update

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

@@ -1,40 +1,60 @@
 @using RobotApp.Common.Shares.Dtos
 
-<EditForm Model="@Local" OnValidSubmit="OnSubmit">
+@implements IDisposable
+
+<div class="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
         <DataAnnotationsValidator />
-    <ValidationSummary />
+
         <div class="form-check mb-2">
-        <InputCheckbox class="form-check-input" @bind-Value="Local.EnableSimulation" />
+            <InputCheckbox class="form-check-input" @bind-Value="Model.EnableSimulation" />
             <label class="form-check-label">Enable Simulation</label>
+            <ValidationMessage For="@(() => Model.EnableSimulation)" />
         </div>
 
         <div class="row g-2 mb-2">
             <div class="col-md-6">
                 <label class="form-label">Max Velocity (m/s)</label>
-            <InputNumber class="form-control" @bind-Value="Local.SimulationMaxVelocity" />
+                <InputNumber class="form-control" @bind-Value="Model.SimulationMaxVelocity" />
+                <ValidationMessage For="@(() => Model.SimulationMaxVelocity)" />
             </div>
             <div class="col-md-6">
                 <label class="form-label">Max Angular Velocity (rad/s)</label>
-            <InputNumber class="form-control" @bind-Value="Local.SimulationMaxAngularVelocity" />
+                <InputNumber class="form-control" @bind-Value="Model.SimulationMaxAngularVelocity" />
+                <ValidationMessage For="@(() => Model.SimulationMaxAngularVelocity)" />
             </div>
         </div>
 
         <div class="row g-2 mb-2">
             <div class="col-md-6">
                 <label class="form-label">Acceleration (m/s²)</label>
-            <InputNumber class="form-control" @bind-Value="Local.SimulationAcceleration" />
+                <InputNumber class="form-control" @bind-Value="Model.SimulationAcceleration" />
+                <ValidationMessage For="@(() => Model.SimulationAcceleration)" />
             </div>
             <div class="col-md-6">
                 <label class="form-label">Deceleration (m/s²)</label>
-            <InputNumber class="form-control" @bind-Value="Local.SimulationDeceleration" />
+                <InputNumber class="form-control" @bind-Value="Model.SimulationDeceleration" />
+                <ValidationMessage For="@(() => Model.SimulationDeceleration)" />
             </div>
         </div>
 
         <div class="mb-2">
             <label class="form-label">Description</label>
-        <InputTextArea class="form-control" @bind-Value="Local.Description" />
+            <InputTextArea class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
         </div>
     </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
 
 @code {
     [Parameter]
@@ -43,17 +63,25 @@
     [Parameter]
     public EventCallback<RobotSimulationConfigDto> ModelChanged { get; set; }
 
-    private RobotSimulationConfigDto Local = new();
+    private EditContext? EditContext;
 
     protected override void OnParametersSet()
     {
-        // Use record 'with' to create a shallow copy so parent isn't mutated until submit
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
-        Local = Model is not null ? Model with { } : new RobotSimulationConfigDto();
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+        }
     }
 
-    private async Task OnSubmit()
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
     {
-        Model = Local;
+        _ = ModelChanged.InvokeAsync(Model);
-        await ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
     }
 }

RobotApp.Client/Pages/RobotConfigManager.razor

@@ -39,6 +39,10 @@
                     <i class="mdi mdi-content-save" aria-hidden="true"></i>
                 </button>
 
+                <button type="button" class="btn rcm-icon-btn" data-tooltip="Load config" aria-label="Update" @onclick="LoadConfig">
+                    <i class="mdi mdi-file-download" aria-hidden="true"></i>
+                </button>
+
                 <button type="button" class="btn rcm-icon-btn rcm-danger" data-tooltip="Delete config" aria-label="Delete" @onclick="DeleteConfig">
                     <i class="mdi mdi-delete" aria-hidden="true"></i>
                 </button>

RobotApp.Client/Pages/RobotConfigManager.razor.cs

@@ -306,7 +306,7 @@ public partial class RobotConfigManager
         }
     }
 
-    private async Task<bool> SaveCertificates(Guid id)
+    private async Task<bool> SaveCertificates()
     {
         using var content = new MultipartFormDataContent();
 
@@ -325,13 +325,17 @@ public partial class RobotConfigManager
             var fileContent = new StreamContent(RobotVDA5050ConfigRef.KeyFile.OpenReadStream(maxAllowedSize: RobotVDA5050ConfigRef.MaxFileSize));
             content.Add(fileContent, "KeyFile", RobotVDA5050ConfigRef.KeyFile.Name);
         }
-
+        if (content.Any())
-        var response = await (await Http.PostAsync($"api/File/certificates/{id}", content)).Content.ReadFromJsonAsync<MessageResult>();
+        {
+            var response = await (await Http.PostAsync($"api/File/certificates", content)).Content.ReadFromJsonAsync<MessageResult>();
             if (response is null) Snackbar.Add("Failed to update certificates", Severity.Warning);
-        else if (!response.IsSuccess) Snackbar.Add(response.Message ?? "Failed to update certificates config", Severity.Warning);
+            else if (!response.IsSuccess) Snackbar.Add(response.Message ?? "Failed to update certificates", Severity.Warning);
             else return true;
+            StateHasChanged();
             return false;
         }
+        return true;
+    }
 
     private async Task SaveConfig()
     {
@@ -377,7 +381,7 @@ public partial class RobotConfigManager
                             SelectedVda.VDA5050Key,
                             SelectedVda.Description
                         };
-                        var saveCer = await SaveCertificates(SelectedVda.Id);
+                        var saveCer = await SaveCertificates();
                         if (saveCer) result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/vda5050/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
                         else return;
                         break;
@@ -551,4 +555,13 @@ public partial class RobotConfigManager
             StateHasChanged();
         }
     }
+
+    private async Task LoadConfig()
+    {
+        var response = await (await Http.PostAsync($"api/RobotConfigs/load", null)).Content.ReadFromJsonAsync<MessageResult>();
+        if (response is null) Snackbar.Add("Failed to load config", Severity.Warning);
+        else if (!response.IsSuccess) Snackbar.Add(response.Message ?? "Failed to load config", Severity.Warning);
+        else Snackbar.Add("Config loaded", Severity.Success);
+        StateHasChanged();
+    }
 }

RobotApp.Common.Shares/Dtos/RobotSimulationConfigDto.cs

@@ -1,4 +1,6 @@
-namespace RobotApp.Common.Shares.Dtos;
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
 
 #nullable disable
 
@@ -6,13 +8,18 @@ public record RobotSimulationConfigDto
 {
     public Guid Id { get; set; }
     public bool EnableSimulation { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
     public double SimulationMaxVelocity { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
     public double SimulationMaxAngularVelocity { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
     public double SimulationAcceleration { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
     public double SimulationDeceleration { get; set; }
     public DateTime CreatedAt { get; set; }
     public DateTime UpdatedAt { get; set; }
     public bool IsActive { get; set; }
+    [Required]
     public string ConfigName { get; set; }
     public string Description { get; set; }
 }

RobotApp.Common.Shares/Dtos/RobotVDA5050ConfigDto.cs

@@ -12,12 +12,14 @@ public record RobotVDA5050ConfigDto
     [Required]
     public string VDA5050HostServer { get; set; }
     [Required]
+    [Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
     public int VDA5050Port { get; set; }
     [Required]
     public string VDA5050UserName { get; set; }
     public string VDA5050Password { get; set; }
     public string VDA5050Manufacturer { get; set; }
     public string VDA5050Version { get; set; }
+    [Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
     public int VDA5050PublishRepeat { get; set; }
     public bool VDA5050EnablePassword { get; set; }
     public bool VDA5050EnableTls { get; set; }

RobotApp.VDA5050/VDA5050Setting.cs

@@ -1,4 +1,6 @@
-namespace RobotApp.VDA5050;
+using System.ComponentModel.DataAnnotations.Schema;
+
+namespace RobotApp.VDA5050;
 
 
 public class VDA5050Setting
@@ -12,4 +14,7 @@ public class VDA5050Setting
     public int PublishRepeat { get; set; } = 2;
     public bool EnablePassword { get; set; } = false;
     public bool EnableTls { get; set; } = false;
+    public string? CAFile { get; set; }
+    public string? CerFile { get; set; }
+    public string? KeyFile { get; set; }
 }

RobotApp/Components/Pages/Home.razor

@@ -4,4 +4,4 @@
 @rendermode InteractiveServer
 
 @attribute [Authorize]
-<h1>Welcome to RobotApp!</h1>
+@* <h1>Welcome to RobotApp!</h1> *@

RobotApp/Controllers/FileController.cs

@@ -15,8 +15,8 @@ public class FileController(Services.Logger<FileController> Logger) : Controller
     private readonly string keyFilePath = "key";
 
     [HttpPost]
-    [Route("certificates/{id:guid}")]
+    [Route("certificates")]
-    public async Task<MessageResult> UpdateMqttCertificates(Guid id, [FromForm(Name = "CaFile")] IFormFile? caFile,
+    public async Task<MessageResult> UpdateMqttCertificates([FromForm(Name = "CaFile")] IFormFile? caFile,
                                                                      [FromForm(Name = "CertFile")] IFormFile? certFile,
                                                                      [FromForm(Name = "KeyFile")] IFormFile? keyFile)
     {
@@ -29,7 +29,7 @@ public class FileController(Services.Logger<FileController> Logger) : Controller
                 var caFolder = Path.Combine(certificatesPath, caFilePath);
                 if (!Directory.Exists(caFolder)) Directory.CreateDirectory(caFolder);
                 string caExtension = Path.GetExtension(caFile.FileName);
-                var caLocal = Path.Combine(caFolder, $"{id}{caExtension}");
+                var caLocal = Path.Combine(caFolder, caFile.FileName);
 
                 if (System.IO.File.Exists($"{caLocal}.bk")) System.IO.File.Delete($"{caLocal}.bk");
                 if (System.IO.File.Exists(caLocal)) System.IO.File.Move(caLocal, $"{caLocal}.bk");
@@ -43,7 +43,7 @@ public class FileController(Services.Logger<FileController> Logger) : Controller
                 var certFolder = Path.Combine(certificatesPath, cerFilePath);
                 if (!Directory.Exists(certFolder)) Directory.CreateDirectory(certFolder);
                 string certExtension = Path.GetExtension(certFile.FileName);
-                var certLocal = Path.Combine(certFolder, $"{id}{certExtension}");
+                var certLocal = Path.Combine(certFolder, certFile.FileName);
 
                 if (System.IO.File.Exists($"{certLocal}.bk")) System.IO.File.Delete($"{certLocal}.bk");
                 if (System.IO.File.Exists(certLocal)) System.IO.File.Move(certLocal, $"{certLocal}.bk");
@@ -57,7 +57,7 @@ public class FileController(Services.Logger<FileController> Logger) : Controller
                 var keyFolder = Path.Combine(certificatesPath, keyFilePath);
                 if (!Directory.Exists(keyFolder)) Directory.CreateDirectory(keyFolder);
                 string keyExtension = Path.GetExtension(keyFile.FileName);
-                var keyLocal = Path.Combine(keyFolder, $"{id}{keyExtension}");
+                var keyLocal = Path.Combine(keyFolder, keyFile.FileName);
 
                 if (System.IO.File.Exists($"{keyLocal}.bk")) System.IO.File.Delete($"{keyLocal}.bk");
                 if (System.IO.File.Exists(keyLocal)) System.IO.File.Move(keyLocal, $"{keyLocal}.bk");

RobotApp/Controllers/RobotConfigsController.cs

@@ -63,8 +63,6 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             config.UpdatedAt = DateTime.Now;
 
             await AppDb.SaveChangesAsync();
-
-            if (config.IsActive) await RobotConfiguration.LoadRobotPlcConfigAsync();
             return new(true, "PLC configuration updated successfully.");
         }
         catch (Exception ex)
@@ -158,8 +156,6 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             config.UpdatedAt = DateTime.Now;
 
             await AppDb.SaveChangesAsync();
-
-            await RobotConfiguration.LoadRobotPlcConfigAsync();
             return new(true, $"PLC configuration {config.ConfigName} activated successfully.");
         }
         catch (Exception ex)
@@ -238,8 +234,6 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             config.UpdatedAt = DateTime.Now;
 
             await AppDb.SaveChangesAsync();
-
-            if (config.IsActive) await RobotConfiguration.LoadVDA5050ConfigAsync();
             return new(true, "VDA5050 configuration updated successfully.");
         }
         catch (Exception ex)
@@ -353,8 +347,6 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             config.UpdatedAt = DateTime.Now;
 
             await AppDb.SaveChangesAsync();
-
-            await RobotConfiguration.LoadVDA5050ConfigAsync();
             return new(true, $"VDA5050 configuration {config.ConfigName} activated successfully.");
         }
         catch (Exception ex)
@@ -417,8 +409,6 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             config.UpdatedAt = DateTime.Now;
 
             await AppDb.SaveChangesAsync();
-
-            if (config.IsActive) await RobotConfiguration.LoadRobotConfigAsync();
             return new(true, "Robot configuration updated successfully.");
         }
         catch (Exception ex)
@@ -516,8 +506,6 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             config.UpdatedAt = DateTime.Now;
 
             await AppDb.SaveChangesAsync();
-
-            await RobotConfiguration.LoadRobotConfigAsync();
             return new(true, $"Robot configuration {config.ConfigName} activated successfully.");
         }
         catch (Exception ex)
@@ -580,8 +568,6 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             config.UpdatedAt = DateTime.Now;
 
             await AppDb.SaveChangesAsync();
-
-            if (config.IsActive) await RobotConfiguration.LoadRobotSimulationConfigAsync();
             return new(true, "Simulation configuration updated successfully.");
         }
         catch (Exception ex)
@@ -679,8 +665,6 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             config.UpdatedAt = DateTime.Now;
 
             await AppDb.SaveChangesAsync();
-
-            await RobotConfiguration.LoadRobotSimulationConfigAsync();
             return new(true, $"Simulation configuration {config.ConfigName} activated successfully.");
         }
         catch (Exception ex)
@@ -746,8 +730,6 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             config.UpdatedAt = DateTime.Now;
 
             await AppDb.SaveChangesAsync();
-
-            if (config.IsActive) await RobotConfiguration.LoadRobotSafetyConfigAsync();
             return new(true, "Safety configuration updated successfully.");
         }
         catch (Exception ex)
@@ -849,8 +831,6 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             config.UpdatedAt = DateTime.Now;
 
             await AppDb.SaveChangesAsync();
-
-            await RobotConfiguration.LoadRobotSafetyConfigAsync();
             return new(true, $"Safety configuration {config.ConfigName} activated successfully.");
         }
         catch (Exception ex)
@@ -859,4 +839,20 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
             return new(false, "An error occurred while updating the active Safety configuration.");
         }
     }
+
+    [HttpPost]
+    [Route("load")]
+    public async Task<MessageResult> LoadConfig()
+    {
+        try
+        {
+            //await RobotConfiguration.LoadVDA5050ConfigAsync();
+            return new(true, "Robot configuration loaded successfully.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error in Load Robot Config: {ex.Message}");
+            return new(false, "An error occurred while loading the Robot configuration.");
+        }
+    }
 }

RobotApp/Properties/launchSettings.json

@@ -18,7 +18,7 @@
         "launchBrowser": true,
         "workingDirectory": "$(TargetDir)",
         "inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}",
-        "applicationUrl": "https://localhost:7150;http://localhost:5229",
+        "applicationUrl": "https://0.0.0.0:7150;http://localhost:5229",
         "environmentVariables": {
           "ASPNETCORE_ENVIRONMENT": "Development"
         }

RobotApp/Services/MQTTClient.cs

@@ -2,7 +2,7 @@
 using MQTTnet.Protocol;
 using RobotApp.Common.Shares;
 using RobotApp.VDA5050;
-using System.Net.Security;
+using System.Security.Cryptography.X509Certificates;
 using System.Text;
 
 namespace RobotApp.Services;
@@ -167,6 +167,46 @@ public class MQTTClient : IAsyncDisposable
         else throw new ObjectDisposedException(nameof(MQTTClient));
     }
 
+    private bool ValidateCertificates(MqttClientCertificateValidationEventArgs arg)
+    {
+        string certificatesPath = "MqttCertificates";
+        string caFilePath = "ca";
+
+        if (!string.IsNullOrEmpty(VDA5050Setting.CAFile))
+        {
+            if (Directory.Exists(certificatesPath))
+            {
+                var caFolder = Path.Combine(certificatesPath, caFilePath);
+                if (Directory.Exists(caFolder))
+                {
+                    var caLocal = Path.Combine(caFolder, VDA5050Setting.CAFile);
+                    if (File.Exists(caLocal))
+                    {
+                        var caCert = X509CertificateLoader.LoadCertificateFromFile(caLocal);
+                        arg.Chain.ChainPolicy.ExtraStore.Add(caCert);
+                        arg.Chain.ChainPolicy.RevocationMode = X509RevocationMode.NoCheck;
+                        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($"   -> Chain error: {status.Status} - {status.StatusInformation}");
+                        }
+                        return isValid;
+                    }
+                }
+            }
+        }
+        return true;
+    }
+
     private void BuildMqttClientOptions(bool enablePassword, bool enableTls)
     {
         var builder = MqttClientFactory.CreateClientOptionsBuilder()
@@ -182,16 +222,9 @@ public class MQTTClient : IAsyncDisposable
         {
             var tlsOptions = new MqttClientTlsOptionsBuilder()
                             .UseTls(true)
-                            .WithSslProtocols(System.Security.Authentication.SslProtocols.Tls12)
+                            .WithSslProtocols(System.Security.Authentication.SslProtocols.Tls12 | System.Security.Authentication.SslProtocols.Tls13)
-                            .WithCertificateValidationHandler(context =>
+                            .WithCertificateValidationHandler(ValidateCertificates)
-                            {
+                            .WithClientCertificatesProvider(new MQTTClientCertificatesProvider(VDA5050Setting.CerFile, VDA5050Setting.KeyFile))
-                                if (context.SslPolicyErrors != SslPolicyErrors.None)
-                                {
-                                    Logger.Warning($"[TLS] Lỗi: {context.SslPolicyErrors}");
-                                    return false;
-                                }
-                                return true;
-                            })
                             .Build();
             builder.WithTlsOptions(tlsOptions);
         }
@@ -271,7 +304,7 @@ public class MQTTClient : IAsyncDisposable
         {
             try
             {
-                var applicationMessage = new MqttApplicationMessageBuilder()
+                var applicationMessage = MqttClientFactory.CreateApplicationMessageBuilder()
                                         .WithTopic(topic)
                                         .WithPayload(data)
                                         .WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtLeastOnce)

RobotApp/Services/MQTTClientCertificatesProvider.cs

@@ -0,0 +1,38 @@
+using MQTTnet;
+using MQTTnet.Certificates;
+using System.Security.Cryptography.X509Certificates;
+
+namespace RobotApp.Services;
+
+public class MQTTClientCertificatesProvider(string? CerFile, string? KeyFile) : IMqttClientCertificatesProvider
+{
+    private readonly string certificatesPath = "MqttCertificates";
+    private readonly string cerFilePath = "cer";
+    private readonly string keyFilePath = "key";
+
+    public X509CertificateCollection? GetCertificates()
+    {
+        if (!string.IsNullOrEmpty(CerFile) && !string.IsNullOrEmpty(KeyFile))
+        {
+            if (Directory.Exists(certificatesPath))
+            {
+                var certFolder = Path.Combine(certificatesPath, cerFilePath);
+                var keyFolder = Path.Combine(certificatesPath, keyFilePath);
+                if (Directory.Exists(certFolder) && Directory.Exists(keyFolder))
+                {
+                    var certLocal = Path.Combine(certFolder, CerFile);
+                    var keyLocal = Path.Combine(keyFolder, KeyFile);
+                    if (File.Exists(certLocal) && File.Exists(keyLocal))
+                    {
+                        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];
+                    }
+                }
+            }
+        }
+        return null;
+    }
+}

RobotApp/Services/Robot/Actions/RobotAction.cs

@@ -59,6 +59,7 @@ public abstract class RobotAction(IServiceProvider serviceProvider) : IDisposabl
     {
         HistoryStatus = Status;
         Status = ActionStatus.PAUSED;
+        IsPaused = true;
     }
 
     public void Resume()
@@ -69,6 +70,7 @@ public abstract class RobotAction(IServiceProvider serviceProvider) : IDisposabl
     public void Cancel()
     {
         if (!IsCompleted) IsCancelAction = true;
+        if (Status == ActionStatus.WAITING) StopAction();
     }
 
     public async Task WaitAsync(CancellationToken cancellationToken)
@@ -94,6 +96,7 @@ 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/RobotActionController.cs

@@ -18,7 +18,7 @@ public class RobotActionController(Logger<RobotActionController> Logger, RobotAc
             ActionStatus = a.Status.ToString(),
             ResultDescription = a.ResultDescription,
         })];
-    public bool HasActionRunning => !ActionQueue.IsEmpty || Actions.Values.Any(a => !a.IsCompleted);
+    public bool HasActionRunning => !ActionQueue.IsEmpty || Actions.Values.Any(a => a.Type != ActionType.cancelOrder && !a.IsCompleted);
 
     private readonly Dictionary<string, RobotAction> Actions = [];
     private readonly ConcurrentQueue<(ActionScopes scope, VDA5050.InstantAction.Action action)> ActionQueue = [];
@@ -62,7 +62,7 @@ public class RobotActionController(Logger<RobotActionController> Logger, RobotAc
         {
             foreach (var action in Actions.Values)
             {
-                if (!action.IsCompleted) action.Cancel();
+                if (!action.IsCompleted && action.Type != ActionType.cancelOrder) action.Cancel();
             }
         }
         else if (Actions.TryGetValue(actionId, out RobotAction? robotAction) && robotAction is not null) robotAction.Cancel();

RobotApp/Services/Robot/RobotConfiguration.cs

@@ -49,6 +49,9 @@ public class RobotConfiguration(IServiceProvider ServiceProvider, Logger<RobotCo
                 VDA5050Setting.PublishRepeat = config.VDA5050PublishRepeat;
                 VDA5050Setting.EnablePassword = config.VDA5050EnablePassword;
                 VDA5050Setting.EnableTls = config.VDA5050EnableTls;
+                VDA5050Setting.CAFile = config.VDA5050CA;
+                VDA5050Setting.CerFile = config.VDA5050Cer;
+                VDA5050Setting.KeyFile = config.VDA5050Key;
                 SerialNumber = config.SerialNumber;
             }
             else throw new Exception("Chưa có cấu hình VDA5050.");
@@ -151,6 +154,19 @@ public class RobotConfiguration(IServiceProvider ServiceProvider, Logger<RobotCo
         }
     }
 
+    public async Task LoadConfig()
+    {
+        IsReady = false;
+        try
+        {
+
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Lỗi tải lại cấu hình Robot: {ex.Message}");
+        }
+    }
+
     protected override async Task ExecuteAsync(CancellationToken stoppingToken)
     {
         try

RobotApp/Services/Robot/RobotControllerInitialize.cs

@@ -39,7 +39,7 @@ public partial class RobotController
             
             ConnectionManager.OrderUpdated += NewOrderUpdated;
             ConnectionManager.ActionUpdated += NewInstantActionUpdated;
-            //await ConnectionManager.StartConnection(cancellationToken);
+            await ConnectionManager.StartConnection(cancellationToken);
             Logger.Info("Robot đã kết nối tới Fleet Manager.");
             StateManager.TransitionTo(SystemStateType.Standby);
 

RobotApp/Services/Robot/RobotOrderController.cs

@@ -6,6 +6,7 @@ using RobotApp.VDA5050.InstantAction;
 using RobotApp.VDA5050.Order;
 using RobotApp.VDA5050.State;
 using System.Collections.Concurrent;
+using System.Data;
 using Action = RobotApp.VDA5050.InstantAction.Action;
 
 namespace RobotApp.Services.Robot;
@@ -111,6 +112,7 @@ public class RobotOrderController(INavigation NavigationManager,
         CurrentBaseNode = null;
         Nodes = [];
         Edges = [];
+        UpdateState();
         StateManager.TransitionTo(AutoStateType.Idle);
     }
 

RobotApp/Services/Robot/RobotStates.cs

@@ -23,7 +23,6 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
                          IDriver DriverManager) : BackgroundService
 {
     private uint HeaderId = 0;
-    private readonly string SerialNumber = RobotConfiguration.SerialNumber;
 
     private WatchTimerAsync<RobotStates>? UpdateStateTimer;
     private const int UpdateStateInterval = 1000;
@@ -42,7 +41,7 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
         return new StateMsg
         {
             HeaderId = HeaderId++,
-            SerialNumber = SerialNumber,
+            SerialNumber = RobotConfiguration.SerialNumber,
             Maps = [],
             OrderId = OrderManager.OrderId,
             OrderUpdateId = OrderManager.OrderUpdateId,

RobotApp/Services/Robot/RobotVisualization.cs

@@ -7,7 +7,6 @@ namespace RobotApp.Services.Robot;
 
 public class RobotVisualization(ILocalization Localization, INavigation Navigation, RobotConfiguration RobotConfiguration, RobotConnection RobotConnection, Logger<RobotVisualization> Logger) : BackgroundService
 {
-    public string SerialNumber = RobotConfiguration.SerialNumber;
     private uint HeaderId;
 
     private WatchTimerAsync<RobotVisualization>? UpdateTimer;
@@ -17,7 +16,7 @@ public class RobotVisualization(ILocalization Localization, INavigation Navigati
         return new VisualizationMsg()
         {
             HeaderId = HeaderId++,
-            SerialNumber = SerialNumber,
+            SerialNumber = RobotConfiguration.SerialNumber,
             MapId = Localization.CurrentActiveMap,
             MapDescription = string.Empty,
             AgvPosition = new AgvPosition()