }
+    }
+
+    [HttpPut]
+    [Route("safety/active/{id:guid}")]
+    public async Task<MessageResult> ActiveSafetyConfig(Guid id)
+    {
+        try
+        {
+            var config = await AppDb.RobotSafetyConfigs.FindAsync(id);
+            if (config is null) return new(false, "Safety configuration not found.");
+
+            await AppDb.RobotSafetyConfigs.ExecuteUpdateAsync(cf => cf.SetProperty(c => c.IsActive, false));
+            config.IsActive = true;
+            config.UpdatedAt = DateTime.Now;
+
+            await AppDb.SaveChangesAsync();
+            return new(true, $"Safety configuration {config.ConfigName} activated successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Update Active Safety Config: {ex.Message}");
+            return new(false, "An error occurred while updating the active Safety configuration.");
+        }
+    }
+
+    [HttpPost]
+    [Route("load")]
+    public async Task<MessageResult> LoadConfig()
+    {
+        try
+        {
+            await RobotConfiguration.LoadVDA5050ConfigAsync();
+            await RobotConfiguration.LoadRobotSimulationConfigAsync();
+            return new(true, "Robot configuration loaded successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Load Robot Config: {ex.Message}");
+            return new(false, "An error occurred while loading the Robot configuration.");
+        }
+    }
+}

RobotApp/Data/ApplicationDbContext.cs

@@ -3,10 +3,12 @@ using Microsoft.EntityFrameworkCore;
 
 namespace RobotApp.Data
 {
-    public class ApplicationDbContext : IdentityDbContext<ApplicationUser, ApplicationRole, string>
+    public class ApplicationDbContext(DbContextOptions<ApplicationDbContext> options) : IdentityDbContext<ApplicationUser, ApplicationRole, string>(options)
-    {
-        public ApplicationDbContext(DbContextOptions<ApplicationDbContext> options) : base(options)
     {
-        }
+        public DbSet<RobotConfig> RobotConfigs { get; private set; }
+        public DbSet<RobotSimulationConfig> RobotSimulationConfigs { get; private set; }
+        public DbSet<RobotPlcConfig> RobotPlcConfigs { get; private set; }
+        public DbSet<RobotVDA5050Config> RobotVDA5050Configs { get; private set; }
+        public DbSet<RobotSafetyConfig> RobotSafetyConfigs { get; private set; }
     }
 }

RobotApp/Data/ApplicationDbExtensions.cs

@@ -17,6 +17,7 @@ public static class ApplicationDbExtensions
 
         await scope.ServiceProvider.SeedRolesAsync();
         await scope.ServiceProvider.SeedUsersAsync();
+        await scope.ServiceProvider.SeedConfigAsync();
     }
 
     private static async Task SeedRolesAsync(this IServiceProvider serviceProvider)
@@ -31,6 +32,15 @@ public static class ApplicationDbExtensions
                 NormalizedName = "ADMINISTRATOR",
             });
         }
+
+        if (!await roleManager.RoleExistsAsync("Distributor"))
+        {
+            await roleManager.CreateAsync(new ApplicationRole()
+            {
+                Name = "Distributor",
+                NormalizedName = "DISTRIBUTOR",
+            });
+        }
     }
 
     private static async Task SeedUsersAsync(this IServiceProvider serviceProvider)
@@ -50,5 +60,131 @@ public static class ApplicationDbExtensions
             await userManager.CreateAsync(admin, "robotics");
             await userManager.AddToRoleAsync(admin, "Administrator");
         }
+
+        if (await userManager.FindByNameAsync("distributor") is null)
+        {
+            var distributor = new ApplicationUser()
+            {
+                UserName = "distributor",
+                Email = "distributor@phenikaa-x.com",
+                NormalizedUserName = "DISTRIBUTOR",
+                NormalizedEmail = "DISTRIBUTOR@PHENIKAA-X.COM",
+                EmailConfirmed = true,
+            };
+
+            await userManager.CreateAsync(distributor, "robotics");
+            await userManager.AddToRoleAsync(distributor, "Distributor");
+        }
+    }
+
+    private static async Task SeedConfigAsync(this IServiceProvider serviceProvider)
+    {
+        using var appDb = serviceProvider.GetRequiredService<ApplicationDbContext>();
+
+        if (!await appDb.RobotConfigs.AnyAsync())
+        {
+            var defaultConfig = new RobotConfig
+            {
+                ConfigName = "Default",
+                Description = "Default robot configuration",
+                NavigationType = Common.Shares.Enums.NavigationType.Differential,
+                RadiusWheel = 0.1,
+                Width = 0.6,
+                Length = 1.1,
+                Height = 0.5,
+                IsActive = true,
+                CreatedAt = DateTime.Now,
+                UpdatedAt = DateTime.Now,
+            };
+
+            appDb.RobotConfigs.Add(defaultConfig);
+            await appDb.SaveChangesAsync();
+        }
+
+        if (!await appDb.RobotPlcConfigs.AnyAsync())
+        {
+            var defaultConfig = new RobotPlcConfig
+            {
+                ConfigName = "Default",
+                Description = "Default robot PLC configuration",
+                PLCAddress = "127.0.0.1",
+                PLCPort = 502,
+                PLCUnitId = 1,
+                IsActive = true,
+                CreatedAt = DateTime.Now,
+                UpdatedAt = DateTime.Now,
+            };
+
+            appDb.RobotPlcConfigs.Add(defaultConfig);
+            await appDb.SaveChangesAsync();
+        }
+
+        if (!await appDb.RobotSimulationConfigs.AnyAsync())
+        {
+            var defaultConfig = new RobotSimulationConfig
+            {
+                ConfigName = "Default",
+                Description = "Default robot simulation configuration",
+                EnableSimulation = true,
+                SimulationMaxVelocity = 1.5,
+                SimulationMaxAngularVelocity = 0.5,
+                SimulationAcceleration = 2,
+                SimulationDeceleration = 10,
+                IsActive = true,
+                CreatedAt = DateTime.Now,
+                UpdatedAt = DateTime.Now,
+            };
+
+            appDb.RobotSimulationConfigs.Add(defaultConfig);
+            await appDb.SaveChangesAsync();
+        }
+
+        if (!await appDb.RobotVDA5050Configs.AnyAsync())
+        {
+            var defaultConfig = new RobotVDA5050Config
+            {
+                ConfigName = "Default",
+                Description = "Default robot VDA5050 configuration",
+                SerialNumber = "T800-002",
+                VDA5050HostServer = "127.0.0.1",
+                VDA5050Port = 1883,
+                VDA5050Version = "2.1.0",
+                VDA5050Manufacturer = "PhenikaaX",
+                VDA5050PublishRepeat = 2,
+                VDA5050EnablePassword = true,
+                VDA5050EnableTls = false,
+                VDA5050UserName = "robotics",
+                VDA5050Password = "robotics",
+                VDA5050TopicPrefix = "uagv/v2",
+                IsActive = true,
+                CreatedAt = DateTime.Now,
+                UpdatedAt = DateTime.Now,
+            };
+
+            appDb.RobotVDA5050Configs.Add(defaultConfig);
+            await appDb.SaveChangesAsync();
+        }
+
+        if (!await appDb.RobotSafetyConfigs.AnyAsync())
+        {
+            var defaultConfig = new RobotSafetyConfig
+            {
+                ConfigName = "Default",
+                Description = "Default robot Safety configuration",
+                SafetySpeedVerySlow = 0.15,
+                SafetySpeedSlow = 0.3,
+                SafetySpeedNormal = 0.6,
+                SafetySpeedMedium = 0.9,
+                SafetySpeedOptimal = 1.2,
+                SafetySpeedFast = 1.5,
+                SafetySpeedVeryFast = 1.9,
+                IsActive = true,
+                CreatedAt = DateTime.Now,
+                UpdatedAt = DateTime.Now,
+            };
+
+            appDb.RobotSafetyConfigs.Add(defaultConfig);
+            await appDb.SaveChangesAsync();
+        }
     }
 }

RobotApp/Data/Migrations/00000000000000_CreateIdentitySchema.Designer.cs

@@ -1,279 +0,0 @@
-// <auto-generated />
-using System;
-using Microsoft.EntityFrameworkCore;
-using Microsoft.EntityFrameworkCore.Infrastructure;
-using Microsoft.EntityFrameworkCore.Metadata;
-using Microsoft.EntityFrameworkCore.Migrations;
-using Microsoft.EntityFrameworkCore.Storage.ValueConversion;
-using RobotApp.Data;
-
-#nullable disable
-
-namespace RobotApp.Migrations
-{
-    [DbContext(typeof(ApplicationDbContext))]
-    [Migration("00000000000000_CreateIdentitySchema")]
-    partial class CreateIdentitySchema
-    {
-        /// <inheritdoc />
-        protected override void BuildTargetModel(ModelBuilder modelBuilder)
-        {
-#pragma warning disable 612, 618
-            modelBuilder
-                .HasAnnotation("ProductVersion", "8.0.0")
-                .HasAnnotation("Relational:MaxIdentifierLength", 128);
-
-            SqlServerModelBuilderExtensions.UseIdentityColumns(modelBuilder);
-
-            modelBuilder.Entity("RobotApp.Data.ApplicationUser", b =>
-                {
-                    b.Property<string>("Id")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<int>("AccessFailedCount")
-                        .HasColumnType("int");
-
-                    b.Property<string>("ConcurrencyStamp")
-                        .IsConcurrencyToken()
-                        .HasColumnType("Text");
-
-                    b.Property<string>("Email")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.Property<bool>("EmailConfirmed")
-                        .HasColumnType("bit");
-
-                    b.Property<bool>("LockoutEnabled")
-                        .HasColumnType("bit");
-
-                    b.Property<DateTimeOffset?>("LockoutEnd")
-                        .HasColumnType("datetimeoffset");
-
-                    b.Property<string>("NormalizedEmail")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.Property<string>("NormalizedUserName")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.Property<string>("PasswordHash")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("PhoneNumber")
-                        .HasColumnType("Text");
-
-                    b.Property<bool>("PhoneNumberConfirmed")
-                        .HasColumnType("bit");
-
-                    b.Property<string>("SecurityStamp")
-                        .HasColumnType("Text");
-
-                    b.Property<bool>("TwoFactorEnabled")
-                        .HasColumnType("bit");
-
-                    b.Property<string>("UserName")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("NormalizedEmail")
-                        .HasDatabaseName("EmailIndex");
-
-                    b.HasIndex("NormalizedUserName")
-                        .IsUnique()
-                        .HasDatabaseName("UserNameIndex")
-                        .HasFilter("[NormalizedUserName] IS NOT NULL");
-
-                    b.ToTable("AspNetUsers", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRole", b =>
-                {
-                    b.Property<string>("Id")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("ConcurrencyStamp")
-                        .IsConcurrencyToken()
-                        .HasColumnType("Text");
-
-                    b.Property<string>("Name")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.Property<string>("NormalizedName")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("NormalizedName")
-                        .IsUnique()
-                        .HasDatabaseName("RoleNameIndex")
-                        .HasFilter("[NormalizedName] IS NOT NULL");
-
-                    b.ToTable("AspNetRoles", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
-                {
-                    b.Property<int>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("int");
-
-                    SqlServerPropertyBuilderExtensions.UseIdentityColumn(b.Property<int>("Id"));
-
-                    b.Property<string>("ClaimType")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("ClaimValue")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("RoleId")
-                        .IsRequired()
-                        .HasColumnType("nvarchar(450)");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("RoleId");
-
-                    b.ToTable("AspNetRoleClaims", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserClaim<string>", b =>
-                {
-                    b.Property<int>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("int");
-
-                    SqlServerPropertyBuilderExtensions.UseIdentityColumn(b.Property<int>("Id"));
-
-                    b.Property<string>("ClaimType")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("ClaimValue")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("UserId")
-                        .IsRequired()
-                        .HasColumnType("nvarchar(450)");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("UserId");
-
-                    b.ToTable("AspNetUserClaims", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
-                {
-                    b.Property<string>("LoginProvider")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("ProviderKey")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("ProviderDisplayName")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("UserId")
-                        .IsRequired()
-                        .HasColumnType("nvarchar(450)");
-
-                    b.HasKey("LoginProvider", "ProviderKey");
-
-                    b.HasIndex("UserId");
-
-                    b.ToTable("AspNetUserLogins", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
-                {
-                    b.Property<string>("UserId")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("RoleId")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.HasKey("UserId", "RoleId");
-
-                    b.HasIndex("RoleId");
-
-                    b.ToTable("AspNetUserRoles", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
-                {
-                    b.Property<string>("UserId")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("LoginProvider")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("Name")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("Value")
-                        .HasColumnType("Text");
-
-                    b.HasKey("UserId", "LoginProvider", "Name");
-
-                    b.ToTable("AspNetUserTokens", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
-                {
-                    b.HasOne("Microsoft.AspNetCore.Identity.IdentityRole", null)
-                        .WithMany()
-                        .HasForeignKey("RoleId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserClaim<string>", b =>
-                {
-                    b.HasOne("RobotApp.Data.ApplicationUser", null)
-                        .WithMany()
-                        .HasForeignKey("UserId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
-                {
-                    b.HasOne("RobotApp.Data.ApplicationUser", null)
-                        .WithMany()
-                        .HasForeignKey("UserId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
-                {
-                    b.HasOne("Microsoft.AspNetCore.Identity.IdentityRole", null)
-                        .WithMany()
-                        .HasForeignKey("RoleId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-
-                    b.HasOne("RobotApp.Data.ApplicationUser", null)
-                        .WithMany()
-                        .HasForeignKey("UserId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
-                {
-                    b.HasOne("RobotApp.Data.ApplicationUser", null)
-                        .WithMany()
-                        .HasForeignKey("UserId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-                });
-#pragma warning restore 612, 618
-        }
-    }
-}

RobotApp/Data/Migrations/00000000000000_CreateIdentitySchema.cs

@@ -1,224 +0,0 @@
-using System;
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Migrations
-{
-    /// <inheritdoc />
-    public partial class CreateIdentitySchema : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.CreateTable(
-                name: "AspNetRoles",
-                columns: table => new
-                {
-                    Id = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    Name = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
-                    NormalizedName = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
-                    ConcurrencyStamp = table.Column<string>(type: "Text", nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetRoles", x => x.Id);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetUsers",
-                columns: table => new
-                {
-                    Id = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    UserName = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
-                    NormalizedUserName = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
-                    Email = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
-                    NormalizedEmail = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
-                    EmailConfirmed = table.Column<bool>(type: "bit", nullable: false),
-                    PasswordHash = table.Column<string>(type: "Text", nullable: true),
-                    SecurityStamp = table.Column<string>(type: "Text", nullable: true),
-                    ConcurrencyStamp = table.Column<string>(type: "Text", nullable: true),
-                    PhoneNumber = table.Column<string>(type: "Text", nullable: true),
-                    PhoneNumberConfirmed = table.Column<bool>(type: "bit", nullable: false),
-                    TwoFactorEnabled = table.Column<bool>(type: "bit", nullable: false),
-                    LockoutEnd = table.Column<DateTimeOffset>(type: "datetimeoffset", nullable: true),
-                    LockoutEnabled = table.Column<bool>(type: "bit", nullable: false),
-                    AccessFailedCount = table.Column<int>(type: "int", nullable: false)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetUsers", x => x.Id);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetRoleClaims",
-                columns: table => new
-                {
-                    Id = table.Column<int>(type: "int", nullable: false)
-                        .Annotation("SqlServer:Identity", "1, 1"),
-                    RoleId = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    ClaimType = table.Column<string>(type: "Text", nullable: true),
-                    ClaimValue = table.Column<string>(type: "Text", nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetRoleClaims", x => x.Id);
-                    table.ForeignKey(
-                        name: "FK_AspNetRoleClaims_AspNetRoles_RoleId",
-                        column: x => x.RoleId,
-                        principalTable: "AspNetRoles",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetUserClaims",
-                columns: table => new
-                {
-                    Id = table.Column<int>(type: "int", nullable: false)
-                        .Annotation("SqlServer:Identity", "1, 1"),
-                    UserId = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    ClaimType = table.Column<string>(type: "Text", nullable: true),
-                    ClaimValue = table.Column<string>(type: "Text", nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetUserClaims", x => x.Id);
-                    table.ForeignKey(
-                        name: "FK_AspNetUserClaims_AspNetUsers_UserId",
-                        column: x => x.UserId,
-                        principalTable: "AspNetUsers",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetUserLogins",
-                columns: table => new
-                {
-                    LoginProvider = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    ProviderKey = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    ProviderDisplayName = table.Column<string>(type: "Text", nullable: true),
-                    UserId = table.Column<string>(type: "nvarchar(450)", nullable: false)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetUserLogins", x => new { x.LoginProvider, x.ProviderKey });
-                    table.ForeignKey(
-                        name: "FK_AspNetUserLogins_AspNetUsers_UserId",
-                        column: x => x.UserId,
-                        principalTable: "AspNetUsers",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetUserRoles",
-                columns: table => new
-                {
-                    UserId = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    RoleId = table.Column<string>(type: "nvarchar(450)", nullable: false)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetUserRoles", x => new { x.UserId, x.RoleId });
-                    table.ForeignKey(
-                        name: "FK_AspNetUserRoles_AspNetRoles_RoleId",
-                        column: x => x.RoleId,
-                        principalTable: "AspNetRoles",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                    table.ForeignKey(
-                        name: "FK_AspNetUserRoles_AspNetUsers_UserId",
-                        column: x => x.UserId,
-                        principalTable: "AspNetUsers",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetUserTokens",
-                columns: table => new
-                {
-                    UserId = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    LoginProvider = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    Name = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    Value = table.Column<string>(type: "Text", nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetUserTokens", x => new { x.UserId, x.LoginProvider, x.Name });
-                    table.ForeignKey(
-                        name: "FK_AspNetUserTokens_AspNetUsers_UserId",
-                        column: x => x.UserId,
-                        principalTable: "AspNetUsers",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                });
-
-            migrationBuilder.CreateIndex(
-                name: "IX_AspNetRoleClaims_RoleId",
-                table: "AspNetRoleClaims",
-                column: "RoleId");
-
-            migrationBuilder.CreateIndex(
-                name: "RoleNameIndex",
-                table: "AspNetRoles",
-                column: "NormalizedName",
-                unique: true,
-                filter: "[NormalizedName] IS NOT NULL");
-
-            migrationBuilder.CreateIndex(
-                name: "IX_AspNetUserClaims_UserId",
-                table: "AspNetUserClaims",
-                column: "UserId");
-
-            migrationBuilder.CreateIndex(
-                name: "IX_AspNetUserLogins_UserId",
-                table: "AspNetUserLogins",
-                column: "UserId");
-
-            migrationBuilder.CreateIndex(
-                name: "IX_AspNetUserRoles_RoleId",
-                table: "AspNetUserRoles",
-                column: "RoleId");
-
-            migrationBuilder.CreateIndex(
-                name: "EmailIndex",
-                table: "AspNetUsers",
-                column: "NormalizedEmail");
-
-            migrationBuilder.CreateIndex(
-                name: "UserNameIndex",
-                table: "AspNetUsers",
-                column: "NormalizedUserName",
-                unique: true,
-                filter: "[NormalizedUserName] IS NOT NULL");
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropTable(
-                name: "AspNetRoleClaims");
-
-            migrationBuilder.DropTable(
-                name: "AspNetUserClaims");
-
-            migrationBuilder.DropTable(
-                name: "AspNetUserLogins");
-
-            migrationBuilder.DropTable(
-                name: "AspNetUserRoles");
-
-            migrationBuilder.DropTable(
-                name: "AspNetUserTokens");
-
-            migrationBuilder.DropTable(
-                name: "AspNetRoles");
-
-            migrationBuilder.DropTable(
-                name: "AspNetUsers");
-        }
-    }
-}

RobotApp/Data/Migrations/20250926020848_initDb.Designer.cs

@@ -1,268 +0,0 @@
-// <auto-generated />
-using System;
-using Microsoft.EntityFrameworkCore;
-using Microsoft.EntityFrameworkCore.Infrastructure;
-using Microsoft.EntityFrameworkCore.Migrations;
-using Microsoft.EntityFrameworkCore.Storage.ValueConversion;
-using RobotApp.Data;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    [DbContext(typeof(ApplicationDbContext))]
-    [Migration("20250926020848_initDb")]
-    partial class initDb
-    {
-        /// <inheritdoc />
-        protected override void BuildTargetModel(ModelBuilder modelBuilder)
-        {
-#pragma warning disable 612, 618
-            modelBuilder.HasAnnotation("ProductVersion", "9.0.9");
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
-                {
-                    b.Property<int>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("INTEGER");
-
-                    b.Property<string>("ClaimType")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("ClaimValue")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("RoleId")
-                        .IsRequired()
-                        .HasColumnType("TEXT");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("RoleId");
-
-                    b.ToTable("AspNetRoleClaims", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserClaim<string>", b =>
-                {
-                    b.Property<int>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("INTEGER");
-
-                    b.Property<string>("ClaimType")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("ClaimValue")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("UserId")
-                        .IsRequired()
-                        .HasColumnType("TEXT");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("UserId");
-
-                    b.ToTable("AspNetUserClaims", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
-                {
-                    b.Property<string>("LoginProvider")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("ProviderKey")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("ProviderDisplayName")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("UserId")
-                        .IsRequired()
-                        .HasColumnType("TEXT");
-
-                    b.HasKey("LoginProvider", "ProviderKey");
-
-                    b.HasIndex("UserId");
-
-                    b.ToTable("AspNetUserLogins", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
-                {
-                    b.Property<string>("UserId")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("RoleId")
-                        .HasColumnType("TEXT");
-
-                    b.HasKey("UserId", "RoleId");
-
-                    b.HasIndex("RoleId");
-
-                    b.ToTable("AspNetUserRoles", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
-                {
-                    b.Property<string>("UserId")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("LoginProvider")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("Name")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("Value")
-                        .HasColumnType("TEXT");
-
-                    b.HasKey("UserId", "LoginProvider", "Name");
-
-                    b.ToTable("AspNetUserTokens", (string)null);
-                });
-
-            modelBuilder.Entity("RobotApp.Data.ApplicationRole", b =>
-                {
-                    b.Property<string>("Id")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("ConcurrencyStamp")
-                        .IsConcurrencyToken()
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("Name")
-                        .HasMaxLength(256)
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("NormalizedName")
-                        .HasMaxLength(256)
-                        .HasColumnType("TEXT");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("NormalizedName")
-                        .IsUnique()
-                        .HasDatabaseName("RoleNameIndex");
-
-                    b.ToTable("AspNetRoles", (string)null);
-                });
-
-            modelBuilder.Entity("RobotApp.Data.ApplicationUser", b =>
-                {
-                    b.Property<string>("Id")
-                        .HasColumnType("TEXT");
-
-                    b.Property<int>("AccessFailedCount")
-                        .HasColumnType("INTEGER");
-
-                    b.Property<string>("ConcurrencyStamp")
-                        .IsConcurrencyToken()
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("Email")
-                        .HasMaxLength(256)
-                        .HasColumnType("TEXT");
-
-                    b.Property<bool>("EmailConfirmed")
-                        .HasColumnType("INTEGER");
-
-                    b.Property<bool>("LockoutEnabled")
-                        .HasColumnType("INTEGER");
-
-                    b.Property<DateTimeOffset?>("LockoutEnd")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("NormalizedEmail")
-                        .HasMaxLength(256)
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("NormalizedUserName")
-                        .HasMaxLength(256)
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("PasswordHash")
-                        .HasColumnType("TEXT");
-
-                    b.Property<string>("PhoneNumber")
-                        .HasColumnType("TEXT");
-
-                    b.Property<bool>("PhoneNumberConfirmed")
-                        .HasColumnType("INTEGER");
-
-                    b.Property<string>("SecurityStamp")
-                        .HasColumnType("TEXT");
-
-                    b.Property<bool>("TwoFactorEnabled")
-                        .HasColumnType("INTEGER");
-
-                    b.Property<string>("UserName")
-                        .HasMaxLength(256)
-                        .HasColumnType("TEXT");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("NormalizedEmail")
-                        .HasDatabaseName("EmailIndex");
-
-                    b.HasIndex("NormalizedUserName")
-                        .IsUnique()
-                        .HasDatabaseName("UserNameIndex");
-
-                    b.ToTable("AspNetUsers", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
-                {
-                    b.HasOne("RobotApp.Data.ApplicationRole", null)
-                        .WithMany()
-                        .HasForeignKey("RoleId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserClaim<string>", b =>
-                {
-                    b.HasOne("RobotApp.Data.ApplicationUser", null)
-                        .WithMany()
-                        .HasForeignKey("UserId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
-                {
-                    b.HasOne("RobotApp.Data.ApplicationUser", null)
-                        .WithMany()
-                        .HasForeignKey("UserId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
-                {
-                    b.HasOne("RobotApp.Data.ApplicationRole", null)
-                        .WithMany()
-                        .HasForeignKey("RoleId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-
-                    b.HasOne("RobotApp.Data.ApplicationUser", null)
-                        .WithMany()
-                        .HasForeignKey("UserId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
-                {
-                    b.HasOne("RobotApp.Data.ApplicationUser", null)
-                        .WithMany()
-                        .HasForeignKey("UserId")
-                        .OnDelete(DeleteBehavior.Cascade)
-                        .IsRequired();
-                });
-#pragma warning restore 612, 618
-        }
-    }
-}

RobotApp/Data/Migrations/20250926020848_initDb.cs

@@ -1,721 +0,0 @@
-using System;
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class initDb : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropIndex(
-                name: "UserNameIndex",
-                table: "AspNetUsers");
-
-            migrationBuilder.DropIndex(
-                name: "RoleNameIndex",
-                table: "AspNetRoles");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Value",
-                table: "AspNetUserTokens",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Name",
-                table: "AspNetUserTokens",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "LoginProvider",
-                table: "AspNetUserTokens",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "UserId",
-                table: "AspNetUserTokens",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "UserName",
-                table: "AspNetUsers",
-                type: "TEXT",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(256)",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<bool>(
-                name: "TwoFactorEnabled",
-                table: "AspNetUsers",
-                type: "INTEGER",
-                nullable: false,
-                oldClrType: typeof(bool),
-                oldType: "bit");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "SecurityStamp",
-                table: "AspNetUsers",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<bool>(
-                name: "PhoneNumberConfirmed",
-                table: "AspNetUsers",
-                type: "INTEGER",
-                nullable: false,
-                oldClrType: typeof(bool),
-                oldType: "bit");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "PhoneNumber",
-                table: "AspNetUsers",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "PasswordHash",
-                table: "AspNetUsers",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "NormalizedUserName",
-                table: "AspNetUsers",
-                type: "TEXT",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(256)",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "NormalizedEmail",
-                table: "AspNetUsers",
-                type: "TEXT",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(256)",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<DateTimeOffset>(
-                name: "LockoutEnd",
-                table: "AspNetUsers",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(DateTimeOffset),
-                oldType: "datetimeoffset",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<bool>(
-                name: "LockoutEnabled",
-                table: "AspNetUsers",
-                type: "INTEGER",
-                nullable: false,
-                oldClrType: typeof(bool),
-                oldType: "bit");
-
-            migrationBuilder.AlterColumn<bool>(
-                name: "EmailConfirmed",
-                table: "AspNetUsers",
-                type: "INTEGER",
-                nullable: false,
-                oldClrType: typeof(bool),
-                oldType: "bit");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Email",
-                table: "AspNetUsers",
-                type: "TEXT",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(256)",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ConcurrencyStamp",
-                table: "AspNetUsers",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<int>(
-                name: "AccessFailedCount",
-                table: "AspNetUsers",
-                type: "INTEGER",
-                nullable: false,
-                oldClrType: typeof(int),
-                oldType: "int");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Id",
-                table: "AspNetUsers",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "RoleId",
-                table: "AspNetUserRoles",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "UserId",
-                table: "AspNetUserRoles",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "UserId",
-                table: "AspNetUserLogins",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ProviderDisplayName",
-                table: "AspNetUserLogins",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ProviderKey",
-                table: "AspNetUserLogins",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "LoginProvider",
-                table: "AspNetUserLogins",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "UserId",
-                table: "AspNetUserClaims",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ClaimValue",
-                table: "AspNetUserClaims",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ClaimType",
-                table: "AspNetUserClaims",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<int>(
-                name: "Id",
-                table: "AspNetUserClaims",
-                type: "INTEGER",
-                nullable: false,
-                oldClrType: typeof(int),
-                oldType: "int")
-                .Annotation("Sqlite:Autoincrement", true)
-                .OldAnnotation("Sqlite:Autoincrement", true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "NormalizedName",
-                table: "AspNetRoles",
-                type: "TEXT",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(256)",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Name",
-                table: "AspNetRoles",
-                type: "TEXT",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(256)",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ConcurrencyStamp",
-                table: "AspNetRoles",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Id",
-                table: "AspNetRoles",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "RoleId",
-                table: "AspNetRoleClaims",
-                type: "TEXT",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "nvarchar(450)");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ClaimValue",
-                table: "AspNetRoleClaims",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ClaimType",
-                table: "AspNetRoleClaims",
-                type: "TEXT",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "Text",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<int>(
-                name: "Id",
-                table: "AspNetRoleClaims",
-                type: "INTEGER",
-                nullable: false,
-                oldClrType: typeof(int),
-                oldType: "int")
-                .Annotation("Sqlite:Autoincrement", true)
-                .OldAnnotation("Sqlite:Autoincrement", true);
-
-            migrationBuilder.CreateIndex(
-                name: "UserNameIndex",
-                table: "AspNetUsers",
-                column: "NormalizedUserName",
-                unique: true);
-
-            migrationBuilder.CreateIndex(
-                name: "RoleNameIndex",
-                table: "AspNetRoles",
-                column: "NormalizedName",
-                unique: true);
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropIndex(
-                name: "UserNameIndex",
-                table: "AspNetUsers");
-
-            migrationBuilder.DropIndex(
-                name: "RoleNameIndex",
-                table: "AspNetRoles");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Value",
-                table: "AspNetUserTokens",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Name",
-                table: "AspNetUserTokens",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "LoginProvider",
-                table: "AspNetUserTokens",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "UserId",
-                table: "AspNetUserTokens",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "UserName",
-                table: "AspNetUsers",
-                type: "nvarchar(256)",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<bool>(
-                name: "TwoFactorEnabled",
-                table: "AspNetUsers",
-                type: "bit",
-                nullable: false,
-                oldClrType: typeof(bool),
-                oldType: "INTEGER");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "SecurityStamp",
-                table: "AspNetUsers",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<bool>(
-                name: "PhoneNumberConfirmed",
-                table: "AspNetUsers",
-                type: "bit",
-                nullable: false,
-                oldClrType: typeof(bool),
-                oldType: "INTEGER");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "PhoneNumber",
-                table: "AspNetUsers",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "PasswordHash",
-                table: "AspNetUsers",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "NormalizedUserName",
-                table: "AspNetUsers",
-                type: "nvarchar(256)",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "NormalizedEmail",
-                table: "AspNetUsers",
-                type: "nvarchar(256)",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<DateTimeOffset>(
-                name: "LockoutEnd",
-                table: "AspNetUsers",
-                type: "datetimeoffset",
-                nullable: true,
-                oldClrType: typeof(DateTimeOffset),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<bool>(
-                name: "LockoutEnabled",
-                table: "AspNetUsers",
-                type: "bit",
-                nullable: false,
-                oldClrType: typeof(bool),
-                oldType: "INTEGER");
-
-            migrationBuilder.AlterColumn<bool>(
-                name: "EmailConfirmed",
-                table: "AspNetUsers",
-                type: "bit",
-                nullable: false,
-                oldClrType: typeof(bool),
-                oldType: "INTEGER");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Email",
-                table: "AspNetUsers",
-                type: "nvarchar(256)",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ConcurrencyStamp",
-                table: "AspNetUsers",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<int>(
-                name: "AccessFailedCount",
-                table: "AspNetUsers",
-                type: "int",
-                nullable: false,
-                oldClrType: typeof(int),
-                oldType: "INTEGER");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Id",
-                table: "AspNetUsers",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "RoleId",
-                table: "AspNetUserRoles",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "UserId",
-                table: "AspNetUserRoles",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "UserId",
-                table: "AspNetUserLogins",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ProviderDisplayName",
-                table: "AspNetUserLogins",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ProviderKey",
-                table: "AspNetUserLogins",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "LoginProvider",
-                table: "AspNetUserLogins",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "UserId",
-                table: "AspNetUserClaims",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ClaimValue",
-                table: "AspNetUserClaims",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ClaimType",
-                table: "AspNetUserClaims",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<int>(
-                name: "Id",
-                table: "AspNetUserClaims",
-                type: "int",
-                nullable: false,
-                oldClrType: typeof(int),
-                oldType: "INTEGER")
-                .Annotation("Sqlite:Autoincrement", true)
-                .OldAnnotation("Sqlite:Autoincrement", true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "NormalizedName",
-                table: "AspNetRoles",
-                type: "nvarchar(256)",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Name",
-                table: "AspNetRoles",
-                type: "nvarchar(256)",
-                maxLength: 256,
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldMaxLength: 256,
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ConcurrencyStamp",
-                table: "AspNetRoles",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "Id",
-                table: "AspNetRoles",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "RoleId",
-                table: "AspNetRoleClaims",
-                type: "nvarchar(450)",
-                nullable: false,
-                oldClrType: typeof(string),
-                oldType: "TEXT");
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ClaimValue",
-                table: "AspNetRoleClaims",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<string>(
-                name: "ClaimType",
-                table: "AspNetRoleClaims",
-                type: "Text",
-                nullable: true,
-                oldClrType: typeof(string),
-                oldType: "TEXT",
-                oldNullable: true);
-
-            migrationBuilder.AlterColumn<int>(
-                name: "Id",
-                table: "AspNetRoleClaims",
-                type: "int",
-                nullable: false,
-                oldClrType: typeof(int),
-                oldType: "INTEGER")
-                .Annotation("Sqlite:Autoincrement", true)
-                .OldAnnotation("Sqlite:Autoincrement", true);
-
-            migrationBuilder.CreateIndex(
-                name: "UserNameIndex",
-                table: "AspNetUsers",
-                column: "NormalizedUserName",
-                unique: true,
-                filter: "[NormalizedUserName] IS NOT NULL");
-
-            migrationBuilder.CreateIndex(
-                name: "RoleNameIndex",
-                table: "AspNetRoles",
-                column: "NormalizedName",
-                unique: true,
-                filter: "[NormalizedName] IS NOT NULL");
-        }
-    }
-}

RobotApp/Data/Migrations/20251222091852_InitApplicationDb.Designer.cs

@@ -0,0 +1,582 @@
+// <auto-generated />
+using System;
+using Microsoft.EntityFrameworkCore;
+using Microsoft.EntityFrameworkCore.Infrastructure;
+using Microsoft.EntityFrameworkCore.Migrations;
+using Microsoft.EntityFrameworkCore.Storage.ValueConversion;
+using RobotApp.Data;
+
+#nullable disable
+
+namespace RobotApp.Data.Migrations
+{
+    [DbContext(typeof(ApplicationDbContext))]
+    [Migration("20251222091852_InitApplicationDb")]
+    partial class InitApplicationDb
+    {
+        /// <inheritdoc />
+        protected override void BuildTargetModel(ModelBuilder modelBuilder)
+        {
+#pragma warning disable 612, 618
+            modelBuilder.HasAnnotation("ProductVersion", "9.0.9");
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
+                {
+                    b.Property<int>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("ClaimType")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ClaimValue")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("RoleId")
+                        .IsRequired()
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("Id");
+
+                    b.HasIndex("RoleId");
+
+                    b.ToTable("AspNetRoleClaims", (string)null);
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserClaim<string>", b =>
+                {
+                    b.Property<int>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("ClaimType")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ClaimValue")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("UserId")
+                        .IsRequired()
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("Id");
+
+                    b.HasIndex("UserId");
+
+                    b.ToTable("AspNetUserClaims", (string)null);
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
+                {
+                    b.Property<string>("LoginProvider")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ProviderKey")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ProviderDisplayName")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("UserId")
+                        .IsRequired()
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("LoginProvider", "ProviderKey");
+
+                    b.HasIndex("UserId");
+
+                    b.ToTable("AspNetUserLogins", (string)null);
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
+                {
+                    b.Property<string>("UserId")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("RoleId")
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("UserId", "RoleId");
+
+                    b.HasIndex("RoleId");
+
+                    b.ToTable("AspNetUserRoles", (string)null);
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
+                {
+                    b.Property<string>("UserId")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("LoginProvider")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("Name")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("Value")
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("UserId", "LoginProvider", "Name");
+
+                    b.ToTable("AspNetUserTokens", (string)null);
+                });
+
+            modelBuilder.Entity("RobotApp.Data.ApplicationRole", b =>
+                {
+                    b.Property<string>("Id")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ConcurrencyStamp")
+                        .IsConcurrencyToken()
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("Name")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("NormalizedName")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("Id");
+
+                    b.HasIndex("NormalizedName")
+                        .IsUnique()
+                        .HasDatabaseName("RoleNameIndex");
+
+                    b.ToTable("AspNetRoles", (string)null);
+                });
+
+            modelBuilder.Entity("RobotApp.Data.ApplicationUser", b =>
+                {
+                    b.Property<string>("Id")
+                        .HasColumnType("TEXT");
+
+                    b.Property<int>("AccessFailedCount")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("ConcurrencyStamp")
+                        .IsConcurrencyToken()
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("Email")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<bool>("EmailConfirmed")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<bool>("LockoutEnabled")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<DateTimeOffset?>("LockoutEnd")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("NormalizedEmail")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("NormalizedUserName")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("PasswordHash")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("PhoneNumber")
+                        .HasColumnType("TEXT");
+
+                    b.Property<bool>("PhoneNumberConfirmed")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("SecurityStamp")
+                        .HasColumnType("TEXT");
+
+                    b.Property<bool>("TwoFactorEnabled")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("UserName")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("Id");
+
+                    b.HasIndex("NormalizedEmail")
+                        .HasDatabaseName("EmailIndex");
+
+                    b.HasIndex("NormalizedUserName")
+                        .IsUnique()
+                        .HasDatabaseName("UserNameIndex");
+
+                    b.ToTable("AspNetUsers", (string)null);
+                });
+
+            modelBuilder.Entity("RobotApp.Data.RobotConfig", b =>
+                {
+                    b.Property<Guid>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("uniqueidentifier")
+                        .HasColumnName("Id");
+
+                    b.Property<string>("ConfigName")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("ConfigName");
+
+                    b.Property<DateTime>("CreatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("CreatedAt");
+
+                    b.Property<string>("Description")
+                        .HasMaxLength(500)
+                        .HasColumnType("ntext")
+                        .HasColumnName("Description");
+
+                    b.Property<double>("Height")
+                        .HasColumnType("float")
+                        .HasColumnName("Height");
+
+                    b.Property<bool>("IsActive")
+                        .HasColumnType("bit")
+                        .HasColumnName("IsActive");
+
+                    b.Property<double>("Length")
+                        .HasColumnType("float")
+                        .HasColumnName("Length");
+
+                    b.Property<int>("NavigationType")
+                        .HasColumnType("int")
+                        .HasColumnName("NavigationType");
+
+                    b.Property<double>("RadiusWheel")
+                        .HasColumnType("float")
+                        .HasColumnName("RadiusWheel");
+
+                    b.Property<DateTime>("UpdatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("UpdatedAt");
+
+                    b.Property<double>("Width")
+                        .HasColumnType("float")
+                        .HasColumnName("Width");
+
+                    b.HasKey("Id");
+
+                    b.ToTable("RobotConfig");
+                });
+
+            modelBuilder.Entity("RobotApp.Data.RobotPlcConfig", b =>
+                {
+                    b.Property<Guid>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("uniqueidentifier")
+                        .HasColumnName("Id");
+
+                    b.Property<string>("ConfigName")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("ConfigName");
+
+                    b.Property<DateTime>("CreatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("CreatedAt");
+
+                    b.Property<string>("Description")
+                        .HasMaxLength(500)
+                        .HasColumnType("ntext")
+                        .HasColumnName("Description");
+
+                    b.Property<bool>("IsActive")
+                        .HasColumnType("bit")
+                        .HasColumnName("IsActive");
+
+                    b.Property<string>("PLCAddress")
+                        .HasMaxLength(50)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("PLCAddress");
+
+                    b.Property<int>("PLCPort")
+                        .HasColumnType("int")
+                        .HasColumnName("PLCPort");
+
+                    b.Property<byte>("PLCUnitId")
+                        .HasColumnType("tinyint")
+                        .HasColumnName("PLCUnitId");
+
+                    b.Property<DateTime>("UpdatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("UpdatedAt");
+
+                    b.HasKey("Id");
+
+                    b.ToTable("RobotPlcConfig");
+                });
+
+            modelBuilder.Entity("RobotApp.Data.RobotSafetyConfig", b =>
+                {
+                    b.Property<Guid>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("uniqueidentifier")
+                        .HasColumnName("Id");
+
+                    b.Property<string>("ConfigName")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("ConfigName");
+
+                    b.Property<DateTime>("CreatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("CreatedAt");
+
+                    b.Property<string>("Description")
+                        .HasMaxLength(500)
+                        .HasColumnType("ntext")
+                        .HasColumnName("Description");
+
+                    b.Property<bool>("IsActive")
+                        .HasColumnType("bit")
+                        .HasColumnName("IsActive");
+
+                    b.Property<double>("SafetySpeedFast")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedFast");
+
+                    b.Property<double>("SafetySpeedMedium")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedMedium");
+
+                    b.Property<double>("SafetySpeedNormal")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedNormal");
+
+                    b.Property<double>("SafetySpeedOptimal")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedOptimal");
+
+                    b.Property<double>("SafetySpeedSlow")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedSlow");
+
+                    b.Property<double>("SafetySpeedVeryFast")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedVeryFast");
+
+                    b.Property<double>("SafetySpeedVerySlow")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedVerySlow");
+
+                    b.Property<DateTime>("UpdatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("UpdatedAt");
+
+                    b.HasKey("Id");
+
+                    b.ToTable("RobotSafetyConfig");
+                });
+
+            modelBuilder.Entity("RobotApp.Data.RobotSimulationConfig", b =>
+                {
+                    b.Property<Guid>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("uniqueidentifier")
+                        .HasColumnName("Id");
+
+                    b.Property<string>("ConfigName")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("ConfigName");
+
+                    b.Property<DateTime>("CreatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("CreatedAt");
+
+                    b.Property<string>("Description")
+                        .HasMaxLength(500)
+                        .HasColumnType("ntext")
+                        .HasColumnName("Description");
+
+                    b.Property<bool>("EnableSimulation")
+                        .HasColumnType("bit")
+                        .HasColumnName("EnableSimulation");
+
+                    b.Property<bool>("IsActive")
+                        .HasColumnType("bit")
+                        .HasColumnName("IsActive");
+
+                    b.Property<double>("SimulationAcceleration")
+                        .HasColumnType("float")
+                        .HasColumnName("SimulationAcceleration");
+
+                    b.Property<double>("SimulationDeceleration")
+                        .HasColumnType("float")
+                        .HasColumnName("SimulationDeceleration");
+
+                    b.Property<double>("SimulationMaxAngularVelocity")
+                        .HasColumnType("float")
+                        .HasColumnName("SimulationMaxAngularVelocity");
+
+                    b.Property<double>("SimulationMaxVelocity")
+                        .HasColumnType("float")
+                        .HasColumnName("SimulationMaxVelocity");
+
+                    b.Property<DateTime>("UpdatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("UpdatedAt");
+
+                    b.HasKey("Id");
+
+                    b.ToTable("RobotSimulationConfig");
+                });
+
+            modelBuilder.Entity("RobotApp.Data.RobotVDA5050Config", b =>
+                {
+                    b.Property<Guid>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("uniqueidentifier")
+                        .HasColumnName("Id");
+
+                    b.Property<string>("ConfigName")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("ConfigName");
+
+                    b.Property<DateTime>("CreatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("CreatedAt");
+
+                    b.Property<string>("Description")
+                        .HasMaxLength(500)
+                        .HasColumnType("ntext")
+                        .HasColumnName("Description");
+
+                    b.Property<bool>("IsActive")
+                        .HasColumnType("bit")
+                        .HasColumnName("IsActive");
+
+                    b.Property<string>("SerialNumber")
+                        .HasMaxLength(50)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("SerialNumber");
+
+                    b.Property<DateTime>("UpdatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("UpdatedAt");
+
+                    b.Property<string>("VDA5050CA")
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_CA");
+
+                    b.Property<string>("VDA5050Cer")
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_Cer");
+
+                    b.Property<bool>("VDA5050EnablePassword")
+                        .HasColumnType("bit")
+                        .HasColumnName("VDA5050_EnablePassword");
+
+                    b.Property<bool>("VDA5050EnableTls")
+                        .HasColumnType("bit")
+                        .HasColumnName("VDA5050_EnableTls");
+
+                    b.Property<string>("VDA5050HostServer")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_HostServer");
+
+                    b.Property<string>("VDA5050Key")
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_Key");
+
+                    b.Property<string>("VDA5050Manufacturer")
+                        .HasMaxLength(50)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_Manufacturer");
+
+                    b.Property<string>("VDA5050Password")
+                        .HasMaxLength(50)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_Password");
+
+                    b.Property<int>("VDA5050Port")
+                        .HasColumnType("int")
+                        .HasColumnName("VDA5050_Port");
+
+                    b.Property<int>("VDA5050PublishRepeat")
+                        .HasColumnType("int")
+                        .HasColumnName("VDA5050_PublishRepeat");
+
+                    b.Property<string>("VDA5050TopicPrefix")
+                        .HasMaxLength(64)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_TopicPrefix");
+
+                    b.Property<string>("VDA5050UserName")
+                        .HasMaxLength(50)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_UserName");
+
+                    b.Property<string>("VDA5050Version")
+                        .HasMaxLength(20)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_Version");
+
+                    b.HasKey("Id");
+
+                    b.ToTable("RobotVDA5050Config");
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
+                {
+                    b.HasOne("RobotApp.Data.ApplicationRole", null)
+                        .WithMany()
+                        .HasForeignKey("RoleId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserClaim<string>", b =>
+                {
+                    b.HasOne("RobotApp.Data.ApplicationUser", null)
+                        .WithMany()
+                        .HasForeignKey("UserId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
+                {
+                    b.HasOne("RobotApp.Data.ApplicationUser", null)
+                        .WithMany()
+                        .HasForeignKey("UserId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
+                {
+                    b.HasOne("RobotApp.Data.ApplicationRole", null)
+                        .WithMany()
+                        .HasForeignKey("RoleId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+
+                    b.HasOne("RobotApp.Data.ApplicationUser", null)
+                        .WithMany()
+                        .HasForeignKey("UserId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
+                {
+                    b.HasOne("RobotApp.Data.ApplicationUser", null)
+                        .WithMany()
+                        .HasForeignKey("UserId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+                });
+#pragma warning restore 612, 618
+        }
+    }
+}

RobotApp/Data/Migrations/20251222091852_InitApplicationDb.cs

@@ -0,0 +1,351 @@
+using System;
+using Microsoft.EntityFrameworkCore.Migrations;
+
+#nullable disable
+
+namespace RobotApp.Data.Migrations
+{
+    /// <inheritdoc />
+    public partial class InitApplicationDb : Migration
+    {
+        /// <inheritdoc />
+        protected override void Up(MigrationBuilder migrationBuilder)
+        {
+            migrationBuilder.CreateTable(
+                name: "AspNetRoles",
+                columns: table => new
+                {
+                    Id = table.Column<string>(type: "TEXT", nullable: false),
+                    Name = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    NormalizedName = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    ConcurrencyStamp = table.Column<string>(type: "TEXT", nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetRoles", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetUsers",
+                columns: table => new
+                {
+                    Id = table.Column<string>(type: "TEXT", nullable: false),
+                    UserName = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    NormalizedUserName = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    Email = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    NormalizedEmail = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    EmailConfirmed = table.Column<bool>(type: "INTEGER", nullable: false),
+                    PasswordHash = table.Column<string>(type: "TEXT", nullable: true),
+                    SecurityStamp = table.Column<string>(type: "TEXT", nullable: true),
+                    ConcurrencyStamp = table.Column<string>(type: "TEXT", nullable: true),
+                    PhoneNumber = table.Column<string>(type: "TEXT", nullable: true),
+                    PhoneNumberConfirmed = table.Column<bool>(type: "INTEGER", nullable: false),
+                    TwoFactorEnabled = table.Column<bool>(type: "INTEGER", nullable: false),
+                    LockoutEnd = table.Column<DateTimeOffset>(type: "TEXT", nullable: true),
+                    LockoutEnabled = table.Column<bool>(type: "INTEGER", nullable: false),
+                    AccessFailedCount = table.Column<int>(type: "INTEGER", nullable: false)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetUsers", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "RobotConfig",
+                columns: table => new
+                {
+                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
+                    NavigationType = table.Column<int>(type: "int", nullable: false),
+                    RadiusWheel = table.Column<double>(type: "float", nullable: false),
+                    Width = table.Column<double>(type: "float", nullable: false),
+                    Length = table.Column<double>(type: "float", nullable: false),
+                    Height = table.Column<double>(type: "float", nullable: false),
+                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    IsActive = table.Column<bool>(type: "bit", nullable: false),
+                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_RobotConfig", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "RobotPlcConfig",
+                columns: table => new
+                {
+                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
+                    PLCAddress = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
+                    PLCPort = table.Column<int>(type: "int", nullable: false),
+                    PLCUnitId = table.Column<byte>(type: "tinyint", nullable: false),
+                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    IsActive = table.Column<bool>(type: "bit", nullable: false),
+                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_RobotPlcConfig", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "RobotSafetyConfig",
+                columns: table => new
+                {
+                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
+                    SafetySpeedVerySlow = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedSlow = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedNormal = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedMedium = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedOptimal = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedFast = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedVeryFast = table.Column<double>(type: "float", nullable: false),
+                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    IsActive = table.Column<bool>(type: "bit", nullable: false),
+                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_RobotSafetyConfig", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "RobotSimulationConfig",
+                columns: table => new
+                {
+                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
+                    EnableSimulation = table.Column<bool>(type: "bit", nullable: false),
+                    SimulationMaxVelocity = table.Column<double>(type: "float", nullable: false),
+                    SimulationMaxAngularVelocity = table.Column<double>(type: "float", nullable: false),
+                    SimulationAcceleration = table.Column<double>(type: "float", nullable: false),
+                    SimulationDeceleration = table.Column<double>(type: "float", nullable: false),
+                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    IsActive = table.Column<bool>(type: "bit", nullable: false),
+                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_RobotSimulationConfig", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "RobotVDA5050Config",
+                columns: table => new
+                {
+                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
+                    SerialNumber = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
+                    VDA5050_HostServer = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    VDA5050_Port = table.Column<int>(type: "int", nullable: false),
+                    VDA5050_UserName = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
+                    VDA5050_Password = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
+                    VDA5050_Manufacturer = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
+                    VDA5050_Version = table.Column<string>(type: "nvarchar(64)", maxLength: 20, nullable: true),
+                    VDA5050_TopicPrefix = table.Column<string>(type: "nvarchar(64)", maxLength: 64, nullable: true),
+                    VDA5050_PublishRepeat = table.Column<int>(type: "int", nullable: false),
+                    VDA5050_EnablePassword = table.Column<bool>(type: "bit", nullable: false),
+                    VDA5050_EnableTls = table.Column<bool>(type: "bit", nullable: false),
+                    VDA5050_CA = table.Column<string>(type: "nvarchar(64)", nullable: true),
+                    VDA5050_Cer = table.Column<string>(type: "nvarchar(64)", nullable: true),
+                    VDA5050_Key = table.Column<string>(type: "nvarchar(64)", nullable: true),
+                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    IsActive = table.Column<bool>(type: "bit", nullable: false),
+                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_RobotVDA5050Config", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetRoleClaims",
+                columns: table => new
+                {
+                    Id = table.Column<int>(type: "INTEGER", nullable: false)
+                        .Annotation("Sqlite:Autoincrement", true),
+                    RoleId = table.Column<string>(type: "TEXT", nullable: false),
+                    ClaimType = table.Column<string>(type: "TEXT", nullable: true),
+                    ClaimValue = table.Column<string>(type: "TEXT", nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetRoleClaims", x => x.Id);
+                    table.ForeignKey(
+                        name: "FK_AspNetRoleClaims_AspNetRoles_RoleId",
+                        column: x => x.RoleId,
+                        principalTable: "AspNetRoles",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetUserClaims",
+                columns: table => new
+                {
+                    Id = table.Column<int>(type: "INTEGER", nullable: false)
+                        .Annotation("Sqlite:Autoincrement", true),
+                    UserId = table.Column<string>(type: "TEXT", nullable: false),
+                    ClaimType = table.Column<string>(type: "TEXT", nullable: true),
+                    ClaimValue = table.Column<string>(type: "TEXT", nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetUserClaims", x => x.Id);
+                    table.ForeignKey(
+                        name: "FK_AspNetUserClaims_AspNetUsers_UserId",
+                        column: x => x.UserId,
+                        principalTable: "AspNetUsers",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetUserLogins",
+                columns: table => new
+                {
+                    LoginProvider = table.Column<string>(type: "TEXT", nullable: false),
+                    ProviderKey = table.Column<string>(type: "TEXT", nullable: false),
+                    ProviderDisplayName = table.Column<string>(type: "TEXT", nullable: true),
+                    UserId = table.Column<string>(type: "TEXT", nullable: false)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetUserLogins", x => new { x.LoginProvider, x.ProviderKey });
+                    table.ForeignKey(
+                        name: "FK_AspNetUserLogins_AspNetUsers_UserId",
+                        column: x => x.UserId,
+                        principalTable: "AspNetUsers",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetUserRoles",
+                columns: table => new
+                {
+                    UserId = table.Column<string>(type: "TEXT", nullable: false),
+                    RoleId = table.Column<string>(type: "TEXT", nullable: false)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetUserRoles", x => new { x.UserId, x.RoleId });
+                    table.ForeignKey(
+                        name: "FK_AspNetUserRoles_AspNetRoles_RoleId",
+                        column: x => x.RoleId,
+                        principalTable: "AspNetRoles",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                    table.ForeignKey(
+                        name: "FK_AspNetUserRoles_AspNetUsers_UserId",
+                        column: x => x.UserId,
+                        principalTable: "AspNetUsers",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetUserTokens",
+                columns: table => new
+                {
+                    UserId = table.Column<string>(type: "TEXT", nullable: false),
+                    LoginProvider = table.Column<string>(type: "TEXT", nullable: false),
+                    Name = table.Column<string>(type: "TEXT", nullable: false),
+                    Value = table.Column<string>(type: "TEXT", nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetUserTokens", x => new { x.UserId, x.LoginProvider, x.Name });
+                    table.ForeignKey(
+                        name: "FK_AspNetUserTokens_AspNetUsers_UserId",
+                        column: x => x.UserId,
+                        principalTable: "AspNetUsers",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                });
+
+            migrationBuilder.CreateIndex(
+                name: "IX_AspNetRoleClaims_RoleId",
+                table: "AspNetRoleClaims",
+                column: "RoleId");
+
+            migrationBuilder.CreateIndex(
+                name: "RoleNameIndex",
+                table: "AspNetRoles",
+                column: "NormalizedName",
+                unique: true);
+
+            migrationBuilder.CreateIndex(
+                name: "IX_AspNetUserClaims_UserId",
+                table: "AspNetUserClaims",
+                column: "UserId");
+
+            migrationBuilder.CreateIndex(
+                name: "IX_AspNetUserLogins_UserId",
+                table: "AspNetUserLogins",
+                column: "UserId");
+
+            migrationBuilder.CreateIndex(
+                name: "IX_AspNetUserRoles_RoleId",
+                table: "AspNetUserRoles",
+                column: "RoleId");
+
+            migrationBuilder.CreateIndex(
+                name: "EmailIndex",
+                table: "AspNetUsers",
+                column: "NormalizedEmail");
+
+            migrationBuilder.CreateIndex(
+                name: "UserNameIndex",
+                table: "AspNetUsers",
+                column: "NormalizedUserName",
+                unique: true);
+        }
+
+        /// <inheritdoc />
+        protected override void Down(MigrationBuilder migrationBuilder)
+        {
+            migrationBuilder.DropTable(
+                name: "AspNetRoleClaims");
+
+            migrationBuilder.DropTable(
+                name: "AspNetUserClaims");
+
+            migrationBuilder.DropTable(
+                name: "AspNetUserLogins");
+
+            migrationBuilder.DropTable(
+                name: "AspNetUserRoles");
+
+            migrationBuilder.DropTable(
+                name: "AspNetUserTokens");
+
+            migrationBuilder.DropTable(
+                name: "RobotConfig");
+
+            migrationBuilder.DropTable(
+                name: "RobotPlcConfig");
+
+            migrationBuilder.DropTable(
+                name: "RobotSafetyConfig");
+
+            migrationBuilder.DropTable(
+                name: "RobotSimulationConfig");
+
+            migrationBuilder.DropTable(
+                name: "RobotVDA5050Config");
+
+            migrationBuilder.DropTable(
+                name: "AspNetRoles");
+
+            migrationBuilder.DropTable(
+                name: "AspNetUsers");
+        }
+    }
+}

RobotApp/Data/Migrations/ApplicationDbContextModelSnapshot.cs

@@ -7,7 +7,7 @@ using RobotApp.Data;
 
 #nullable disable
 
-namespace RobotApp.Migrations
+namespace RobotApp.Data.Migrations
 {
     [DbContext(typeof(ApplicationDbContext))]
     partial class ApplicationDbContextModelSnapshot : ModelSnapshot
@@ -209,6 +209,320 @@ namespace RobotApp.Migrations
                     b.ToTable("AspNetUsers", (string)null);
                 });
 
+            modelBuilder.Entity("RobotApp.Data.RobotConfig", b =>
+                {
+                    b.Property<Guid>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("uniqueidentifier")
+                        .HasColumnName("Id");
+
+                    b.Property<string>("ConfigName")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("ConfigName");
+
+                    b.Property<DateTime>("CreatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("CreatedAt");
+
+                    b.Property<string>("Description")
+                        .HasMaxLength(500)
+                        .HasColumnType("ntext")
+                        .HasColumnName("Description");
+
+                    b.Property<double>("Height")
+                        .HasColumnType("float")
+                        .HasColumnName("Height");
+
+                    b.Property<bool>("IsActive")
+                        .HasColumnType("bit")
+                        .HasColumnName("IsActive");
+
+                    b.Property<double>("Length")
+                        .HasColumnType("float")
+                        .HasColumnName("Length");
+
+                    b.Property<int>("NavigationType")
+                        .HasColumnType("int")
+                        .HasColumnName("NavigationType");
+
+                    b.Property<double>("RadiusWheel")
+                        .HasColumnType("float")
+                        .HasColumnName("RadiusWheel");
+
+                    b.Property<DateTime>("UpdatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("UpdatedAt");
+
+                    b.Property<double>("Width")
+                        .HasColumnType("float")
+                        .HasColumnName("Width");
+
+                    b.HasKey("Id");
+
+                    b.ToTable("RobotConfig");
+                });
+
+            modelBuilder.Entity("RobotApp.Data.RobotPlcConfig", b =>
+                {
+                    b.Property<Guid>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("uniqueidentifier")
+                        .HasColumnName("Id");
+
+                    b.Property<string>("ConfigName")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("ConfigName");
+
+                    b.Property<DateTime>("CreatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("CreatedAt");
+
+                    b.Property<string>("Description")
+                        .HasMaxLength(500)
+                        .HasColumnType("ntext")
+                        .HasColumnName("Description");
+
+                    b.Property<bool>("IsActive")
+                        .HasColumnType("bit")
+                        .HasColumnName("IsActive");
+
+                    b.Property<string>("PLCAddress")
+                        .HasMaxLength(50)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("PLCAddress");
+
+                    b.Property<int>("PLCPort")
+                        .HasColumnType("int")
+                        .HasColumnName("PLCPort");
+
+                    b.Property<byte>("PLCUnitId")
+                        .HasColumnType("tinyint")
+                        .HasColumnName("PLCUnitId");
+
+                    b.Property<DateTime>("UpdatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("UpdatedAt");
+
+                    b.HasKey("Id");
+
+                    b.ToTable("RobotPlcConfig");
+                });
+
+            modelBuilder.Entity("RobotApp.Data.RobotSafetyConfig", b =>
+                {
+                    b.Property<Guid>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("uniqueidentifier")
+                        .HasColumnName("Id");
+
+                    b.Property<string>("ConfigName")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("ConfigName");
+
+                    b.Property<DateTime>("CreatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("CreatedAt");
+
+                    b.Property<string>("Description")
+                        .HasMaxLength(500)
+                        .HasColumnType("ntext")
+                        .HasColumnName("Description");
+
+                    b.Property<bool>("IsActive")
+                        .HasColumnType("bit")
+                        .HasColumnName("IsActive");
+
+                    b.Property<double>("SafetySpeedFast")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedFast");
+
+                    b.Property<double>("SafetySpeedMedium")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedMedium");
+
+                    b.Property<double>("SafetySpeedNormal")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedNormal");
+
+                    b.Property<double>("SafetySpeedOptimal")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedOptimal");
+
+                    b.Property<double>("SafetySpeedSlow")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedSlow");
+
+                    b.Property<double>("SafetySpeedVeryFast")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedVeryFast");
+
+                    b.Property<double>("SafetySpeedVerySlow")
+                        .HasColumnType("float")
+                        .HasColumnName("SafetySpeedVerySlow");
+
+                    b.Property<DateTime>("UpdatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("UpdatedAt");
+
+                    b.HasKey("Id");
+
+                    b.ToTable("RobotSafetyConfig");
+                });
+
+            modelBuilder.Entity("RobotApp.Data.RobotSimulationConfig", b =>
+                {
+                    b.Property<Guid>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("uniqueidentifier")
+                        .HasColumnName("Id");
+
+                    b.Property<string>("ConfigName")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("ConfigName");
+
+                    b.Property<DateTime>("CreatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("CreatedAt");
+
+                    b.Property<string>("Description")
+                        .HasMaxLength(500)
+                        .HasColumnType("ntext")
+                        .HasColumnName("Description");
+
+                    b.Property<bool>("EnableSimulation")
+                        .HasColumnType("bit")
+                        .HasColumnName("EnableSimulation");
+
+                    b.Property<bool>("IsActive")
+                        .HasColumnType("bit")
+                        .HasColumnName("IsActive");
+
+                    b.Property<double>("SimulationAcceleration")
+                        .HasColumnType("float")
+                        .HasColumnName("SimulationAcceleration");
+
+                    b.Property<double>("SimulationDeceleration")
+                        .HasColumnType("float")
+                        .HasColumnName("SimulationDeceleration");
+
+                    b.Property<double>("SimulationMaxAngularVelocity")
+                        .HasColumnType("float")
+                        .HasColumnName("SimulationMaxAngularVelocity");
+
+                    b.Property<double>("SimulationMaxVelocity")
+                        .HasColumnType("float")
+                        .HasColumnName("SimulationMaxVelocity");
+
+                    b.Property<DateTime>("UpdatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("UpdatedAt");
+
+                    b.HasKey("Id");
+
+                    b.ToTable("RobotSimulationConfig");
+                });
+
+            modelBuilder.Entity("RobotApp.Data.RobotVDA5050Config", b =>
+                {
+                    b.Property<Guid>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("uniqueidentifier")
+                        .HasColumnName("Id");
+
+                    b.Property<string>("ConfigName")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("ConfigName");
+
+                    b.Property<DateTime>("CreatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("CreatedAt");
+
+                    b.Property<string>("Description")
+                        .HasMaxLength(500)
+                        .HasColumnType("ntext")
+                        .HasColumnName("Description");
+
+                    b.Property<bool>("IsActive")
+                        .HasColumnType("bit")
+                        .HasColumnName("IsActive");
+
+                    b.Property<string>("SerialNumber")
+                        .HasMaxLength(50)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("SerialNumber");
+
+                    b.Property<DateTime>("UpdatedAt")
+                        .HasColumnType("datetime2")
+                        .HasColumnName("UpdatedAt");
+
+                    b.Property<string>("VDA5050CA")
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_CA");
+
+                    b.Property<string>("VDA5050Cer")
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_Cer");
+
+                    b.Property<bool>("VDA5050EnablePassword")
+                        .HasColumnType("bit")
+                        .HasColumnName("VDA5050_EnablePassword");
+
+                    b.Property<bool>("VDA5050EnableTls")
+                        .HasColumnType("bit")
+                        .HasColumnName("VDA5050_EnableTls");
+
+                    b.Property<string>("VDA5050HostServer")
+                        .HasMaxLength(100)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_HostServer");
+
+                    b.Property<string>("VDA5050Key")
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_Key");
+
+                    b.Property<string>("VDA5050Manufacturer")
+                        .HasMaxLength(50)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_Manufacturer");
+
+                    b.Property<string>("VDA5050Password")
+                        .HasMaxLength(50)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_Password");
+
+                    b.Property<int>("VDA5050Port")
+                        .HasColumnType("int")
+                        .HasColumnName("VDA5050_Port");
+
+                    b.Property<int>("VDA5050PublishRepeat")
+                        .HasColumnType("int")
+                        .HasColumnName("VDA5050_PublishRepeat");
+
+                    b.Property<string>("VDA5050TopicPrefix")
+                        .HasMaxLength(64)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_TopicPrefix");
+
+                    b.Property<string>("VDA5050UserName")
+                        .HasMaxLength(50)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_UserName");
+
+                    b.Property<string>("VDA5050Version")
+                        .HasMaxLength(20)
+                        .HasColumnType("nvarchar(64)")
+                        .HasColumnName("VDA5050_Version");
+
+                    b.HasKey("Id");
+
+                    b.ToTable("RobotVDA5050Config");
+                });
+
             modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
                 {
                     b.HasOne("RobotApp.Data.ApplicationRole", null)

RobotApp/Data/RobotConfig.cs

@@ -0,0 +1,49 @@
+using RobotApp.Common.Shares.Enums;
+using System.ComponentModel.DataAnnotations;
+using System.ComponentModel.DataAnnotations.Schema;
+
+namespace RobotApp.Data;
+
+#nullable disable
+
+[Table("RobotConfig")]
+public class RobotConfig
+{
+    [Column("Id", TypeName = "uniqueidentifier")]
+    [DatabaseGenerated(DatabaseGeneratedOption.Identity)]
+    [Key]
+    [Required]
+    public Guid Id { get; set; }
+
+    [Column("NavigationType", TypeName = "int")]
+    public NavigationType NavigationType { get; set; }
+
+    [Column("RadiusWheel", TypeName = "float")]
+    public double RadiusWheel { get; set; }
+
+    [Column("Width", TypeName = "float")]
+    public double Width { get; set; }
+
+    [Column("Length", TypeName = "float")]
+    public double Length { get; set; }
+
+    [Column("Height", TypeName = "float")]
+    public double Height { get; set; }
+
+    [Column("CreatedAt", TypeName = "datetime2")]
+    public DateTime CreatedAt { get; set; } 
+
+    [Column("UpdatedAt", TypeName = "datetime2")]
+    public DateTime UpdatedAt { get; set; } 
+
+    [Column("IsActive", TypeName = "bit")]
+    public bool IsActive { get; set; } 
+
+    [Column("ConfigName", TypeName = "nvarchar(64)")]
+    [MaxLength(100)]
+    public string ConfigName { get; set; } 
+
+    [Column("Description", TypeName = "ntext")]
+    [MaxLength(500)]
+    public string Description { get; set; }
+}

RobotApp/Data/RobotPlcConfig.cs

@@ -0,0 +1,43 @@
+using System.ComponentModel.DataAnnotations;
+using System.ComponentModel.DataAnnotations.Schema;
+
+namespace RobotApp.Data;
+
+#nullable disable
+
+[Table("RobotPlcConfig")]
+public class RobotPlcConfig
+{
+    [Column("Id", TypeName = "uniqueidentifier")]
+    [DatabaseGenerated(DatabaseGeneratedOption.Identity)]
+    [Key]
+    [Required]
+    public Guid Id { get; set; }
+
+    [Column("PLCAddress", TypeName = "nvarchar(64)")]
+    [MaxLength(50)]
+    public string PLCAddress { get; set; }
+
+    [Column("PLCPort", TypeName = "int")]
+    public int PLCPort { get; set; }
+
+    [Column("PLCUnitId", TypeName = "tinyint")]
+    public byte PLCUnitId { get; set; }
+
+    [Column("CreatedAt", TypeName = "datetime2")]
+    public DateTime CreatedAt { get; set; }
+
+    [Column("UpdatedAt", TypeName = "datetime2")]
+    public DateTime UpdatedAt { get; set; }
+
+    [Column("IsActive", TypeName = "bit")]
+    public bool IsActive { get; set; }
+
+    [Column("ConfigName", TypeName = "nvarchar(64)")]
+    [MaxLength(100)]
+    public string ConfigName { get; set; }
+
+    [Column("Description", TypeName = "ntext")]
+    [MaxLength(500)]
+    public string Description { get; set; }
+}

RobotApp/Data/RobotSafetyConfig.cs

@@ -0,0 +1,54 @@
+using System.ComponentModel.DataAnnotations;
+using System.ComponentModel.DataAnnotations.Schema;
+
+namespace RobotApp.Data;
+
+#nullable disable
+
+[Table("RobotSafetyConfig")]
+public class RobotSafetyConfig
+{
+    [Column("Id", TypeName = "uniqueidentifier")]
+    [DatabaseGenerated(DatabaseGeneratedOption.Identity)]
+    [Key]
+    [Required]
+    public Guid Id { get; set; }
+
+    [Column("SafetySpeedVerySlow", TypeName = "float")]
+    public double SafetySpeedVerySlow { get; set; }
+
+    [Column("SafetySpeedSlow", TypeName = "float")]
+    public double SafetySpeedSlow { get; set; }
+
+    [Column("SafetySpeedNormal", TypeName = "float")]
+    public double SafetySpeedNormal { get; set; }
+
+    [Column("SafetySpeedMedium", TypeName = "float")]
+    public double SafetySpeedMedium { get; set; }
+
+    [Column("SafetySpeedOptimal", TypeName = "float")]
+    public double SafetySpeedOptimal { get; set; }
+
+    [Column("SafetySpeedFast", TypeName = "float")]
+    public double SafetySpeedFast { get; set; }
+
+    [Column("SafetySpeedVeryFast", TypeName = "float")]
+    public double SafetySpeedVeryFast { get; set; }
+
+    [Column("CreatedAt", TypeName = "datetime2")]
+    public DateTime CreatedAt { get; set; }
+
+    [Column("UpdatedAt", TypeName = "datetime2")]
+    public DateTime UpdatedAt { get; set; }
+
+    [Column("IsActive", TypeName = "bit")]
+    public bool IsActive { get; set; }
+
+    [Column("ConfigName", TypeName = "nvarchar(64)")]
+    [MaxLength(100)]
+    public string ConfigName { get; set; }
+
+    [Column("Description", TypeName = "ntext")]
+    [MaxLength(500)]
+    public string Description { get; set; }
+}

RobotApp/Data/RobotSimulationConfig.cs

@@ -0,0 +1,48 @@
+using System.ComponentModel.DataAnnotations;
+using System.ComponentModel.DataAnnotations.Schema;
+
+namespace RobotApp.Data;
+
+#nullable disable
+
+[Table("RobotSimulationConfig")]
+public class RobotSimulationConfig
+{
+    [Column("Id", TypeName = "uniqueidentifier")]
+    [DatabaseGenerated(DatabaseGeneratedOption.Identity)]
+    [Key]
+    [Required]
+    public Guid Id { get; set; }
+
+    [Column("EnableSimulation", TypeName = "bit")]
+    public bool EnableSimulation { get; set; }
+
+    [Column("SimulationMaxVelocity", TypeName = "float")]
+    public double SimulationMaxVelocity { get; set; }
+
+    [Column("SimulationMaxAngularVelocity", TypeName = "float")]
+    public double SimulationMaxAngularVelocity { get; set; }
+
+    [Column("SimulationAcceleration", TypeName = "float")]
+    public double SimulationAcceleration { get; set; }
+
+    [Column("SimulationDeceleration", TypeName = "float")]
+    public double SimulationDeceleration { get; set; }
+
+    [Column("CreatedAt", TypeName = "datetime2")]
+    public DateTime CreatedAt { get; set; }
+
+    [Column("UpdatedAt", TypeName = "datetime2")]
+    public DateTime UpdatedAt { get; set; }
+
+    [Column("IsActive", TypeName = "bit")]
+    public bool IsActive { get; set; }
+
+    [Column("ConfigName", TypeName = "nvarchar(64)")]
+    [MaxLength(100)]
+    public string ConfigName { get; set; }
+
+    [Column("Description", TypeName = "ntext")]
+    [MaxLength(500)]
+    public string Description { get; set; }
+}

RobotApp/Data/RobotVDA5050Config.cs

@@ -0,0 +1,83 @@
+using RobotApp.Common.Shares.Enums;
+using System.ComponentModel.DataAnnotations;
+using System.ComponentModel.DataAnnotations.Schema;
+
+namespace RobotApp.Data;
+
+#nullable disable
+
+[Table("RobotVDA5050Config")]
+public class RobotVDA5050Config
+{
+    [Column("Id", TypeName = "uniqueidentifier")]
+    [DatabaseGenerated(DatabaseGeneratedOption.Identity)]
+    [Key]
+    [Required]
+    public Guid Id { get; set; }
+
+    [Column("SerialNumber", TypeName = "nvarchar(64)")]
+    [MaxLength(50)]
+    public string SerialNumber { get; set; }
+
+    [Column("VDA5050_HostServer", TypeName = "nvarchar(64)")]
+    [MaxLength(100)]
+    public string VDA5050HostServer { get; set; }
+
+    [Column("VDA5050_Port", TypeName = "int")]
+    public int VDA5050Port { get; set; }
+
+    [Column("VDA5050_UserName", TypeName = "nvarchar(64)")]
+    [MaxLength(50)]
+    public string VDA5050UserName { get; set; }
+
+    [Column("VDA5050_Password", TypeName = "nvarchar(64)")]
+    [MaxLength(50)]
+    public string VDA5050Password { get; set; }
+
+    [Column("VDA5050_Manufacturer", TypeName = "nvarchar(64)")]
+    [MaxLength(50)]
+    public string VDA5050Manufacturer { get; set; }
+
+    [Column("VDA5050_Version", TypeName = "nvarchar(64)")]
+    [MaxLength(20)]
+    public string VDA5050Version { get; set; }
+
+    [Column("VDA5050_TopicPrefix", TypeName = "nvarchar(64)")]
+    [MaxLength(64)]
+    public string VDA5050TopicPrefix { get; set; }
+
+    [Column("VDA5050_PublishRepeat", TypeName = "int")]
+    public int VDA5050PublishRepeat { get; set; }
+
+    [Column("VDA5050_EnablePassword", TypeName = "bit")]
+    public bool VDA5050EnablePassword { get; set; }
+
+    [Column("VDA5050_EnableTls", TypeName = "bit")]
+    public bool VDA5050EnableTls { get; set; }
+
+    [Column("VDA5050_CA", TypeName = "nvarchar(64)")]
+    public string VDA5050CA { get; set; }
+
+    [Column("VDA5050_Cer", TypeName = "nvarchar(64)")]
+    public string VDA5050Cer { get; set; }
+
+    [Column("VDA5050_Key", TypeName = "nvarchar(64)")]
+    public string VDA5050Key { get; set; }
+
+    [Column("CreatedAt", TypeName = "datetime2")]
+    public DateTime CreatedAt { get; set; }
+
+    [Column("UpdatedAt", TypeName = "datetime2")]
+    public DateTime UpdatedAt { get; set; }
+
+    [Column("IsActive", TypeName = "bit")]
+    public bool IsActive { get; set; }
+
+    [Column("ConfigName", TypeName = "nvarchar(64)")]
+    [MaxLength(100)]
+    public string ConfigName { get; set; }
+
+    [Column("Description", TypeName = "ntext")]
+    [MaxLength(500)]
+    public string Description { get; set; }
+}

RobotApp/Hubs/RobotHub.cs

@@ -0,0 +1,28 @@
+using Microsoft.AspNetCore.SignalR;
+using RobotApp.Common.Shares;
+using RobotApp.VDA5050.State;
+using System.Text.Json;
+
+namespace RobotApp.Hubs
+{
+    public class RobotHub : Hub
+    {
+        // Client gọi để theo dõi robot cụ thể
+        public async Task JoinRobot(string serialNumber)
+        {
+            await Groups.AddToGroupAsync(Context.ConnectionId, serialNumber);
+        }
+
+        public async Task LeaveRobot(string serialNumber)
+        {
+            await Groups.RemoveFromGroupAsync(Context.ConnectionId, serialNumber);
+        }
+
+        // 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);
+            await Clients.Group(serialNumber).SendAsync("ReceiveState", json);
+        }
+    }
+}

RobotApp/Hubs/RobotMonitorHub.cs

@@ -0,0 +1,14 @@
+using Microsoft.AspNetCore.SignalR;
+
+namespace RobotApp.Hubs;
+
+public class RobotMonitorHub : Hub
+{
+    public async Task SendRobotMonitorData(RobotApp.Common.Shares.Dtos.RobotMonitorDto data)
+    {
+        await Clients.All.SendAsync("ReceiveRobotMonitorData", data);
+    }
+}
+
+
+

RobotApp/Interfaces/IBattery.cs

@@ -1,5 +1,31 @@
 namespace RobotApp.Interfaces;
 
+public enum BatteryStatus
+{
+    Unknown,
+    Charging,
+    Discharging,
+    Full,
+    NotCharging,
+    Fault,
+    Standby
+}
+
 public interface IBattery
 {
+    bool IsReady { get; }
+    double Voltage { get; }
+    double Current { get; }
+    double SOC { get; }
+    double SOH { get; }
+    BatteryStatus Status { get; }
+    int ChargeTime { get; }
+    int DischargeTime { get; }
+    double Temperature { get; }
+    double RemainingCapacity { get; }
+    double RemainingEnergy { get; }
+    int DischargeCycles { get; }
+    int ChargeCycles { get; }
+    bool IsCharging { get; }
+    string[] ErrorStatus { get; }
 }

RobotApp/Interfaces/IDriver.cs

@@ -11,14 +11,14 @@ public interface IDriver
     bool IsReady { get; }
 
     /// <summary>
-    /// Tốc độ động cơ bên trái
+    /// Tốc độ di chuyển thẳng của robot (m/s)
     /// </summary>
-    double LeftVelocity { get; }
+    double LinearVelocity { get; }
 
     /// <summary>
-    /// Tốc độ động cơ bên phải
+    /// Tốc độ quay của robot (rad/s)
     /// </summary>
-    double RightVelocity { get; }
+    double AngularVelocity { get; }
 
     /// <summary>
     /// Điều khiển tốc độ động cơ trái và phải

RobotApp/Interfaces/IError.cs

@@ -4,6 +4,11 @@ namespace RobotApp.Interfaces;
 
 public interface IError
 {
+    Error[] ErrorsState { get; }
+    event Action? OnNewFatalError;
     bool HasFatalError { get; }
     void AddError(Error error, TimeSpan? clearAfter = null);
+    void DeleteErrorType(string errorType);
+    void DeleteErrorHint(string hint);
+    void ClearAllErrors();
 }

RobotApp/Interfaces/IInfomation.cs

@@ -1,5 +1,11 @@
-namespace RobotApp.Interfaces;
+using RobotApp.VDA5050.State;
+
+namespace RobotApp.Interfaces;
 
 public interface IInfomation
 {
+    Information[] InformationState { get; }
+    void AddInfo(Information infor);
+    void DeleteInfoType(string infoType);
+    void ClearAllInfos();
 }

RobotApp/Interfaces/IInstanceActions.cs

@@ -1,14 +0,0 @@
-using RobotApp.VDA5050.State;
-using Action = RobotApp.VDA5050.InstantAction.Action;
-
-namespace RobotApp.Interfaces;
-
-public interface IInstanceActions
-{
-    ActionState[] ActionStates { get; }
-    bool HasActionRunning { get; }
-    bool AddOrderActions(Action[] actions);
-    bool StartAction(string actionId);
-    bool AddInstanceAction(Action action);
-    bool StopAction();
-}

RobotApp/Interfaces/IInstantActions.cs

@@ -0,0 +1,19 @@
+using RobotApp.Services.Robot.Actions;
+using RobotApp.VDA5050.State;
+using Action = RobotApp.VDA5050.InstantAction.Action;
+
+namespace RobotApp.Interfaces;
+
+public interface IInstantActions
+{
+    ActionState[] ActionStates { get; }
+    bool HasActionRunning { get; }
+    RobotAction? this[string actionId] { get; }
+    void AddOrderActions(Action[] actions);
+    void AddInstantAction(Action[] action);
+    void StartOrderAction(string actionId, bool wait = false);
+    void StopOrderAction(string actionId = "");
+    void ClearInstantActions();
+    void PauseActions();
+    void ResumeActions();   
+}

RobotApp/Interfaces/ILoad.cs

@@ -0,0 +1,11 @@
+using RobotApp.VDA5050.State;
+
+namespace RobotApp.Interfaces;
+
+public interface ILoad
+{
+    Load[] Load { get; }
+
+    void AddLoad();
+    void ClearLoad();
+}

RobotApp/Interfaces/ILocalization.cs

@@ -1,7 +1,14 @@
-namespace RobotApp.Interfaces;
+using RobotApp.Common.Shares;
+
+namespace RobotApp.Interfaces;
 
 public interface ILocalization
 {
+    /// <summary>
+    /// Trạng thái sẵn sàng của hệ thống định vị.
+    /// </summary>
+    bool IsReady { get; }
+
     /// <summary>
     /// Vị trí hiện tại của robot trong hệ tọa độ toàn cục theo trục X (đơn vị: mét).
     /// </summary>
@@ -13,10 +20,36 @@ public interface ILocalization
     double Y { get; }
 
     /// <summary>
-    /// Hướng hiện tại của robot trong hệ tọa độ toàn cục (đơn vị: độ).
+    /// Hướng hiện tại của robot trong hệ tọa độ toàn cục (đơn vị: radian).
     /// </summary>
     double Theta { get; }
 
+    /// <summary>
+    /// Trang thái SLAM hiện tại của robot.
+    /// </summary>
+    string SlamState { get; }
+
+    /// <summary>
+    /// Thông tin chi tiết về trạng thái SLAM hiện tại của robot.
+    /// </summary>
+    string SlamStateDetail { get; }
+
+    /// <summary>
+    /// Bản đồ đang được sử dụng để định vị hiện tại.
+    /// </summary>
+    string CurrentActiveMap { get; }
+
+
+    /// <summary>
+    /// Độ tin cậy của vị trí định vị hiện tại (0.0 - 100.0).
+    /// </summary>
+    double Reliability { get; }
+
+    /// <summary>
+    /// Độ phù hợp của vị trí định vị hiện tại so với bản đồ (0.0 - 100.0).
+    /// </summary>
+    double MatchingScore { get; }   
+
     /// <summary>
     /// Khởi tạo vị trí của robot trong hệ tọa độ toàn cục.
     /// </summary>
@@ -24,5 +57,83 @@ public interface ILocalization
     /// <param name="y">đơn vị: mét</param>
     /// <param name="theta">đơn vị: độ</param>
     /// <returns></returns>
-    bool InitializePosition(double x, double y, double theta);
+    MessageResult SetInitializePosition(double x, double y, double theta);
+
+    /// <summary>
+    /// Bắt đầu quá trình lập bản đồ.
+    /// </summary>
+    /// <param name="resolution">đơn vị mét/px</param>
+    /// <returns></returns>
+    MessageResult StartMapping();
+
+    /// <summary>
+    /// Dừng quá trình lập bản đồ hiện tại và lưu bản đồ với tên chỉ định.
+    /// </summary>
+    /// <param name="mapName"></param>
+    /// <returns></returns>
+    MessageResult StopMapping(string mapName);
+
+    /// <summary>
+    /// Bắt đầu quá trình định vị sử dụng bản đồ đã lưu.
+    /// </summary>
+    /// <returns></returns>
+    MessageResult StartLocalization();
+
+    /// <summary>
+    /// Dừng quá trình định vị hiện tại.
+    /// </summary>
+    /// <returns></returns>
+    MessageResult StopLocalization();
+
+    /// <summary>
+    /// Kích hoạt bản đồ đã lưu để sử dụng trong quá trình định vị.
+    /// </summary>
+    /// <param name="mapName"></param>
+    /// <returns></returns>
+    MessageResult ActivateMap(string mapName);
+
+    /// <summary>
+    /// Chuyển sang bản đồ đã lưu và khởi tạo vị trí của robot trên bản đồ đó.
+    /// </summary>
+    /// <param name="mapName"></param>
+    /// <param name="x"></param>
+    /// <param name="y"></param>
+    /// <param name="theta"></param>
+    /// <returns></returns>
+    MessageResult SwitchMap(string mapName, bool useInitialPose, double x, double y, double theta);
+
+    /// <summary>
+    /// Thay đổi gốc tọa độ của bản đồ hiện tại.
+    /// </summary>
+    /// <param name="x"></param>
+    /// <param name="y"></param>
+    /// <param name="theta"></param>
+    /// <returns></returns>
+    MessageResult ChangeMapOrigin(double x, double y, double theta);
+
+    /// <summary>
+    /// Bắt đầu quá trình cập nhật bản đồ.
+    /// </summary>
+    /// <returns></returns>
+    MessageResult StartUpdateMap();
+
+    /// <summary>
+    /// Kết thúc quá trình cập nhật bản đồ.
+    /// </summary>
+    /// <returns></returns>
+    MessageResult StopUpdateMap(bool save);
+
+    /// <summary>
+    /// Xóa bỏ các lỗi Slam
+    /// </summary>
+    /// <returns></returns>
+    MessageResult ResetSlamError();
+
+    /// <summary>
+    /// Khoảng cách từ vị trí hiện tại đến tọa độ (x, y) trong hệ tọa độ toàn cục.
+    /// </summary>
+    /// <param name="x"></param>
+    /// <param name="y"></param>
+    /// <returns></returns>
+    double DistanceTo(double x, double y);  
 }

RobotApp/Interfaces/INavigation.cs

@@ -5,11 +5,12 @@ namespace RobotApp.Interfaces;
 public enum NavigationState
 {
     None,
-    Initializing,
-    Initialized,
     Idle,
+    Initializing,
+    Waiting,
     Moving,
     Rotating,
+    Canceled,
     Paused,
     Error
 }
@@ -25,13 +26,21 @@ public enum NavigationProccess
 
 public interface INavigation
 {
+    event Action? OnNavigationFinished;  
+    bool IsReady { get; }
     bool Driving { get; }
+    double VelocityX { get; }
+    double VelocityY { get; }
+    double Omega { get; }
     NavigationState State { get; }
     void Move(Node[] nodes, Edge[] edges);
     void MoveStraight(double x, double y);
     void Rotate(double angle);
-    void Paused();
+    void Pause();
     void Resume();
-    void UpdateOrder(int lastBaseSequence);
+    void UpdateOrder(string lastBaseNodeId);
+    void RefreshOrder(Node[] nodes, Edge[] edges);
+    void Refresh();
     void CancelMovement();
+    void SetSpeed(double speed);
 }

RobotApp/Interfaces/IOrder.cs

@@ -1,4 +1,5 @@
-using RobotApp.VDA5050.Order;
+using RobotApp.Common.Shares.Dtos;
+using RobotApp.VDA5050.Order;
 using RobotApp.VDA5050.State;
 
 namespace RobotApp.Interfaces;
@@ -12,8 +13,10 @@ public interface IOrder
 
     NodeState[] NodeStates { get; }
     EdgeState[] EdgeStates { get; }
+    (NodeState[], EdgeStateDto[]) CurrentPath { get; }
 
-    void StartOrder(string orderId, Node[] nodes, Edge[] edges);
+    void UpdateOrder(OrderMsg order);
-    void UpdateOrder(int orderUpdateId, Node[] nodes, Edge[] edges);
     void StopOrder();
+    void PauseOrder();
+    void ResumeOrder();
 }

RobotApp/Interfaces/IPeripheral.cs

@@ -1,14 +1,75 @@
-namespace RobotApp.Interfaces;
+using RobotApp.Common.Shares.Enums;
 
-public enum OperatingMode
+namespace RobotApp.Interfaces;
+
+public enum PeripheralMode
 {
     AUTOMATIC,
     MANUAL,
-    SEMIAUTOMATIC,
-    TEACHIN,
     SERVICE,
 }
+
+public enum PeripheralButton
+{
+    Start,
+    Reset,
+    Stop,
+}
+
+public enum SystemState
+{
+    INIT,
+    NOPOSE,
+    PAUSED,
+    IDLE,
+    PROCCESSING,
+    CHARGING,
+    OVERRIDE,
+    ERROR,
+    NONE,
+}
+
+public enum ProccessingState
+{
+    Move,
+    Lifting,
+    LiftRotating,
+    None,
+}
+
 public interface IPeripheral
 {
-    OperatingMode OperatingMode { get; }
+    event Action<PeripheralMode>? OnPeripheralModeChanged;
+    event Action<PeripheralButton>? OnButtonPressed;
+    event Action<StopStateType>? OnStop;
+
+    bool IsReady { get; }
+    PeripheralMode PeripheralMode { get; }
+
+    bool Emergency { get; }
+    bool Bumper { get; }
+    bool LidarFrontProtectField { get; }
+    bool LidarBackProtectField { get; }
+    bool LidarFrontTimProtectField { get; }
+
+    bool LiftedUp { get; }
+    bool LiftedDown { get; }
+    bool LiftHome { get; }
+
+    bool LeftMotorReady { get; }
+    bool RightMotorReady { get; }
+    bool LiftMotorReady { get; }
+
+    bool ButtonStart { get; }
+    bool ButtonStop { get; }
+    bool ButtonReset { get; }
+
+    bool HasLoad { get; }
+    bool MutedBase { get; }
+    bool MutedLoad { get; }
+    bool EnabledCharging { get; }
+
+    void SetSytemState(SystemState state);
+    void SetProccessState(ProccessingState state);
+    void SetOnCharging(bool value);
 }

RobotApp/Interfaces/IRFHandler.cs

@@ -1,6 +1,29 @@
-namespace RobotApp.Interfaces
+namespace RobotApp.Interfaces;
+
+public enum RFHandlerMode
 {
-    public class IRFHandler
+    Default,    
+    Maintenance,
+    Override,
+    Unknown
+}
+
+public interface IRFHandler
 {
-    }
+    bool IsConnected { get; }
+    bool IsEnabled { get; }
+    bool IsLocked { get; }
+    bool EStop { get; }
+    bool LiftUp { get; }
+    bool LiftDown { get; }
+    int Speed { get; }
+    bool Forward { get; }   
+    bool Backward { get; }
+    bool RotateLeft { get; }
+    bool RotateRight { get; }
+    bool Left { get; }
+    bool Right { get; }
+    RFHandlerMode Mode { get; }
+    event Action<RFHandlerMode> OnStateChanged;
+    event Action<bool>? OnConnectionChanged;
 }

RobotApp/Interfaces/ISafety.cs

@@ -1,5 +1,21 @@
 namespace RobotApp.Interfaces;
 
+public enum SafetySpeed
+{
+    Very_Slow,
+    Slow,
+    Normal,
+    Medium,
+    Optimal,
+    Fast,
+    Very_Fast
+}
+
 public interface ISafety
 {
+    event Action<SafetySpeed>? OnSafetySpeedChanged;
+    SafetySpeed SafetySpeed { get; }
+    void SetMutedLoad(bool muted);
+    void SetMutedBase(bool muted);
+    void SetHorizontalLoad(bool value);
 }

RobotApp/Interfaces/ISensorIMU.cs

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