.dockerignore

@@ -1,66 +0,0 @@
-# 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

@@ -1,57 +0,0 @@
-# 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="/dashboard", Label = "Dashboard", Match = NavLinkMatch.All},
+        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-monitor", Path="/robot-monitor", Label = "Robot Monitor", Match = NavLinkMatch.All},
         new(){Icon = "mdi-state-machine", Path="/robot-order", Label = "order", Match = NavLinkMatch.All},

RobotApp.Client/Pages/Dashboard.razor

@@ -5,11 +5,12 @@
 @using MudBlazor
 
 @implements IDisposable
+@attribute [Authorize]
 
 @inject RobotStateClient RobotStateClient
 @rendermode InteractiveWebAssemblyNoPrerender
 
-<MudContainer MaxWidth="MaxWidth.False" Class="pa-4" Style="overflow-y:auto">
+<MudContainer MaxWidth="MaxWidth.False" Class="pa-4">
     <!-- Header Dashboard -->
     <MudPaper Class="pa-6 mb-4 d-flex align-center justify-space-between" Elevation="3">
         <div>

RobotApp.Client/Pages/Logs.razor

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

RobotApp.Client/Pages/MapsManager.razor

@@ -2,6 +2,8 @@
 
 @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/JsonOutputPanel.razor

@@ -47,10 +47,8 @@
 
     <div class="flex-grow-1">
         <MudTextField Value="@OrderJson"
-                      T="string"
+                      ReadOnly
-                      ValueChanged="OrderJsonChange"
                       Variant="Variant.Filled"
-                      Immediate=true
                       Lines="50"
                       Style="font-family: 'Roboto Mono', Consolas, monospace;
                              font-size: 0.85rem;
@@ -66,8 +64,6 @@
     [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; }
@@ -121,11 +117,4 @@
             _ => Icons.Material.Filled.Cancel
         };
 
-
-    private void OrderJsonChange(string value)
-    {
-        OrderJson = value;
-        OrderJsonChanged.InvokeAsync(OrderJson);
-        StateHasChanged();
-    }
 }

RobotApp.Client/Pages/Order/OrderMess.razor

@@ -1,5 +1,6 @@
 @page "/robot-order"
 
+@attribute [Authorize]
 @rendermode InteractiveWebAssemblyNoPrerender
 
 @using System.Text.Json
@@ -45,7 +46,7 @@
 
                 <!-- ================= RIGHT ================= -->
                 <MudItem xs="12" md="5" Class="h-100">
-                    <JsonOutputPanel @bind-OrderJson="@OrderJson"
+                    <JsonOutputPanel OrderJson="@OrderJson"
                                      Copied="@copied"
                                      SendSuccess="@sendSuccess"
                                      CancelSuccess="@cancelSuccess"
@@ -227,7 +228,7 @@
             sendSuccess = response.IsSuccessStatusCode;
 
         }
-        catch
+        catch (Exception ex)
         {
             sendSuccess = false;
         }

RobotApp.Client/Pages/RobotConfigManager.razor

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

RobotApp.Client/Pages/RobotMonitor.razor

@@ -1,5 +1,6 @@
 @page "/robot-monitor"
 @rendermode InteractiveWebAssemblyNoPrerender
+@attribute [Authorize]
 @inject RobotApp.Client.Services.RobotMonitorService MonitorService
 @implements IAsyncDisposable
 
@@ -38,6 +39,3 @@
     }
 }
 
-
-
-

RobotApp.Client/wwwroot/js/robotMonitor.js

@@ -58,5 +58,3 @@ window.robotMonitor = {
     }
 };
 
-
-

RobotApp/Components/Pages/Home.razor

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

RobotApp/Controllers/FileController.cs

@@ -6,8 +6,7 @@ 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

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

RobotApp/Controllers/LogsManagerController.cs

@@ -5,8 +5,7 @@ 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

@@ -1,21 +1,18 @@
-using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
-using Microsoft.AspNetCore.Mvc;
 using RobotApp.Interfaces;
 using RobotApp.VDA5050.Order;
-using System.Text.Json;
 
 namespace RobotApp.Controllers;
 
 [ApiController]
 [Route("api/order")]
-//[Authorize]
+public class OrderController( IOrder robotOrderController, IInstantActions instantActions) : ControllerBase
-[AllowAnonymous]
-public class OrderController(IOrder robotOrderController, IInstantActions instantActions) : ControllerBase
 {
     [HttpPost]
     public IActionResult SendOrder([FromBody] OrderMsg order)
     {
         robotOrderController.UpdateOrder(order);
+
         return Ok(new
         {
             success = true,

RobotApp/Controllers/RobotConfigsController.cs

@@ -10,8 +10,7 @@ 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 = true,
+                EnableSimulation = false,
                 SimulationMaxVelocity = 1.5,
                 SimulationMaxAngularVelocity = 0.5,
                 SimulationAcceleration = 2,
@@ -155,7 +155,6 @@ public static class ApplicationDbExtensions
                 VDA5050EnableTls = false,
                 VDA5050UserName = "robotics",
                 VDA5050Password = "robotics",
-                VDA5050TopicPrefix = "uagv/v2",
                 IsActive = true,
                 CreatedAt = DateTime.Now,
                 UpdatedAt = DateTime.Now,

RobotApp/Data/Migrations/20251222025151_InitApplicationDb.Designer.cs

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

RobotApp/Hubs/RobotMonitorHub.cs

@@ -10,5 +10,3 @@ 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

@@ -195,6 +195,17 @@ 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

@@ -27,6 +27,7 @@ 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

@@ -96,6 +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/RobotStatePublisher.cs

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

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

@@ -158,12 +158,14 @@ 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

@@ -1,35 +0,0 @@
-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
-