update

RobotApp.Client/Pages/Logs.razor

@@ -77,6 +77,13 @@
     </div>
 </div>
 
+<script>
+    window.ScrollToBottom = (element) => {
+    if (element) {
+        element.scrollTop = element.scrollHeight;
+    }
+};
+</script>
 
 @code {
     private DateTime DateLog = DateTime.Today;

RobotApp.Client/Pages/Logs.razor.css

@@ -23,7 +23,7 @@
 
 .log-level {
     display: inline-block;
-    width: 46px;
+    width: 60px;
 }
 
 .log-head {

RobotApp.Client/Pages/Order/OrderMess.razor

@@ -8,6 +8,7 @@
 @inject IJSRuntime JS
 @inject IDialogService DialogService
 @inject HttpClient Http
+@inject ISnackbar Snackbar
 
 <MudMainContent Class="pa-0 ma-0">
     <div style="height:100vh; overflow:hidden;">
@@ -219,14 +220,49 @@
 
         try
         {
+            var orderMsg = JsonSerializer.Deserialize<OrderMsg>(OrderJson);
+            if (orderMsg is null)
+            {
+                Snackbar.Add("Unable to convert JSON to Order", Severity.Warning);
+                return;
+            }
+            if (orderMsg.Nodes.Length < 1)
+            {
+                Snackbar.Add("The order must contain at least one node (number of nodes > 0)", Severity.Warning);
+                return;
+            }
+            if (orderMsg.Nodes.Length - 1 != orderMsg.Edges.Length)
+            {
+                Snackbar.Add("Order must have a number of edges equal to the number of nodes minus 1", Severity.Warning);
+                return;
+            }
+
+            foreach(var edge in orderMsg.Edges)
+            {
+                if (!orderMsg.Nodes.Any(n => n.NodeId == edge.StartNodeId))
+                {
+                    Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.StartNodeId} that does not exist in the list of nodes", Severity.Warning);
+                    return;
+                }
+                if (!orderMsg.Nodes.Any(n => n.NodeId == edge.EndNodeId))
+                {
+                    Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.EndNodeId} that does not exist in the list of nodes", Severity.Warning);
+                    return;
+                }
+            }
+
             var response = await Http.PostAsJsonAsync(
                 "/api/order",
-                JsonSerializer.Deserialize<JsonElement>(OrderJson)
+                JsonSerializer.Deserialize<OrderMsg>(OrderJson)
             );
 
             sendSuccess = response.IsSuccessStatusCode;
 
         }
+        catch(JsonException jsonEx)
+        {
+            Snackbar.Add($"Json to Order failed: {jsonEx.Message}", Severity.Warning);
+        }
         catch
         {
             sendSuccess = false;

RobotApp.Client/Pages/RobotConfigManager.razor.cs

@@ -560,10 +560,14 @@ public partial class RobotConfigManager
 
     private async Task LoadConfig()
     {
+        IsLoading = true;
+        StateHasChanged();
         var response = await (await Http.PostAsync($"api/RobotConfigs/load", null)).Content.ReadFromJsonAsync<MessageResult>();
         if (response is null) Snackbar.Add("Failed to load config", Severity.Warning);
         else if (!response.IsSuccess) Snackbar.Add(response.Message ?? "Failed to load config", Severity.Warning);
         else Snackbar.Add("Config loaded", Severity.Success);
+
+        IsLoading = false;
         StateHasChanged();
     }
 }

RobotApp.Client/Services/UiEdge.cs

@@ -268,7 +268,7 @@ public class OrderMessage
             }
         ).ToArray();
     }
-    public object ToSchemaObject()
+    public OrderMsg ToSchemaObject()
     {
         // ================= SORT NODES BY UI SEQUENCE =================
         var orderedNodes = Nodes
@@ -277,50 +277,50 @@ public class OrderMessage
 
         // ================= BUILD NODE OBJECTS =================
         var nodeObjects = orderedNodes
-            .Select((n, index) => new
+            .Select((n, index) => new Node
             {
-                nodeId = n.NodeId,
-                sequenceId = index * 2,               // ✅ NODE = EVEN
-                released = n.Released,
+                NodeId = n.NodeId,
+                SequenceId = index * 2,               // ✅ NODE = EVEN
+                Released = n.Released,
 
-                nodePosition = new
+                NodePosition = new NodePosition
                 {
-                    x = n.NodePosition.X,
-                    y = n.NodePosition.Y,
-                    theta = n.NodePosition.Theta,
+                    X = n.NodePosition.X,
+                    Y = n.NodePosition.Y,
+                    Theta = n.NodePosition.Theta,
 
-                    allowedDeviationXY = n.NodePosition.AllowedDeviationXY,
-                    allowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,
+                    AllowedDeviationXY = n.NodePosition.AllowedDeviationXY,
+                    AllowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,
 
-                    mapId = string.IsNullOrWhiteSpace(n.NodePosition.MapId)
+                    MapId = string.IsNullOrWhiteSpace(n.NodePosition.MapId)
                         ? "MAP_01"
                         : n.NodePosition.MapId
                 },
 
-                actions = n.Actions?
-                    .Select(a => new
+                Actions = n.Actions?
+                    .Select(a => new VDA5050.InstantAction.Action
                     {
-                        actionId = a.ActionId,
-                        actionType = a.ActionType,
-                        blockingType = a.BlockingType,
+                        ActionId = a.ActionId,
+                        ActionType = a.ActionType,
+                        BlockingType = a.BlockingType,
 
-                        actionParameters = a.ActionParameters?
-                            .Select(p => new
+                        ActionParameters = a.ActionParameters?
+                            .Select(p => new ActionParameter
                             {
-                                key = p.Key,
-                                value = p.Value
+                                Key = p.Key,
+                                Value = p.Value
                             })
                             .ToArray()
-                            ?? Array.Empty<object>()
+                            ?? []
                     })
                     .ToArray()
-                    ?? Array.Empty<object>()
+                    ?? []
             })
             .ToArray();
 
         // ================= BUILD EDGE OBJECTS =================
-        var edgeObjects = Edges
-            .Select<UiEdge, object>((e, index) =>
+        Edge[] edgeObjects = Edges
+            .Select((e, index) =>
             {
                 int sequenceId = index * 2 + 1;        // ✅ EDGE = ODD
 
@@ -339,24 +339,24 @@ public class OrderMessage
                 // =================================================
                 if (e.HasTrajectory && e.Trajectory != null)
                 {
-                    return new
+                    return new Edge
                     {
-                        baseEdge.edgeId,
-                        baseEdge.sequenceId,
-                        baseEdge.released,
-                        baseEdge.startNodeId,
-                        baseEdge.endNodeId,
+                        EdgeId = baseEdge.edgeId,
+                        SequenceId = baseEdge.sequenceId,
+                        Released= baseEdge.released,
+                        StartNodeId= baseEdge.startNodeId,
+                        EndNodeId= baseEdge.endNodeId,
 
-                        trajectory = new
+                        Trajectory = new Trajectory
                         {
-                            degree = e.Trajectory.Degree,
-                            knotVector = e.Trajectory.KnotVector,
-                            controlPoints = e.Trajectory.ControlPoints
-                                .Select(p => new { x = p.X, y = p.Y })
+                            Degree = e.Trajectory.Degree,
+                            KnotVector = e.Trajectory.KnotVector,
+                            ControlPoints = e.Trajectory.ControlPoints
+                                .Select(p => new ControlPoint { X = p.X, Y = p.Y , Weight = 1})
                                 .ToArray()
                         },
 
-                        actions = Array.Empty<object>()
+                        Actions = []
                     };
                 }
 
@@ -365,14 +365,15 @@ public class OrderMessage
                 // =================================================
                 if (e.Radius <= 0)
                 {
-                    return new
+                    return new Edge
                     {
-                        baseEdge.edgeId,
-                        baseEdge.sequenceId,
-                        baseEdge.released,
-                        baseEdge.startNodeId,
-                        baseEdge.endNodeId,
-                        actions = Array.Empty<object>()
+                        EdgeId = baseEdge.edgeId,
+                        SequenceId = baseEdge.sequenceId,
+                        Released = baseEdge.released,
+                        StartNodeId = baseEdge.startNodeId,
+                        EndNodeId = baseEdge.endNodeId,
+
+                        Actions = []
                     };
                 }
 
@@ -392,42 +393,41 @@ public class OrderMessage
                     e.Quadrant
                 );
 
-                return new
+                return new Edge
                 {
-                    baseEdge.edgeId,
-                    baseEdge.sequenceId,
-                    baseEdge.released,
-                    baseEdge.startNodeId,
-                    baseEdge.endNodeId,
+                    EdgeId = baseEdge.edgeId,
+                    SequenceId = baseEdge.sequenceId,
+                    Released = baseEdge.released,
+                    StartNodeId = baseEdge.startNodeId,
+                    EndNodeId = baseEdge.endNodeId,
 
-                    trajectory = result.Trajectory,
-                    actions = Array.Empty<object>()
+                    Actions = []
                 };
             })
             .ToArray();
 
         // ================= FINAL SCHEMA OBJECT =================
-        return new
+        return new OrderMsg
         {
-            headerId = HeaderId++,
+            HeaderId = (uint)HeaderId++,
 
-            timestamp = string.IsNullOrWhiteSpace(Timestamp)
+            Timestamp = string.IsNullOrWhiteSpace(Timestamp)
                 ? DateTime.UtcNow.ToString("O")
                 : Timestamp,
 
-            version = Version,
-            manufacturer = Manufacturer,
-            serialNumber = SerialNumber,
+            Version = Version,
+            Manufacturer = Manufacturer,
+            SerialNumber = SerialNumber,
 
-            orderId = OrderId= Guid.NewGuid().ToString(),
-            orderUpdateId = OrderUpdateId,
+            OrderId = OrderId= Guid.NewGuid().ToString(),
+            OrderUpdateId = OrderUpdateId,
 
-            zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
+            ZoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
                 ? null
                 : ZoneSetId,
 
-            nodes = nodeObjects,
-            edges = edgeObjects
+            Nodes = nodeObjects,
+            Edges = edgeObjects,
         };
     }
 }

RobotApp/Services/MQTTClient.cs

@@ -147,11 +147,11 @@ public class MQTTClient : IAsyncDisposable
 
             MqttClient = MqttClientFactory.CreateMqttClient();
 
-            //MqttClient.ApplicationMessageReceivedAsync -= OnMessageReceived;
+            MqttClient.ApplicationMessageReceivedAsync -= OnMessageReceived;
             MqttClient.ApplicationMessageReceivedAsync += OnMessageReceived;
-            //MqttClient.DisconnectedAsync -= OnDisconnected;
+            MqttClient.DisconnectedAsync -= OnDisconnected;
             MqttClient.DisconnectedAsync += OnDisconnected;
-            while (!cancellationToken.IsCancellationRequested)
+            while (!cancellationToken.IsCancellationRequested && !IsDisposed)
             {
                 try
                 {
@@ -168,8 +168,12 @@ public class MQTTClient : IAsyncDisposable
                 {
                     Logger.Error($"Lỗi khi tạo MQTT client: {ex.Message}");
                 }
+                try
+                {
                     await Task.Delay(3000, cancellationToken);
                 }
+                catch { }
+            }
         }
         else throw new ObjectDisposedException(nameof(MQTTClient));
     }
@@ -219,7 +223,7 @@ public class MQTTClient : IAsyncDisposable
             var tlsOptions = new MqttClientTlsOptionsBuilder()
                             .UseTls(true)
                             .WithSslProtocols(System.Security.Authentication.SslProtocols.Tls12 | System.Security.Authentication.SslProtocols.Tls13)
-                            //.WithCertificateValidationHandler(ValidateCertificates)
+                            .WithCertificateValidationHandler(ValidateCertificates)
                             .WithClientCertificatesProvider(new MQTTClientCertificatesProvider(VDA5050Setting.CerFile, VDA5050Setting.KeyFile))
                             .Build();
             builder = builder.WithTlsOptions(tlsOptions);

RobotApp/Services/Robot/RobotConfiguration.cs

@@ -57,8 +57,8 @@ public class RobotConfiguration(IServiceProvider ServiceProvider, Logger<RobotCo
                 if (IsReady)
                 {
                     var robotConnection = scope.ServiceProvider.GetRequiredService<RobotConnection>();
-                    await robotConnection.StopConnection();
-                    _ = Task.Run(async () => await robotConnection.StartConnection(CancellationToken.None));
+                    robotConnection.StartConnection();
+                    await Task.Delay(1000);
                 }
             }
             else throw new Exception("Chưa có cấu hình VDA5050.");

RobotApp/Services/Robot/RobotConnection.cs

@@ -3,6 +3,7 @@ using RobotApp.VDA5050;
 using RobotApp.VDA5050.InstantAction;
 using RobotApp.VDA5050.Order;
 using System.Text.Json;
+using System.Threading;
 
 namespace RobotApp.Services.Robot;
 
@@ -10,12 +11,13 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
                              Logger<RobotConnection> Logger,
                              Logger<MQTTClient> MQTTClientLogger)
 {
-    private readonly VDA5050Setting VDA5050Setting = RobotConfiguration.VDA5050Setting;
     private MQTTClient? MqttClient;
 
     public bool IsConnected => MqttClient is not null && MqttClient.IsConnected;
     public event Action<OrderMsg>? OrderUpdated;
     public event Action<InstantActionsMsg>? ActionUpdated;
+    private readonly SemaphoreSlim _connectionSemaphore = new(1, 1);
+    private CancellationTokenSource? _connectionCancel;
 
 
     private void OrderChanged(string data)
@@ -50,17 +52,37 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
 
     public async Task<MessageResult> Publish(string topic, string data)
     {
-        if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync($"{VDA5050Setting.TopicPrefix}/{VDA5050Setting.Manufacturer}/{RobotConfiguration.SerialNumber}/{topic}", data);
+        if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync($"{RobotConfiguration.VDA5050Setting.TopicPrefix}/{RobotConfiguration.VDA5050Setting.Manufacturer}/{RobotConfiguration.SerialNumber}/{topic}", data);
         return new(false, "Chưa có kết nối tới broker");
     }
-
-    public async Task StartConnection(CancellationToken cancellationToken)
+    public void StartConnection()
     {
-        MqttClient = new MQTTClient(RobotConfiguration.SerialNumber, VDA5050Setting, MQTTClientLogger);
+        Task.Run(async () =>
+        {
+            await StartConnectionAsync(CancellationToken.None);
+            if(IsConnected)Logger.Info("Robot đã kết nối tới Fleet Manager.");
+        });
+    }
+    public async Task StartConnectionAsync(CancellationToken cancellationToken)
+    {
+        try
+        {
+            await StopConnection();
+            _connectionCancel?.Cancel();
+            if (_connectionSemaphore.Wait(1000, cancellationToken))
+            {
+                _connectionCancel = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
+                MqttClient = new MQTTClient(RobotConfiguration.SerialNumber, RobotConfiguration.VDA5050Setting, MQTTClientLogger);
                 MqttClient.OrderChanged += OrderChanged;
                 MqttClient.InstanceActionsChanged += InstanceActionsChanged;
-        await MqttClient.ConnectAsync(cancellationToken);
-        await MqttClient.SubscribeAsync(cancellationToken);
+                await MqttClient.ConnectAsync(_connectionCancel.Token);
+                if(MqttClient is not null) await MqttClient.SubscribeAsync(_connectionCancel.Token);
+            }
+        }
+        finally
+        {
+            _connectionSemaphore.Release();
+        }
     }
 
     public async Task StopConnection()

RobotApp/Services/Robot/RobotControllerInitialize.cs

@@ -39,8 +39,7 @@ public partial class RobotController
             
             ConnectionManager.OrderUpdated += NewOrderUpdated;
             ConnectionManager.ActionUpdated += NewInstantActionUpdated;
-            await ConnectionManager.StartConnection(cancellationToken);
-            Logger.Info("Robot đã kết nối tới Fleet Manager.");
+            ConnectionManager.StartConnection();
             StateManager.TransitionTo(SystemStateType.Standby);
 
             if (!RobotConfiguration.IsSimulation)