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

@@ -69,7 +69,7 @@
     }
 
     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-monitor", Path="/robot-monitor", Label = "Robot Monitor", Match = NavLinkMatch.All},
         new(){Icon = "mdi-state-machine", Path="/robot-order", Label = "order", Match = NavLinkMatch.All},

RobotApp.Client/Pages/Dashboard.razor

@@ -5,12 +5,11 @@
 @using MudBlazor
 
 @implements IDisposable
-@attribute [Authorize]
 
 @inject RobotStateClient RobotStateClient
 @rendermode InteractiveWebAssemblyNoPrerender
 
-<MudContainer MaxWidth="MaxWidth.False" Class="pa-4">
+<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>

RobotApp.Client/Pages/Logs.razor

@@ -1,6 +1,5 @@
 @page "/logs"
 @rendermode InteractiveWebAssemblyNoPrerender
-@attribute [Authorize]
 
 @using Microsoft.AspNetCore.Components.WebAssembly.Authentication
 @using RobotApp.Client.Models

RobotApp.Client/Pages/MapsManager.razor

@@ -2,8 +2,6 @@
 
 @rendermode InteractiveWebAssemblyNoPrerender
 
-@attribute [Authorize]
-
 <PageTitle>Map Manager</PageTitle>
 
 <div class="d-flex w-100 h-100 p-2  overflow-hidden flex-row">

RobotApp.Client/Pages/Order/EdgesPanel.razor

@@ -89,7 +89,7 @@
                                 </MudSelect>
                             </MudItem>
 
-                            <!-- Radius -->
+                          @*   <!-- Radius -->
                             <MudItem xs="6">
                                 <MudNumericField T="double"
                                                  Value="@edge.Radius"
@@ -127,7 +127,7 @@
                                         Apply Curve (generate node)
                                     </MudButton>
                                 </MudItem>
-                            }
+                            } *@
 
                         </MudGrid>
                     </ChildContent>

RobotApp.Client/Pages/Order/EditNodeDialog.razor

@@ -10,12 +10,6 @@
             <MudItem xs="12">
                 <MudTextField @bind-Value="Node.NodeId" Label="Node ID" Required="true" />
             </MudItem>
-            <MudItem xs="12">
-                <MudNumericField T="int" @bind-Value="Node.SequenceId" Label="Sequence ID" Required="true" />
-            </MudItem>
-            <MudItem xs="12">
-                <MudSwitch T="bool" @bind-Checked="Node.Released" Label="Released" />
-            </MudItem>
             <MudItem xs="6">
                 <MudNumericField T="double" @bind-Value="Node.NodePosition.X" Label="X" />
             </MudItem>

RobotApp.Client/Pages/Order/JsonOutputPanel.razor

@@ -14,6 +14,16 @@
                 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"
@@ -37,8 +47,10 @@
 
     <div class="flex-grow-1">
         <MudTextField Value="@OrderJson"
-                      ReadOnly
+                      T="string"
+                      ValueChanged="OrderJsonChange"
                       Variant="Variant.Filled"
+                      Immediate=true
                       Lines="50"
                       Style="font-family: 'Roboto Mono', Consolas, monospace;
                              font-size: 0.85rem;
@@ -51,10 +63,15 @@
     [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
@@ -79,4 +96,36 @@
             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/OrderMess.razor

@@ -1,6 +1,5 @@
 @page "/robot-order"
 
-@attribute [Authorize]
 @rendermode InteractiveWebAssemblyNoPrerender
 
 @using System.Text.Json
@@ -46,13 +45,14 @@
 
                 <!-- ================= RIGHT ================= -->
                 <MudItem xs="12" md="5" Class="h-100">
-                    <JsonOutputPanel OrderJson="@OrderJson"
+                    <JsonOutputPanel @bind-OrderJson="@OrderJson"
                                      Copied="@copied"
                                      SendSuccess="@sendSuccess"
+                                     CancelSuccess="@cancelSuccess"
                                      OnCopy="CopyJsonToClipboard"
                                      OnSend="SendOrderToServer"
-                                     OnImport="OpenImportDialog" />
-
+                                     OnImport="OpenImportDialog"
+                                     OnCancel="CancelOrder" />
                 </MudItem>
 
             </MudGrid>
@@ -66,7 +66,7 @@
     private string OrderJson = "";          // 🔥 CACHE JSON (QUAN TRỌNG)
     private bool copied;
     private bool? sendSuccess;
-    private bool sending;
+    private bool? cancelSuccess;
     private CancellationTokenSource? _copyCts;
 
     // ================= INIT =================
@@ -227,7 +227,7 @@
             sendSuccess = response.IsSuccessStatusCode;
 
         }
-        catch (Exception ex)
+        catch
         {
             sendSuccess = false;
         }
@@ -246,6 +246,33 @@
         });
     }
 
+    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()

RobotApp.Client/Pages/RobotConfigManager.razor

@@ -1,6 +1,5 @@
 @page "/robot-config"
 @rendermode InteractiveWebAssemblyNoPrerender
-@attribute [Authorize]
 
 @inject HttpClient Http
 @inject ISnackbar Snackbar

RobotApp.Client/Pages/RobotMonitor.razor

@@ -1,6 +1,5 @@
 @page "/robot-monitor"
 @rendermode InteractiveWebAssemblyNoPrerender
-@attribute [Authorize]
 @inject RobotApp.Client.Services.RobotMonitorService MonitorService
 @implements IAsyncDisposable
 
@@ -40,3 +39,5 @@
 }
 
 
+
+

RobotApp.Client/Services/UiEdge.cs

@@ -131,7 +131,7 @@ public class OrderMessage
     public string Version { get; set; } = "v1";
     public string Manufacturer { get; set; } = "PNKX";
     public string SerialNumber { get; set; } = "T800-002";
-    public string OrderId { get; set; } = Guid.NewGuid().ToString();
+    public string OrderId { get; set; } 
     public int OrderUpdateId { get; set; }
     public string? ZoneSetId { get; set; }
 
@@ -419,7 +419,7 @@ public class OrderMessage
             manufacturer = Manufacturer,
             serialNumber = SerialNumber,
 
-            orderId = OrderId,
+            orderId = OrderId= Guid.NewGuid().ToString(),
             orderUpdateId = OrderUpdateId,
 
             zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)

RobotApp.Client/wwwroot/js/robotMonitor.js

@@ -59,3 +59,4 @@ window.robotMonitor = {
 };
 
 
+

RobotApp/Components/Pages/Home.razor

@@ -3,8 +3,6 @@
 
 @rendermode InteractiveServer
 
-@attribute [Authorize]
-
 @inject NavigationManager Nav
 
 @code

RobotApp/Controllers/FileController.cs

@@ -6,7 +6,8 @@ namespace RobotApp.Controllers;
 
 [Route("api/[controller]")]
 [ApiController]
-[Authorize]
+//[Authorize]
+[AllowAnonymous]
 public class FileController(Services.Logger<FileController> Logger) : ControllerBase
 {
     private readonly string certificatesPath = "MqttCertificates";

RobotApp/Controllers/ImagesController.cs

@@ -5,6 +5,7 @@ namespace RobotApp.Controllers;
 
 [Route("api/[controller]")]
 [ApiController]
+//[Authorize]
 [AllowAnonymous]
 public class ImagesController(Services.Logger<ImagesController> Logger) : ControllerBase
 {

RobotApp/Controllers/LogsManagerController.cs

@@ -5,7 +5,8 @@ namespace RobotApp.Controllers;
 
 [Route("api/[controller]")]
 [ApiController]
-[Authorize]
+//[Authorize]
+[AllowAnonymous]
 public class LogsManagerController(Services.Logger<LogsManagerController> Logger) : ControllerBase
 {
     private readonly string LoggerDirectory = "logs";

RobotApp/Controllers/OrderController.cs

@@ -1,5 +1,6 @@
-using Microsoft.AspNetCore.Mvc;
-using RobotApp.Services.Robot;
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+using RobotApp.Interfaces;
 using RobotApp.VDA5050.Order;
 using System.Text.Json;
 
@@ -7,30 +8,31 @@ namespace RobotApp.Controllers;
 
 [ApiController]
 [Route("api/order")]
-public class OrderController : ControllerBase
+//[Authorize]
+[AllowAnonymous]
+public class OrderController(IOrder robotOrderController, IInstantActions instantActions) : ControllerBase
 {
-    private readonly RobotOrderController robotOrderController;
-
-    public OrderController(RobotOrderController robotOrderController)
-    {
-        this.robotOrderController = robotOrderController;
-    }
-
     [HttpPost]
     public IActionResult SendOrder([FromBody] OrderMsg order)
     {
-        Console.WriteLine("===== ORDER RECEIVED =====");
-        Console.WriteLine(JsonSerializer.Serialize(order, new JsonSerializerOptions
-        {
-            WriteIndented = true
-        }));
-
         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

@@ -10,7 +10,8 @@ namespace RobotApp.Controllers;
 
 [Route("api/[controller]")]
 [ApiController]
-[Authorize]
+//[Authorize]
+[AllowAnonymous]
 public class RobotConfigsController(Services.Logger<RobotConfigsController> Logger, ApplicationDbContext AppDb, RobotConfiguration RobotConfiguration) : ControllerBase
 {
     [HttpGet]

RobotApp/Data/ApplicationDbExtensions.cs

@@ -125,7 +125,7 @@ public static class ApplicationDbExtensions
             {
                 ConfigName = "Default",
                 Description = "Default robot simulation configuration",
-                EnableSimulation = false,
+                EnableSimulation = true,
                 SimulationMaxVelocity = 1.5,
                 SimulationMaxAngularVelocity = 0.5,
                 SimulationAcceleration = 2,
@@ -155,6 +155,7 @@ public static class ApplicationDbExtensions
                 VDA5050EnableTls = false,
                 VDA5050UserName = "robotics",
                 VDA5050Password = "robotics",
+                VDA5050TopicPrefix = "uagv/v2",
                 IsActive = true,
                 CreatedAt = DateTime.Now,
                 UpdatedAt = DateTime.Now,

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

@@ -11,7 +11,7 @@ using RobotApp.Data;
 namespace RobotApp.Data.Migrations
 {
     [DbContext(typeof(ApplicationDbContext))]
-    [Migration("20251222025151_InitApplicationDb")]
+    [Migration("20251222091852_InitApplicationDb")]
     partial class InitApplicationDb
     {
         /// <inheritdoc />

RobotApp/Hubs/RobotMonitorHub.cs

@@ -11,3 +11,4 @@ public class RobotMonitorHub : Hub
 }
 
 
+

RobotApp/Properties/launchSettings.json

@@ -6,22 +6,22 @@
         "dotnetRunMessages": true,
         "launchBrowser": true,
         "workingDirectory": "$(TargetDir)",
-        "inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}",
+        //"inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}",
         "applicationUrl": "http://localhost:5229",
         "environmentVariables": {
           "ASPNETCORE_ENVIRONMENT": "Development"
         }
-      },
-      "https": {
-        "commandName": "Project",
-        "dotnetRunMessages": true,
-        "launchBrowser": true,
-        "workingDirectory": "$(TargetDir)",
-        //"inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}",
-        "applicationUrl": "https://0.0.0.0:7150;http://localhost:5229",
-        "environmentVariables": {
-          "ASPNETCORE_ENVIRONMENT": "Development"
-        }
       }
+      //"https": {
+      //  "commandName": "Project",
+      //  "dotnetRunMessages": true,
+      //  "launchBrowser": true,
+      //  "workingDirectory": "$(TargetDir)",
+      //  //"inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}",
+      //  "applicationUrl": "https://0.0.0.0:7150;http://localhost:5229",
+      //  "environmentVariables": {
+      //    "ASPNETCORE_ENVIRONMENT": "Development"
+      //  }
+      //}
     }
   }

RobotApp/Services/MQTTClient.cs

@@ -195,17 +195,6 @@ public class MQTTClient : IAsyncDisposable
                         arg.Chain.ChainPolicy.VerificationFlags = X509VerificationFlags.AllowUnknownCertificateAuthority;
 
                         var isValid = arg.Chain.Build((X509Certificate2)arg.Certificate);
-
-                        if (isValid)
-                        {
-                            Console.WriteLine("Broker CERTIFICATE VALID");
-                        }
-                        else
-                        {
-                            Console.WriteLine("Broker CERTIFICATE INVALID");
-                            foreach (var status in arg.Chain.ChainStatus)
-                                Console.WriteLine($"   -> Chain error: {status.Status} - {status.StatusInformation}");
-                        }
                         return isValid;
                     }
                 }

RobotApp/Services/MQTTClientCertificatesProvider.cs

@@ -27,7 +27,6 @@ public class MQTTClientCertificatesProvider(string? CerFile, string? KeyFile) :
                         var cert = X509Certificate2.CreateFromPem(File.ReadAllText(certLocal), File.ReadAllText(keyLocal));
                         var pfxBytes = cert.Export(X509ContentType.Pfx);
                         var pfxCert = X509CertificateLoader.LoadPkcs12(pfxBytes, "", X509KeyStorageFlags.Exportable | X509KeyStorageFlags.PersistKeySet);
-                        Console.WriteLine($"Client cert loaded: {pfxCert.Subject}, HasPrivateKey: {pfxCert.HasPrivateKey}, PrivateKey Type: {pfxCert.GetRSAPrivateKey()?.GetType()}");
                         return [pfxCert];
                     }
                 }

RobotApp/Services/Robot/Actions/RobotAction.cs

@@ -96,7 +96,6 @@ public abstract class RobotAction(IServiceProvider serviceProvider) : IDisposabl
 
     protected virtual Task StopAction()
     {
-        Console.WriteLine($"StopAction {Type}");
         Status = ActionStatus.FAILED;
         ResultDescription = "Action bị hủy bỏ.";
         return Task.CompletedTask;

RobotApp/Services/Robot/RobotStatePublisher.cs

@@ -169,15 +169,10 @@ public class RobotStatePublisher : BackgroundService
                             isConnected,       // payload only bool
                             stoppingToken
                         );
-
-                    Console.WriteLine(
-                        $"[RobotStatePublisher] Robot connection changed → {(isConnected ? "ONLINE" : "OFFLINE")}"
-                    );
                 }
             }
-            catch (Exception ex)
+            catch
             {
-                Console.WriteLine(ex);
             }
         }
     }

RobotApp/Services/Robot/Simulation/Navigation/SimulationNavigation.cs

@@ -158,14 +158,12 @@ public class SimulationNavigation : INavigation, IDisposable
 
     public void Pause()
     {
-        Console.WriteLine($"Nav Pause");
         ResumeState = State;
         NavState = NavigationState.Paused;
     }
 
     public void Resume()
     {
-        Console.WriteLine($"Nav Resume");
         NavState = ResumeState;
     }
 

docker-compose.yaml

@@ -0,0 +1,35 @@
+version: '3.8'
+
+services:
+  robotapp:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    container_name: robotapp
+    restart: unless-stopped
+    ports:
+      - "8080:8080"
+    environment:
+      - ASPNETCORE_ENVIRONMENT=Production
+      - ASPNETCORE_URLS=http://+:8080
+      - ConnectionStrings__DefaultConnection=Data Source=/app/data/robot.db
+    volumes:
+      # Persist database
+      - ./data:/app/data
+      # Persist maps
+      - ./maps:/app/maps
+      # Persist logs (if needed)
+      - ./logs:/app/logs
+    networks:
+      - robotapp-network
+    healthcheck:
+      test: ["CMD-SHELL", "wget --no-verbose --tries=1 --spider http://localhost:8080 || exit 1"]
+      interval: 30s
+      timeout: 10s
+      retries: 3
+      start_period: 40s
+
+networks:
+  robotapp-network:
+    driver: bridge
+