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"]
+

README.md

@@ -1,2 +1,5 @@
 # RobotApp
 
+docker build -t robotics.doc/robotnet/robotapp_dde:2.7 .
+docker save -o robotapp-dde.2.7.tar robotics.doc/robotnet/robotapp_dde:2.7
+scp .\robotapp-dde.2.7.tar robotics@172.20.235.176:~/DDE

RobotApp.Client/MainLayout.razor

@@ -69,9 +69,12 @@
     }
 
     public NavModel[] Navs = [
-        new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
+        new(){Icon = "mdi-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},
         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/RobotSimulationConfig.razor

@@ -5,7 +5,7 @@
         <DataAnnotationsValidator />
 
         <div class="form-check mb-2">
-            <InputCheckbox class="form-check-input" @bind-Value="Model.EnableSimulation" />
+            <InputCheckbox class="form-check-input" Value="Model.EnableSimulation" />
             <label class="form-check-label">Enable Simulation</label>
             <ValidationMessage For="@(() => Model.EnableSimulation)" />
         </div>

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

@@ -0,0 +1,513 @@
+@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>
+        <div class="auto-follow-control">
+            <MudTooltip Text="Auto Follow Robot" Placement="Placement.Bottom" Color="Color.Info">
+                <MudSwitch T="bool" Value="AutoFollowRobot" ValueChanged="OnAutoFollowRobotChanged" Color="Color.Info" Size="Size.Small">
+                    <span style="color: white; font-size: 14px; margin-left: 8px;">Follow Robot</span>
+                </MudSwitch>
+            </MudTooltip>
+        </div>
+        <MudSpacer />
+        @if (MonitorData?.RobotPosition != null)
+        {
+            <div class="robot-position-info">
+                <i class="mdi mdi-map-marker"></i>
+                <span>Robot: 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>
+        }
+        @if (MouseWorldX.HasValue && MouseWorldY.HasValue)
+        {
+            <div class="mouse-position-info">
+                <i class="mdi mdi-cursor-pointer"></i>
+                <span>Mouse: X: @MouseWorldX.Value.ToString("F2")m | Y: @MouseWorldY.Value.ToString("F2")m</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">
+            @* Arrow markers for origin *@
+            <defs>
+                <marker id="arrowhead-x" markerWidth="10" markerHeight="10" 
+                        refX="9" refY="3" orient="auto" markerUnits="strokeWidth">
+                    <path d="M0,0 L0,6 L9,3 z" fill="#FF0000" />
+                </marker>
+                <marker id="arrowhead-y" markerWidth="10" markerHeight="10" 
+                        refX="9" refY="3" orient="auto" markerUnits="strokeWidth">
+                    <path d="M0,0 L0,6 L9,3 z" fill="#00FF00" />
+                </marker>
+            </defs>
+            <g transform="@GetTransform()">
+                @* Background Map Image *@
+                @if (MapImageLoaded && MapImageWidth > 0 && MapImageHeight > 0)
+                {
+                    @* Image origin is at bottom-left corner (MapImageOriginX, MapImageOriginY) in world coordinates
+                        In SVG (after Y flip), image top-left corner is at (MapImageOriginX, -MapImageOriginY - MapImageHeight)
+                        So we render image at: x = MapImageOriginX, y = -MapImageOriginY - MapImageHeight *@
+                    <image href="@MapImageUrl"
+                           x="@WorldToSvgX(MapImageOriginX)"
+                           y="@WorldToSvgY(MapImageOriginY + MapImageHeight)"
+                           width="@MapImageWidth"
+                           height="@MapImageHeight"
+                           preserveAspectRatio="none"
+                           opacity="0.8"
+                           style="pointer-events: none; image-rendering: pixelated;"
+                           id="map-background-image" />
+                }
+                
+                @* Origin Marker (2 arrows: X+ and Y+) at (MapImageOriginX, MapImageOriginY) *@
+                <g transform="@GetOriginMarkerTransform()">
+                    @* X+ Arrow (pointing right) *@
+                    <line x1="0" y1="0" x2="@GetOriginMarkerSize()" y2="0" 
+                          stroke="#FF0000" stroke-width="@GetOriginMarkerStrokeWidth()" 
+                          marker-end="url(#arrowhead-x)" />
+                    @* Y+ Arrow (pointing up in world, down in SVG) *@
+                    <line x1="0" y1="0" x2="0" y2="@(-GetOriginMarkerSize())" 
+                          stroke="#00FF00" stroke-width="@GetOriginMarkerStrokeWidth()" 
+                          marker-end="url(#arrowhead-y)" />
+                    @* Origin point *@
+                    <circle cx="0" cy="0" r="@(GetOriginMarkerSize() * 0.12)" 
+                            fill="#FFFF00" stroke="#000" stroke-width="@(GetOriginMarkerStrokeWidth() * 0.5)" />
+                </g>
+                
+                @if (MonitorData?.HasOrder == true)
+                {
+                    <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 = 1.5; // 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";
+
+    // Mouse world coordinates
+    private double? MouseWorldX = null;
+    private double? MouseWorldY = null;
+
+    // Auto-follow robot
+    private bool AutoFollowRobot = false;
+
+    private void OnAutoFollowRobotChanged(bool value)
+    {
+        AutoFollowRobot = value;
+        if (AutoFollowRobot && MonitorData?.RobotPosition != null)
+        {
+            UpdateViewToFollowRobot();
+            StateHasChanged();
+        }
+    }
+
+    // Map image properties
+    private const double MapImageOriginX = -20.0; // OriginX in world coordinates (meters)
+    private const double MapImageOriginY = -20.0;   // OriginY in world coordinates (meters)
+    private const double MapImageResolution = 0.1; // Resolution: meters per pixel
+    private const string MapImageUrl = "images/gara20250309.png";
+
+    private bool MapImageLoaded = false;
+    private double MapImageWidth = 0;  // Width in world coordinates (meters)
+    private double MapImageHeight = 0; // Height in world coordinates (meters)
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        if (firstRender)
+        {
+            var containerSize = await JS.InvokeAsync<ElementSize>("robotMonitor.getElementSize", SvgContainerRef);
+            SvgWidth = containerSize.Width;
+            SvgHeight = containerSize.Height;
+
+            // Load map image and get dimensions
+            await LoadMapImage();
+
+            // 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 async Task LoadMapImage()
+    {
+        try
+        {
+            var imageDimensions = await JS.InvokeAsync<ElementSize>("robotMonitor.loadImageAndGetDimensions", MapImageUrl);
+
+            // Convert pixel dimensions to world coordinates (meters)
+            MapImageWidth = imageDimensions.Width * MapImageResolution;
+            MapImageHeight = imageDimensions.Height * MapImageResolution;
+
+            if (MapImageWidth > 0 && MapImageHeight > 0)
+            {
+                MapImageLoaded = true;
+                await InvokeAsync(StateHasChanged); // Force re-render after image is loaded
+            }
+        }
+        catch (Exception ex)
+        {
+            MapImageLoaded = false;
+            Console.WriteLine($"Failed to load map image: {ex.Message}");
+        }
+    }
+
+    private string GetTransform()
+    {
+        // Transform applies: first translate (in screen pixels), then scale (pixels per meter)
+        // World coordinates are in meters
+        // After transform: screenX = TranslateX + worldX * (ZoomScale * BASE_PIXELS_PER_METER)
+        //                  screenY = TranslateY + worldY * (ZoomScale * BASE_PIXELS_PER_METER)
+        // But we need to flip Y: screenY = TranslateY - worldY * (ZoomScale * BASE_PIXELS_PER_METER)
+        // This is handled by WorldToSvgY which flips Y before applying transform
+        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 = 2 / ZoomScale; // Tăng kích thước hiển thị
+        scaleFactor = scaleFactor < 1 ? 1 : scaleFactor;
+
+        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;
+    }
+
+    private string GetOriginMarkerTransform()
+    {
+        // Origin is at (MapImageOriginX, MapImageOriginY) in world coordinates (bottom-left corner of image)
+        // In SVG coordinates (after Y flip): (MapImageOriginX, -MapImageOriginY)
+        // Note: Image is rendered at (MapImageOriginX, -MapImageOriginY - MapImageHeight) in SVG
+        // So origin marker should be at (MapImageOriginX, -MapImageOriginY) in SVG
+        var x = WorldToSvgX(0);
+        var y = WorldToSvgY(0);
+        
+        return $"translate({x}, {y})";
+    }
+
+    private double GetOriginMarkerSize()
+    {
+        // Marker size in world coordinates (meters)
+        const double BaseMarkerSize = 1; // 1 meter
+        double scaleFactor = 1.0 / ZoomScale; // Keep visual size constant
+        return BaseMarkerSize * scaleFactor;
+    }
+
+    private double GetOriginMarkerStrokeWidth()
+    {
+        // Stroke width in world coordinates
+        const double BaseStrokeWidth = 0.05; // 5cm
+        double scaleFactor = 1.0 / ZoomScale; // Keep visual size constant
+        return BaseStrokeWidth * scaleFactor;
+    }
+
+    public void OnMonitorDataUpdated()
+    {
+        // Auto-follow robot when MonitorData changes
+        if (AutoFollowRobot && !IsPanning && MonitorData?.RobotPosition != null)
+        {
+            UpdateViewToFollowRobot();
+        }
+    }
+
+    private void UpdateViewToFollowRobot()
+    {
+        if (MonitorData?.RobotPosition == null) return;
+        
+        // Center view on robot
+        TranslateX = SvgWidth / 2 - MonitorData.RobotPosition.X * BASE_PIXELS_PER_METER * ZoomScale;
+        TranslateY = SvgHeight / 2 + MonitorData.RobotPosition.Y * BASE_PIXELS_PER_METER * ZoomScale;
+        StateHasChanged();
+    }
+
+    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 async Task HandleMouseMove(MouseEventArgs e)
+    {
+        // Calculate world coordinates of mouse
+        var svgRect = await JS.InvokeAsync<ElementBoundingRect>("robotMonitor.getElementBoundingRect", SvgRef);
+        double mouseX = e.ClientX - svgRect.X;
+        double mouseY = e.ClientY - svgRect.Y;
+
+        // Convert to world coordinates
+        // World X = (mouseX - TranslateX) / (ZoomScale * BASE_PIXELS_PER_METER)
+        MouseWorldX = (mouseX - TranslateX) / (ZoomScale * BASE_PIXELS_PER_METER);
+        // World Y = -(mouseY - TranslateY) / (ZoomScale * BASE_PIXELS_PER_METER) (flip Y axis)
+        MouseWorldY = -(mouseY - TranslateY) / (ZoomScale * BASE_PIXELS_PER_METER);
+
+        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;
+        MouseWorldX = null;
+        MouseWorldY = null;
+        StateHasChanged();
+    }
+
+    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>("robotMonitor.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 +1,94 @@
+.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;
+}
+
+.mouse-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;
+}
+
+.auto-follow-control {
+    display: flex;
+    align-items: center;
+    padding: 4px 8px;
+    background-color: #3d3d3d;
+    border-radius: 4px;
+}
+
+.svg-container {
+    flex: 1;
+    overflow: hidden;
+    position: relative;
+    background-color: #808080;
+}
+
+    .svg-container svg {
+        width: 100%;
+        height: 100%;
+        cursor: grab;
+        background-color: #808080;
+    }
+
+.svg-container svg:active {
+    cursor: grabbing;
+}
+

RobotApp.Client/Pages/Dashboard.razor

@@ -0,0 +1,430 @@
+@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;">
+                                    @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">@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 List<MessageRow> MessageRows = new();
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
+        RobotStateClient.OnStateReceived += OnRobotStateReceived;
+        RobotStateClient.OnRobotConnectionChanged += OnRobotConnectionChanged;
+
+        await RobotStateClient.StartAsync();
+        CurrentState = RobotStateClient.GetLatestState();
+        IsConnected = RobotStateClient.IsRobotConnected;
+
+        UpdateMessageRows();
+    }
+
+    private void OnRobotConnectionChanged(bool connected)
+    {
+        IsConnected = connected;
+        StateHasChanged();
+    }
+
+
+    private void OnRobotStateReceived(string serialNumber, StateMsg state)
+    {
+        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 +1,182 @@
+@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>
+
+<script>
+    window.ScrollToBottom = (element) => {
+    if (element) {
+        element.scrollTop = element.scrollHeight;
+    }
+};
+</script>
+
+@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: 60px;
+}
+
+.log-head {
+    border-radius: 3px;
+    padding: 2px 5px;
+}
+
+.log-exception {
+    line-height: 16px;
+    margin-left: 30px;
+    color: crimson;
+}

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

@@ -0,0 +1,123 @@
+<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))" />
+                        </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>
+                        </MudGrid>
+                    </ChildContent>
+                </MudExpansionPanel>
+            }
+        </MudExpansionPanels>
+    </div>
+</MudPaper>
+
+@code {
+    [Parameter] public OrderMessage Order { get; set; } = default!;
+
+    [Parameter] public EventCallback OnAddEdge { get; set; }
+    [Parameter] public EventCallback<VDA5050.Order.Edge> OnRemoveEdge { 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(VDA5050.Order.Edge edge)
+    {
+        await OnRemoveEdge.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
+        {
+            var order = JsonSerializer.Deserialize<OrderMsg>(JsonText, new JsonSerializerOptions
+            {
+                WriteIndented = true,
+                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
+            });
+            if(order is null)
+            {
+                ShowWarning = true;
+                ErrorMessage = "Can not convert file to Order message";
+                return;
+            }
+            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(OrderMsg order)
+    {
+        if (order.Nodes.Length == 0)
+            throw new Exception("Order must contain at least one node.");
+
+        if (order.Nodes.Length != order.Edges.Length + 1)
+            throw new Exception(
+                $"Invalid path structure: Nodes count ({order.Nodes.Length}) " +
+                $"must equal Edges count + 1 ({order.Edges.Length + 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">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 +1,274 @@
+<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))" />
+                                <MudIconButton Icon="@Icons.Material.Filled.Delete"
+                                               Color="Color.Error"
+                                               Size="Size.Small"
+                                               OnClick="@(() => RemoveNodeAsync(node))" />
+                            </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 +1,334 @@
+@page "/robot-order"
+
+@rendermode InteractiveWebAssemblyNoPrerender
+
+@using System.Text.Json
+@using System.Text.Json.Serialization
+
+@inject IJSRuntime JS
+@inject IDialogService DialogService
+@inject HttpClient Http
+@inject ISnackbar Snackbar
+
+<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"
+                                        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,
+                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
+            });
+    }
+
+    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 is not null && !result.Canceled && result.Data is OrderMsg imported)
+        {
+            Order.Import(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 VDA5050.Order.Edge
+        {
+            EdgeId = $"EDGE_{Order.Edges.Count + 1}",
+            StartNodeId = start,
+            EndNodeId = end
+        });
+    }
+
+
+    void RemoveEdge(VDA5050.Order.Edge edge)
+    {
+        Order.Edges.Remove(edge);
+    }
+    // ================= 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() ?? [];
+    }
+
+    void AddActionParameter(VDA5050.InstantAction.Action act)
+    {
+        var list = (act.ActionParameters ?? []).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() ?? [];
+    }
+
+    // ================= SEND / COPY =================
+    async Task SendOrderToServer()
+    {
+        // reset trạng thái trước khi gửi
+        sendSuccess = null;
+        StateHasChanged();
+
+        try
+        {
+            var orderMsg = JsonSerializer.Deserialize<OrderMsg>(OrderJson,
+            new JsonSerializerOptions
+            {
+                WriteIndented = true,
+                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
+            });
+            if (orderMsg is null)
+            {
+                Snackbar.Add("Unable to convert JSON to Order", Severity.Warning);
+                return;
+            }
+            if (orderMsg.Nodes.Length < 1)
+            {
+                Snackbar.Add("The order must contain at least one node (number of nodes > 0)", Severity.Warning);
+                return;
+            }
+            if (orderMsg.Nodes.Length - 1 != orderMsg.Edges.Length)
+            {
+                Snackbar.Add("Order must have a number of edges equal to the number of nodes minus 1", Severity.Warning);
+                return;
+            }
+
+            foreach(var edge in orderMsg.Edges)
+            {
+                if (!orderMsg.Nodes.Any(n => n.NodeId == edge.StartNodeId))
+                {
+                    Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.StartNodeId} that does not exist in the list of nodes", Severity.Warning);
+                    return;
+                }
+                if (!orderMsg.Nodes.Any(n => n.NodeId == edge.EndNodeId))
+                {
+                    Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.EndNodeId} that does not exist in the list of nodes", Severity.Warning);
+                    return;
+                }
+            }
+
+            var response = await Http.PostAsJsonAsync("/api/order",orderMsg);
+
+            sendSuccess = response.IsSuccessStatusCode;
+        }
+        catch(JsonException jsonEx)
+        {
+            Snackbar.Add($"Json to Order failed: {jsonEx.Message}", Severity.Warning);
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Send Order failed: {ex.Message}", Severity.Warning);
+            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("copyToClipboardFallback", 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

@@ -1,6 +1,5 @@
 @page "/robot-config"
 @rendermode InteractiveWebAssemblyNoPrerender
-@attribute [Authorize]
 
 @inject HttpClient Http
 @inject ISnackbar Snackbar
@@ -16,7 +15,7 @@
             <label class="rcm-label" for="configType">Config Type</label>
             <div class="rcm-select-wrapper">
                 <select id="configType" class="form-select rcm-select" value="@SelectedType" @onchange="OnTypeChanged">
-                    @foreach (var type in Enum.GetValues<RobotConfigType>())
+                    @foreach (var type in GetConfigType)
                     {
                         <option value="@type">@type</option>
                     }
@@ -31,9 +30,9 @@
 
         <div class="rcm-toolbar-right">
             <div class="rcm-action-group">
-                <button type="button" class="btn rcm-icon-btn" data-tooltip="Add config" aria-label="Add" @onclick="OpenAddConfig">
+                @* <button type="button" class="btn rcm-icon-btn" data-tooltip="Add config" aria-label="Add" @onclick="OpenAddConfig">
                     <i class="mdi mdi-plus" aria-hidden="true"></i>
-                </button>
+                </button> *@
 
                 <button type="button" class="btn rcm-icon-btn" data-tooltip="Update config" aria-label="Update" @onclick="SaveConfig">
                     <i class="mdi mdi-content-save" aria-hidden="true"></i>
@@ -43,9 +42,9 @@
                     <i class="mdi mdi-file-download" aria-hidden="true"></i>
                 </button>
 
-                <button type="button" class="btn rcm-icon-btn rcm-danger" data-tooltip="Delete config" aria-label="Delete" @onclick="DeleteConfig">
+                @* <button type="button" class="btn rcm-icon-btn rcm-danger" data-tooltip="Delete config" aria-label="Delete" @onclick="DeleteConfig">
                     <i class="mdi mdi-delete" aria-hidden="true"></i>
-                </button>
+                </button> *@
             </div>
         </div>
     </div>
@@ -227,6 +226,7 @@
     private AddFormModel addForm = new();
 
     private string SelectedTemplateIdString = string.Empty;
+    private IEnumerable<RobotConfigType> GetConfigType = [RobotConfigType.VDA5050, RobotConfigType.Simulation];
 
     private IEnumerable<(Guid Id, string Name, bool Active)> GetTemplatesForSelectedType()
     {

RobotApp.Client/Pages/RobotConfigManager.razor.cs

@@ -560,10 +560,14 @@ public partial class RobotConfigManager
 
     private async Task LoadConfig()
     {
+        IsLoading = true;
+        StateHasChanged();
         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);
+
+        IsLoading = false;
         StateHasChanged();
     }
 }

RobotApp.Client/Pages/RobotMonitor.razor

@@ -0,0 +1,51 @@
+@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)
+    {
+        await base.OnAfterRenderAsync(firstRender);
+        if (firstRender)
+        {
+            MonitorService.OnDataReceived += OnMonitorDataReceived;
+            await MonitorService.StartAsync();
+        }
+    }
+
+    private void OnMonitorDataReceived(RobotMonitorDto data)
+    {
+        _monitorData = data;
+        RobotMonitorViewRef?.UpdatePath();
+        RobotMonitorViewRef?.OnMonitorDataUpdated();
+        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>
-
-  <ItemGroup>
-    <Folder Include="Models\" />
+    <ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
   </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 +1,197 @@
+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<StateMsg>("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(StateMsg state)
+    {
+        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()
+    {
+        if (!LatestStates.IsEmpty) return LatestStates.First().Value;
+        return null;
+    }
+
+    // ================= 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 +1,74 @@
+using RobotApp.VDA5050.InstantAction;
+using RobotApp.VDA5050.Order;
+using System.Text.Json.Serialization;
+
+namespace RobotApp.Client.Services;
+
+// ======================================================
+// ORDER MESSAGE
+// ======================================================
+public class OrderMessage
+{
+    public uint HeaderId { get; set; }
+    public string Timestamp { get; set; } = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
+    public string Version { get; set; } = "2.1.0";
+    public string Manufacturer { get; set; } = "PhenikaaX";
+    public string SerialNumber { get; set; } = "T800-003";
+    public string OrderId { get; set; } = "";
+    public int OrderUpdateId { get; set; }
+    public string? ZoneSetId { get; set; }
+
+    public List<Node> Nodes { get; set; } = [];
+    public List<Edge> Edges { get; set; } = [];
+
+    public OrderMsg ToSchemaObject()
+    {
+        return new OrderMsg
+        {
+            HeaderId = (uint)HeaderId++,
+
+            Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
+
+            Version = Version,
+            Manufacturer = Manufacturer,
+            SerialNumber = SerialNumber,
+
+            OrderId = OrderId= Guid.NewGuid().ToString(),
+            OrderUpdateId = OrderUpdateId,
+
+            ZoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
+                ? null
+                : ZoneSetId,
+
+            Nodes = [..Nodes],
+            Edges = [..Edges],
+        };
+    }
+
+    public void Import(OrderMsg order)
+    {
+        HeaderId = order.HeaderId;
+        Timestamp = order.Timestamp;
+        Version = order.Version;
+        Manufacturer = order.Manufacturer;
+        SerialNumber = order.SerialNumber;
+        OrderId = order.OrderId;
+        ZoneSetId = order.ZoneSetId;
+        OrderUpdateId = order.OrderUpdateId;
+        Nodes = [.. order.Nodes];
+        Edges = [.. order.Edges];
+    }
+}
+
+// ======================================================
+// UI ACTION PARAM
+// ======================================================
+public class UiActionParameter : ActionParameter
+{
+    [JsonIgnore]
+    public string ValueString
+    {
+        get => Value?.ToString() ?? "";
+        set => Value = value;
+    }
+}

RobotApp.Client/_Imports.razor

@@ -13,3 +13,6 @@
 @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

@@ -1 +1,10 @@
-
+window.copyToClipboardFallback = function (text) {
+    const textarea = document.createElement('textarea');
+    textarea.value = text;
+    textarea.style.position = 'fixed';
+    textarea.style.opacity = '0';
+    document.body.appendChild(textarea);
+    textarea.select();
+    document.execCommand('copy');
+    document.body.removeChild(textarea);
+}

RobotApp.Client/wwwroot/js/robotMonitor.js

@@ -0,0 +1,85 @@
+// 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}`;
+    },
+
+    // Load image and get dimensions
+    loadImageAndGetDimensions: function (imageUrl) {
+        return new Promise((resolve, reject) => {
+            const img = new Image();
+            img.onload = () => {
+                resolve({
+                    Width: img.naturalWidth || img.width,
+                    Height: img.naturalHeight || img.height
+                });
+            };
+            img.onerror = () => {
+                reject(new Error(`Failed to load image: ${imageUrl}`));
+            };
+            img.src = imageUrl;
+        });
+    }
+};
+
+
+
+
+
+
+
+
+

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/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/Order/Edge.cs

@@ -2,7 +2,6 @@
 
 namespace RobotApp.VDA5050.Order;
 
-#nullable disable
 
 public class Edge
 {
@@ -26,7 +25,7 @@ public class Edge
     public bool RotationAllowed { get; set; }
     public double MaxRotationSpeed { get; set; }
     public double Length { get; set; }
-    public Trajectory Trajectory { get; set; }
+    public Trajectory? Trajectory { get; set; }
     public Corridor Corridor { get; set; } = new();
     [Required]
     public InstantAction.Action[] Actions { 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/EdgeState.cs

@@ -13,5 +13,5 @@ public class EdgeState
     public string EdgeDescription { get; set; } = string.Empty;
     [Required]
     public bool Released { get; set; }
-    public Trajectory Trajectory { get; set; } = new();
+    public Trajectory? Trajectory { get; set; }
 }

RobotApp.VDA5050/Type/ActionType.cs

@@ -10,24 +10,24 @@ public enum ActionType
     stateRequest,
     factsheetRequest,
 
-    logReport,
+    //logReport,
     pick,
     drop,
-    detectObject,
-    finePositioning,
-    waitForTrigger,
+    //detectObject,
+    //finePositioning,
+    //waitForTrigger,
 
     cancelOrder,
-    liftUp,
-    liftDown,
-    liftRotate,
+    //liftUp,
+    //liftDown,
+    //liftRotate,
     rotate,
-    rotateKeepLift,
-    mutedBaseOn,
-    mutedBaseOff,
-    mutedLoadOn,
-    mutedLoadOff,
-    dockTo,
-    moveStraightToCoor,
-    moveStraightWithDistance,
+    //rotateKeepLift,
+    //mutedBaseOn,
+    //mutedBaseOff,
+    //mutedLoadOn,
+    //mutedLoadOff,
+    //dockTo,
+    //moveStraightToCoor,
+    //moveStraightWithDistance,
 }

RobotApp.sln

@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 17
-VisualStudioVersion = 17.14.36511.14
+# Visual Studio Version 18
+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

@@ -42,6 +42,7 @@
     <script src="@Assets["_content/MudBlazor/MudBlazor.min.js"]"></script>
     <script src="@Assets["js/canvas.js"]"></script>
     <script src="@Assets["js/app.js"]"></script>
+    <script src="@Assets["js/robotMonitor.js"]"></script>
 </body>
 
 </html>

RobotApp/Components/Pages/Home.razor

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

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

@@ -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 +1,37 @@
+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

@@ -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]
@@ -850,7 +851,8 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
     {
         try
         {
-            //await RobotConfiguration.LoadVDA5050ConfigAsync();
+            await RobotConfiguration.LoadVDA5050ConfigAsync();
+            await RobotConfiguration.LoadRobotSimulationConfigAsync();
             return new(true, "Robot configuration loaded successfully.");
         }
         catch (Exception ex)

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/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/20251028102815_InitConfigDb.Designer.cs

@@ -1,503 +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("20251028102815_InitConfigDb")]
-    partial class InitConfigDb
-    {
-        /// <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.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<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>("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>("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/20251028102815_InitConfigDb.cs

@@ -1,118 +0,0 @@
-using System;
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class InitConfigDb : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            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: "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_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),
-                    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);
-                });
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropTable(
-                name: "RobotConfig");
-
-            migrationBuilder.DropTable(
-                name: "RobotPlcConfig");
-
-            migrationBuilder.DropTable(
-                name: "RobotSimulationConfig");
-
-            migrationBuilder.DropTable(
-                name: "RobotVDA5050Config");
-        }
-    }
-}

RobotApp/Data/Migrations/20251029064620_InitConfigSafetyDb.Designer.cs

@@ -1,565 +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("20251029064620_InitConfigSafetyDb")]
-    partial class InitConfigSafetyDb
-    {
-        /// <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<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>("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>("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/20251029064620_InitConfigSafetyDb.cs

@@ -1,45 +0,0 @@
-using System;
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class InitConfigSafetyDb : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            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);
-                });
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropTable(
-                name: "RobotSafetyConfig");
-        }
-    }
-}

RobotApp/Data/Migrations/20251029064649_InitConfigSafety1Db.Designer.cs

@@ -1,565 +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("20251029064649_InitConfigSafety1Db")]
-    partial class InitConfigSafety1Db
-    {
-        /// <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<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>("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>("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/20251029064649_InitConfigSafety1Db.cs

@@ -1,22 +0,0 @@
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class InitConfigSafety1Db : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-
-        }
-    }
-}

RobotApp/Data/Migrations/20251031073231_UpdateVDA5050Config.Designer.cs

@@ -1,577 +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("20251031073231_UpdateVDA5050Config")]
-    partial class UpdateVDA5050Config
-    {
-        /// <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>("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>("VDA5050UserName")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_UserName");
-
-                    b.Property<string>("VDA5050Version")
-                        .HasMaxLength(20)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Version");
-
-                    b.Property<string>("VDA5050_Key")
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Key");
-
-                    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/20251031073231_UpdateVDA5050Config.cs

@@ -1,48 +0,0 @@
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class UpdateVDA5050Config : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.AddColumn<string>(
-                name: "VDA5050_CA",
-                table: "RobotVDA5050Config",
-                type: "nvarchar(64)",
-                nullable: true);
-
-            migrationBuilder.AddColumn<string>(
-                name: "VDA5050_Cer",
-                table: "RobotVDA5050Config",
-                type: "nvarchar(64)",
-                nullable: true);
-
-            migrationBuilder.AddColumn<string>(
-                name: "VDA5050_Key",
-                table: "RobotVDA5050Config",
-                type: "nvarchar(64)",
-                nullable: true);
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropColumn(
-                name: "VDA5050_CA",
-                table: "RobotVDA5050Config");
-
-            migrationBuilder.DropColumn(
-                name: "VDA5050_Cer",
-                table: "RobotVDA5050Config");
-
-            migrationBuilder.DropColumn(
-                name: "VDA5050_Key",
-                table: "RobotVDA5050Config");
-        }
-    }
-}

RobotApp/Data/Migrations/20251031080648_UpdateVDA5050Config1.Designer.cs

@@ -1,577 +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("20251031080648_UpdateVDA5050Config1")]
-    partial class UpdateVDA5050Config1
-    {
-        /// <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>("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/20251031080648_UpdateVDA5050Config1.cs

@@ -1,22 +0,0 @@
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class UpdateVDA5050Config1 : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-
-        }
-    }
-}

RobotApp/Data/Migrations/20251106025457_UpdateVDA5050St.cs

@@ -1,29 +0,0 @@
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class UpdateVDA5050St : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.AddColumn<string>(
-                name: "VDA5050_TopicPrefix",
-                table: "RobotVDA5050Config",
-                type: "nvarchar(64)",
-                maxLength: 64,
-                nullable: true);
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropColumn(
-                name: "VDA5050_TopicPrefix",
-                table: "RobotVDA5050Config");
-        }
-    }
-}

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

@@ -11,8 +11,8 @@ using RobotApp.Data;
 namespace RobotApp.Data.Migrations
 {
     [DbContext(typeof(ApplicationDbContext))]
-    [Migration("20251106025457_UpdateVDA5050St")]
-    partial class UpdateVDA5050St
+    [Migration("20251222091852_InitApplicationDb")]
+    partial class InitApplicationDb
     {
         /// <inheritdoc />
         protected override void BuildTargetModel(ModelBuilder modelBuilder)

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

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", state);
+        }
+    }
+}

RobotApp/Hubs/RobotMonitorHub.cs

@@ -0,0 +1,20 @@
+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/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;
@@ -12,6 +13,7 @@ public interface IOrder
 
     NodeState[] NodeStates { get; }
     EdgeState[] EdgeStates { get; }
+    (NodeState[], EdgeStateDto[]) CurrentPath { get; }
 
     void UpdateOrder(OrderMsg order);
     void StopOrder();

RobotApp/Program.cs

@@ -3,10 +3,14 @@ using Microsoft.AspNetCore.Identity;
 using Microsoft.EntityFrameworkCore;
 using MudBlazor.Services;
 using NLog.Web;
+using RobotApp.Client;
+using RobotApp.Client.Services;
 using RobotApp.Components;
 using RobotApp.Components.Account;
 using RobotApp.Data;
+using RobotApp.Hubs;
 using RobotApp.Services;
+using RobotApp.Services.Robot;
 using RobotApp.Services.Robot.Simulation;
 
 var builder = WebApplication.CreateBuilder(args);
@@ -27,7 +31,7 @@ builder.Services.AddAuthorization();
 
 // Add Controllers for API endpoints
 builder.Services.AddControllers();
-
+builder.Services.AddSignalR();
 var connectionString = builder.Configuration.GetConnectionString("DefaultConnection") ?? throw new InvalidOperationException("Connection string 'DefaultConnection' not found.");
 Action<DbContextOptionsBuilder> appDbOptions = options => options.UseSqlite(connectionString, b => b.MigrationsAssembly("RobotApp"));
 
@@ -49,9 +53,19 @@ builder.Services.AddSingleton<IEmailSender<ApplicationUser>, IdentityNoOpEmailSe
 
 builder.Services.AddSingleton(typeof(RobotApp.Services.Logger<>));
 
+// Add SignalR
+builder.Services.AddSignalR();
+
 builder.Services.AddRobotSimulation();
 builder.Services.AddRobot();
 
+// Add RobotMonitorService
+builder.Services.AddSingleton<RobotApp.Services.RobotMonitorService>();
+builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotApp.Services.RobotMonitorService>());
+
+//builder.Services.AddScoped<RobotStateClient>();
+builder.Services.AddHostedService<RobotStatePublisher>();
+
 var app = builder.Build();
 await app.Services.SeedApplicationDbAsync();
 
@@ -76,9 +90,13 @@ app.UseAntiforgery();
 
 app.MapStaticAssets();
 
+
 // Map API Controllers
 app.MapControllers();
 
+// Map SignalR Hub
+app.MapHub<RobotMonitorHub>("/hubs/robotMonitor");
+app.MapHub<RobotHub>("/hubs/robot");
 app.MapRazorComponents<App>()
     .AddInteractiveServerRenderMode()
     .AddInteractiveWebAssemblyRenderMode()

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/RobotApp.csproj

@@ -1,10 +1,11 @@
 <Project Sdk="Microsoft.NET.Sdk.Web">
 
 	<PropertyGroup>
-		<TargetFramework>net9.0</TargetFramework>
+		<TargetFramework>net10.0</TargetFramework>
 		<Nullable>enable</Nullable>
 		<ImplicitUsings>enable</ImplicitUsings>
 		<UserSecretsId>aspnet-RobotApp-1f61caa2-bbbb-40cd-88b6-409b408a84ea</UserSecretsId>
+		<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
 	</PropertyGroup>
 
 	<ItemGroup>
@@ -38,6 +39,7 @@
 	</ItemGroup>
 
 	<ItemGroup>
+		<Folder Include="Data\Migrations\" />
 		<Folder Include="Tests\" />
 	</ItemGroup>
 	

RobotApp/Services/HighPrecisionTimer.cs

@@ -0,0 +1,157 @@
+using System.Diagnostics;
+using System.Runtime.InteropServices;
+
+namespace RobotApp.Services;
+
+internal static partial class Windows
+{
+    [LibraryImport("winmm.dll")]
+    internal static partial uint timeBeginPeriod(uint uPeriod);
+
+    [LibraryImport("winmm.dll")]
+    internal static partial uint timeEndPeriod(uint uPeriod);
+}
+
+public static class HighPrecisionTimerHelper
+{
+    public static void EnableHighPrecision()
+    {
+        if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
+        {
+            _ = Windows.timeBeginPeriod(2);
+        }
+    }
+
+    public static void DisableHighPrecision()
+    {
+        if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
+        {
+            _ = Windows.timeEndPeriod(2);
+        }
+    }
+}
+
+public class HighPrecisionTimer<T>(int Interval, Action Callback, Logger<T>? Logger) : IDisposable where T : class
+{
+    public bool Disposed;
+    private Thread? Thread;
+    private long IntervalTicks;
+    private long NextDueTime;
+    private readonly Lock Lock = new();
+
+    private void Handler()
+    {
+        while (!Disposed)
+        {
+            long now = Stopwatch.GetTimestamp();
+
+            bool shouldRun = false;
+
+            lock (Lock)
+            {
+                if (Disposed) break;
+                if (now >= NextDueTime)
+                {
+                    shouldRun = true;
+                    long scheduledTime = NextDueTime;
+                    NextDueTime += IntervalTicks;
+
+                    // Tự đồng bộ nếu lệch quá
+                    long driftTicks = now - scheduledTime;
+                    if (driftTicks > IntervalTicks / 2)
+                    {
+                        Logger?.Warning($"High-res timer drift: {driftTicks * 1000.0 / Stopwatch.Frequency:F3}ms. Resync.");
+                        NextDueTime = now + IntervalTicks;
+                    }
+                }
+            }
+
+            // === BƯỚC 2: Chạy callback ===
+            if (shouldRun)
+            {
+                try
+                {
+                    Callback.Invoke();
+                }
+                catch (Exception ex)
+                {
+                    Logger?.Error($"Callback error in high-precision timer: {ex}");
+                }
+            }
+
+            // === BƯỚC 3: Chờ chính xác đến lần sau ===
+            long sleepUntil = NextDueTime;
+            while (!Disposed)
+            {
+                now = Stopwatch.GetTimestamp();
+                long remaining = sleepUntil - now;
+
+                if (remaining <= 0)
+                    break;
+
+                // > 1ms → Sleep
+                if (remaining > Stopwatch.Frequency / 1000)
+                {
+                    Thread.Sleep(1);
+                }
+                // < 1ms → SpinWait
+                else
+                {
+                    Thread.SpinWait((int)(remaining / 10));
+                }
+            }
+        }
+    }
+
+    public void Start()
+    {
+        if (!Disposed)
+        {
+            lock (Lock)
+            {
+                if (Interval < 30) HighPrecisionTimerHelper.EnableHighPrecision();
+                IntervalTicks = (long)(Interval * (Stopwatch.Frequency / 1000.0));
+                Thread = new Thread(Handler) { IsBackground = true, Priority = ThreadPriority.Highest };
+                NextDueTime = Stopwatch.GetTimestamp() + IntervalTicks;
+                Thread.Start();
+            }
+        }
+        else throw new ObjectDisposedException(nameof(HighPrecisionTimer<T>));
+    }
+
+    public void Stop()
+    {
+        if (Disposed) return;
+
+        if (Thread != null)
+        {
+            Disposed = true;
+            lock (Lock)
+            {
+                Thread.Join(100);
+                Thread = null;
+                HighPrecisionTimerHelper.DisableHighPrecision();
+            }
+        }
+    }
+
+    public void Dispose()
+    {
+        Dispose(true);
+        GC.SuppressFinalize(this);
+    }
+
+    protected virtual void Dispose(bool disposing)
+    {
+        if (Disposed) return;
+
+        if (disposing) Stop();
+
+        Disposed = true;
+    }
+
+    ~HighPrecisionTimer()
+    {
+        Dispose(false);
+    }
+}

RobotApp/Services/MQTTClient.cs

@@ -24,8 +24,8 @@ public class MQTTClient : IAsyncDisposable
     public event Action<string>? InstanceActionsChanged;
     public bool IsConnected => !IsDisposed && MqttClient is not null && MqttClient.IsConnected;
 
-    private string OrderTopic => $"{VDA5050Setting.TopicPrefix}/{ClientId}/{VDA5050Topic.ORDER.ToTopicString()}";
-    private string InstanceActionsTopic => $"{VDA5050Setting.TopicPrefix}/{ClientId}/{VDA5050Topic.INSTANTACTIONS.ToTopicString()}";
+    private string OrderTopic => $"{VDA5050Setting.TopicPrefix}/{VDA5050Setting.Manufacturer}/{ClientId}/{VDA5050Topic.ORDER.ToTopicString()}";
+    private string InstanceActionsTopic => $"{VDA5050Setting.TopicPrefix}/{VDA5050Setting.Manufacturer}/{ClientId}/{VDA5050Topic.INSTANTACTIONS.ToTopicString()}";
 
     public MQTTClient(string clientId, VDA5050Setting setting, Logger<MQTTClient> logger)
     {
@@ -147,11 +147,11 @@ public class MQTTClient : IAsyncDisposable
 
             MqttClient = MqttClientFactory.CreateMqttClient();
 
-            //MqttClient.ApplicationMessageReceivedAsync -= OnMessageReceived;
+            MqttClient.ApplicationMessageReceivedAsync -= OnMessageReceived;
             MqttClient.ApplicationMessageReceivedAsync += OnMessageReceived;
-            //MqttClient.DisconnectedAsync -= OnDisconnected;
+            MqttClient.DisconnectedAsync -= OnDisconnected;
             MqttClient.DisconnectedAsync += OnDisconnected;
-            while (!cancellationToken.IsCancellationRequested)
+            while (!cancellationToken.IsCancellationRequested && !IsDisposed)
             {
                 try
                 {
@@ -168,8 +168,12 @@ public class MQTTClient : IAsyncDisposable
                 {
                     Logger.Error($"Lỗi khi tạo MQTT client: {ex.Message}");
                 }
+                try
+                {
                     await Task.Delay(3000, cancellationToken);
                 }
+                catch { }
+            }
         }
         else throw new ObjectDisposedException(nameof(MQTTClient));
     }
@@ -195,17 +199,6 @@ 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;
                     }
                 }
@@ -230,7 +223,7 @@ public class MQTTClient : IAsyncDisposable
             var tlsOptions = new MqttClientTlsOptionsBuilder()
                             .UseTls(true)
                             .WithSslProtocols(System.Security.Authentication.SslProtocols.Tls12 | System.Security.Authentication.SslProtocols.Tls13)
-                            //.WithCertificateValidationHandler(ValidateCertificates)
+                            .WithCertificateValidationHandler(ValidateCertificates)
                             .WithClientCertificatesProvider(new MQTTClientCertificatesProvider(VDA5050Setting.CerFile, VDA5050Setting.KeyFile))
                             .Build();
             builder = builder.WithTlsOptions(tlsOptions);

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/Actions/RobotDockToAction.cs

@@ -4,6 +4,8 @@ public class RobotDockToAction(IServiceProvider ServiceProvider) : RobotAction(S
 {
     protected override Task StartAction()
     {
+        Status = VDA5050.State.ActionStatus.FINISHED;
+        ResultDescription = AgvAction is null ? ResultDescription : AgvAction.ResultDescription;
         return base.StartAction();
     }
 

RobotApp/Services/Robot/Actions/RobotFactsheetRequestAction.cs

@@ -10,6 +10,7 @@ public class RobotFactsheetRequestAction(IServiceProvider ServiceProvider) : Rob
         var RobotFactsheet = Scope.ServiceProvider.GetRequiredService<RobotFactsheet>();
         await RobotFactsheet.PubFactsheet();
         Status = VDA5050.State.ActionStatus.FINISHED;
+        ResultDescription = AgvAction is null ? ResultDescription : AgvAction.ResultDescription;
     }
 
     protected override Task ExecuteAction()

RobotApp/Services/Robot/Actions/RobotMoveStraightToCoorAction.cs

@@ -4,6 +4,8 @@ public class RobotMoveStraightToCoorAction(IServiceProvider ServiceProvider) : R
 {
     protected override Task StartAction()
     {
+        Status = VDA5050.State.ActionStatus.FINISHED;
+        ResultDescription = AgvAction is null ? ResultDescription : AgvAction.ResultDescription;
         return base.StartAction();
     }
 

RobotApp/Services/Robot/Actions/RobotMoveStraightWithDistanceAction.cs

@@ -4,6 +4,8 @@ public class RobotMoveStraightWithDistanceAction(IServiceProvider ServiceProvide
 {
     protected override Task StartAction()
     {
+        Status = VDA5050.State.ActionStatus.FINISHED;
+        ResultDescription = AgvAction is null ? ResultDescription : AgvAction.ResultDescription;
         return base.StartAction();
     }
 

RobotApp/Services/Robot/RobotActionStorage.cs

@@ -16,20 +16,20 @@ public class RobotActionStorage(IServiceProvider ServiceProvider)
         ActionType.stateRequest => new RobotStateRequestAction(ServiceProvider),
         ActionType.factsheetRequest => new RobotFactsheetRequestAction(ServiceProvider),
         ActionType.cancelOrder => new RobotCancelOrderAction(ServiceProvider),
-        ActionType.liftUp => new RobotLiftUpAction(ServiceProvider),
-        ActionType.liftDown => new RobotLiftDownAction(ServiceProvider),
+        //ActionType.liftUp => new RobotLiftUpAction(ServiceProvider),
+        //ActionType.liftDown => new RobotLiftDownAction(ServiceProvider),
         ActionType.drop => new RobotDropAction(ServiceProvider),
         ActionType.pick => new RobotPickAction(ServiceProvider),
-        ActionType.liftRotate => new RobotLiftRotateAction(ServiceProvider),
+        //ActionType.liftRotate => new RobotLiftRotateAction(ServiceProvider),
         ActionType.rotate => new RobotRotateAction(ServiceProvider),
-        ActionType.rotateKeepLift => new RobotRotateKeepLift(ServiceProvider),
-        ActionType.mutedBaseOn => new RobotMutedBaseOnAction(ServiceProvider),
-        ActionType.mutedBaseOff => new RobotMutedBaseOffAction(ServiceProvider),
-        ActionType.mutedLoadOn => new RobotMutedLoadOnAction(ServiceProvider),
-        ActionType.mutedLoadOff => new RobotMutedLoadOffAction(ServiceProvider),
-        ActionType.dockTo => new RobotDockToAction(ServiceProvider),
-        ActionType.moveStraightToCoor => new RobotMoveStraightToCoorAction(ServiceProvider),
-        ActionType.moveStraightWithDistance => new RobotMoveStraightWithDistanceAction(ServiceProvider),
+        //ActionType.rotateKeepLift => new RobotRotateKeepLift(ServiceProvider),
+        //ActionType.mutedBaseOn => new RobotMutedBaseOnAction(ServiceProvider),
+        //ActionType.mutedBaseOff => new RobotMutedBaseOffAction(ServiceProvider),
+        //ActionType.mutedLoadOn => new RobotMutedLoadOnAction(ServiceProvider),
+        //ActionType.mutedLoadOff => new RobotMutedLoadOffAction(ServiceProvider),
+        //ActionType.dockTo => new RobotDockToAction(ServiceProvider),
+        //ActionType.moveStraightToCoor => new RobotMoveStraightToCoorAction(ServiceProvider),
+        //ActionType.moveStraightWithDistance => new RobotMoveStraightWithDistanceAction(ServiceProvider),
         _ => null,
     };
 }

RobotApp/Services/Robot/RobotConfiguration.cs

@@ -54,6 +54,12 @@ public class RobotConfiguration(IServiceProvider ServiceProvider, Logger<RobotCo
                 VDA5050Setting.CerFile = config.VDA5050Cer;
                 VDA5050Setting.KeyFile = config.VDA5050Key;
                 SerialNumber = config.SerialNumber;
+                if (IsReady)
+                {
+                    var robotConnection = scope.ServiceProvider.GetRequiredService<RobotConnection>();
+                    robotConnection.StartConnection();
+                    await Task.Delay(1000);
+                }
             }
             else throw new Exception("Chưa có cấu hình VDA5050.");
         }

RobotApp/Services/Robot/RobotConnection.cs

@@ -3,6 +3,7 @@ using RobotApp.VDA5050;
 using RobotApp.VDA5050.InstantAction;
 using RobotApp.VDA5050.Order;
 using System.Text.Json;
+using System.Threading;
 
 namespace RobotApp.Services.Robot;
 
@@ -10,26 +11,31 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
                              Logger<RobotConnection> Logger,
                              Logger<MQTTClient> MQTTClientLogger)
 {
-    private readonly VDA5050Setting VDA5050Setting = RobotConfiguration.VDA5050Setting;
     private MQTTClient? MqttClient;
 
     public bool IsConnected => MqttClient is not null && MqttClient.IsConnected;
     public event Action<OrderMsg>? OrderUpdated;
     public event Action<InstantActionsMsg>? ActionUpdated;
+    private readonly SemaphoreSlim _connectionSemaphore = new(1, 1);
+    private CancellationTokenSource? _connectionCancel;
 
 
     private void OrderChanged(string data)
     {
         try
         {
-            Logger.Debug($"Nhận Order: {data}");
+            //Logger.Debug($"Nhận Order: {data}");
             var msg = JsonSerializer.Deserialize<OrderMsg>(data, JsonOptionExtends.Read);
-            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber) return;
+            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber)
+            {
+                Logger.Warning($"SerialNumber cuả order không hợp lệ: message SerialNumber {msg?.SerialNumber}");
+                return;
+            }
             OrderUpdated?.Invoke(msg);
         }
         catch (Exception ex)
         {
-            Logger.Warning($"Nhận Order xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
+            Logger.Warning($"Nhận Order xảy ra lỗi: {ex.Message}");
         }
     }
 
@@ -37,34 +43,62 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
     {
         try
         {
-            Logger.Debug($"Nhận InstanceActions: {data}");
+            //Logger.Debug($"Nhận InstanceActions: {data}");
             var msg = JsonSerializer.Deserialize<InstantActionsMsg>(data, JsonOptionExtends.Read);
-            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber) return;
+            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber)
+            {
+                Logger.Warning($"SerialNumber của action không hợp lệ: message SerialNumber {msg?.SerialNumber}");
+                return;
+            }
             ActionUpdated?.Invoke(msg);
         }
         catch (Exception ex)
         {
-            Logger.Warning($"Nhận InstanceActions xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
+            Logger.Warning($"Nhận InstanceActions xảy ra lỗi: {ex.Message}");
         }
     }
 
     public async Task<MessageResult> Publish(string topic, string data)
     {
-        if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync($"{VDA5050Setting.TopicPrefix}/{RobotConfiguration.SerialNumber}/{topic}", data);
+        if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync($"{RobotConfiguration.VDA5050Setting.TopicPrefix}/{RobotConfiguration.VDA5050Setting.Manufacturer}/{RobotConfiguration.SerialNumber}/{topic}", data);
         return new(false, "Chưa có kết nối tới broker");
     }
-
-    public async Task StartConnection(CancellationToken cancellationToken)
+    public void StartConnection()
     {
-        MqttClient = new MQTTClient(RobotConfiguration.SerialNumber, VDA5050Setting, MQTTClientLogger);
+        Task.Run(async () =>
+        {
+            await StartConnectionAsync(CancellationToken.None);
+            if(IsConnected)Logger.Info("Robot đã kết nối tới Fleet Manager.");
+        });
+    }
+    public async Task StartConnectionAsync(CancellationToken cancellationToken)
+    {
+        try
+        {
+            await StopConnection();
+            _connectionCancel?.Cancel();
+            if (_connectionSemaphore.Wait(1000, cancellationToken))
+            {
+                _connectionCancel = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
+                MqttClient = new MQTTClient(RobotConfiguration.SerialNumber, RobotConfiguration.VDA5050Setting, MQTTClientLogger);
                 MqttClient.OrderChanged += OrderChanged;
                 MqttClient.InstanceActionsChanged += InstanceActionsChanged;
-        await MqttClient.ConnectAsync(cancellationToken);
-        await MqttClient.SubscribeAsync(cancellationToken);
+                await MqttClient.ConnectAsync(_connectionCancel.Token);
+                if(MqttClient is not null) await MqttClient.SubscribeAsync(_connectionCancel.Token);
+            }
+        }
+        finally
+        {
+            _connectionSemaphore.Release();
+        }
     }
 
     public async Task StopConnection()
     {
-        if (MqttClient is not null) await MqttClient.DisposeAsync();
+        if (MqttClient is not null)
+        {
+            await MqttClient.DisposeAsync();
+            MqttClient = null;
+        }
     }
 }

RobotApp/Services/Robot/RobotController.cs

@@ -40,13 +40,6 @@ public partial class RobotController(IOrder OrderManager,
             try
             {
                 if (StateManager.RootStateName != RootStateType.Auto.ToString()) throw new OrderException(RobotErrors.Error1013(StateManager.RootStateName));
-                //if (OrderManager.NodeStates.Length > 0)
-                //{
-                //    if (ActionManager.HasActionRunning) throw new OrderException(RobotErrors.Error1007());
-                //    if (ErrorManager.HasFatalError) throw new OrderException(RobotErrors.Error1008());
-                //    if (NavigationManager.Driving) throw new OrderException(RobotErrors.Error1009());
-                //}
-                //else if (order.OrderId != OrderManager.OrderId) throw new OrderException(RobotErrors.Error1001(OrderManager.OrderId, order.OrderId));
                 OrderManager.UpdateOrder(order);
             }
             catch (RobotExeption orEx)

RobotApp/Services/Robot/RobotControllerInitialize.cs

@@ -39,8 +39,7 @@ public partial class RobotController
             
             ConnectionManager.OrderUpdated += NewOrderUpdated;
             ConnectionManager.ActionUpdated += NewInstantActionUpdated;
-            await ConnectionManager.StartConnection(cancellationToken);
-            Logger.Info("Robot đã kết nối tới Fleet Manager.");
+            ConnectionManager.StartConnection();
             StateManager.TransitionTo(SystemStateType.Standby);
 
             if (!RobotConfiguration.IsSimulation)
@@ -54,8 +53,6 @@ public partial class RobotController
                 }
             }
             else StateManager.TransitionTo(RootStateType.Auto);
-
-            ErrorManager.AddError(RobotErrors.Error2001());
         }
         catch (Exception ex)
         {

RobotApp/Services/Robot/RobotErrors.cs

@@ -99,6 +99,16 @@ public class RobotErrors : IError
         => CreateError(ErrorType.INITIALIZE_ORDER, "1014", ErrorLevel.WARNING, $"Edge {edgeId} chứa StartNodeId {nodeId} không tồn tại trong Nodes");
     public static Error Error1015(string edgeId, string nodeId)
         => CreateError(ErrorType.INITIALIZE_ORDER, "1015", ErrorLevel.WARNING, $"Edge {edgeId} chứa {nodeId} không tồn tại trong Nodes");
+    public static Error Error1016(string lastNodeId, string newStartNodeId)
+        => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại order", ErrorLevel.WARNING, $"Order mới nhận được không phải là nối tiếp của order khi lastNodeId: {lastNodeId} mà node đầu tiên của order mới là: {newStartNodeId}");
+    public static Error Error1017(int lastNodeSequenceId, int newStartNodeSequenceId)
+        => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại order", ErrorLevel.WARNING, $"Order mới nhận được không phải là nối tiếp của order khi LastNodeSequenceId: {lastNodeSequenceId} mà node đầu tiên của order mới có sequence: {newStartNodeSequenceId}");
+    public static Error Error1018(int oldOrderUpdateId, int newOrderUpdateId)
+        => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại OrderUpdateId", ErrorLevel.WARNING, $"OrderUpdateId {newOrderUpdateId} nhận được nhỏ hơn OrderUpdateId hiện tại là {oldOrderUpdateId}");
+    public static Error Error1019()
+        => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại Order", ErrorLevel.WARNING, "Order có node đầu tiên quá xa robot");
+    public static Error Error1020()
+        => CreateError(ErrorType.INITIALIZE_ORDER, "", ErrorLevel.WARNING, "Robot đang ở đích của Order");
 
     public static Error Error2001()
         => CreateError(ErrorType.READ_PERIPHERAL_FAILURE, "2001", ErrorLevel.FATAL, "Có lỗi xảy ra trong quá trình đọc tín hiệu từ hệ thống ngoại vi(PLC)");

RobotApp/Services/Robot/RobotFactsheet.cs

@@ -20,20 +20,20 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
             { ActionType.stateRequest, StateRequest},
             { ActionType.factsheetRequest, FactsheetRequest},
             { ActionType.cancelOrder, CancelOrder},
-            { ActionType.liftUp, LiftUp},
-            { ActionType.liftDown, LiftDown},
+            //{ ActionType.liftUp, LiftUp},
+            //{ ActionType.liftDown, LiftDown},
             { ActionType.pick, Pick},
             { ActionType.drop, Drop},
-            { ActionType.liftRotate, LiftRotate},
+            //{ ActionType.liftRotate, LiftRotate},
             { ActionType.rotate, Rotate},
-            { ActionType.rotateKeepLift, RotateKeepLift},
-            { ActionType.mutedBaseOn, MutedBaseOn},
-            { ActionType.mutedBaseOff, MutedBaseOff},
-            { ActionType.mutedLoadOn, MutedLoadOn},
-            { ActionType.mutedLoadOff, MutedLoadOff},
-            { ActionType.dockTo, DockTo},
-            { ActionType.moveStraightToCoor, MoveStraightToCoor},
-            { ActionType.moveStraightWithDistance, MoveStraightWithDistance},
+            //{ ActionType.rotateKeepLift, RotateKeepLift},
+            //{ ActionType.mutedBaseOn, MutedBaseOn},
+            //{ ActionType.mutedBaseOff, MutedBaseOff},
+            //{ ActionType.mutedLoadOn, MutedLoadOn},
+            //{ ActionType.mutedLoadOff, MutedLoadOff},
+            //{ ActionType.dockTo, DockTo},
+            //{ ActionType.moveStraightToCoor, MoveStraightToCoor},
+            //{ ActionType.moveStraightWithDistance, MoveStraightWithDistance},
         };
 
     public AgvAction? GetAction(ActionType actionType) => AgvActions.TryGetValue(actionType, out AgvAction? value) && value is not null ? value : null;
@@ -167,25 +167,25 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
         BlockingTypes = [BlockingType.NONE.ToString()],
     };
 
-    public readonly static AgvAction LiftUp = new()
-    {
-        ActionType = ActionType.liftUp.ToString(),
-        ActionDescription = "Nâng cao bàn nâng của robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã nâng cao bàn nâng.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction LiftUp = new()
+    //{
+    //    ActionType = ActionType.liftUp.ToString(),
+    //    ActionDescription = "Nâng cao bàn nâng của robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã nâng cao bàn nâng.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction LiftDown = new()
-    {
-        ActionType = ActionType.liftDown.ToString(),
-        ActionDescription = "Hạ thấp bàn nâng của robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã hạ thấp bàn nâng.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction LiftDown = new()
+    //{
+    //    ActionType = ActionType.liftDown.ToString(),
+    //    ActionDescription = "Hạ thấp bàn nâng của robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã hạ thấp bàn nâng.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
     public readonly static AgvAction Pick = new()
     {
@@ -207,22 +207,22 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
         BlockingTypes = [BlockingType.HARD.ToString()],
     };
 
-    public readonly static AgvAction LiftRotate = new()
-    {
-        ActionType = ActionType.liftRotate.ToString(),
-        ActionDescription = "Xoay bàn nâng của robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "angle",
-                Description = "Góc xoay của bàn nâng. (rad)",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            }],
-        ResultDescription = "Robot đã xoay bàn nâng.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction LiftRotate = new()
+    //{
+    //    ActionType = ActionType.liftRotate.ToString(),
+    //    ActionDescription = "Xoay bàn nâng của robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "angle",
+    //            Description = "Góc xoay của bàn nâng. (rad)",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        }],
+    //    ResultDescription = "Robot đã xoay bàn nâng.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
     public readonly static AgvAction Rotate = new()
     {
@@ -241,132 +241,132 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
         BlockingTypes = [BlockingType.HARD.ToString()],
     };
 
-    public readonly static AgvAction RotateKeepLift = new()
-    {
-        ActionType = ActionType.rotateKeepLift.ToString(),
-        ActionDescription = "Xoay robot tại chỗ giữ nguyên trạng thái bàn nâng.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "angle",
-                Description = "Góc xoay của robot. (rad)",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            }],
-        ResultDescription = "Robot đã xoay tại chỗ giữ nguyên trạng thái bàn nâng.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction RotateKeepLift = new()
+    //{
+    //    ActionType = ActionType.rotateKeepLift.ToString(),
+    //    ActionDescription = "Xoay robot tại chỗ giữ nguyên trạng thái bàn nâng.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "angle",
+    //            Description = "Góc xoay của robot. (rad)",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        }],
+    //    ResultDescription = "Robot đã xoay tại chỗ giữ nguyên trạng thái bàn nâng.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MutedBaseOn = new()
-    {
-        ActionType = ActionType.mutedBaseOn.ToString(),
-        ActionDescription = "Bật chế độ muted base robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã bật chế độ muted base.",
-        BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MutedBaseOn = new()
+    //{
+    //    ActionType = ActionType.mutedBaseOn.ToString(),
+    //    ActionDescription = "Bật chế độ muted base robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã bật chế độ muted base.",
+    //    BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MutedBaseOff = new()
-    {
-        ActionType = ActionType.mutedBaseOff.ToString(),
-        ActionDescription = "Tắt chế độ muted base robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã tắt chế độ muted base.",
-        BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MutedBaseOff = new()
+    //{
+    //    ActionType = ActionType.mutedBaseOff.ToString(),
+    //    ActionDescription = "Tắt chế độ muted base robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã tắt chế độ muted base.",
+    //    BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MutedLoadOn = new()
-    {
-        ActionType = ActionType.mutedLoadOn.ToString(),
-        ActionDescription = "Bật chế độ muted load robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã bật chế độ muted load.",
-        BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MutedLoadOn = new()
+    //{
+    //    ActionType = ActionType.mutedLoadOn.ToString(),
+    //    ActionDescription = "Bật chế độ muted load robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã bật chế độ muted load.",
+    //    BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MutedLoadOff = new()
-    {
-        ActionType = ActionType.mutedLoadOff.ToString(),
-        ActionDescription = "Tắt chế độ muted load robot.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [],
-        ResultDescription = "Robot đã tắt chế độ muted load.",
-        BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MutedLoadOff = new()
+    //{
+    //    ActionType = ActionType.mutedLoadOff.ToString(),
+    //    ActionDescription = "Tắt chế độ muted load robot.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [],
+    //    ResultDescription = "Robot đã tắt chế độ muted load.",
+    //    BlockingTypes = [BlockingType.NONE.ToString(), BlockingType.SOFT.ToString(), BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction DockTo = new()
-    {
-        ActionType = ActionType.dockTo.ToString(),
-        ActionDescription = "Robot di chuyển vào vị trí đặc biết",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "dockId",
-                Description = "ID của vị trí dock.",
-                ValueDataType = ValueDataType.STRING.ToString(),
-                IsOptional = false,
-            }],
-        ResultDescription = "Robot đã dock đến vị trí sạc hoặc bến đỗ.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction DockTo = new()
+    //{
+    //    ActionType = ActionType.dockTo.ToString(),
+    //    ActionDescription = "Robot di chuyển vào vị trí đặc biết",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "dockId",
+    //            Description = "ID của vị trí dock.",
+    //            ValueDataType = ValueDataType.STRING.ToString(),
+    //            IsOptional = false,
+    //        }],
+    //    ResultDescription = "Robot đã dock đến vị trí sạc hoặc bến đỗ.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MoveStraightToCoor = new()
-    {
-        ActionType = ActionType.moveStraightToCoor.ToString(),
-        ActionDescription = "Di chuyển thẳng đến tọa độ xác định.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "x",
-                Description = "Tọa độ X đích đến.",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            },
-            new()
-            {
-                Key = "y",
-                Description = "Tọa độ Y đích đến.",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            }],
-        ResultDescription = "Robot đã di chuyển thẳng đến tọa độ xác định.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MoveStraightToCoor = new()
+    //{
+    //    ActionType = ActionType.moveStraightToCoor.ToString(),
+    //    ActionDescription = "Di chuyển thẳng đến tọa độ xác định.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "x",
+    //            Description = "Tọa độ X đích đến.",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        },
+    //        new()
+    //        {
+    //            Key = "y",
+    //            Description = "Tọa độ Y đích đến.",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        }],
+    //    ResultDescription = "Robot đã di chuyển thẳng đến tọa độ xác định.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 
-    public readonly static AgvAction MoveStraightWithDistance = new()
-    {
-        ActionType = ActionType.moveStraightWithDistance.ToString(),
-        ActionDescription = "Di chuyển thẳng với khoảng cách xác định.",
-        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-        ActionParameters = [
-            new()
-            {
-                Key = "distance",
-                Description = "Khoảng cách di chuyển. (m)",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = false,
-            },
-            new()
-            {
-                Key = "direction",
-                Description = "Hướng di chuyển: 1 - tiến, -1 - lùi.",
-                ValueDataType = ValueDataType.INTEGER.ToString(),
-                IsOptional = false,
-            },
-            new()
-            {
-                Key = "angle",
-                Description = "Góc di chuyển so với hướng hiện tại của robot. (rad)",
-                ValueDataType = ValueDataType.FLOAT.ToString(),
-                IsOptional = true,
-            }],
-        ResultDescription = "Robot đã di chuyển thẳng với khoảng cách xác định.",
-        BlockingTypes = [BlockingType.HARD.ToString()],
-    };
+    //public readonly static AgvAction MoveStraightWithDistance = new()
+    //{
+    //    ActionType = ActionType.moveStraightWithDistance.ToString(),
+    //    ActionDescription = "Di chuyển thẳng với khoảng cách xác định.",
+    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+    //    ActionParameters = [
+    //        new()
+    //        {
+    //            Key = "distance",
+    //            Description = "Khoảng cách di chuyển. (m)",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = false,
+    //        },
+    //        new()
+    //        {
+    //            Key = "direction",
+    //            Description = "Hướng di chuyển: 1 - tiến, -1 - lùi.",
+    //            ValueDataType = ValueDataType.INTEGER.ToString(),
+    //            IsOptional = false,
+    //        },
+    //        new()
+    //        {
+    //            Key = "angle",
+    //            Description = "Góc di chuyển so với hướng hiện tại của robot. (rad)",
+    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+    //            IsOptional = true,
+    //        }],
+    //    ResultDescription = "Robot đã di chuyển thẳng với khoảng cách xác định.",
+    //    BlockingTypes = [BlockingType.HARD.ToString()],
+    //};
 }

RobotApp/Services/Robot/RobotLoads.cs

@@ -3,7 +3,7 @@ using RobotApp.VDA5050.State;
 
 namespace RobotApp.Services.Robot;
 
-public class RobotLoads(IPeripheral PeriperalManager) : ILoad
+public class RobotLoads() : ILoad
 {
     //public Load[] Load => PeriperalManager.HasLoad ? [GetLoad()] : [];
     public Load[] Load { get; private set; } = [];

RobotApp/Services/Robot/RobotLocalization.cs

@@ -273,6 +273,9 @@ public class RobotLocalization(RobotConfiguration RobotConfiguration, Simulation
     public MessageResult SetInitializePosition(double x, double y, double theta)
     {
         try
+        {
+            if (IsSimulation) SimVisualization.LocalizationInitialize(x, y, theta);
+            else
             {
                 var xyzw = QuaternionToXYZW(0, 0, theta);
                 var response = XlocClient.SetInitialPose(new SetInitialPoseRequest()
@@ -301,6 +304,8 @@ public class RobotLocalization(RobotConfiguration RobotConfiguration, Simulation
                     return new(false, "Khởi tạo vị trí cho robot thất bại");
                 }
             }
+            return new(true);
+        }
         catch (Exception ex)
         {
             Logger.Warning($"Khởi tạo vị trí cho robot thất bại: {ex.Message}");

RobotApp/Services/Robot/RobotOrderController.cs

@@ -1,4 +1,4 @@
-using MudBlazor;
+using RobotApp.Common.Shares.Dtos;
 using RobotApp.Common.Shares.Enums;
 using RobotApp.Interfaces;
 using RobotApp.Services.Exceptions;
@@ -27,8 +27,9 @@ public class RobotOrderController(INavigation NavigationManager,
     public EdgeState[] EdgeStates { get; private set; } = [];
     public string LastNodeId => LastNode is null ? "" : LastNode.NodeId;
     public int LastNodeSequenceId => LastNode is null ? 0 : LastNode.SequenceId;
+    public (NodeState[], EdgeStateDto[]) CurrentPath => GetCurrentPath();
 
-    private const int CycleHandlerMilliseconds = 100;
+    private const int CycleHandlerMilliseconds = 200;
     private WatchTimer<RobotOrderController>? OrderTimer;
 
     private readonly Dictionary<string, Action[]> OrderActions = [];
@@ -40,6 +41,8 @@ public class RobotOrderController(INavigation NavigationManager,
     private VDA5050.Order.Edge[] Edges = [];
     private Node? CurrentBaseNode;
     private Node? LastNode;
+    private Node[] NewOrderNodes = [];
+    private VDA5050.Order.Edge[] NewOrderEdges = [];
 
     private readonly Lock LockObject = new();
 
@@ -84,8 +87,6 @@ public class RobotOrderController(INavigation NavigationManager,
     {
         OrderTimer?.Dispose();
         OrderTimer = null;
-        //OrderId = string.Empty;
-        //OrderUpdateId = 0;
         OrderActions.Clear();
         ActionWaitingRunning.Clear();
         CurrentBaseNode = null;
@@ -157,12 +158,29 @@ public class RobotOrderController(INavigation NavigationManager,
 
     private void HandleNewOrder(OrderMsg order)
     {
-        //if (NavigationManager.State != NavigationState.Idle) throw new OrderException(RobotErrors.Error1012(NavigationManager.State));
+        if (order.OrderId == OrderId)
+        {
+            if (order.OrderUpdateId < OrderUpdateId) throw new OrderException(RobotErrors.Error1018(OrderUpdateId, order.OrderUpdateId));
+            if (order.OrderUpdateId == OrderUpdateId) return;
+            if (order.Nodes[0].NodeId != LastNodeId)
+            {
+                throw new OrderException(RobotErrors.Error1016(LastNodeId, order.Nodes[0].NodeId));
+            }
+            if (order.Nodes[0].SequenceId != LastNodeSequenceId)
+            {
+                throw new OrderException(RobotErrors.Error1017(LastNodeSequenceId, order.Nodes[0].SequenceId));
+            }
+        }
 
         OrderActions.Clear();
+        ActionManager.ClearInstantActions();
         LastNode = null;
         FinalAction = [];
         IsNavigationFinished = false;
+        IsCancelOrder = false;
+        IsActionRunning = false;
+        IsWaitingPaused = false;
+        ActionHard = null;
 
         for (int i = 0; i < order.Edges.Length; i++)
         {
@@ -203,14 +221,12 @@ public class RobotOrderController(INavigation NavigationManager,
                 }
                 else OrderActions.Add(order.Nodes[i].NodeId, order.Edges[i].Actions);
             }
-            //if (order.Nodes[i].SequenceId != i) throw new OrderException(RobotErrors.Error1010(order.Nodes[i].NodeId, order.Nodes[i].SequenceId, i));
-            //if (i < order.Nodes.Length - 1 && order.Edges[i].SequenceId != i) throw new OrderException(RobotErrors.Error1011(order.Edges[i].EdgeId, order.Edges[i].SequenceId, i));
             if (order.Nodes[i].Released) CurrentBaseNode = order.Nodes[i];
         }
         SafetyManager.OnSafetySpeedChanged += OnSafetySpeedChanged;
 
         if (OrderActions.TryGetValue(order.Nodes[^1].NodeId, out Action[]? finalactions) && finalactions is not null && finalactions.Length > 0) FinalAction = [.. finalactions];
-        ActionManager.ClearInstantActions();
+
         if (OrderActions.Count > 0) ActionManager.AddOrderActions([.. OrderActions.Values.SelectMany(a => a)]);
 
         if (order.Nodes.Length > 1 && order.Edges.Length >= 0)
@@ -223,16 +239,13 @@ public class RobotOrderController(INavigation NavigationManager,
         OrderUpdateId = order.OrderUpdateId;
         Nodes = order.Nodes;
         Edges = order.Edges;
+        NewOrderNodes = order.Nodes;
+        NewOrderEdges = order.Edges;
         if (CurrentBaseNode is not null && CurrentBaseNode.NodeId != Nodes[0].NodeId && Nodes.Length > 1) NavigationManager.UpdateOrder(CurrentBaseNode.NodeId);
         if (StateManager.CurrentStateName != AutoStateType.Executing.ToString()) StateManager.TransitionTo(AutoStateType.Executing);
         UpdateState();
     }
 
-    private bool IsNewPath()
-    {
-        return true;
-    }
-
     private void ClearLastNode()
     {
         if (LastNode is null) return;
@@ -245,11 +258,20 @@ public class RobotOrderController(INavigation NavigationManager,
         }
     }
 
-    private void HandleUpdateOrder(OrderMsg order)
+    public void HandleUpdateOrder(OrderMsg order)
     {
         if (order.OrderId != OrderId) throw new OrderException(RobotErrors.Error1001(OrderId, order.OrderId));
         if (order.OrderUpdateId <= OrderUpdateId) return;
 
+        if (CurrentBaseNode is not null && order.Nodes[0].NodeId != CurrentBaseNode.NodeId)
+        {
+            throw new OrderException(RobotErrors.Error1016(LastNodeId, order.Nodes[0].NodeId));
+        }
+        if (CurrentBaseNode is not null && order.Nodes[0].SequenceId != CurrentBaseNode.SequenceId)
+        {
+            throw new OrderException(RobotErrors.Error1017(LastNodeSequenceId, order.Nodes[0].SequenceId));
+        }
+
         var lastBastNode = order.Nodes.Last(n => n.Released);
         if (lastBastNode is not null && lastBastNode.NodeId != CurrentBaseNode?.NodeId)
         {
@@ -264,22 +286,30 @@ public class RobotOrderController(INavigation NavigationManager,
 
     private void HandleOrder()
     {
+        if (Nodes.Length <= 0) return;
         if (IsCancelOrder)
         {
-            IsCancelOrder = false;
             NavigationManager.CancelMovement();
-            NavigationFinished();
-            return;
         }
 
         if (IsNavigationFinished || IsOneceNode)
         {
+            if (IsCancelOrder && !ActionManager.HasActionRunning)
+            {
+                HandleOrderStop();
+                return;
+            }
+
             if (FinalAction.Count > 0)
             {
                 var action = FinalAction[0];
                 var robotAction = ActionManager[action.ActionId];
-                if (robotAction is null) return;
-                if (robotAction.IsCompleted) FinalAction.Remove(action);
+                if (robotAction is null)
+                {
+                    FinalAction.Remove(action);
+                    return;
+                }
+                if (robotAction.IsCompleted)
                     if (robotAction.Status == ActionStatus.WAITING) ActionManager.StartOrderAction(action.ActionId);
             }
             else
@@ -314,11 +344,7 @@ public class RobotOrderController(INavigation NavigationManager,
         {
             var robotAction = ActionManager[ActionHard.ActionId];
             if (robotAction is null) return;
-            if (robotAction is not null && robotAction.IsCompleted)
-            {
-                NavigationManager.Resume();
-                ActionHard = null;
-            }
+            if (robotAction is not null && robotAction.IsCompleted) ActionHard = null;
         }
         else
         {
@@ -342,7 +368,12 @@ public class RobotOrderController(INavigation NavigationManager,
             }
             else
             {
-                if (IsWaitingPaused) IsWaitingPaused = false;
+                if (IsWaitingPaused)
+                {
+                    IsWaitingPaused = false;
+                    NavigationManager.Resume();
+                    if (CurrentBaseNode is not null && CurrentBaseNode.NodeId != Nodes[0].NodeId && Nodes.Length > 1) NavigationManager.UpdateOrder(CurrentBaseNode.NodeId);
+                }
             }
         }
     }
@@ -360,12 +391,26 @@ public class RobotOrderController(INavigation NavigationManager,
                     NewOrder = null;
                 }
 
-                if (NewOrderHandler.Nodes.Length < 2) throw new OrderException(RobotErrors.Error1002(NewOrderHandler.Nodes.Length));
-                //if (NewOrderHandler.Edges.Length < 1) throw new OrderException(RobotErrors.Error1003(NewOrderHandler.Edges.Length));
-                //if (NewOrderHandler.Edges.Length != NewOrderHandler.Nodes.Length - 1) throw new OrderException(RobotErrors.Error1004(NewOrderHandler.Nodes.Length, NewOrderHandler.Edges.Length));
+                if (NewOrderHandler.Nodes.Length < 1) throw new OrderException(RobotErrors.Error1002(NewOrderHandler.Nodes.Length));
+                if (NewOrderHandler.Edges.Length != NewOrderHandler.Nodes.Length - 1) throw new OrderException(RobotErrors.Error1004(NewOrderHandler.Nodes.Length, NewOrderHandler.Edges.Length));
 
-                if (NodeStates.Length == 0) HandleNewOrder(NewOrderHandler);
-                else HandleUpdateOrder(NewOrderHandler);
+                if (NodeStates.Length != 0 || EdgeStates.Length != 0) HandleUpdateOrder(NewOrderHandler);
+                else
+                {
+                    Node startNode = NewOrderHandler.Nodes[0];
+                    var nodeDeviation = startNode.NodePosition.AllowedDeviationXY == 0.0 ? NewOrderHandler.Nodes.Length == 1 ? 0.3 : 0.5 : startNode.NodePosition.AllowedDeviationXY;
+                    var distance = Localization.DistanceTo(startNode.NodePosition.X, startNode.NodePosition.Y);
+                    if (distance > nodeDeviation) throw new OrderException(RobotErrors.Error1019());
+
+                    if (NewOrderHandler.Nodes.Length > 1)
+                    {
+                        Node endNode = NewOrderHandler.Nodes[^1];
+                        nodeDeviation = endNode.NodePosition.AllowedDeviationXY == 0.0 ? 0.2 : endNode.NodePosition.AllowedDeviationXY;
+                        distance = Localization.DistanceTo(endNode.NodePosition.X, endNode.NodePosition.Y);
+                        if (distance < nodeDeviation) throw new OrderException(RobotErrors.Error1020());
+                    }
+                    HandleNewOrder(NewOrderHandler);
+                }
             }
             HandleOrder();
         }
@@ -375,6 +420,7 @@ public class RobotOrderController(INavigation NavigationManager,
             {
                 ErrorManager.AddError(orEx.Error, TimeSpan.FromSeconds(10));
                 Logger.Warning($"Lỗi khi xử lí Order: {orEx.Error.ErrorDescription}");
+                if (Nodes.Length == 0) HandleOrderStop();
             }
             else Logger.Warning($"Lỗi khi xử lí Order: {orEx.Message}");
         }
@@ -384,4 +430,88 @@ public class RobotOrderController(INavigation NavigationManager,
         }
     }
 
+    private EdgeStateDto[] SplitChecking(Node lastNode, Node nearLastNode, VDA5050.Order.Edge edge)
+    {
+        List<EdgeStateDto> pathEdges = [];
+        var splitStartPath = RobotPathPlanner.PathSplit([lastNode, nearLastNode], [edge], 0.5);
+        if (splitStartPath is not null && splitStartPath.Length > 0)
+        {
+            int index = 0;
+            double minDistance = double.MaxValue;
+            for (int i = 0; i < splitStartPath.Length; i++)
+            {
+                var distance = Math.Sqrt(Math.Pow(Localization.X - splitStartPath[i].NodePosition.X, 2) +
+                                         Math.Pow(Localization.Y - splitStartPath[i].NodePosition.Y, 2));
+                if (distance < minDistance)
+                {
+                    minDistance = distance;
+                    index = i;
+                }
+            }
+            if (edge.Trajectory is null || edge.Trajectory.Degree == 1)
+            {
+                pathEdges.Add(new()
+                {
+                    StartX = splitStartPath[index].NodePosition.X,
+                    StartY = splitStartPath[index].NodePosition.Y,
+                    EndX = nearLastNode.NodePosition.X,
+                    EndY = nearLastNode.NodePosition.Y,
+                    Degree = 1,
+                });
+            }
+            else
+            {
+                for (int i = index; i < splitStartPath.Length - 1; i++)
+                {
+                    pathEdges.Add(new()
+                    {
+                        StartX = splitStartPath[i].NodePosition.X,
+                        StartY = splitStartPath[i].NodePosition.Y,
+                        EndX = splitStartPath[i + 1].NodePosition.X,
+                        EndY = splitStartPath[i + 1].NodePosition.Y,
+                        Degree = 1,
+                    });
+                }
+            }
+        }
+        return [.. pathEdges];
+    }
+
+    private (NodeState[], EdgeStateDto[]) GetCurrentPath()
+    {
+        if (NodeStates.Length == 0 && EdgeStates.Length == 0) return ([], []);
+
+        List<EdgeStateDto> pathEdges = [];
+        var lastNodeIndex = Array.FindIndex(NewOrderNodes, n => n.NodeId == LastNodeId);
+        lastNodeIndex = lastNodeIndex != -1 ? lastNodeIndex : 0;
+        if (lastNodeIndex < NewOrderNodes.Length - 1) pathEdges = [.. SplitChecking(NewOrderNodes[lastNodeIndex], NewOrderNodes[lastNodeIndex + 1], NewOrderEdges[lastNodeIndex])];
+        if (lastNodeIndex < NewOrderNodes.Length - 2)
+        {
+            var nodes = NewOrderNodes.ToList().GetRange(lastNodeIndex + 1, NewOrderNodes.Length - lastNodeIndex - 1);
+            var edges = NewOrderEdges.ToList().GetRange(lastNodeIndex + 1, nodes.Count - 1);
+            for (int i = 0; i < nodes.Count - 1; i++)
+            {
+                if (edges[i] is null) return (NodeStates, [.. pathEdges]);
+
+                var trajectory = edges[i].Trajectory;
+                var controlPoints = trajectory?.ControlPoints;
+
+
+                pathEdges.Add(new()
+                {
+                    StartX = nodes[i].NodePosition.X,
+                    StartY = nodes[i].NodePosition.Y,
+                    EndX = nodes[i + 1].NodePosition.X,
+                    EndY = nodes[i + 1].NodePosition.Y,
+                    ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
+                    ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
+                    ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
+                    ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
+                    Degree = trajectory is null ? 1 : trajectory.Degree,
+                });
+            }
+        }
+        return (NodeStates, [.. pathEdges]);
+    }
+
 }

RobotApp/Services/Robot/RobotPathPlanner.cs

@@ -21,11 +21,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
             Y1 = inNode.NodePosition.Y,
             X2 = futureNode.NodePosition.X,
             Y2 = futureNode.NodePosition.Y,
-            ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
-            ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
-            ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
-            ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
-            TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
+            ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
+            ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
+            ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
+            ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
+            TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
         });
         (double robotx, double roboty) =
         (
@@ -61,30 +61,46 @@ public class RobotPathPlanner(IConfiguration Configuration)
         navigationNodes[0].Direction = GetDirectionInNode(currentTheta, nodes[0], nodes[1], edges[0]);
         for (int i = 1; i < nodes.Length - 1; i++)
         {
+            var trajectory = edges[i - 1].Trajectory;
+            var controlPoints = trajectory?.ControlPoints;
             (double lastx, double lasty) = MathExtensions.Curve(0.1, new()
             {
                 X1 = nodes[i - 1].NodePosition.X,
                 Y1 = nodes[i - 1].NodePosition.Y,
                 X2 = nodes[i].NodePosition.X,
                 Y2 = nodes[i].NodePosition.Y,
-                ControlPoint1X = edges[i - 1].Trajectory.ControlPoints.Length > 2 ? edges[i - 1].Trajectory.ControlPoints[1].X : 0,
-                ControlPoint1Y = edges[i - 1].Trajectory.ControlPoints.Length > 2 ? edges[i - 1].Trajectory.ControlPoints[1].Y : 0,
-                ControlPoint2X = edges[i - 1].Trajectory.ControlPoints.Length > 3 ? edges[i - 1].Trajectory.ControlPoints[2].X : 0,
-                ControlPoint2Y = edges[i - 1].Trajectory.ControlPoints.Length > 3 ? edges[i - 1].Trajectory.ControlPoints[2].Y : 0,
-                TrajectoryDegree = edges[i - 1].Trajectory.Degree == 1 ? TrajectoryDegree.One : edges[i - 1].Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
+                ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
+                ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
+                ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
+                ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
+                TrajectoryDegree = trajectory?.Degree switch
+                {
+                    1 => TrajectoryDegree.One,
+                    2 => TrajectoryDegree.Two,
+                    _ => TrajectoryDegree.Three
+                },
             });
+
+            trajectory = edges[i].Trajectory;
+            controlPoints = trajectory?.ControlPoints;
             (double futurex, double futurey) = MathExtensions.Curve(0.1, new()
             {
                 X1 = nodes[i].NodePosition.X,
                 Y1 = nodes[i].NodePosition.Y,
                 X2 = nodes[i + 1].NodePosition.X,
                 Y2 = nodes[i + 1].NodePosition.Y,
-                ControlPoint1X = edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].X : 0,
-                ControlPoint1Y = edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].Y : 0,
-                ControlPoint2X = edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].X : 0,
-                ControlPoint2Y = edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].Y : 0,
-                TrajectoryDegree = edges[i].Trajectory.Degree == 1 ? TrajectoryDegree.One : edges[i].Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
+                ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
+                ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
+                ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
+                ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
+                TrajectoryDegree = trajectory?.Degree switch
+                {
+                    1 => TrajectoryDegree.One,
+                    2 => TrajectoryDegree.Two,
+                    _ => TrajectoryDegree.Three
+                },
             });
+
             var angle = MathExtensions.GetVectorAngle(
                 nodes[i].NodePosition.X,
                 nodes[i].NodePosition.Y,
@@ -128,11 +144,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
                 Y1 = startNode.Y,
                 X2 = endNode.X,
                 Y2 = endNode.Y,
-                ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
-                ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
-                ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
-                ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
-                TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
+                ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
+                ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
+                ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
+                ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
+                TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
             };
 
             double length = EdgeCalculatorModel.GetEdgeLength();
@@ -164,4 +180,72 @@ public class RobotPathPlanner(IConfiguration Configuration)
         }
         return [.. navigationNode];
     }
+
+    public static Node[] PathSplit(Node[] nodes, Edge[] edges, double resolutionSplit)
+    {
+        if (nodes.Length < 2) throw new PathPlannerException(RobotErrors.Error1002(nodes.Length));
+        if (edges.Length < 1) throw new PathPlannerException(RobotErrors.Error1003(edges.Length));
+        if (edges.Length != nodes.Length - 1) throw new PathPlannerException(RobotErrors.Error1004(nodes.Length, edges.Length));
+
+        List<Node> navigationNode = [new()
+        {
+            NodeId = nodes[0].NodeId,
+            NodePosition = new()
+            {
+                X = nodes[0].NodePosition.X,
+                Y = nodes[0].NodePosition.Y,
+                Theta = nodes[0].NodePosition.Theta,
+            }
+        }];
+        foreach (var edge in edges)
+        {
+            var startNode = nodes.FirstOrDefault(n => n.NodeId == edge.StartNodeId);
+            var endNode = nodes.FirstOrDefault(n => n.NodeId == edge.EndNodeId);
+            if (startNode is null) throw new PathPlannerException(RobotErrors.Error1014(edge.EdgeId, edge.StartNodeId));
+            if (endNode is null) throw new PathPlannerException(RobotErrors.Error1014(edge.EdgeId, edge.EndNodeId));
+
+            var EdgeCalculatorModel = new EdgeCalculatorModel()
+            {
+                X1 = startNode.NodePosition.X,
+                Y1 = startNode.NodePosition.Y,
+                X2 = endNode.NodePosition.X,
+                Y2 = endNode.NodePosition.Y,
+                ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
+                ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
+                ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
+                ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
+                TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
+            };
+
+            double length = EdgeCalculatorModel.GetEdgeLength();
+            if (length <= 0) continue;
+            double step = resolutionSplit / length;
+
+            for (double t = step; t <= 1 - step; t += step)
+            {
+                (double x, double y) = EdgeCalculatorModel.Curve(t);
+                navigationNode.Add(new()
+                {
+                    NodeId = string.Empty,
+                    NodePosition = new()
+                    {
+                        X = x,
+                        Y = y,
+                        Theta = startNode.NodePosition.Theta,
+                    }
+                });
+            }
+            navigationNode.Add(new()
+            {
+                NodeId = endNode.NodeId,
+                NodePosition = new()
+                {
+                    X = endNode.NodePosition.X,
+                    Y = endNode.NodePosition.Y,
+                    Theta = endNode.NodePosition.Theta,
+                }
+            });
+        }
+        return [.. navigationNode];
+    }
 }

RobotApp/Services/Robot/RobotStatePublisher.cs

@@ -0,0 +1,35 @@
+using Microsoft.AspNetCore.SignalR;
+using RobotApp.Hubs;
+
+namespace RobotApp.Services.Robot;
+
+public class RobotStatePublisher(
+    IHubContext<RobotHub> _hubContext,
+    RobotStates _robotState,
+    RobotConnection _robotConnection) : BackgroundService
+{
+    private readonly PeriodicTimer _timer = new(TimeSpan.FromMilliseconds(1000)); // 1 giây/lần
+
+    protected override async Task ExecuteAsync(CancellationToken stoppingToken)
+    {
+        while (await _timer.WaitForNextTickAsync(stoppingToken))
+        {
+            try
+            {
+                // ===== SEND STATE =====
+                await _hubContext.Clients.All.SendAsync("ReceiveState", _robotState.GetStateMsg(), stoppingToken);
+                await _hubContext.Clients.All.SendAsync("ReceiveRobotConnection", _robotConnection.IsConnected, stoppingToken);
+            }
+            catch
+            {
+            }
+        }
+    }
+
+    public override Task StopAsync(CancellationToken cancellationToken)
+    {
+        _timer?.Dispose();
+        base.Dispose();
+        return base.StopAsync(cancellationToken);
+    }
+}

RobotApp/Services/Robot/RobotStates.cs

@@ -36,7 +36,7 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
         catch { }
     }
 
-    private StateMsg GetStateMsg()
+    public StateMsg GetStateMsg()
     {
         return new StateMsg
         {
@@ -47,8 +47,8 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
             Maps = [],
             OrderId = OrderManager.OrderId,
             OrderUpdateId = OrderManager.OrderUpdateId,
-            ZoneSetId = "9879E7A9-CF5F-4ABD-924E-08DE1C3D25FE",
-            LastNodeId = string.IsNullOrEmpty(OrderManager.LastNodeId) ? "EE9959EC-B670-4D22-8BD2-08DE1C3D71FC" : OrderManager.LastNodeId,
+            ZoneSetId = "",
+            LastNodeId = OrderManager.LastNodeId,
             LastNodeSequenceId = OrderManager.LastNodeSequenceId,
             Driving = NavigationManager.VelocityX > 0 || NavigationManager.Omega > 0,
             Paused = false,

RobotApp/Services/Robot/Simulation/Navigation/Algorithm/FuzzyLogic.cs

@@ -2,251 +2,537 @@
 
 public class FuzzyLogic
 {
-    private double Gain_P = 0.5;
-    private double Gain_I = 0.01;
-    private double DiscreteTimeIntegrator_DSTATE;
+    // ============================================================================
+    // FUZZY LOGIC CONTROLLER - PHIÊN BẢN GỐC ĐÃ TỔ CHỨC LẠI
+    // Dải đầu ra: 0.0 - 1.0 | Độ phân giải: 5 mức | Số luật: 25 (5x5)
+    // ============================================================================
 
-    public FuzzyLogic WithGainP(double gainP)
+    // ============================================================================
+    // PHẦN 1: CÁC HÀM MEMBERSHIP (HÀM THUỘC)
+    // ============================================================================
+
+    /// <summary>
+    /// Hàm thuộc hình thang (Trapezoidal Membership Function)
+    /// Dạng hình thang với 4 điểm: [left_base, left_top, right_top, right_base]
+    ///
+    ///        left_top ______ right_top
+    ///              /          \
+    ///             /            \
+    ///   _________/              \_________
+    /// left_base                  right_base
+    /// 
+    /// </summary>
+    /// <param name="inputValue">Giá trị đầu vào cần tính độ thuộc</param>
+    /// <param name="left_base">Điểm bắt đầu hình thang (μ = 0)</param>
+    /// <param name="left_top">Điểm bắt đầu vùng phẳng trên (μ = 1)</param>
+    /// <param name="right_top">Điểm kết thúc vùng phẳng trên (μ = 1)</param>
+    /// <param name="right_base">Điểm kết thúc hình thang (μ = 0)</param>
+    /// <returns>Độ thuộc trong khoảng [0, 1]</returns>
+    private static double Fuzzy_trapmf(double inputValue, double left_base, double left_top, double right_top, double right_base)
     {
-        Gain_P = gainP;
-        return this;
+        double membership = 0.0;
+
+        // Trường hợp 1: Nằm ngoài phía trái hình thang
+        if (inputValue <= left_base)
+        {
+            membership = 0.0;
+        }
+        // Trường hợp 2: Nằm trên cạnh tăng dần (trái)
+        else if (inputValue > left_base && inputValue < left_top)
+        {
+            if (left_top != left_base)  // Tránh chia cho 0
+            {
+                membership = (inputValue - left_base) / (left_top - left_base);
+            }
+        }
+        // Trường hợp 3: Nằm trên vùng phẳng (đỉnh)
+        else if (inputValue >= left_top && inputValue <= right_top)
+        {
+            membership = 1.0;
+        }
+        // Trường hợp 4: Nằm trên cạnh giảm dần (phải)
+        else if (inputValue > right_top && inputValue < right_base)
+        {
+            if (right_base != right_top)  // Tránh chia cho 0
+            {
+                membership = (right_base - inputValue) / (right_base - right_top);
+            }
+        }
+        // Trường hợp 5: Nằm ngoài phía phải hình thang
+        else if (inputValue >= right_base)
+        {
+            membership = 0.0;
         }
 
-    public FuzzyLogic WithGainI(double gainI)
-    {
-        Gain_I = gainI;
-        return this;
+        return membership;
     }
 
-    private static double Fuzzy_trapmf(double x, double[] parame)
+    /// <summary>
+    /// Hàm thuộc tam giác (Triangular Membership Function)
+    /// Dạng tam giác với 3 điểm: [left, peak, right]
+    ///
+    ///           peak
+    ///           /\
+    ///          /  \
+    ///         /    \
+    ///   _____/      \_____
+    ///      left      right
+    /// 
+    /// </summary>
+    /// <param name="inputValue">Giá trị đầu vào cần tính độ thuộc</param>
+    /// <param name="left">Điểm bắt đầu tam giác (μ = 0)</param>
+    /// <param name="peak">Điểm đỉnh tam giác (μ = 1)</param>
+    /// <param name="right">Điểm kết thúc tam giác (μ = 0)</param>
+    /// <returns>Độ thuộc trong khoảng [0, 1]</returns>
+    private static double Fuzzy_trimf(double inputValue, double left, double peak, double right)
     {
-        double b_y1;
-        double y2;
-        b_y1 = 0.0;
-        y2 = 0.0;
-        if (x >= parame[1])
+        double membership = 0.0;
+
+        // Trường hợp 1: Nằm ngoài phía trái tam giác
+        if (inputValue <= left)
         {
-            b_y1 = 1.0;
+            membership = 0.0;
         }
-        if (x < parame[0])
+        // Trường hợp 2: Nằm trên cạnh tăng dần (trái)
+        else if (inputValue > left && inputValue < peak)
         {
-            b_y1 = 0.0;
-        }
-        if (parame[0] <= x && x < parame[1] && parame[0] != parame[1])
+            if (peak != left)  // Tránh chia cho 0
             {
-            b_y1 = 1.0 / (parame[1] - parame[0]) * (x - parame[0]);
+                membership = (inputValue - left) / (peak - left);
             }
-        if (x <= parame[2])
+        }
+        // Trường hợp 3: Đúng tại đỉnh tam giác
+        else if (inputValue == peak)
         {
-            y2 = 1.0;
+            membership = 1.0;
         }
-        if (x > parame[3])
+        // Trường hợp 4: Nằm trên cạnh giảm dần (phải)
+        else if (inputValue > peak && inputValue < right)
         {
-            y2 = 0.0;
-        }
-        if (parame[2] < x && x <= parame[3] && parame[2] != parame[3])
+            if (right != peak)  // Tránh chia cho 0
             {
-            y2 = 1.0 / (parame[3] - parame[2]) * (parame[3] - x);
+                membership = (right - inputValue) / (right - peak);
             }
-        return b_y1 < y2 ? b_y1 : y2;
+        }
+        // Trường hợp 5: Nằm ngoài phía phải tam giác
+        else if (inputValue >= right)
+        {
+            membership = 0.0;
         }
 
-    private static double Fuzzy_trimf(double x, double[] parame)
-    {
-        double y;
-        y = 0.0;
-        if (parame[0] != parame[1] && parame[0] < x && x < parame[1])
-        {
-            y = 1.0 / (parame[1] - parame[0]) * (x - parame[0]);
-        }
-        if (parame[1] != parame[2] && parame[1] < x && x < parame[2])
-        {
-            y = 1.0 / (parame[2] - parame[1]) * (parame[2] - x);
-        }
-        if (x == parame[1])
-        {
-            y = 1.0;
-        }
-        return y;
+        return membership;
     }
 
-    public (double wl, double wr) Fuzzy_step(double v, double w, double TimeSample)
+    // ============================================================================
+    // PHẦN 2: FUZZIFICATION (MỜ HÓA ĐẦU VÀO)
+    // ============================================================================
+
+    /// <summary>
+    /// Mờ hóa tín hiệu PI thành 5 tập mờ
+    /// </summary>
+    /// <param name="piSignal">Tín hiệu đầu ra của bộ PI</param>
+    /// <param name="membershipValues">Mảng lưu giá trị độ thuộc (vị trí 0-4)</param>
+    private static void FuzzifyPISignal(double piSignal, double[] membershipValues)
     {
-        (double wl, double wr) result = new();
-        double[] inputMFCache = new double[10];
-        double[] outputMFCache = new double[5];
-        double[] outputMFCache_0 = new double[5];
-        double[] tmp = new double[3];
-        double aggregatedOutputs;
-        double rtb_TmpSignalConversionAtSFun_0;
-        double rtb_antecedentOutputs_e;
-        double sumAntecedentOutputs;
-        int ruleID;
-        double[] f = [-1.0E+10, -1.0E+10, -1.0, -0.5];
-        double[] e = [0.5, 1.0, 1.0E+10, 1.0E+10];
-        double[] d = [0.75, 1.0, 1.0E+9, 1.0E+9];
-        double[] c = [-1.0E+9, -1.0E+9, 0.0, 0.25];
-        byte[] b = [ 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 4,
-                         4, 4, 4, 4, 5, 5, 5, 5, 5, 1, 2, 3, 4, 5, 1, 2, 3,
-                         4, 5, 1, 2, 3, 4, 5, 3, 4, 5, 1, 2, 1, 2, 3, 4, 5 ];
-        byte[] b_0 = [1, 1, 2, 1, 1, 2, 3, 5, 1, 4, 5, 5, 5, 5, 5, 2, 1, 1, 1, 1, 5, 5, 5, 5, 5];
-        byte[] b_1 = [  1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 4,
-                            4, 4, 4, 4, 5, 5, 5, 5, 5, 1, 2, 3, 4, 5, 4, 1,
-                            2, 3, 5, 3, 1, 2, 4, 5, 1, 2, 3, 4, 5, 1, 2, 4, 5, 3 ];
-        byte[] b_2 = [5, 5, 5, 5, 5, 1, 2, 3, 5, 4, 2, 1, 1, 1, 1, 5, 5, 5, 5, 5, 1, 1, 1, 1, 2];
-        double inputMFCache_tmp;
-        double inputMFCache_tmp_0;
-        double inputMFCache_tmp_1;
-        double inputMFCache_tmp_2;
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller' */
-        /* SignalConversion generated from: '<S4>/ SFunction ' incorporates:
-         *  Constant: '<Root>/w'
-         *  DiscreteIntegrator: '<Root>/Discrete-Time Integrator'
-         *  Gain: '<Root>/Gain1'
-         *  MATLAB Function: '<S1>/Evaluate Rule Antecedents'
-         *  MATLAB Function: '<S2>/Evaluate Rule Antecedents'
-         *  SignalConversion generated from: '<S7>/ SFunction '
-         *  Sum: '<Root>/Sum'
-         */
-        DiscreteTimeIntegrator_DSTATE += Gain_I * w * TimeSample;
-        rtb_TmpSignalConversionAtSFun_0 = Gain_P * w + DiscreteTimeIntegrator_DSTATE;
-        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        /* MATLAB Function: '<S1>/Evaluate Rule Antecedents' incorporates:
-         *  Constant: '<Root>/v'
-         *  MATLAB Function: '<S2>/Evaluate Rule Antecedents'
-         *  SignalConversion generated from: '<S4>/ SFunction '
-         */
-        sumAntecedentOutputs = 0.0;
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache_tmp = Fuzzy_trapmf(rtb_TmpSignalConversionAtSFun_0, f);
-        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache[0] = inputMFCache_tmp;
-        tmp[0] = -0.5;
-        tmp[1] = 0.0;
-        tmp[2] = 0.5;
-        inputMFCache[1] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache_tmp_0 = Fuzzy_trapmf(rtb_TmpSignalConversionAtSFun_0, e);
-        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache[2] = inputMFCache_tmp_0;
-        tmp[0] = -1.0;
-        tmp[1] = -0.5;
-        tmp[2] = 0.0;
-        inputMFCache[3] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        tmp[0] = 0.0;
-        tmp[1] = 0.5;
-        tmp[2] = 1.0;
-        inputMFCache[4] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        tmp[0] = 0.0;
-        tmp[1] = 0.25;
-        tmp[2] = 0.5;
-        inputMFCache[5] = Fuzzy_trimf(v, tmp);
-        tmp[0] = 0.25;
-        tmp[1] = 0.5;
-        tmp[2] = 0.75;
-        inputMFCache[6] = Fuzzy_trimf(v, tmp);
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache_tmp_1 = Fuzzy_trapmf(v, d);
-        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache[7] = inputMFCache_tmp_1;
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache_tmp_2 = Fuzzy_trapmf(v, c);
-        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache[8] = inputMFCache_tmp_2;
-        tmp[0] = 0.5;
-        tmp[1] = 0.75;
-        tmp[2] = 1.0;
-        inputMFCache[9] = Fuzzy_trimf(v, tmp);
-        /* MATLAB Function: '<S1>/Evaluate Rule Consequents' */
-        aggregatedOutputs = 0.0;
-        outputMFCache[0] = 0.0;
-        outputMFCache[1] = 0.25;
-        outputMFCache[2] = 0.5;
-        outputMFCache[3] = 0.75;
-        outputMFCache[4] = 1.0;
-        for (ruleID = 0; ruleID < 25; ruleID++)
-        {
-            /* MATLAB Function: '<S1>/Evaluate Rule Antecedents' */
-            rtb_antecedentOutputs_e = inputMFCache[b[ruleID + 25] + 4] * inputMFCache[b[ruleID] - 1];
-            sumAntecedentOutputs += rtb_antecedentOutputs_e;
-            /* MATLAB Function: '<S1>/Evaluate Rule Consequents' */
-            aggregatedOutputs += outputMFCache[b_0[ruleID] - 1] * rtb_antecedentOutputs_e;
+        // 1. NB (Negative Big): [-∞, -∞, -1.0, -0.5]
+        membershipValues[0] = Fuzzy_trapmf(piSignal, -1.0E+10, -1.0E+10, -1.0, -0.5);
+
+        // 2. Z (Zero): [-0.5, 0.0, 0.5]
+        membershipValues[1] = Fuzzy_trimf(piSignal, -0.5, 0.0, 0.5);
+
+        // 3. PB (Positive Big): [0.5, 1.0, +∞, +∞]
+        membershipValues[2] = Fuzzy_trapmf(piSignal, 0.5, 1.0, 1.0E+10, 1.0E+10);
+
+        // 4. NM (Negative Medium): [-1.0, -0.5, 0.0]
+        membershipValues[3] = Fuzzy_trimf(piSignal, -1.0, -0.5, 0.0);
+
+        // 5. PM (Positive Medium): [0.0, 0.5, 1.0]
+        membershipValues[4] = Fuzzy_trimf(piSignal, 0.0, 0.5, 1.0);
     }
-        /* MATLAB Function: '<S1>/Defuzzify Outputs' incorporates:
-         *  MATLAB Function: '<S1>/Evaluate Rule Antecedents'
-         *  MATLAB Function: '<S1>/Evaluate Rule Consequents'
-         */
-        if (sumAntecedentOutputs == 0.0)
+
+    /// <summary>
+    /// Mờ hóa vận tốc V thành 11 tập mờ (dải 0.0 - 3.0)
+    /// Độ phân giải: 0.3 m/s - Cân bằng tốt giữa độ chính xác và hiệu suất
+    /// </summary>
+    /// <param name="velocity">Vận tốc tuyến tính mong muốn (0.0 - 3.0 m/s)</param>
+    /// <param name="membershipValues">Mảng lưu giá trị độ thuộc (vị trí 5-15)</param>
+    private static void FuzzifyVelocity(double velocity, double[] membershipValues)
     {
-            result.wr = 0.5;
+        // 11 tập mờ phân bố đều từ 0.0 đến 3.0
+        // Khoảng cách giữa các đỉnh: 3.0 / 10 = 0.3 m/s
+
+        // 1. VVS (Very Very Slow): [-∞, -∞, 0.0, 0.3]
+        membershipValues[5] = Fuzzy_trapmf(velocity, -1.0E+9, -1.0E+9, 0.0, 0.3);
+
+        // 2. VS (Very Slow): [0.0, 0.3, 0.6]
+        membershipValues[6] = Fuzzy_trimf(velocity, 0.0, 0.3, 0.6);
+
+        // 3. S- (Slow Low): [0.3, 0.6, 0.9]
+        membershipValues[7] = Fuzzy_trimf(velocity, 0.3, 0.6, 0.9);
+
+        // 4. S (Slow): [0.6, 0.9, 1.2]
+        membershipValues[8] = Fuzzy_trimf(velocity, 0.6, 0.9, 1.2);
+
+        // 5. S+ (Slow High): [0.9, 1.2, 1.5]
+        membershipValues[9] = Fuzzy_trimf(velocity, 0.9, 1.2, 1.5);
+
+        // 6. M (Medium): [1.2, 1.5, 1.8]
+        membershipValues[10] = Fuzzy_trimf(velocity, 1.2, 1.5, 1.8);
+
+        // 7. F- (Fast Low): [1.5, 1.8, 2.1]
+        membershipValues[11] = Fuzzy_trimf(velocity, 1.5, 1.8, 2.1);
+
+        // 8. F (Fast): [1.8, 2.1, 2.4]
+        membershipValues[12] = Fuzzy_trimf(velocity, 1.8, 2.1, 2.4);
+
+        // 9. F+ (Fast High): [2.1, 2.4, 2.7]
+        membershipValues[13] = Fuzzy_trimf(velocity, 2.1, 2.4, 2.7);
+
+        // 10. VF (Very Fast): [2.4, 2.7, 3.0]
+        membershipValues[14] = Fuzzy_trimf(velocity, 2.4, 2.7, 3.0);
+
+        // 11. VVF (Very Very Fast): [2.7, 3.0, +∞, +∞]
+        membershipValues[15] = Fuzzy_trapmf(velocity, 2.7, 3.0, 1.0E+9, 1.0E+9);
+    }
+
+    // ============================================================================
+    // PHẦN 3: RULE EVALUATION (ĐÁNH GIÁ LUẬT MỜ)
+    // ============================================================================
+
+    /// <summary>
+    /// Đánh giá luật mờ cho một bộ điều khiển
+    /// </summary>
+    /// <param name="inputMembershipValues">Độ thuộc của các đầu vào (16 giá trị: 5 PI + 11 V)</param>
+    /// <param name="ruleAntecedentIndices">Ma trận chỉ số tiền đề (numRules * 2 phần tử)</param>
+    /// <param name="ruleConsequentIndices">Ma trận chỉ số hệ quả (numRules phần tử)</param>
+    /// <param name="outputSingletons">Các giá trị singleton đầu ra</param>
+    /// <param name="numRules">Số lượng luật</param>
+    /// <returns>(weightedSum: tổng có trọng số, totalWeight: tổng trọng số)</returns>
+    private static (double weightedSum, double totalWeight) EvaluateRules(
+        double[] inputMembershipValues,
+        byte[] ruleAntecedentIndices,
+        byte[] ruleConsequentIndices,
+        double[] outputSingletons,
+        int numRules)
+    {
+        const int VELOCITY_OFFSET = 5;  // Chỉ số bắt đầu của V trong inputMembershipValues
+
+        double weightedSum = 0.0;
+        double totalWeight = 0.0;
+
+        for (int ruleIndex = 0; ruleIndex < numRules; ruleIndex++)
+        {
+            // Lấy chỉ số tập mờ cho PI (từ 1-5, cần trừ 1 để thành 0-4)
+            int piMembershipIndex = ruleAntecedentIndices[ruleIndex] - 1;
+
+            // Lấy chỉ số tập mờ cho Velocity (từ 1-11, cộng offset)
+            int velocityMembershipIndex = ruleAntecedentIndices[ruleIndex + numRules] + VELOCITY_OFFSET - 1;
+
+            // Tính độ kích hoạt của luật (AND operator = phép nhân)
+            double ruleActivation = inputMembershipValues[piMembershipIndex]
+                                   * inputMembershipValues[velocityMembershipIndex];
+
+            // Lấy giá trị singleton đầu ra tương ứng (từ 1-11, cần trừ 1)
+            int outputIndex = ruleConsequentIndices[ruleIndex] - 1;
+            double outputValue = outputSingletons[outputIndex];
+
+            // Tích lũy tổng trọng số và tổng có trọng số
+            totalWeight += ruleActivation;
+            weightedSum += outputValue * ruleActivation;
+        }
+
+        return (weightedSum, totalWeight);
+    }
+
+    // ============================================================================
+    // PHẦN 4: DEFUZZIFICATION (GIẢI MỜ ĐẦU RA)
+    // ============================================================================
+
+    /// <summary>
+    /// Giải mờ bằng phương pháp trọng tâm (Weighted Average / Center of Gravity)
+    /// Công thức: output = Σ(singleton_i × weight_i) / Σ(weight_i)
+    /// </summary>
+    /// <param name="weightedSum">Tổng đầu ra có trọng số</param>
+    /// <param name="totalWeight">Tổng trọng số của tất cả các luật</param>
+    /// <param name="defaultValue">Giá trị mặc định nếu totalWeight = 0</param>
+    /// <returns>Giá trị đầu ra rõ (crisp output)</returns>
+    private static double Defuzzify(double weightedSum, double totalWeight, double defaultValue = 0.5)
+    {
+        // Nếu không có luật nào được kích hoạt, trả về giá trị mặc định
+        if (totalWeight == 0.0)
+        {
+            return defaultValue;
         }
         else
         {
-            result.wr = 1.0 / sumAntecedentOutputs * aggregatedOutputs;
+            // Tính trọng tâm: output = weightedSum / totalWeight
+            return weightedSum / totalWeight;
         }
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        /* MATLAB Function: '<S2>/Evaluate Rule Antecedents' incorporates:
-         *  Constant: '<Root>/v'
-         *  SignalConversion generated from: '<S7>/ SFunction '
-         */
-        sumAntecedentOutputs = 0.0;
-        inputMFCache[0] = inputMFCache_tmp;
-        tmp[0] = -0.5;
-        tmp[1] = 0.0;
-        tmp[2] = 0.5;
-        inputMFCache[1] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        inputMFCache[2] = inputMFCache_tmp_0;
-        tmp[0] = -1.0;
-        tmp[1] = -0.5;
-        tmp[2] = 0.0;
-        inputMFCache[3] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        tmp[0] = 0.0;
-        tmp[1] = 0.5;
-        tmp[2] = 1.0;
-        inputMFCache[4] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        tmp[0] = 0.0;
-        tmp[1] = 0.25;
-        tmp[2] = 0.5;
-        inputMFCache[5] = Fuzzy_trimf(v, tmp);
-        tmp[0] = 0.25;
-        tmp[1] = 0.5;
-        tmp[2] = 0.75;
-        inputMFCache[6] = Fuzzy_trimf(v, tmp);
-        inputMFCache[7] = inputMFCache_tmp_1;
-        inputMFCache[8] = inputMFCache_tmp_2;
-        tmp[0] = 0.5;
-        tmp[1] = 0.75;
-        tmp[2] = 1.0;
-        inputMFCache[9] = Fuzzy_trimf(v, tmp);
-        /* MATLAB Function: '<S2>/Evaluate Rule Consequents' */
-        aggregatedOutputs = 0.0;
-        outputMFCache_0[0] = 0.0;
-        outputMFCache_0[1] = 0.25;
-        outputMFCache_0[2] = 0.5;
-        outputMFCache_0[3] = 0.75;
-        outputMFCache_0[4] = 1.0;
-        for (ruleID = 0; ruleID < 25; ruleID++)
+    }
+
+    // ============================================================================
+    // PHẦN 5: BẢNG LUẬT VÀ CẤU HÌNH
+    // ============================================================================
+
+    /// <summary>
+    /// Bảng chỉ số tiền đề luật cho bánh phải (Rule Antecedent Indices - Right Wheel)
+    /// 110 phần tử: 55 cho PI + 55 cho Velocity
+    /// Hệ thống: 5 tập mờ PI × 11 tập mờ V = 55 luật
+    /// Giá trị từ 1-5 cho PI, 1-11 cho V
+    /// </summary>
+    private static readonly byte[] RULE_ANTECEDENT_INDICES_RIGHT =
+    [
+        // 55 phần tử đầu: Chỉ số tập mờ của PI Signal (1-5)
+        // Mỗi tập PI lặp lại 11 lần (cho 11 mức vận tốc)
+        1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,  // Luật 1-11:  PI = NB (tập 1)
+        2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2,  // Luật 12-22: PI = Z  (tập 2)
+        3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3,  // Luật 23-33: PI = PB (tập 3)
+        4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4,  // Luật 34-44: PI = NM (tập 4)
+        5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5,  // Luật 45-55: PI = PM (tập 5)
+    
+        // 55 phần tử sau: Chỉ số tập mờ của Velocity (1-11)
+        // Lặp lại theo pattern: VVS, VS, S-, S, S+, M, F-, F, F+, VF, VVF
+        1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,  // Luật 1-11:  V = VVS đến VVF
+        1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,  // Luật 12-22: V = VVS đến VVF
+        1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,  // Luật 23-33: V = VVS đến VVF
+        1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,  // Luật 34-44: V = VVS đến VVF
+        1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11   // Luật 45-55: V = VVS đến VVF
+    ];
+
+    /// <summary>
+    /// Bảng chỉ số hệ quả cho bánh phải (Rule Consequent Indices - Right Wheel)
+    /// 55 phần tử tương ứng với 55 luật
+    /// Giá trị từ 1-11 tương ứng với 11 mức tốc độ đầu ra (0.0 - 3.0)
+    /// 
+    /// Logic bánh phải:
+    /// - PI âm (NB, NM): Bánh phải chậm hơn → Robot rẽ trái
+    /// - PI = 0 (Z): Bánh phải theo vận tốc V → Robot đi thẳng
+    /// - PI dương (PB, PM): Bánh phải nhanh hơn → Robot rẽ phải
+    /// </summary>
+    private static readonly byte[] RULE_CONSEQUENT_INDICES_RIGHT =
+    [   
+        // PI = NB (Negative Big) - Bánh phải RẤT CHẬM (rẽ trái mạnh)
+        // V:   VVS VS  S-  S   S+  M   F-  F   F+  VF  VVF
+             1,  1,  1,  2,  2,  3,  3,  4,  5,  6,  7,    // Luật 1-11
+    
+        // PI = Z (Zero) - Bánh phải THEO VẬN TỐC (đi thẳng)
+        // V:   VVS VS  S-  S   S+  M   F-  F   F+  VF  VVF
+             2,  2,  3,  4,  5,  6,  7,  8,  9,  10, 11,   // Luật 12-22
+    
+        // PI = PB (Positive Big) - Bánh phải RẤT NHANH (rẽ phải mạnh)
+        // V:   VVS VS  S-  S   S+  M   F-  F   F+  VF  VVF
+             4,  5,  6,  7,  8,  9,  10, 10, 11, 11, 11,   // Luật 23-33
+    
+        // PI = NM (Negative Medium) - Bánh phải HƠI CHẬM (rẽ trái nhẹ)
+        // V:   VVS VS  S-  S   S+  M   F-  F   F+  VF  VVF
+             1,  2,  2,  3,  4,  5,  6,  7,  8,  9,  10,   // Luật 34-44
+    
+        // PI = PM (Positive Medium) - Bánh phải HƠI NHANH (rẽ phải nhẹ)
+        // V:   VVS VS  S-  S   S+  M   F-  F   F+  VF  VVF
+             2,  3,  4,  5,  6,  7,  8,  8,  9,  10, 11    // Luật 45-55
+    ];
+
+    /// <summary>
+    /// Bảng chỉ số tiền đề luật cho bánh trái (Rule Antecedent Indices - Left Wheel)
+    /// 110 phần tử: 55 cho PI + 55 cho Velocity
+    /// </summary>
+    private static readonly byte[] RULE_ANTECEDENT_INDICES_LEFT =
+    [
+        // 55 phần tử đầu: Chỉ số tập mờ của PI Signal (1-5)
+        1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,  // Luật 1-11:  PI = NB (tập 1)
+        2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2,  // Luật 12-22: PI = Z  (tập 2)
+        3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3,  // Luật 23-33: PI = PB (tập 3)
+        4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4,  // Luật 34-44: PI = NM (tập 4)
+        5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5,  // Luật 45-55: PI = PM (tập 5)
+    
+        // 55 phần tử sau: Chỉ số tập mờ của Velocity (1-11)
+        1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,  // Luật 1-11
+        1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,  // Luật 12-22
+        1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,  // Luật 23-33
+        1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,  // Luật 34-44
+        1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11   // Luật 45-55
+    ];
+
+    /// <summary>
+    /// Bảng chỉ số hệ quả cho bánh trái (Rule Consequent Indices - Left Wheel)
+    /// 55 phần tử tương ứng với 55 luật
+    /// 
+    /// Logic bánh trái: NGƯỢC LẠI với bánh phải
+    /// - PI âm (NB, NM): Bánh trái nhanh hơn → Robot rẽ trái
+    /// - PI = 0 (Z): Bánh trái theo vận tốc V → Robot đi thẳng
+    /// - PI dương (PB, PM): Bánh trái chậm hơn → Robot rẽ phải
+    /// </summary>
+    private static readonly byte[] RULE_CONSEQUENT_INDICES_LEFT =
+    [
+        // PI = NB (Negative Big) - Bánh trái RẤT NHANH (rẽ trái mạnh)
+        // V:   VVS VS  S-  S   S+  M   F-  F   F+  VF  VVF
+             4,  5,  6,  7,  8,  9,  10, 10, 11, 11, 11,   // Luật 1-11
+    
+        // PI = Z (Zero) - Bánh trái THEO VẬN TỐC (đi thẳng)
+        // V:   VVS VS  S-  S   S+  M   F-  F   F+  VF  VVF
+             2,  2,  3,  4,  5,  6,  7,  8,  9,  10, 11,   // Luật 12-22
+    
+        // PI = PB (Positive Big) - Bánh trái RẤT CHẬM (rẽ phải mạnh)
+        // V:   VVS VS  S-  S   S+  M   F-  F   F+  VF  VVF
+             1,  1,  1,  2,  2,  3,  3,  4,  5,  6,  7,    // Luật 23-33
+    
+        // PI = NM (Negative Medium) - Bánh trái HƠI NHANH (rẽ trái nhẹ)
+        // V:   VVS VS  S-  S   S+  M   F-  F   F+  VF  VVF
+             3,  4,  5,  6,  7,  8,  8,  9,  10, 11, 11,   // Luật 34-44
+    
+        // PI = PM (Positive Medium) - Bánh trái HƠI CHẬM (rẽ phải nhẹ)
+        // V:   VVS VS  S-  S   S+  M   F-  F   F+  VF  VVF
+             1,  2,  2,  3,  4,  4,  5,  6,  7,  8,  9,    // Luật 45-55
+    ];
+
+    /// <summary>
+    /// Các mức đầu ra singleton (Output Singletons)
+    /// 11 mức tốc độ từ 0.0 đến 3.0 m/s
+    /// Độ phân giải: 3.0 / 10 = 0.3 m/s
+    /// </summary>
+    private static readonly double[] OUTPUT_SINGLETON_LEVELS =
+    [
+        0.0,   // Mức 1:  Dừng hoàn toàn (0%)
+        0.3,   // Mức 2:  Rất chậm (10%)
+        0.6,   // Mức 3:  Chậm (20%)
+        0.9,   // Mức 4:  Hơi chậm (30%)
+        1.2,   // Mức 5:  Chậm vừa (40%)
+        1.5,   // Mức 6:  Trung bình (50%) - Điểm chuẩn
+        1.8,   // Mức 7:  Hơi nhanh (60%)
+        2.1,   // Mức 8:  Nhanh (70%)
+        2.4,   // Mức 9:  Nhanh vừa (80%)
+        2.7,   // Mức 10: Rất nhanh (90%)
+        3.0    // Mức 11: Tối đa (100%)
+    ];
+
+    // ============================================================================
+    // PHẦN 6: HÀM CHÍNH - BỘ ĐIỀU KHIỂN PI + FUZZY
+    // ============================================================================
+
+    // Biến trạng thái bộ tích phân
+    private static double integratorState = 0.0;
+
+    // Hệ số bộ điều khiển PI
+    private static double proportionalGain = 1.0;  // Hệ số tỷ lệ (Kp)
+    private static double integralGain = 0.1;      // Hệ số tích phân (Ki)
+
+    /// <summary>
+    /// Hàm điều khiển chính - Tính toán tốc độ bánh trái và phải
+    /// Sử dụng bộ điều khiển PI kết hợp với logic mờ
+    /// 
+    /// CẤU HÌNH PHIÊN BẢN 3.0 - 11 TẬP MỜ:
+    /// - PI Signal: 5 tập mờ (NB, Z, PB, NM, PM)
+    /// - Velocity: 11 tập mờ (VVS, VS, S-, S, S+, M, F-, F, F+, VF, VVF)
+    /// - Tổng số luật: 5 × 11 = 55 luật cho mỗi bánh
+    /// - Dải đầu ra: 0.0 - 3.0 m/s
+    /// - Độ phân giải: 0.3 m/s (tối ưu - cân bằng giữa độ mịn và hiệu suất)
+    /// </summary>
+    /// <param name="desiredVelocity">Vận tốc tuyến tính mong muốn (0.0 - 3.0 m/s)</param>
+    /// <param name="desiredAngularVelocity">Vận tốc góc mong muốn (rad/s)</param>
+    /// <param name="samplingTime">Chu kỳ lấy mẫu (giây, khuyến nghị 0.01s)</param>
+    /// <returns>(leftWheelSpeed, rightWheelSpeed): Tốc độ bánh trái và phải trong [0.0, 3.0]</returns>
+    public (double leftWheelSpeed, double rightWheelSpeed) Fuzzy_step(
+        double desiredVelocity,
+        double desiredAngularVelocity,
+        double samplingTime)
     {
-            /* MATLAB Function: '<S2>/Evaluate Rule Antecedents' */
-            rtb_antecedentOutputs_e = inputMFCache[b_1[ruleID + 25] + 4] * inputMFCache[b_1[ruleID] - 1];
-            sumAntecedentOutputs += rtb_antecedentOutputs_e;
-            /* MATLAB Function: '<S2>/Evaluate Rule Consequents' */
-            aggregatedOutputs += outputMFCache_0[b_2[ruleID] - 1] *
-              rtb_antecedentOutputs_e;
+        const int NUM_INPUT_MEMBERSHIPS = 16;   // 5 cho PI + 11 cho Velocity
+        const int NUM_OUTPUT_LEVELS = 11;       // 11 mức đầu ra (0.0 - 3.0)
+        const int NUM_RULES = 55;               // 5 × 11 = 55 luật
+
+        // Khởi tạo mảng lưu độ thuộc đầu vào
+        double[] inputMembershipValues = new double[NUM_INPUT_MEMBERSHIPS];
+
+        // Khởi tạo mảng lưu các mức đầu ra
+        double[] outputLevels = new double[NUM_OUTPUT_LEVELS];
+        Array.Copy(OUTPUT_SINGLETON_LEVELS, outputLevels, NUM_OUTPUT_LEVELS);
+
+        // ========== BƯỚC 1: BỘ ĐIỀU KHIỂN PI ==========
+        // Cập nhật trạng thái tích phân: I(t) = I(t-1) + Ki * error * dt
+        integratorState += integralGain * desiredAngularVelocity * samplingTime;
+
+        // Chống bão hòa tích phân (Anti-windup)
+        integratorState = Math.Clamp(integratorState, -1.5, 1.5);
+
+        // Tính tín hiệu điều khiển PI: u(t) = Kp * error + I(t)
+        double piControlSignal = proportionalGain * desiredAngularVelocity + integratorState;
+
+        // ========== BƯỚC 2: MỜ HÓA ĐẦU VÀO ==========
+        FuzzifyPISignal(piControlSignal, inputMembershipValues);
+        FuzzifyVelocity(desiredVelocity, inputMembershipValues);
+
+        // ========== BƯỚC 3: TÍNH TOÁN BÁNH PHẢI ==========
+        var (weightedSum_Right, totalWeight_Right) = EvaluateRules(
+            inputMembershipValues,
+            RULE_ANTECEDENT_INDICES_RIGHT,
+            RULE_CONSEQUENT_INDICES_RIGHT,
+            outputLevels,
+            NUM_RULES
+        );
+
+        double rightWheelSpeed = Defuzzify(weightedSum_Right, totalWeight_Right, defaultValue: 1.5);
+
+        // ========== BƯỚC 4: TÍNH TOÁN BÁNH TRÁI ==========
+        var (weightedSum_Left, totalWeight_Left) = EvaluateRules(
+            inputMembershipValues,
+            RULE_ANTECEDENT_INDICES_LEFT,
+            RULE_CONSEQUENT_INDICES_LEFT,
+            outputLevels,
+            NUM_RULES
+        );
+
+        double leftWheelSpeed = Defuzzify(weightedSum_Left, totalWeight_Left, defaultValue: 1.5);
+
+        // ========== BƯỚC 5: GIỚI HẠN AN TOÀN ==========
+        // Đảm bảo tốc độ không vượt quá giới hạn
+        leftWheelSpeed = Math.Clamp(leftWheelSpeed, 0.0, 3.0);
+        rightWheelSpeed = Math.Clamp(rightWheelSpeed, 0.0, 3.0);
+
+        // ========== BƯỚC 6: TRẢ VỀ KẾT QUẢ ==========
+        return (leftWheelSpeed, rightWheelSpeed);
     }
-        /* MATLAB Function: '<S2>/Defuzzify Outputs' incorporates:
-         *  MATLAB Function: '<S2>/Evaluate Rule Antecedents'
-         *  MATLAB Function: '<S2>/Evaluate Rule Consequents'
-         */
-        if (sumAntecedentOutputs == 0.0)
+
+    // ============================================================================
+    // PHẦN 7: HÀM HỖ TRỢ
+    // ============================================================================
+
+    /// <summary>
+    /// Reset trạng thái bộ tích phân về 0
+    /// Nên gọi khi bắt đầu chu kỳ điều khiển mới hoặc khi cần reset hệ thống
+    /// </summary>
+    public void ResetIntegrator()
     {
-            result.wl = 0.5;
+        integratorState = 0.0;
     }
-        else
+
+    /// <summary>
+    /// Thiết lập hệ số cho bộ điều khiển PI
+    /// </summary>
+    /// <param name="kp">Hệ số tỷ lệ (Proportional Gain) - Phản ứng với sai số hiện tại</param>
+    /// <param name="ki">Hệ số tích phân (Integral Gain) - Loại bỏ sai số tích lũy</param>
+    public FuzzyLogic WithPIGains(double kp, double ki)
     {
-            result.wl = 1.0 / sumAntecedentOutputs * aggregatedOutputs;
+        proportionalGain = kp;
+        integralGain = ki;
+        return this;
     }
-        return result;
+
+    /// <summary>
+    /// Lấy trạng thái hiện tại của bộ tích phân
+    /// Hữu ích cho việc debug và giám sát hệ thống
+    /// </summary>
+    /// <returns>Giá trị tích phân hiện tại</returns>
+    public double GetIntegratorState()
+    {
+        return integratorState;
+    }
+
+    /// <summary>
+    /// Lấy hệ số PI hiện tại
+    /// </summary>
+    /// <returns>(Kp, Ki): Hệ số tỷ lệ và tích phân</returns>
+    public (double Kp, double Ki) GetPIGains()
+    {
+        return (proportionalGain, integralGain);
     }
 }

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

@@ -22,7 +22,9 @@ public class SimulationNavigation : INavigation, IDisposable
     protected bool NavDriving = false;
 
     protected const int CycleHandlerMilliseconds = 50;
+    private const double Scale = 1;
     private WatchTimer<SimulationNavigation>? NavigationTimer;
+    //private HighPrecisionTimer<SimulationNavigation>? NavigationTimer;
 
     protected double TargetAngle = 0;
     protected PID? RotatePID;
@@ -43,7 +45,7 @@ public class SimulationNavigation : INavigation, IDisposable
 
     protected NavigationNode[] NavigationPath = [];
     protected NavigationNode? CurrentBaseNode;
-    protected NavigationState ResumeState = NavigationState.None;
+    protected NavigationState ResumeState = NavigationState.Idle;
 
     private readonly Logger<SimulationNavigation> Logger;
 
@@ -62,7 +64,7 @@ public class SimulationNavigation : INavigation, IDisposable
 
     protected void HandleNavigationStart()
     {
-        NavigationTimer = new(CycleHandlerMilliseconds, NavigationHandler, Logger);
+        NavigationTimer = new((int)(CycleHandlerMilliseconds / Scale), NavigationHandler, Logger);
         NavigationTimer.Start();
     }
 
@@ -91,8 +93,10 @@ public class SimulationNavigation : INavigation, IDisposable
         NavigationPath = PathPlanner.PathSplit(pathDirection, edges);
 
         MovePID = new PID().WithKp(1).WithKi(0.0001).WithKd(0.6);
-        MoveFuzzy = new FuzzyLogic().WithGainP(1.1);
-        MovePurePursuit = new PurePursuit().WithLookheadDistance(0.35).WithPath([.. NavigationPath]);
+        MoveFuzzy = new FuzzyLogic(); 
+        MovePurePursuit = new PurePursuit()
+            .WithLookheadDistance(0.35) 
+            .WithPath([.. NavigationPath]);
 
         (NavigationNode node, int index) = MovePurePursuit.GetOnNode(Visualization.X, Visualization.Y);
         if(index >= NavigationPath.Length - 1) return;
@@ -140,9 +144,13 @@ public class SimulationNavigation : INavigation, IDisposable
             StartNodeId = currentRobotNode.NodeId,
             EndNodeId = goalNode.NodeId,
         }]);
-        MovePID = new PID().WithKp(1).WithKi(0.0001).WithKd(0.6);
-        MoveFuzzy = new FuzzyLogic().WithGainP(1.1);
-        MovePurePursuit = new PurePursuit().WithLookheadDistance(0.35).WithPath(NavigationPath);
+        
+        MovePID = new PID().WithKp(1.5).WithKi(0.0001).WithKd(0.8);
+        MoveFuzzy = new FuzzyLogic();  
+        MovePurePursuit = new PurePursuit()
+            .WithLookheadDistance(0.25) 
+            .WithPath(NavigationPath);
+        
         double Angle = Math.Atan2(NavigationPath[1].Y - NavigationPath[0].Y, NavigationPath[1].X - NavigationPath[0].X);
         Rotate(Angle * 180 / Math.PI);
         UpdateOrder(goalNode.NodeId);
@@ -157,7 +165,6 @@ public class SimulationNavigation : INavigation, IDisposable
     public void Resume()
     {
         NavState = ResumeState;
-        ResumeState = NavigationState.None;
     }
 
     public void Rotate(double angle)

RobotApp/Services/RobotMonitorService.cs

@@ -0,0 +1,84 @@
+using Microsoft.AspNetCore.SignalR;
+using RobotApp.Common.Shares.Dtos;
+using RobotApp.Hubs;
+using RobotApp.Interfaces;
+using RobotApp.VDA5050.State;
+
+namespace RobotApp.Services;
+
+public class RobotMonitorService(IHubContext<RobotMonitorHub> HubContext,
+                                 IOrder OrderManager,
+                                 ILocalization Localization,
+                                 Logger<RobotMonitorService> Logger) : BackgroundService
+{
+    private WatchTimerAsync<RobotMonitorService>? UpdateTimer;
+    private const int UpdateInterval = 200; // 200ms
+
+    private async Task UpdateHandler()
+    {
+        try
+        {
+            // Lấy vị trí robot từ ILocalization (giống như RobotVisualization)
+            var robotPosition = new RobotPositionDto
+            {
+                X = Localization.X,
+                Y = Localization.Y,
+                Theta = Localization.Theta
+            };
+
+            // Kiểm tra có order không
+            bool hasOrder = OrderManager.NodeStates.Length > 0 || OrderManager.EdgeStates.Length > 0;
+
+            // Lấy CurrentPath từ IOrder
+            (NodeState[] nodeStates, EdgeStateDto[] edgeStates) = OrderManager.CurrentPath;
+            // Tạo DTO
+            var monitorDto = new RobotMonitorDto
+            {
+                RobotPosition = robotPosition,
+                NodeStates = nodeStates,
+                EdgeStates = [.. edgeStates],
+                HasOrder = hasOrder,
+                Timestamp = DateTime.UtcNow
+            };
+
+            // Broadcast qua SignalR Hub
+            await HubContext.Clients.All.SendAsync("ReceiveRobotMonitorData", monitorDto);
+        }
+        catch (Exception ex)
+        {
+            Logger.Warning($"Lỗi khi broadcast robot monitor data: {ex.Message}");
+        }
+    }
+
+    protected override async Task ExecuteAsync(CancellationToken stoppingToken)
+    {
+        await Task.Yield();
+        
+        // Đợi robot sẵn sàng
+        while (!stoppingToken.IsCancellationRequested)
+        {
+            try
+            {
+                // Kiểm tra xem Localization có sẵn sàng không
+                if (Localization.IsReady) break;
+            }
+            catch { }
+            
+            await Task.Delay(1000, stoppingToken);
+        }
+
+        if (!stoppingToken.IsCancellationRequested)
+        {
+            UpdateTimer = new(UpdateInterval, UpdateHandler, Logger);
+            UpdateTimer.Start();
+        }
+    }
+
+    public override Task StopAsync(CancellationToken cancellationToken)
+    {
+        UpdateTimer?.Dispose();
+        UpdateTimer = null;
+        return base.StopAsync(cancellationToken);
+    }
+}
+

RobotApp/Services/WatchTimer.cs

@@ -5,31 +5,54 @@ namespace RobotApp.Services;
 public class WatchTimer<T>(int Interval, Action Callback, Logger<T>? Logger) : IDisposable where T : class
 {
     private Timer? Timer;
-    private readonly Stopwatch Watch = new();
     public bool Disposed;
 
+    private long NextDueTime;
+    private readonly Lock Lock = new();
+
     private void Handler(object? state)
     {
         try
         {
-            Watch.Restart();
-
-            Callback.Invoke();
-
-            Watch.Stop();
-            if (Watch.ElapsedMilliseconds >= Interval || Interval - Watch.ElapsedMilliseconds <= 50)
+            bool shouldRun = false;
+            lock (Lock)
             {
-                if(Watch.ElapsedMilliseconds > Interval) Logger?.Warning($"WatchTimer Warning: Elapsed time {Watch.ElapsedMilliseconds}ms exceeds interval {Interval}ms.");
-                Timer?.Change(Interval, Timeout.Infinite);
+                if (Disposed) return;
+                long now = GetCurrentTimeMs();
+                if (now >= NextDueTime)
+                {
+                    shouldRun = true;
+                    long scheduledTime = NextDueTime;
+                    NextDueTime += Interval;
+
+                    if (now - scheduledTime > Interval / 2)
+                    {
+                        NextDueTime = now + Interval;
+                        Logger?.Warning($"WatchTimer Warning: Elapsed time {now - scheduledTime + Interval}ms exceeds interval {Interval}ms.");
                     }
-            else
+                }
+            }
+
+            if (shouldRun)
             {
-                Timer?.Change(Interval - Watch.ElapsedMilliseconds, Timeout.Infinite);
+                var sw = Stopwatch.StartNew();
+                try { Callback.Invoke(); }
+                catch (Exception ex) { Logger?.Error($"Callback error: {ex}"); }
+                sw.Stop();
+            }
+
+            lock (Lock)
+            {
+                if (Disposed) return;
+                long now = GetCurrentTimeMs();
+                long delay = NextDueTime - now;
+                if (delay < 0) delay = 0;
+                Timer?.Change(delay, Timeout.Infinite);
             }
         }
         catch (Exception ex)
         {
-            Logger?.Error($"WatchTimer Error: {ex}");
+            Logger?.Error($"WatchTimerAsync Error: {ex}");
             Timer?.Change(Interval, Timeout.Infinite);
         }
     }
@@ -38,8 +61,12 @@ public class WatchTimer<T>(int Interval, Action Callback, Logger<T>? Logger) : I
     {
         if (!Disposed)
         {
+            lock (Lock)
+            {
+                NextDueTime = GetCurrentTimeMs() + Interval;
                 Timer = new Timer(Handler, null, Timeout.Infinite, Timeout.Infinite);
-            Timer.Change(Interval, 0);
+                Timer.Change(Interval, Timeout.Infinite);
+            }
         }
         else throw new ObjectDisposedException(nameof(WatchTimer<T>));
     }
@@ -47,13 +74,22 @@ public class WatchTimer<T>(int Interval, Action Callback, Logger<T>? Logger) : I
     public void Stop()
     {
         if (Disposed) return;
+
         if (Timer != null)
+        {
+            lock (Lock)
             {
                 Timer.Change(Timeout.Infinite, Timeout.Infinite);
                 Timer.Dispose();
                 Timer = null;
             }
         }
+    }
+
+    private static long GetCurrentTimeMs()
+    {
+        return Stopwatch.GetTimestamp() * 1000 / Stopwatch.Frequency;
+    }
 
     public void Dispose()
     {

RobotApp/Services/WatchTimerAsync.cs

@@ -5,25 +5,49 @@ namespace RobotApp.Services;
 public class WatchTimerAsync<T>(int Interval, Func<Task> Callback, Logger<T>? Logger) : IDisposable where T : class
 {
     private Timer? Timer;
-    private readonly Stopwatch Watch = new();
     public bool Disposed;
 
+    private long NextDueTime;
+    private readonly Lock Lock = new();
+
     private async void Handler(object? state)
     {
         try
         {
-            Watch.Restart();
-
-            await Callback.Invoke();
-
-            Watch.Stop();
-            if (Watch.ElapsedMilliseconds >= Interval || Interval - Watch.ElapsedMilliseconds <= 50)
+            bool shouldRun = false;
+            lock (Lock)
             {
-                Timer?.Change(Interval, Timeout.Infinite);
+                if (Disposed) return;
+                long now = GetCurrentTimeMs();
+                if (now >= NextDueTime)
+                {
+                    shouldRun = true;
+                    long scheduledTime = NextDueTime;
+                    NextDueTime += Interval;
+
+                    if (now - scheduledTime > Interval / 2)
+                    {
+                        NextDueTime = now + Interval;
+                        Logger?.Warning($"WatchTimer Warning: Elapsed time {now - scheduledTime + Interval}ms exceeds interval {Interval}ms.");
                     }
-            else
+                }
+            }
+
+            if (shouldRun)
             {
-                Timer?.Change(Interval - Watch.ElapsedMilliseconds, Timeout.Infinite);
+                var sw = Stopwatch.StartNew();
+                try { await Callback.Invoke(); }
+                catch (Exception ex) { Logger?.Error($"Callback error: {ex}"); }
+                sw.Stop();
+            }
+
+            lock (Lock)
+            {
+                if (Disposed) return;
+                long now = GetCurrentTimeMs();
+                long delay = NextDueTime - now;
+                if (delay < 0) delay = 0;
+                Timer?.Change(delay, Timeout.Infinite);
             }
         }
         catch (Exception ex)
@@ -37,8 +61,12 @@ public class WatchTimerAsync<T>(int Interval, Func<Task> Callback, Logger<T>? Lo
     {
         if (!Disposed)
         {
+            lock (Lock)
+            {
+                NextDueTime = GetCurrentTimeMs() + Interval;
                 Timer = new Timer(Handler, null, Timeout.Infinite, Timeout.Infinite);
-            Timer.Change(Interval, 0);
+                Timer.Change(Interval, Timeout.Infinite);
+            }
         }
         else throw new ObjectDisposedException(nameof(WatchTimerAsync<T>));
     }
@@ -46,13 +74,22 @@ public class WatchTimerAsync<T>(int Interval, Func<Task> Callback, Logger<T>? Lo
     public void Stop()
     {
         if (Disposed) return;
+
         if (Timer != null)
+        {
+            lock (Lock)
             {
                 Timer.Change(Timeout.Infinite, Timeout.Infinite);
                 Timer.Dispose();
                 Timer = null;
             }
         }
+    }
+
+    private static long GetCurrentTimeMs()
+    {
+        return Stopwatch.GetTimestamp() * 1000 / Stopwatch.Frequency;
+    }
 
     public void Dispose()
     {

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
+