update

.dockerignore

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

Dockerfile

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

RobotApp.Client/MainLayout.razor

@@ -69,7 +69,7 @@
     }
 
     public NavModel[] Navs = [
-        new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
+        new(){Icon = "mdi-view-dashboard", Path="/dashboard", Label = "Dashboard", Match = NavLinkMatch.All},
         // new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
         new(){Icon = "mdi-monitor", Path="/robot-monitor", Label = "Robot Monitor", Match = NavLinkMatch.All},
         new(){Icon = "mdi-state-machine", Path="/robot-order", Label = "order", Match = NavLinkMatch.All},

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

@@ -25,9 +25,9 @@
                 <span>X: @MonitorData.RobotPosition.X.ToString("F2")m | Y: @MonitorData.RobotPosition.Y.ToString("F2")m | θ: @((MonitorData.RobotPosition.Theta * 180 / Math.PI).ToString("F1"))°</span>
             </div>
         }
-        <MudChip T="string" Color="@(IsConnected? Color.Success: Color.Error)" Size="Size.Small">
+       @*  <MudChip T="string" Color="@(IsConnected? Color.Success: Color.Error)" Size="Size.Small">
             @(IsConnected ? "Connected" : "Disconnected")
-        </MudChip>
+        </MudChip> *@
     </div>
     <div @ref="SvgContainerRef" class="svg-container">
         <svg @ref="SvgRef"

RobotApp.Client/Pages/Dashboard.razor

@@ -5,12 +5,11 @@
 @using MudBlazor
 
 @implements IDisposable
-@attribute [Authorize]
 
 @inject RobotStateClient RobotStateClient
 @rendermode InteractiveWebAssemblyNoPrerender
 
-<MudContainer MaxWidth="MaxWidth.False" Class="pa-4">
+<MudContainer MaxWidth="MaxWidth.False" Class="pa-4" Style="overflow-y:auto">
     <!-- Header Dashboard -->
     <MudPaper Class="pa-6 mb-4 d-flex align-center justify-space-between" Elevation="3">
         <div>
@@ -38,15 +37,18 @@
         @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>
-        }
+                     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>
 
     @{
@@ -133,7 +135,6 @@
             </MudCard>
         </MudItem>
 
-        <!-- BATTERY -->
         <!-- BATTERY -->
         <MudItem xs="12" md="6" lg="4">
             <MudCard Elevation="6" Class="h-100 rounded-lg">
@@ -371,21 +372,35 @@
     };
 
     private StateMsg? CurrentState;
-    private bool IsConnected => RobotStateClient.LatestStates.ContainsKey(RobotSerial);
+    private bool IsConnected;
     private readonly string RobotSerial = "T800-002";
     private List<MessageRow> MessageRows = new();
 
     protected override async Task OnInitializedAsync()
     {
         RobotStateClient.OnStateReceived += OnRobotStateReceived;
-        if (RobotStateClient.LatestStates.Count == 0)
+        RobotStateClient.OnRobotConnectionChanged += OnRobotConnectionChanged;
+
+        if (RobotStateClient.ConnectionState == RobotClientState.Disconnected)
         {
             await RobotStateClient.StartAsync();
         }
+
         await RobotStateClient.SubscribeRobotAsync(RobotSerial);
+
         CurrentState = RobotStateClient.GetLatestState(RobotSerial);
+        IsConnected = RobotStateClient.IsRobotConnected;
+
         UpdateMessageRows();
     }
+    private void OnRobotConnectionChanged(bool connected)
+    {
+        InvokeAsync(() =>
+        {
+            IsConnected = connected;
+            StateHasChanged();
+        });
+    }
 
 
     private void OnRobotStateReceived(string serialNumber, StateMsg state)
@@ -421,6 +436,7 @@
     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

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

RobotApp.Client/Pages/MapsManager.razor

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

RobotApp.Client/Pages/Order/EdgesPanel.razor

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

RobotApp.Client/Pages/Order/EditNodeDialog.razor

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

RobotApp.Client/Pages/Order/ImportOrderDialog.razor

@@ -1,11 +1,21 @@
 @using System.Text.Json
 @using MudBlazor
+@using Microsoft.AspNetCore.Components.Forms
 
 <MudDialog>
+
+    <!-- ================= TITLE ================= -->
     <TitleContent>
-        <MudText Typo="Typo.h6">Import Order JSON</MudText>
+        <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)
@@ -18,6 +28,21 @@
             </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"
@@ -34,29 +59,77 @@
 
     </DialogContent>
 
+    <!-- ================= ACTIONS ================= -->
     <DialogActions>
-        <MudButton OnClick="Cancel">Cancel</MudButton>
+        <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!;
+    [CascadingParameter]
+    public IMudDialogInstance MudDialog { get; set; } = default!;
 
     public string JsonText { get; set; } = "";
     public string? ErrorMessage;
-    public bool ShowWarning { get; set; } = false;
+    public bool ShowWarning { get; set; }
 
     private void Cancel() => MudDialog.Cancel();
 
+    // ================= FILE HANDLER =================
+    private async Task OnFileSelected(InputFileChangeEventArgs e)
+    {
+        ErrorMessage = null;
+        ShowWarning = false;
+
+        var file = e.File;
+        if (file == null)
+            return;
+
+        if (!file.Name.EndsWith(".json", StringComparison.OrdinalIgnoreCase) &&
+            !file.Name.EndsWith(".txt", StringComparison.OrdinalIgnoreCase))
+        {
+            ShowWarning = true;
+            ErrorMessage = "Only .json or .txt files are supported.";
+            return;
+        }
+
+        try
+        {
+            using var stream = file.OpenReadStream(maxAllowedSize: 1_048_576);
+            using var reader = new StreamReader(stream);
+
+            JsonText = await reader.ReadToEndAsync();
+            StateHasChanged();
+        }
+        catch (Exception ex)
+        {
+            ShowWarning = true;
+            ErrorMessage = $"Failed to read file: {ex.Message}";
+        }
+    }
+
+    // ================= VALIDATE & IMPORT =================
     private void ValidateAndImport()
     {
         ErrorMessage = null;
         ShowWarning = false;
 
+        if (string.IsNullOrWhiteSpace(JsonText))
+        {
+            ShowWarning = true;
+            ErrorMessage = "JSON content is empty.";
+            return;
+        }
+
         try
         {
             using var doc = JsonDocument.Parse(JsonText);
@@ -65,10 +138,11 @@
             // ===== BASIC STRUCTURE CHECK =====
             if (!root.TryGetProperty("nodes", out _) ||
                 !root.TryGetProperty("edges", out _))
+            {
                 throw new Exception("Missing 'nodes' or 'edges' field.");
+            }
 
             var order = OrderMessage.FromSchemaObject(root);
-
             ValidateOrder(order);
 
             MudDialog.Close(DialogResult.Ok(order));
@@ -85,19 +159,40 @@
         }
     }
 
+    // ================= DOMAIN VALIDATION =================
     private void ValidateOrder(OrderMessage order)
     {
         if (order.Nodes.Count == 0)
             throw new Exception("Order must contain at least one node.");
 
-        var nodeIds = order.Nodes.Select(n => n.NodeId).ToHashSet();
+        if (order.Nodes.Count != order.Edges.Count + 1)
+            throw new Exception(
+                $"Invalid path structure: Nodes count ({order.Nodes.Count}) " +
+                $"must equal Edges count + 1 ({order.Edges.Count + 1})."
+            );
+
+        var nodeIds = order.Nodes
+            .Select(n => n.NodeId)
+            .ToHashSet(StringComparer.Ordinal);
 
         foreach (var e in order.Edges)
         {
-            if (!nodeIds.Contains(e.StartNodeId) ||
-                !nodeIds.Contains(e.EndNodeId))
+            if (string.IsNullOrWhiteSpace(e.StartNodeId) ||
+                string.IsNullOrWhiteSpace(e.EndNodeId))
+            {
                 throw new Exception(
-                    $"Edge '{e.EdgeId}' references unknown node."
+                    $"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

@@ -1,4 +1,4 @@
-<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
+<MudPaper Class="pa-4 h-100 d-flex flex-column overflow-hidden" Elevation="2">
     <MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
               Class="mb-4 flex-shrink-0">
         <MudText Typo="Typo.h6">📄 JSON Output (/order)</MudText>
@@ -14,6 +14,16 @@
                 Import JSON
             </MudButton>
 
+            <!-- CANCEL -->
+            <MudButton Variant="Variant.Filled"
+                       Color="@CancelButtonColor"
+                       StartIcon="@CancelButtonIcon"
+                       Disabled="@DisableCancel"
+                       OnClick="OnCancel">
+                @CancelButtonText
+            </MudButton>
+
+
             <!-- SEND -->
             <MudButton Variant="Variant.Filled"
                        Color="@SendButtonColor"
@@ -27,7 +37,6 @@
             <MudTooltip Text="@(Copied ? "Copied!" : "Copy to clipboard")">
                 <MudButton Variant="Variant.Filled"
                            Color="@(Copied ? Color.Success : Color.Primary)"
-                           Size="Size.Small"
                            StartIcon="@(Copied ? Icons.Material.Filled.Check : Icons.Material.Filled.ContentCopy)"
                            OnClick="OnCopy">
                     @(Copied ? "Copied!" : "Copy")
@@ -36,12 +45,13 @@
         </div>
     </MudStack>
 
-    <div class="flex-grow-1" style="overflow:auto;">
+    <div class="flex-grow-1">
         <MudTextField Value="@OrderJson"
-                      ReadOnly
+                      T="string"
+                      ValueChanged="OrderJsonChange"
                       Variant="Variant.Filled"
-                      Lines="70"
-                      Class="h-100"
+                      Immediate=true
+                      Lines="50"
                       Style="font-family: 'Roboto Mono', Consolas, monospace;
                              font-size: 0.85rem;
                              background:#1e1e1e;
@@ -53,10 +63,15 @@
     [Parameter] public string OrderJson { get; set; } = "";
     [Parameter] public bool Copied { get; set; }
     [Parameter] public bool? SendSuccess { get; set; }
+    [Parameter] public bool DisableCancel { get; set; }
+    [Parameter] public bool? CancelSuccess { get; set; }
+
+    [Parameter] public EventCallback<string> OrderJsonChanged { get; set; }
 
     [Parameter] public EventCallback OnCopy { get; set; }
     [Parameter] public EventCallback OnSend { get; set; }
     [Parameter] public EventCallback OnImport { get; set; }
+    [Parameter] public EventCallback OnCancel { get; set; }
 
     private string SendButtonText =>
         SendSuccess switch
@@ -81,4 +96,36 @@
             false => Icons.Material.Filled.Error,
             _ => Icons.Material.Filled.Send
         };
+
+    private string CancelButtonText =>
+    CancelSuccess switch
+    {
+        true => "Done",
+        false => "Error",
+        _ => "Cancel"
+    };
+
+    private Color CancelButtonColor =>
+        CancelSuccess switch
+        {
+            true => Color.Success,
+            false => Color.Error,
+            _ => Color.Error
+        };
+
+    private string CancelButtonIcon =>
+        CancelSuccess switch
+        {
+            true => Icons.Material.Filled.CheckCircle,
+            false => Icons.Material.Filled.Error,
+            _ => Icons.Material.Filled.Cancel
+        };
+
+
+    private void OrderJsonChange(string value)
+    {
+        OrderJson = value;
+        OrderJsonChanged.InvokeAsync(OrderJson);
+        StateHasChanged();
+    }
 }

RobotApp.Client/Pages/Order/NodesPanel.razor

@@ -44,21 +44,22 @@
                             </MudItem>
 
                             <!-- Sequence -->
-                            <MudItem xs="12">
+                            @* <MudItem xs="12">
                                 <MudNumericField T="int"
                                                  Value="@node.SequenceId"
                                                  ValueChanged="@((int v) => SetValue(() => node.SequenceId = v))"
                                                  Immediate="true"
                                                  Label="Sequence ID" />
-                            </MudItem>
+                            </MudItem> *@
 
                             <!-- Released -->
-                            <MudItem xs="12">
+                            @* <MudItem xs="12">
                                 <MudSwitch T="bool"
                                            Checked="@node.Released"
                                            CheckedChanged="@((bool v) => SetValue(() => node.Released = v))"
                                            Label="Released" />
-                            </MudItem>
+
+                            </MudItem> *@
 
                             <!-- Position -->
                             <MudItem xs="6">

RobotApp.Client/Pages/Order/OrderMess.razor

@@ -1,6 +1,5 @@
 @page "/robot-order"
 
-@attribute [Authorize]
 @rendermode InteractiveWebAssemblyNoPrerender
 
 @using System.Text.Json
@@ -46,13 +45,14 @@
 
                 <!-- ================= RIGHT ================= -->
                 <MudItem xs="12" md="5" Class="h-100">
-                    <JsonOutputPanel OrderJson="@OrderJson"
+                    <JsonOutputPanel @bind-OrderJson="@OrderJson"
                                      Copied="@copied"
                                      SendSuccess="@sendSuccess"
+                                     CancelSuccess="@cancelSuccess"
                                      OnCopy="CopyJsonToClipboard"
                                      OnSend="SendOrderToServer"
-                                     OnImport="OpenImportDialog" />
-
+                                     OnImport="OpenImportDialog"
+                                     OnCancel="CancelOrder" />
                 </MudItem>
 
             </MudGrid>
@@ -66,7 +66,7 @@
     private string OrderJson = "";          // 🔥 CACHE JSON (QUAN TRỌNG)
     private bool copied;
     private bool? sendSuccess;
-    private bool sending;
+    private bool? cancelSuccess;
     private CancellationTokenSource? _copyCts;
 
     // ================= INIT =================
@@ -227,7 +227,7 @@
             sendSuccess = response.IsSuccessStatusCode;
 
         }
-        catch (Exception ex)
+        catch
         {
             sendSuccess = false;
         }
@@ -246,6 +246,33 @@
         });
     }
 
+    async Task CancelOrder()
+    {
+        // reset trạng thái trước khi gửi
+        cancelSuccess = null;
+        StateHasChanged();
+
+        try
+        {
+            var res = await Http.PostAsync("/api/order/cancel", null);
+            cancelSuccess = res.IsSuccessStatusCode;
+        }
+        catch
+        {
+            cancelSuccess = false;
+        }
+
+        StateHasChanged();
+
+        // 🔥 AUTO RESET SAU 2 GIÂY
+        _ = Task.Run(async () =>
+        {
+            await Task.Delay(2000);
+            cancelSuccess = null;
+            await InvokeAsync(StateHasChanged);
+        });
+    }
+
 
 
     async Task CopyJsonToClipboard()

RobotApp.Client/Pages/RobotConfigManager.razor

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

RobotApp.Client/Pages/RobotMonitor.razor

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

RobotApp.Client/Services/RobotStateClient.cs

@@ -7,7 +7,7 @@ using System.Text.Json;
 
 namespace RobotApp.Client.Services;
 
-// ================= CONNECTION STATE =================
+// ================= SIGNALR CONNECTION STATE =================
 public enum RobotClientState
 {
     Disconnected,
@@ -16,7 +16,7 @@ public enum RobotClientState
     Reconnecting
 }
 
-// ================= CLIENT =================
+// ================= ROBOT STATE CLIENT =================
 public sealed class RobotStateClient : IAsyncDisposable
 {
     private readonly NavigationManager _nav;
@@ -25,11 +25,17 @@ public sealed class RobotStateClient : IAsyncDisposable
     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;
@@ -43,7 +49,8 @@ public sealed class RobotStateClient : IAsyncDisposable
     // ================= STATE HELPER =================
     private void SetState(RobotClientState state)
     {
-        if (ConnectionState == state) return;
+        if (ConnectionState == state)
+            return;
 
         ConnectionState = state;
         OnConnectionStateChanged?.Invoke(state);
@@ -82,9 +89,10 @@ public sealed class RobotStateClient : IAsyncDisposable
             return Task.CompletedTask;
         };
 
-        _connection.Closed += async error =>
+        _connection.Closed += async _ =>
         {
             _started = false;
+            SetState(RobotClientState.Disconnected);
 
             if (_connection != null)
             {
@@ -96,8 +104,14 @@ public sealed class RobotStateClient : IAsyncDisposable
             }
         };
 
+        // ================= SIGNALR HANDLERS =================
+
+        // VDA5050 State
         _connection.On<string>("ReceiveState", HandleState);
 
+        // Robot connection (bool only)
+        _connection.On<bool>("ReceiveRobotConnection", HandleRobotConnection);
+
         try
         {
             await _connection.StartAsync();
@@ -136,6 +150,13 @@ public sealed class RobotStateClient : IAsyncDisposable
         OnStateReceivedAny?.Invoke(state);
     }
 
+    // ================= HANDLE ROBOT CONNECTION =================
+    private void HandleRobotConnection(bool isConnected)
+    {
+        _isRobotConnected = isConnected;
+        OnRobotConnectionChanged?.Invoke(isConnected);
+    }
+
     // ================= SUBSCRIBE =================
     public async Task SubscribeRobotAsync(string serialNumber)
     {
@@ -164,6 +185,7 @@ public sealed class RobotStateClient : IAsyncDisposable
         }
 
         LatestStates.TryRemove(serialNumber, out _);
+        _isRobotConnected = false;
     }
 
     // ================= GET CACHE =================
@@ -177,6 +199,7 @@ public sealed class RobotStateClient : IAsyncDisposable
     public async ValueTask DisposeAsync()
     {
         _started = false;
+        _isRobotConnected = false;
         SetState(RobotClientState.Disconnected);
 
         if (_connection != null)

RobotApp.Client/Services/UiEdge.cs

@@ -131,7 +131,7 @@ public class OrderMessage
     public string Version { get; set; } = "v1";
     public string Manufacturer { get; set; } = "PNKX";
     public string SerialNumber { get; set; } = "T800-002";
-    public string OrderId { get; set; } = Guid.NewGuid().ToString();
+    public string OrderId { get; set; } 
     public int OrderUpdateId { get; set; }
     public string? ZoneSetId { get; set; }
 
@@ -270,31 +270,17 @@ public class OrderMessage
     }
     public object ToSchemaObject()
     {
-        int seq = 0;
+        // ================= SORT NODES BY UI SEQUENCE =================
+        var orderedNodes = Nodes
+            .OrderBy(n => n.SequenceId)
+            .ToList();
 
-        return new
-        {
-            headerId = HeaderId++,
-
-            timestamp = string.IsNullOrWhiteSpace(Timestamp)
-                ? DateTime.UtcNow.ToString("O")
-                : Timestamp,
-
-            version = Version,
-            manufacturer = Manufacturer,
-            serialNumber = SerialNumber,
-            orderId = OrderId,
-            orderUpdateId = OrderUpdateId,
-
-            zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
-                ? null
-                : ZoneSetId,
-
-            // ================= NODES =================
-            nodes = Nodes.Select(n => new
+        // ================= BUILD NODE OBJECTS =================
+        var nodeObjects = orderedNodes
+            .Select((n, index) => new
             {
                 nodeId = n.NodeId,
-                sequenceId = seq++,
+                sequenceId = index * 2,               // ✅ NODE = EVEN
                 released = n.Released,
 
                 nodePosition = new
@@ -311,36 +297,55 @@ public class OrderMessage
                         : n.NodePosition.MapId
                 },
 
-                actions = n.Actions.Select(a => new
-                {
-                    actionId = a.ActionId,
-                    actionType = a.ActionType,
-                    blockingType = a.BlockingType,
+                actions = n.Actions?
+                    .Select(a => new
+                    {
+                        actionId = a.ActionId,
+                        actionType = a.ActionType,
+                        blockingType = a.BlockingType,
 
-                    actionParameters = a.ActionParameters != null
-                        ? a.ActionParameters
-                            .Select(p => new { key = p.Key, value = p.Value })
+                        actionParameters = a.ActionParameters?
+                            .Select(p => new
+                            {
+                                key = p.Key,
+                                value = p.Value
+                            })
                             .ToArray()
-                        : Array.Empty<object>()
-                }).ToArray()
-            }).ToArray(),
+                            ?? Array.Empty<object>()
+                    })
+                    .ToArray()
+                    ?? Array.Empty<object>()
+            })
+            .ToArray();
 
-            // ================= EDGES =================
-            edges = Edges.Select<UiEdge, object>(e =>
+        // ================= BUILD EDGE OBJECTS =================
+        var edgeObjects = Edges
+            .Select<UiEdge, object>((e, index) =>
             {
+                int sequenceId = index * 2 + 1;        // ✅ EDGE = ODD
+
+                // ---------- BASE ----------
+                var baseEdge = new
+                {
+                    edgeId = e.EdgeId,
+                    sequenceId,
+                    released = true,
+                    startNodeId = e.StartNodeId,
+                    endNodeId = e.EndNodeId
+                };
+
                 // =================================================
-                // 1️⃣ IMPORTED TRAJECTORY (ƯU TIÊN CAO NHẤT)
+                // 1️⃣ IMPORTED TRAJECTORY
                 // =================================================
                 if (e.HasTrajectory && e.Trajectory != null)
                 {
                     return new
                     {
-                        edgeId = e.EdgeId,
-                        sequenceId = seq++,
-                        released = true,
-
-                        startNodeId = e.StartNodeId,
-                        endNodeId = e.EndNodeId,
+                        baseEdge.edgeId,
+                        baseEdge.sequenceId,
+                        baseEdge.released,
+                        baseEdge.startNodeId,
+                        baseEdge.endNodeId,
 
                         trajectory = new
                         {
@@ -356,27 +361,25 @@ public class OrderMessage
                 }
 
                 // =================================================
-                // 2️⃣ STRAIGHT EDGE (KHÔNG CÓ CURVE)
+                // 2️⃣ STRAIGHT EDGE
                 // =================================================
                 if (e.Radius <= 0)
                 {
                     return new
                     {
-                        edgeId = e.EdgeId,
-                        sequenceId = seq++,
-                        released = true,
-
-                        startNodeId = e.StartNodeId,
-                        endNodeId = e.EndNodeId,
-
+                        baseEdge.edgeId,
+                        baseEdge.sequenceId,
+                        baseEdge.released,
+                        baseEdge.startNodeId,
+                        baseEdge.endNodeId,
                         actions = Array.Empty<object>()
                     };
                 }
 
                 // =================================================
-                // 3️⃣ EDITOR GENERATED CURVE (RADIUS + QUADRANT)
+                // 3️⃣ GENERATED CURVE (EDITOR)
                 // =================================================
-                var startNode = Nodes.First(n => n.NodeId == e.StartNodeId);
+                var startNode = orderedNodes.First(n => n.NodeId == e.StartNodeId);
 
                 var A = new Point(
                     startNode.NodePosition.X,
@@ -391,17 +394,40 @@ public class OrderMessage
 
                 return new
                 {
-                    edgeId = e.EdgeId,
-                    sequenceId = seq++,
-                    released = true,
-
-                    startNodeId = e.StartNodeId,
-                    endNodeId = e.EndNodeId,
+                    baseEdge.edgeId,
+                    baseEdge.sequenceId,
+                    baseEdge.released,
+                    baseEdge.startNodeId,
+                    baseEdge.endNodeId,
 
                     trajectory = result.Trajectory,
                     actions = Array.Empty<object>()
                 };
-            }).ToArray()
+            })
+            .ToArray();
+
+        // ================= FINAL SCHEMA OBJECT =================
+        return new
+        {
+            headerId = HeaderId++,
+
+            timestamp = string.IsNullOrWhiteSpace(Timestamp)
+                ? DateTime.UtcNow.ToString("O")
+                : Timestamp,
+
+            version = Version,
+            manufacturer = Manufacturer,
+            serialNumber = SerialNumber,
+
+            orderId = OrderId= Guid.NewGuid().ToString(),
+            orderUpdateId = OrderUpdateId,
+
+            zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
+                ? null
+                : ZoneSetId,
+
+            nodes = nodeObjects,
+            edges = edgeObjects
         };
     }
 }

RobotApp.Client/wwwroot/js/robotMonitor.js

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

RobotApp/Components/Pages/Home.razor

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

RobotApp/Controllers/FileController.cs

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

RobotApp/Controllers/ImagesController.cs

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

RobotApp/Controllers/LogsManagerController.cs

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

RobotApp/Controllers/OrderController.cs

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

RobotApp/Controllers/RobotConfigsController.cs

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

RobotApp/Data/ApplicationDbExtensions.cs

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

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

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

RobotApp/Hubs/RobotMonitorHub.cs

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

RobotApp/Properties/launchSettings.json

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

RobotApp/Services/MQTTClient.cs

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

RobotApp/Services/MQTTClientCertificatesProvider.cs

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

RobotApp/Services/Robot/Actions/RobotAction.cs

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

RobotApp/Services/Robot/RobotStatePublisher.cs

@@ -26,6 +26,8 @@ public class RobotStatePublisher : BackgroundService
     private readonly ILoad _loadManager;
     private readonly INavigation _navigationManager;
     private readonly RobotStateMachine _stateManager;
+    private readonly RobotConnection _robotConnection;
+    private bool? _lastRobotConnectionState;
 
     private uint _headerId = 0;
     private readonly PeriodicTimer _timer = new(TimeSpan.FromMilliseconds(1000)); // 1 giây/lần
@@ -42,7 +44,8 @@ public class RobotStatePublisher : BackgroundService
         IBattery batteryManager,
         ILoad loadManager,
         INavigation navigationManager,
-        RobotStateMachine stateManager)
+        RobotStateMachine stateManager,
+        RobotConnection robotConnection)
     {
         _hubContext = hubContext;
         _robotConfig = robotConfig;
@@ -56,6 +59,7 @@ public class RobotStatePublisher : BackgroundService
         _loadManager = loadManager;
         _navigationManager = navigationManager;
         _stateManager = stateManager;
+        _robotConnection = robotConnection;
     }
 
     private StateMsg GetStateMsg()
@@ -137,36 +141,43 @@ public class RobotStatePublisher : BackgroundService
 
     protected override async Task ExecuteAsync(CancellationToken stoppingToken)
     {
-        Console.WriteLine("[RobotStatePublisher] Started - Publishing state every 1 second via SignalR");
-
-        while (await _timer.WaitForNextTickAsync(stoppingToken) && !stoppingToken.IsCancellationRequested)
+        while (await _timer.WaitForNextTickAsync(stoppingToken))
         {
             try
             {
-                var state = GetStateMsg();
                 var serialNumber = _robotConfig.SerialNumber;
 
+                // ===== SEND STATE =====
+                var state = GetStateMsg();
                 var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
 
-                // Push đến tất cả client đang theo dõi robot này
                 await _hubContext.Clients
                     .Group(serialNumber)
                     .SendAsync("ReceiveState", json, stoppingToken);
 
-                //Console.WriteLine($"[RobotStatePublisher] Published state for {serialNumber} | " +
-                //                  $"HeaderId: {state.HeaderId} | " +
-                //                  $"Pos: ({state.AgvPosition.X:F2}, {state.AgvPosition.Y:F2}) | " +
-                //                  $"Battery: {state.BatteryState.BatteryCharge:F1}%");
+                // ===== SEND ROBOT CONNECTION (ONLY WHEN CHANGED) =====
+                var isConnected = _robotConnection.IsConnected;
+
+                if (_lastRobotConnectionState != isConnected)
+                {
+                    _lastRobotConnectionState = isConnected;
+
+                    await _hubContext.Clients
+                        .Group(serialNumber)   // routing only
+                        .SendAsync(
+                            "ReceiveRobotConnection",
+                            isConnected,       // payload only bool
+                            stoppingToken
+                        );
+                }
             }
-            catch (Exception ex)
+            catch
             {
-                Console.WriteLine($"[RobotStatePublisher] Error publishing state: {ex.Message}");
             }
         }
-
-        Console.WriteLine("[RobotStatePublisher] Stopped.");
     }
 
+
     public override void Dispose()
     {
         _timer?.Dispose();

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

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

docker-compose.yaml

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