update mapmanager pages

RobotApp.Client/Components/Mapping/MapView.razor

@@ -0,0 +1,5 @@
+<h3>MapView</h3>
+
+@code {
+
+}

RobotApp.Client/Layout/NavMenu.razor

@@ -36,6 +36,12 @@
             </NavLink>
         </div>
 
+        <div class="nav-item px-3">
+            <NavLink class="nav-link" href="maps-manager">
+                <span class="bi bi-lock-nav-menu" aria-hidden="true"></span> Map Manager
+            </NavLink>
+        </div>
+
         <AuthorizeView>
             <Authorized>
                 <div class="nav-item px-3">

RobotApp.Client/Pages/MapsManager.razor

@@ -0,0 +1,181 @@
+@page "/maps-manager"
+@using MudBlazor
+@using RobotApp.Common.Shares.Dtos
+
+@attribute [Authorize]
+@inject HttpClient Http
+
+<PageTitle>Map Manager</PageTitle>
+
+<style>
+    .selected {
+        background-color: #3399ff !important;
+    }
+
+        .selected > td {
+            color: white !important;
+        }
+
+            .selected > td .mud-input {
+                color: white !important;
+            }
+</style>
+
+<div class="d-flex flex-row w-100 h-100 p-2 overflow-hidden">
+    <div class="d-flex h-100 flex-column flex-grow-1 pe-2">
+        <div class="d-flex justify-content-between align-items-center mb-2">
+            <MudTextField Value="txtSearch" T="string" Label="Search" Variant="Variant.Outlined" Adornment="Adornment.End" AdornmentIcon="@Icons.Material.Filled.Search"
+                          AdornmentColor="Color.Secondary" ValueChanged="TextSearchChanged" Style="max-width: 550px" />
+            <MudButton Class="ms-3" StartIcon="@Icons.Material.Filled.Add" Variant="Variant.Filled" Color="Color.Primary" Size="Size.Large">
+                NEW
+            </MudButton>
+        </div>
+        <div class="d-flex" style="height: 92%">
+            <MudTable Class="w-100" @ref="Table" Items="@MapsShow" T="MapDto" Dense=true Hover=true ReadOnly=true FixedHeader=true RowClass="cursor-pointer" Striped="true"
+                      ServerData="ReloadData" Loading=@IsLoading Outlined="true" RowClassFunc="@SelectedRowClassFunc" OnRowClick="RowClickEvent" Height="95%">
+                <HeaderContent>
+                    <MudTh>Nr</MudTh>
+                    <MudTh>Name</MudTh>
+                    <MudTh>Width (m)</MudTh>
+                    <MudTh>Height (m)</MudTh>
+                    <MudTh>Resolution (m/px)</MudTh>
+                    <MudTh>OriginX</MudTh>
+                    <MudTh>OriginY</MudTh>
+                    <MudTh></MudTh>
+                </HeaderContent>
+                <RowTemplate>
+                    <MudTd DataLabel="Nr">
+                        @(Table?.CurrentPage * Table?.RowsPerPage + MapsShow.IndexOf(context) + 1)
+                    </MudTd>
+                    <MudTd DataLabel="Name">
+                        @context.Name
+                    </MudTd>
+                    <MudTd DataLabel="Width">
+                        @context.Width
+                    </MudTd>
+                    <MudTd DataLabel="Height">
+                        @context.Height
+                    </MudTd>
+                    <MudTd DataLabel="Resolution">
+                        @context.Resolution
+                    </MudTd>
+                    <MudTd DataLabel="OriginX">
+                        @context.OriginX
+                    </MudTd>
+                    <MudTd DataLabel="OriginY">
+                        @context.OriginY
+                    </MudTd>
+                    <MudTd>
+                        <div class="d-flex flex-row-reverse">
+                            <MudMenu Icon="@Icons.Material.Filled.MoreVert" AnchorOrigin="Origin.BottomCenter">
+                                <MudMenuItem Icon="@Icons.Material.Filled.Edit" IconColor="Color.Info">Edit</MudMenuItem>
+                                <MudMenuItem Icon="@Icons.Material.Filled.Delete" IconColor="Color.Error">Delete</MudMenuItem>
+                            </MudMenu>
+                        </div>
+                    </MudTd>
+                </RowTemplate>
+                <PagerContent>
+                    <div class="d-flex w-100 flex-row-reverse">
+                        <MudTablePager Style="width: 100%;" PageSizeOptions="new[] {25 , 100, 200}" />
+                    </div>
+                </PagerContent>
+            </MudTable>
+        </div>
+    </div>
+    <div class="map-preview">
+    </div>
+</div>
+
+@code {
+    private string txtSearch = "";
+    private bool IsLoading = false;
+
+    private List<MapDto> Maps = [];
+    private List<MapDto> MapsShow = [];
+
+    private int selectedRowNumber = -1;
+    private MapDto MapSelected = new();
+
+    private MudTable<MapDto>? Table; protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
+
+        await LoadMaps();
+    }
+
+    private async Task LoadMaps()
+    {
+        try
+        {
+            IsLoading = true;
+            Maps.Clear();
+            StateHasChanged();
+
+            var maps = await Http.GetFromJsonAsync<IEnumerable<MapDto>>($"api/MapsManager?txtSearch={txtSearch}");
+            Maps.AddRange(maps ?? []);
+
+            Table?.ReloadServerData();
+            IsLoading = false;
+            StateHasChanged();
+        }
+        catch
+        {
+            return;
+        }
+    }
+
+    private void TextSearchChanged(string text)
+    {
+        txtSearch = text;
+        Table?.ReloadServerData();
+    }
+
+    private bool FilterFunc(MapDto map)
+    {
+        if (string.IsNullOrWhiteSpace(txtSearch))
+            return true;
+        if (map.Name is not null && map.Name.Contains(txtSearch, StringComparison.OrdinalIgnoreCase))
+            return true;
+        if ($"{map.Name}".Contains(txtSearch))
+            return true;
+        return false;
+    }
+
+    private Task<TableData<MapDto>> ReloadData(TableState state, CancellationToken _)
+    {
+        MapsShow.Clear();
+        var tasks = new List<MapDto>();
+        Maps.ForEach(map =>
+        {
+            if (FilterFunc(map)) tasks.Add(map);
+        });
+        MapsShow = tasks.Skip(state.Page * state.PageSize).Take(state.PageSize).ToList();
+        return Task.FromResult(new TableData<MapDto>() { TotalItems = tasks.Count, Items = MapsShow });
+    }
+
+    private void RowClickEvent(TableRowClickEventArgs<MapDto> tableRowClickEventArgs) { }
+
+    private string SelectedRowClassFunc(MapDto element, int rowNumber)
+    {
+        if (selectedRowNumber == rowNumber && Table?.SelectedItem != null && !Table.SelectedItem.Equals(element))
+        {
+            return string.Empty;
+        }
+        else if (selectedRowNumber == rowNumber && Table?.SelectedItem != null && Table.SelectedItem.Equals(element))
+        {
+            return "selected";
+        }
+        else if (Table?.SelectedItem != null && Table.SelectedItem.Equals(element))
+        {
+            selectedRowNumber = rowNumber;
+            MapSelected = element;
+            // NavigationMapPreviewRef.SetMapPreview(MapSelected);
+            return "selected";
+        }
+        else
+        {
+            return string.Empty;
+        }
+    }
+}

RobotApp.Client/RobotApp.Client.csproj

@@ -11,6 +11,11 @@
   <ItemGroup>
     <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly" Version="9.0.1" />
     <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Authentication" Version="9.0.1" />
+    <PackageReference Include="MudBlazor" Version="8.12.0" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\RobotApp.Common.Shares\RobotApp.Common.Shares.csproj" />
   </ItemGroup>
 
 </Project>

RobotApp.Client/_Imports.razor

@@ -8,3 +8,4 @@
 @using Microsoft.AspNetCore.Components.Web.Virtualization
 @using Microsoft.JSInterop
 @using RobotApp.Client
+@using Microsoft.AspNetCore.Authorization

RobotApp.Common.Shares/Dtos/MapDto.cs

@@ -0,0 +1,13 @@
+namespace RobotApp.Common.Shares.Dtos;
+
+public class MapDto
+{
+    public Guid Id { get; set; }
+    public string Name { get; set; } = string.Empty;
+    public string Description { get; set; } = string.Empty;
+    public double Width { get; set; }
+    public double Height { get; set; }
+    public double Resolution { get; set; }
+    public double OriginX { get; set; }
+    public double OriginY { get; set; }
+}

RobotApp.Common.Shares/Enums/RobotDirection.cs

@@ -1,7 +0,0 @@
-namespace RobotApp.Common.Shares.Enums;
-
-public enum RobotDirection
-{
-    FORWARD,
-    BACKWARD,
-}

RobotApp.Common.Shares/Enums/StateType.cs

@@ -1,39 +0,0 @@
-namespace RobotApp.Common.Shares.Enums;
-
-public enum RootStateType
-{
-    Booting,
-    Operational,
-}
-
-public enum OperationalStateType
-{
-
-}
-
-public enum AutomationStateType
-{
-    Idle,
-    Executing,
-    Paused,
-    Charging,
-    Error,
-    Remote_Override,
-}
-
-public enum ManualStateType
-{
-    Idle,
-    Active,
-}
-
-public enum SafetyStateType
-{
-    Init,
-    Run_Ok,
-    SS1,
-    STO,
-    PDS,
-    SLS,
-    Error,
-}

RobotApp.Common.Shares/Enums/TrajectoryDegree.cs

@@ -1,8 +0,0 @@
-namespace RobotApp.Common.Shares.Enums;
-
-public enum TrajectoryDegree
-{
-    One,
-    Two,
-    Three,
-}

RobotApp.Common.Shares/MathExtensions.cs

@@ -1,80 +0,0 @@
-using RobotApp.Common.Shares.Model;
-
-namespace RobotApp.Common.Shares;
-
-public static class MathExtensions
-{
-    public static (double x, double y) CurveDegreeTwo(double t, double x1, double y1, double controlPointX, double controlPointY, double x2, double y2)
-    {
-        var x = (1 - t) * (1 - t) * x1 + 2 * t * (1 - t) * controlPointX + t * t * x2;
-        var y = (1 - t) * (1 - t) * y1 + 2 * t * (1 - t) * controlPointY + t * t * y2;
-        return (x, y);
-    }
-
-    public static (double x, double y) CurveDegreeThree(double t, double x1, double y1, double controlPoint1X, double controlPoint1Y, double controlPoint2X, double controlPoint2Y, double x2, double y2)
-    {
-        var x = Math.Pow(1 - t, 3) * x1 + 3 * Math.Pow(1 - t, 2) * t * controlPoint1X + 3 * Math.Pow(t, 2) * (1 - t) * controlPoint2X + Math.Pow(t, 3) * x2; ;
-        var y = Math.Pow(1 - t, 3) * y1 + 3 * Math.Pow(1 - t, 2) * t * controlPoint1Y + 3 * Math.Pow(t, 2) * (1 - t) * controlPoint2Y + Math.Pow(t, 3) * y2;
-        return (x, y);
-    }
-
-
-    public static (double x, double y) Curve(double t, EdgeCalculatorModel edge)
-    {
-        if (edge.TrajectoryDegree == Enums.TrajectoryDegree.One)
-        {
-            return (edge.X1 + t * (edge.X2 - edge.X1), edge.Y1 + t * (edge.Y2 - edge.Y1));
-        }
-        else if (edge.TrajectoryDegree == Enums.TrajectoryDegree.Two)
-        {
-            return CurveDegreeTwo(t, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.X2, edge.Y2);
-        }
-        else
-        {
-            return CurveDegreeThree(t, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.ControlPoint2X, edge.ControlPoint2Y, edge.X2, edge.Y2);
-        }
-    }
-
-    public static (double x, double y) Curve(this EdgeCalculatorModel edge, double t)
-    {
-        return Curve(t, edge);
-    }
-
-    public static double GetEdgeLength(this EdgeCalculatorModel edge)
-    {
-        double distance = 0;
-        if (edge.TrajectoryDegree == Enums.TrajectoryDegree.One)
-        {
-            distance = Math.Sqrt(Math.Pow(edge.X1 - edge.X2, 2) + Math.Pow(edge.Y1 - edge.Y2, 2));
-        }
-        else if (edge.TrajectoryDegree == Enums.TrajectoryDegree.Two)
-        {
-            var length = Math.Sqrt(Math.Pow(edge.X1 - edge.X2, 2) + Math.Pow(edge.Y1 - edge.Y2, 2));
-            if (length == 0) return 0;
-            double step = 0.1 / length;
-
-            for (double t = step; t <= 1.001; t += step)
-            {
-                (double x1, double y1) = CurveDegreeTwo(t - step, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.X2, edge.Y2);
-                (double x2, double y2) = CurveDegreeTwo(t, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.X2, edge.Y2);
-                distance += Math.Sqrt(Math.Pow(x1 - x2, 2) + Math.Pow(y1 - y2, 2));
-            }
-        }
-        else
-        {
-            var length = Math.Sqrt(Math.Pow(edge.X1 - edge.X2, 2) + Math.Pow(edge.Y1 - edge.Y2, 2));
-            if (length == 0) return 0;
-            double step = 0.1 / length;
-            for (double t = step; t <= 1.001; t += step)
-            {
-                var sTime = t - step;
-                (var sx, var sy) = CurveDegreeThree(1 - sTime, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.ControlPoint2X, edge.ControlPoint2Y, edge.X2, edge.Y2);
-                sTime = t;
-                (var ex, var ey) = CurveDegreeThree(1 - sTime, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.ControlPoint2X, edge.ControlPoint2Y, edge.X2, edge.Y2);
-
-                distance += Math.Sqrt(Math.Pow(sx - ex, 2) + Math.Pow(sy - ey, 2));
-            }
-        }
-        return distance;
-    }
-}

RobotApp.Common.Shares/Model/EdgeCalculatorModel.cs

@@ -1,16 +0,0 @@
-using RobotApp.Common.Shares.Enums;
-
-namespace RobotApp.Common.Shares.Model;
-
-public class EdgeCalculatorModel
-{
-    public double X1 { get; set; }
-    public double Y1 { get; set; }
-    public double X2 { get; set; }
-    public double Y2 { get; set; }
-    public TrajectoryDegree TrajectoryDegree { get; set; }
-    public double ControlPoint1X { get; set; }
-    public double ControlPoint1Y { get; set; }
-    public double ControlPoint2X { get; set; }
-    public double ControlPoint2Y { get; set; }
-}

RobotApp.VDA5050/State/ActionState.cs

@@ -2,6 +2,8 @@
 
 namespace RobotApp.VDA5050.State;
 
+#nullable disable
+
 public enum ActionStatus
 {
     WAITING,
@@ -13,11 +15,11 @@ public enum ActionStatus
 }
 public class ActionState
 {
-    public string ActionType { get; set; } = string.Empty;
+    public string ActionType { get; set; }
     [Required]
-    public string ActionId { get; set; } = string.Empty;
+    public string ActionId { get; set; }
-    public string ActionDescription { get; set; } = string.Empty;
+    public string ActionDescription { get; set; }
     [Required]
-    public string ActionStatus { get; set; } = string.Empty;
+    public string ActionStatus { get; set; }
-    public string ResultDescription { get; set; } = string.Empty;
+    public string ResultDescription { get; set; }
 }

RobotApp.VDA5050/State/EdgeState.cs

@@ -3,15 +3,17 @@ using System.ComponentModel.DataAnnotations;
 
 namespace RobotApp.VDA5050.State;
 
+#nullable disable
+
 public class EdgeState
 {
 
     [Required]
-    public string EdgeId { get; set; } = string.Empty;
+    public string EdgeId { get; set; }
     [Required]
     public int SequenceId { get; set; }
-    public string EdgeDescription { get; set; } = string.Empty;
+    public string EdgeDescription { get; set; }
     [Required]
     public bool Released { get; set; }
-    public Trajectory Trajectory { get; set; } = new();
+    public Trajectory Trajectory { get; set; }
 }

RobotApp.VDA5050/State/Error.cs

@@ -2,33 +2,28 @@
 
 namespace RobotApp.VDA5050.State;
 
+#nullable disable
+
 public enum ErrorLevel
 {
     NONE,
     WARNING,
     FATAL
 }
-
 public class ErrorReferences
 {
     [Required]
-    public string ReferenceKey { get; set; } = string.Empty;
+    public string ReferenceKey { get; set; }
     [Required]
-    public string ReferenceValue { get; set; } = string.Empty;
+    public string ReferenceValue { get; set; }
 }
-
-public enum ErrorType
-{
-    INITIALIZE_ORDER,
-}
-
 public class Error
 {
     [Required]
-    public string ErrorType { get; set; } = string.Empty;
+    public string ErrorType { get; set; }
-    public ErrorReferences[] ErrorReferences { get; set; } = [];
+    public ErrorReferences[] ErrorReferences { get; set; }
-    public string ErrorDescription { get; set; } = string.Empty;
+    public string ErrorDescription { get; set; }
-    public string ErrorHint { get; set; } = string.Empty;
+    public string ErrorHint { get; set; }
     [Required]
-    public string ErrorLevel { get; set; } = string.Empty;
+    public string ErrorLevel { get; set; }
 }

RobotApp.VDA5050/State/Information.cs

@@ -2,6 +2,7 @@
 
 namespace RobotApp.VDA5050.State;
 
+#nullable disable
 
 public enum InfoLevel
 {
@@ -11,16 +12,16 @@ public enum InfoLevel
 public class InfomationReferences
 {
     [Required]
-    public string ReferenceKey { get; set; } = string.Empty;
+    public string ReferenceKey { get; set; }
     [Required]
-    public string ReferenceValue { get; set; } = string.Empty;
+    public string ReferenceValue { get; set; }
 }
 public class Information
 {
     [Required]
-    public string InfoType { get; set; } = string.Empty;
+    public string InfoType { get; set; }
-    public InfomationReferences[] InfoReferences { get; set; } = [];
+    public InfomationReferences[] InfoReferences { get; set; }
-    public string InfoDescription { get; set; } = string.Empty;
+    public string InfoDescription { get; set; }
     [Required]
-    public string InfoLevel { get; set; } = string.Empty;
+    public string InfoLevel { get; set; }
 }

RobotApp.VDA5050/State/Load.cs

@@ -2,13 +2,15 @@
 
 namespace RobotApp.VDA5050.State;
 
+#nullable disable
+
 public class Load
 {
-    public string LoadId { get; set; } = string.Empty;
+    public string LoadId { get; set; }
-    public string LoadType { get; set; } = string.Empty;
+    public string LoadType { get; set; }
-    public string LoadPosition { get; set; } = string.Empty;
+    public string LoadPosition { get; set; }
-    public BoundingBoxReference BoundingBoxReference { get; set; } = new();
+    public BoundingBoxReference BoundingBoxReference { get; set; }
-    public LoadDimensions LoadDimensions { get; set; } = new();
+    public LoadDimensions LoadDimensions { get; set; }
     public double Weight { get; set; }
 
 }

RobotApp.VDA5050/State/NodeState.cs

@@ -1,18 +1,20 @@
-using System.ComponentModel.DataAnnotations;
+using RobotApp.VDA5050.Order;
+using System.ComponentModel.DataAnnotations;
 
 namespace RobotApp.VDA5050.State;
 
+#nullable disable
 
 public class NodeState
 {
     [Required]
-    public string NodeId { get; set; } = string.Empty;
+    public string NodeId { get; set; }
     [Required]
     public int SequenceId { get; set; }
-    public string NodeDescription { get; set; } = string.Empty;
+    public string NodeDescription { get; set; }
     [Required]
     public bool Released { get; set; }
-    public NodePosition NodePosition { get; set; } = new();
+    public NodePosition NodePosition { get; set; }
 }
 
 public class NodePosition
@@ -23,6 +25,6 @@ public class NodePosition
     public double Y { get; set; }
     public double Theta { get; set; }
     [Required]
-    public string MapId { get; set; } = string.Empty;
+    public string MapId { get; set; } = "";
 
 }

RobotApp.VDA5050/State/StateMsg.cs

@@ -3,6 +3,8 @@ using System.ComponentModel.DataAnnotations;
 
 namespace RobotApp.VDA5050.State;
 
+#nullable disable
+
 public enum OperatingMode
 {
     AUTOMATIC,
@@ -15,21 +17,22 @@ public class StateMsg
 {
     [Required]
     public uint HeaderId { get; set; }
-    public string Timestamp { get; set; } = DateTime.Now.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
     [Required]
-    public string Version { get; set; } = "1.0.0";
+    public string Timestamp { get; set; }
     [Required]
-    public string Manufacturer { get; set; } = "PhenikaaX";
+    public string Version { get; set; }
     [Required]
-    public string SerialNumber { get; set; } = string.Empty;
+    public string Manufacturer { get; set; }
+    [Required]
+    public string SerialNumber { get; set; }
     public Map[] Maps { get; set; } = [];
     [Required]
-    public string OrderId { get; set; } = string.Empty;
+    public string OrderId { get; set; }
     [Required]
     public int OrderUpdateId { get; set; }
-    public string ZoneSetId { get; set; } = string.Empty;
+    public string ZoneSetId { get; set; }
     [Required]
-    public string LastNodeId { get; set; } = string.Empty;
+    public string LastNodeId { get; set; }
     [Required]
     public int LastNodeSequenceId { get; set; }
     [Required]
@@ -38,7 +41,7 @@ public class StateMsg
     public bool NewBaseRequest { get; set; }
     public double DistanceSinceLastNode { get; set; }
     [Required]
-    public string OperatingMode { get; set; } = string.Empty;
+    public string OperatingMode { get; set; }
     [Required]
     public NodeState[] NodeStates { get; set; } = [];
     [Required]

RobotApp.VDA5050/Visualization/AgvPosition.cs

@@ -2,6 +2,8 @@
 
 namespace RobotApp.VDA5050.Visualization;
 
+#nullable disable
+
 public class AgvPosition
 {
     [Required]
@@ -9,7 +11,7 @@ public class AgvPosition
     [Required]
     public double Y { get; set; }
     [Required]
-    public string MapId { get; set; } = string.Empty;
+    public string MapId { get; set; }
     [Required]
     public double Theta { get; set; }
     [Required]

RobotApp.VDA5050/Visualization/Visualizationmsg.cs

@@ -1,16 +1,16 @@
-using System.ComponentModel.DataAnnotations;
+namespace RobotApp.VDA5050.Visualization;
 
-namespace RobotApp.VDA5050.Visualization;
+#nullable disable
 
 public class VisualizationMsg
 {
     public uint HeaderId { get; set; }
-    public string Timestamp { get; set; } = DateTime.Now.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
+    public string Timestamp { get; set; }
-    public string Version { get; set; } = "1.0.0";
+    public string Version { get; set; }
-    public string Manufacturer { get; set; } = "PhenikaaX";
+    public string Manufacturer { get; set; }
-    public string SerialNumber { get; set; } = string.Empty;
+    public string SerialNumber { get; set; }
-    public string MapId { get; set; } = string.Empty;
+    public string MapId { get; set; }
-    public string MapDescription { get; set; } = string.Empty;
+    public string MapDescription { get; set; }
     public AgvPosition AgvPosition { get; set; } = new();
     public Velocity Velocity { get; set; } = new();
 }

RobotApp.sln

@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 17
+# Visual Studio Version 18
-VisualStudioVersion = 17.12.35707.178
+VisualStudioVersion = 18.0.11018.127 d18.0
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp", "RobotApp\RobotApp.csproj", "{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}"
 EndProject
@@ -37,4 +37,7 @@ Global
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
 	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {CCB0B2E5-3C19-4B2E-B229-08A74F6EF27D}
+	EndGlobalSection
 EndGlobal

RobotApp/Interfaces/IBattery.cs

@@ -1,5 +0,0 @@
-namespace RobotApp.Interfaces;
-
-public interface IBattery
-{
-}

RobotApp/Interfaces/IError.cs

@@ -1,9 +0,0 @@
-using RobotApp.VDA5050.State;
-
-namespace RobotApp.Interfaces;
-
-public interface IError
-{
-    bool HasFatalError { get; }
-    void AddError(Error error, TimeSpan? clearAfter = null);
-}

RobotApp/Interfaces/IInfomation.cs

@@ -1,5 +0,0 @@
-namespace RobotApp.Interfaces;
-
-public interface IInfomation
-{
-}

RobotApp/Interfaces/IInstanceActions.cs

@@ -1,14 +1,5 @@
-using RobotApp.VDA5050.State;
+namespace RobotApp.Interfaces;
-using Action = RobotApp.VDA5050.InstantAction.Action;
-
-namespace RobotApp.Interfaces;
 
 public interface IInstanceActions
 {
-    ActionState[] ActionStates { get; }
-    bool HasActionRunning { get; }
-    bool AddOrderActions(Action[] actions);
-    bool StartAction(string actionId);
-    bool AddInstanceAction(Action action);
-    bool StopAction();
 }

RobotApp/Interfaces/INavigation.cs

@@ -4,9 +4,6 @@ namespace RobotApp.Interfaces;
 
 public enum NavigationState
 {
-    None,
-    Initializing,
-    Initialized,
     Idle,
     Moving,
     Rotating,
@@ -16,7 +13,7 @@ public enum NavigationState
 
 public enum NavigationProccess
 {
-    None,
+    Started,
     InProgress,
     Completed,
     Failed,
@@ -25,13 +22,12 @@ public enum NavigationProccess
 
 public interface INavigation
 {
-    bool Driving { get; }
     NavigationState State { get; }
-    void Move(Node[] nodes, Edge[] edges);
+    NavigationProccess Proccess { get; }
-    void MoveStraight(double x, double y);
+    bool Move(Node nodes, Edge edges);
-    void Rotate(double angle);
+    bool MoveStraight(double x, double y);
-    void Paused();
+    bool Rotate(double angle);
-    void Resume();
+    bool Paused();
-    void UpdateOrder(int lastBaseSequence);
+    bool Resume();  
-    void CancelMovement();
+    bool CancelMovement();
 }

RobotApp/Interfaces/IOrder.cs

@@ -1,19 +1,15 @@
-using RobotApp.VDA5050.Order;
+using RobotApp.VDA5050.State;
-using RobotApp.VDA5050.State;
 
 namespace RobotApp.Interfaces;
 
 public interface IOrder
 {
     string OrderId { get; }
-    int OrderUpdateId { get; }
+    VDA5050.InstantAction.Action[] Actions { get; }
-    string LastNodeId { get; }
-    int LastNodeSequenceId { get; }
-
     NodeState[] NodeStates { get; }
     EdgeState[] EdgeStates { get; }
 
-    void StartOrder(string orderId, Node[] nodes, Edge[] edges);
+    bool StartOrder();
-    void UpdateOrder(int orderUpdateId, Node[] nodes, Edge[] edges);
+    bool UpdateOrder();
-    void StopOrder();
+    bool StopOrder();
 }

RobotApp/Interfaces/IPeripheral.cs

@@ -1,14 +0,0 @@
-namespace RobotApp.Interfaces;
-
-public enum OperatingMode
-{
-    AUTOMATIC,
-    MANUAL,
-    SEMIAUTOMATIC,
-    TEACHIN,
-    SERVICE,
-}
-public interface IPeripheral
-{
-    OperatingMode OperatingMode { get; }
-}

RobotApp/Interfaces/IRFHandler.cs

@@ -1,6 +0,0 @@
-namespace RobotApp.Interfaces
-{
-    public class IRFHandler
-    {
-    }
-}

RobotApp/Interfaces/ISafety.cs

@@ -1,5 +0,0 @@
-namespace RobotApp.Interfaces;
-
-public interface ISafety
-{
-}

RobotApp/Modbus/ModbusException.cs

@@ -1,16 +0,0 @@
-namespace RobotApp.Modbus;
-
-public class ModbusException : Exception
-{
-    public ModbusException()
-    {
-    }
-    public ModbusException(string message)
-        : base(message)
-    {
-    }
-    public ModbusException(string message, Exception inner)
-        : base(message, inner)
-    {
-    }
-}

RobotApp/Modbus/ModbusTcpClient.cs

@@ -1,350 +0,0 @@
-using Microsoft.AspNetCore.Connections;
-using System.Net;
-using System.Net.Sockets;
-
-namespace RobotApp.Modbus;
-
-public class ModbusTcpClient(string IpAddress, int Port, byte ClientId) : IDisposable
-{
-    public bool IsConnected => !disposed && tcpClient != null && tcpClient.Client.Connected && stream != null;
-
-    private TcpClient? tcpClient;
-    private NetworkStream? stream;
-    private bool disposed = false;
-
-    private uint transactionIdentifierInternal = 0;
-    private const int connectTimeout = 3000;
-    private const int readTimeout = 500;
-    private const int writeTimeout = 500;
-    private int numberOfRetries { get; set; } = 3;
-
-    ~ModbusTcpClient()
-    {
-        Dispose(false);
-    }
-
-    public static bool TryConnect(string ipAddress, int port, byte clientId, out ModbusTcpClient? client)
-    {
-        ModbusTcpClient modbusTcpClient = new(ipAddress, port, clientId);
-        try
-        {
-            if (modbusTcpClient.Connect())
-            {
-                client = modbusTcpClient;
-                return true;
-            }
-            else
-            {
-                modbusTcpClient?.Dispose();
-                client = null;
-                return false;
-            }
-        }
-        catch
-        {
-            modbusTcpClient.Dispose();
-            client = null;
-            return false;
-        }
-
-    }
-
-    public static bool TryConnect(string ipAddress, out ModbusTcpClient? client) => TryConnect(ipAddress, 502, 1, out client);
-
-    public bool Connect()
-    {
-        try
-        {
-            tcpClient = new TcpClient();
-            var result = tcpClient.BeginConnect(IpAddress, Port, null, null);
-            if (!result.AsyncWaitHandle.WaitOne(connectTimeout))
-            {
-                tcpClient?.Close();
-                tcpClient?.Dispose();
-                tcpClient = null;
-                return false;
-            }
-            tcpClient.EndConnect(result);
-
-            stream = tcpClient.GetStream();
-            stream.ReadTimeout = readTimeout;
-            return true;
-        }
-        catch (Exception ex)
-        {
-            Dispose();
-            throw new ModbusException("connection error", ex);
-        }
-    }
-
-    public void Dispose()
-    {
-        Dispose(true);
-        GC.SuppressFinalize(this);
-    }
-
-    protected virtual void Dispose(bool disposing)
-    {
-        if (!disposed)
-        {
-            if (disposing)
-            {
-                stream?.Close();
-                stream?.Dispose();
-                tcpClient?.Close();
-                tcpClient?.Dispose();
-            }
-            stream = null;
-            tcpClient = null;
-            disposed = true;
-        }
-    }
-
-    private byte[] Write(byte functionCode, UInt16 startingAddress, UInt16 quantity, CancellationToken? cancellationToken = null)
-        => Write(functionCode, startingAddress, quantity, [], cancellationToken);
-    private byte[] Write(byte functionCode, UInt16 startingAddress, UInt16 quantity, byte[] multipleData, CancellationToken? cancellationToken = null)
-    {
-        try
-        {
-            if (!IsConnected || stream is null)
-            {
-                if (!Connect() || !IsConnected || stream is null) throw new ConnectionAbortedException();
-            }
-
-            transactionIdentifierInternal++;
-            byte[] writeData = new byte[12 + multipleData.Length];
-            var dataLength = multipleData.Length + 6;
-            writeData[0] = (byte)(transactionIdentifierInternal >> 8);
-            writeData[1] = (byte)(transactionIdentifierInternal & 0xFF);
-            writeData[2] = 0x00;
-            writeData[3] = 0x00;
-            writeData[4] = (byte)(dataLength >> 8);
-            writeData[5] = (byte)(dataLength & 0xFF);
-            writeData[6] = ClientId;
-            writeData[7] = functionCode;
-            writeData[8] = (byte)(startingAddress >> 8);
-            writeData[9] = (byte)(startingAddress & 0xFF);
-            writeData[10] = (byte)(quantity >> 8);
-            writeData[11] = (byte)(quantity & 0xFF);
-            if (multipleData.Length > 0)
-            {
-                Array.Copy(multipleData, 0, writeData, 12, multipleData.Length);
-            }
-
-            stream.Write(writeData, 0, writeData.Length);
-
-            byte[] readData = new byte[256];
-            int NumberOfBytes = stream.Read(readData, 0, readData.Length);
-            int attempts = 0;
-            const int maxAttempts = writeTimeout / 10;
-            while (NumberOfBytes == 0 && attempts ++ < maxAttempts)
-            {
-                cancellationToken?.ThrowIfCancellationRequested();
-                NumberOfBytes = stream.Read(readData, 0, readData.Length);
-                if (NumberOfBytes == 0) Thread.Sleep(10);
-            }
-            if (NumberOfBytes == 0) throw new TimeoutException("No response from server");
-            if (writeData[0] != readData[0] || writeData[1] != readData[1]) throw new ModbusException("Transaction Identifier not match");
-            if (writeData[2] != readData[2] || writeData[3] != readData[3]) throw new ModbusException("Protocol Identifier not match");
-            if (writeData[6] != readData[6]) throw new ModbusException("Client ID not match");
-            if (writeData[7] + 0x80 == readData[7])
-            {
-                throw readData[8] switch
-                {
-                    0x01 => new ModbusException("Function code not supported by master"),
-                    0x02 => new ModbusException("Starting address invalid or starting address + quantity invalid"),
-                    0x03 => new ModbusException("quantity invalid"),
-                    0x04 => new ModbusException("error reading"),
-                    _ => new ModbusException($"Function code error: 0x{(int)readData[7]:X2}"),
-                };
-            }
-            else if (writeData[7] != readData[7])
-            {
-                throw new Exception("Function code not match");
-            }
-            dataLength = readData[4] << 8;
-            dataLength += readData[5];
-            if (dataLength != NumberOfBytes - 6) throw new Exception("Length Field not match");
-
-            var receiveData = new byte[NumberOfBytes - 9];
-            Array.Copy(readData, 9, receiveData, 0, receiveData.Length);
-            return receiveData;
-        }
-        catch (Exception ex) when (!(ex is ModbusException || ex is TimeoutException))
-        {
-            throw new ModbusException("Communication error", ex);
-        }
-    }
-
-    public bool[] ReadDiscreteInputs(UInt16 startingAddress, UInt16 quantity, CancellationToken? cancellationToken = null)
-    {
-        if (startingAddress > 65535 | quantity > 2000)
-        {
-            throw new ArgumentException("Starting address must be 0 - 65535; quantity must be 0 - 2000");
-        }
-        var data = Write(0x02, startingAddress, quantity, cancellationToken);
-        if (data.Length - 1 < ((quantity - 1) / 8)) return [];
-        bool[] response = new bool[quantity];
-        for (int i = 0; i < quantity; i++)
-        {
-            int intData = data[i / 8];
-            int mask = Convert.ToInt32(Math.Pow(2, (i % 8)));
-            response[i] = Convert.ToBoolean((intData & mask) / mask);
-        }
-        return response;
-    }
-
-    public bool[] ReadCoils(UInt16 startingAddress, UInt16 quantity, CancellationToken? cancellationToken = null)
-    {
-        if (startingAddress > 65535 | quantity > 2000)
-        {
-            throw new ArgumentException("Starting address must be 0 - 65535; quantity must be 0 - 2000");
-        }
-        var data = Write(0x01, startingAddress, quantity, cancellationToken);
-        if (data.Length - 1 < ((quantity - 1) / 8)) return [];
-        bool[] response = new bool[quantity];
-        for (int i = 0; i < quantity; i++)
-        {
-            int intData = data[i / 8];
-            int mask = Convert.ToInt32(Math.Pow(2, (i % 8)));
-            response[i] = Convert.ToBoolean((intData & mask) / mask);
-        }
-        return (response);
-    }
-
-    public int[] ReadHoldingRegisters(UInt16 startingAddress, UInt16 quantity, CancellationToken? cancellationToken = null)
-    {
-        if (startingAddress > 65535 | quantity > 125)
-        {
-            throw new ArgumentException("Starting address must be 0 - 65535; quantity must be 0 - 125");
-        }
-        var data = Write(0x03, startingAddress, quantity, cancellationToken);
-        if (data.Length < quantity * 2) return [];
-        int[] response = new int[quantity];
-        for (int i = 0; i < quantity; i++)
-        {
-            response[i] = (data[i * 2] << 8) | data[i * 2 + 1];
-        }
-        return (response);
-    }
-
-    public int[] ReadInputRegisters(UInt16 startingAddress, UInt16 quantity, CancellationToken? cancellationToken = null)
-    {
-        if (startingAddress > 65535 | quantity > 125)
-        {
-            throw new ArgumentException("Starting address must be 0 - 65535; quantity must be 0 - 125");
-        }
-        var data = Write(0x04, startingAddress, quantity, cancellationToken);
-        if (data.Length < quantity * 2) return [];
-        int[] response = new int[quantity];
-        for (int i = 0; i < quantity; i++)
-        {
-            response[i] = (data[i * 2] << 8) | data[i * 2 + 1];
-        }
-        return (response);
-    }
-
-    public void WriteSingleCoil(UInt16 startingAddress, bool value, CancellationToken? cancellationToken = null)
-    {
-        Write(0x05, startingAddress, value ? (UInt16)0xFF00 : (UInt16)0x0000, cancellationToken);
-    }
-
-    public void WriteSingleRegister(UInt16 startingAddress, UInt16 value, CancellationToken? cancellationToken = null)
-    {
-        Write(0x06, startingAddress, value, cancellationToken);
-    }
-
-    public void WriteMultipleCoils(UInt16 startingAddress, bool[] values, CancellationToken? cancellationToken = null)
-    {
-        if (values == null || values.Length == 0)
-            throw new ArgumentException("Values cannot be null or empty", nameof(values));
-        if (values.Length > 1968)
-            throw new ArgumentException("Too many coils (max 1968)", nameof(values));
-        if (startingAddress > 65535)
-            throw new ArgumentException("Starting address must be 0-65535", nameof(startingAddress));
-        if (startingAddress + values.Length > 65536)
-            throw new ArgumentException("Address range exceeds 65535", nameof(startingAddress));
-
-        byte byteCount = (byte)((values.Length + 7) / 8);
-        var data = new byte[1 + byteCount];
-        data[0] = byteCount;
-        for (int i = 0; i < values.Length; i++)
-        {
-            if (values[i])
-            {
-                data[1 + (i / 8)] |= (byte)(1 << (i % 8));
-            }
-        }
-        Write(0x0F, startingAddress, (UInt16)values.Length, data, cancellationToken);
-    }
-
-    public void WriteMultipleRegisters(UInt16 startingAddress, UInt16[] values, CancellationToken? cancellationToken = null)
-    {
-        if (values == null || values.Length == 0)
-            throw new ArgumentException("Values cannot be null or empty", nameof(values));
-        if (values.Length > 123)
-            throw new ArgumentException("Too many registers (max 123)", nameof(values));
-        if (startingAddress > 65535)
-            throw new ArgumentException("Starting address must be 0-65535", nameof(startingAddress));
-        if (startingAddress + values.Length > 65536)
-            throw new ArgumentException("Address range exceeds 65535", nameof(startingAddress));
-
-        byte byteCount = (byte)(values.Length * 2);
-        var data = new byte[1 + byteCount];
-        data[0] = byteCount;
-        for (int i = 0; i < values.Length; i++)
-        {
-            data[1 + i * 2] = (byte)(values[i] >> 8);      
-            data[2 + i * 2] = (byte)(values[i] & 0xFF); 
-        }
-        Write(0x10, startingAddress, (UInt16)values.Length, data, cancellationToken);
-    }
-
-    public int[] ReadWriteMultipleRegisters(UInt16 startingAddressRead, UInt16 quantityRead, UInt16 startingAddressWrite, UInt16[] values, CancellationToken? cancellationToken = null)
-    {
-        if (values == null || values.Length == 0)
-            throw new ArgumentException("Values cannot be null or empty", nameof(values));
-        if (quantityRead == 0 || quantityRead > 125)
-            throw new ArgumentException("Read quantity must be 1-125", nameof(quantityRead));
-        if (values.Length > 121)
-            throw new ArgumentException("Write quantity must be 1-121", nameof(values));
-        if (startingAddressRead > 65535 || startingAddressWrite > 65535)
-            throw new ArgumentException("Addresses must be 0-65535");
-        if (startingAddressRead + quantityRead > 65536 || startingAddressWrite + values.Length > 65536)
-            throw new ArgumentException("Address ranges exceed 65535");
-
-        var writeData = new byte[5 + values.Length * 2];
-        writeData[0] = (byte)(startingAddressWrite >> 8);
-        writeData[1] = (byte)(startingAddressWrite & 0xFF);
-        writeData[2] = (byte)(values.Length >> 8);
-        writeData[3] = (byte)(values.Length & 0xFF);
-        writeData[4] = (byte)(values.Length * 2);
-        for (int i = 0; i < values.Length; i++)
-        {
-            writeData[5 + i * 2] = (byte)(values[i] >> 8);
-            writeData[6 + i * 2] = (byte)(values[i] & 0xFF);
-        }
-        var receivedData = Write(0x17, startingAddressRead, quantityRead, writeData, cancellationToken);
-        if (receivedData.Length < quantityRead * 2) return [];
-        var response = new int[quantityRead];
-        for (int i = 0; i < quantityRead; i++)
-        {
-            response[i] = (receivedData[i * 2] << 8) | receivedData[i * 2 + 1];
-        }
-        return response;
-    }
-
-    public bool Available(int timeout)
-    {
-        System.Net.NetworkInformation.Ping pingSender = new ();
-        IPAddress address = System.Net.IPAddress.Parse(IpAddress);
-
-        string data = "phenikaaX";
-        byte[] buffer = System.Text.Encoding.ASCII.GetBytes(data);
-
-        System.Net.NetworkInformation.PingReply reply = pingSender.Send(address, timeout, buffer);
-
-        return reply.Status == System.Net.NetworkInformation.IPStatus.Success;
-    }
-
-}

RobotApp/Modbus/RegisterOrder.cs

@@ -1,8 +0,0 @@
-namespace RobotApp.Modbus;
-
-
-public enum RegisterOrder 
-{
-    LowHigh = 0,
-    HighLow = 1 
-}

RobotApp/RobotApp.csproj

@@ -24,7 +24,6 @@
   </ItemGroup>
 
   <ItemGroup>
-    <Folder Include="Services\Robot\Simulation\" />
     <Folder Include="wwwroot\lib\" />
   </ItemGroup>
 

RobotApp/Services/Exceptions/ActionException.cs

@@ -1,5 +0,0 @@
-namespace RobotApp.Services.Exceptions;
-
-public class ActionException : OrderException
-{
-}

RobotApp/Services/Exceptions/OrderException.cs

@@ -1,15 +0,0 @@
-using RobotApp.VDA5050.State;
-
-namespace RobotApp.Services.Exceptions;
-
-public class OrderException : Exception
-{
-    public OrderException(string message) : base(message) { }
-    public OrderException(string message, Exception inner) : base(message, inner) { }
-    public OrderException() : base() { }
-    public OrderException(Error error) : base()
-    {
-        Error = error;
-    }
-    public Error? Error { get; set; }
-}

RobotApp/Services/MQTTClient.cs

@@ -27,6 +27,7 @@ public class MQTTClient : IAsyncDisposable
         Logger = logger;
 
         MqttClientFactory = new MqttClientFactory();
+        MqttClient = MqttClientFactory.CreateMqttClient();
         MqttClientOptions = MqttClientFactory.CreateClientOptionsBuilder()
                             .WithTcpServer(setting.HostServer, setting.Port)
                             .WithCredentials(setting.UserName, setting.Password)
@@ -37,11 +38,6 @@ public class MQTTClient : IAsyncDisposable
                             .WithTopicFilter(f => f.WithTopic(VDA5050Topic.ORDER.ToTopicString()))
                             .WithTopicFilter(f => f.WithTopic(VDA5050Topic.INSTANTACTIONS.ToTopicString()))
                             .Build();
-    }
-
-    public async Task ConnectAsync(CancellationToken cancellationToken = default)
-    {
-        MqttClient = MqttClientFactory.CreateMqttClient();
         MqttClient.DisconnectedAsync += async delegate (MqttClientDisconnectedEventArgs args)
         {
             if (args.ClientWasConnected && !IsReconnecing)
@@ -56,10 +52,15 @@ public class MQTTClient : IAsyncDisposable
                 IsReconnecing = false;
             }
         };
+    }
+
+    public async Task ConnectAsync(CancellationToken cancellationToken = default)
+    {
         while (!cancellationToken.IsCancellationRequested)
         {
             try
             {
+                MqttClient ??= MqttClientFactory.CreateMqttClient();
                 var connection = await MqttClient.ConnectAsync(MqttClientOptions, cancellationToken);
                 if (connection.ResultCode != MqttClientConnectResultCode.Success || !MqttClient.IsConnected)
                     Logger.Warning($"Không thể kết nối tới broker do: {connection.ReasonString}");

RobotApp/Services/Navigation/Algorithm/FuzzyLogic.cs

@@ -1,4 +1,4 @@
-namespace RobotApp.Services.Robot.Navigation.Algorithm;
+namespace RobotApp.Services.Navigation.Algorithm;
 
 public class FuzzyLogic
 {

RobotApp/Services/Navigation/Algorithm/PID.cs

@@ -1,4 +1,4 @@
-namespace RobotApp.Services.Robot.Navigation.Algorithm;
+namespace RobotApp.Services.Navigation.Algorithm;
 
 public class PID
 {

RobotApp/Services/Navigation/NavigationController.cs

@@ -0,0 +1,5 @@
+namespace RobotApp.Services.Navigation;
+
+public class NavigationController
+{
+}

RobotApp/Services/Navigation/NavigationManager.cs

@@ -1,4 +1,4 @@
-namespace RobotApp.Services.Robot.Navigation
+namespace RobotApp.Services.Navigation
 {
     public class NavigationManager
     {

RobotApp/Services/Robot/Navigation/DifferentialNavigation.cs

@@ -1,22 +0,0 @@
-using RobotApp.Interfaces;
-
-namespace RobotApp.Services.Robot.Navigation;
-
-public class DifferentialNavigation(Logger<NavigationController> navLogger,
-                                    Logger<DifferentialNavigation> Logger,
-                                    IDriver Driver,
-                                    ISafety Safety,
-                                    ISensorIMU SensorIMU) : NavigationController(navLogger)
-{
-    protected override void NavigationHandler()
-    {
-        try
-        {
-            // Implement differential drive navigation logic here
-        }
-        catch (Exception ex)
-        {
-            Logger.Write($"Error in DifferentialNavigation: {ex.Message}", LogLevel.Error);
-        }
-    }
-}

RobotApp/Services/Robot/Navigation/NavigationController.cs

@@ -1,61 +0,0 @@
-using RobotApp.Interfaces;
-using RobotApp.VDA5050.Order;
-
-namespace RobotApp.Services.Robot.Navigation;
-
-public class NavigationController(Logger<NavigationController> Logger) : INavigation
-{
-    public NavigationState State { get; private set; } = NavigationState.None;
-    public bool Driving { get; private set; }
-
-    protected const int CycleHandlerMilliseconds = 20;
-    private WatchTimer<NavigationController>? NavigationTimer;
-
-    protected Node[] Nodes = [];
-    protected Edge[] Edges = [];
-
-    protected void HandleNavigationStart()
-    {
-        NavigationTimer = new(CycleHandlerMilliseconds, NavigationHandler, Logger);
-        NavigationTimer.Start();
-    }
-
-    protected void HandleNavigationStop()
-    {
-        NavigationTimer?.Dispose();
-    }
-
-    protected virtual void NavigationHandler() { }
-
-    public void CancelMovement()
-    {
-    }
-
-    public void Move(Node[] nodes, Edge[] edges)
-    {
-        Nodes = nodes;
-        Edges = edges;
-        State = NavigationState.Initializing;
-    }
-
-    public void MoveStraight(double x, double y)
-    {
-    }
-
-    public void Paused()
-    {
-    }
-
-    public void Resume()
-    {
-    }
-
-    public void Rotate(double angle)
-    {
-    }
-
-    public void UpdateOrder(int lastBaseSequence)
-    {
-        State = NavigationState.Initialized;
-    }
-}

RobotApp/Services/Robot/Navigation/NavigationNode.cs

@@ -1,13 +0,0 @@
-using RobotApp.Common.Shares.Enums;
-
-namespace RobotApp.Services.Robot.Navigation;
-
-public class NavigationNode
-{
-    public string NodeId { get; set; } = string.Empty;
-    public double X { get; set; }
-    public double Y { get; set; }
-    public double Theta { get; set; }
-    public RobotDirection Direction { get; set; }
-    public string Description { get; set; } = string.Empty;
-}

RobotApp/Services/Robot/RobotAction.cs

@@ -1,31 +1,6 @@
-using RobotApp.Interfaces;
+namespace RobotApp.Services.Robot
-using RobotApp.VDA5050.State;
-
-namespace RobotApp.Services.Robot;
-
-public class RobotAction : IInstanceActions
 {
-    public ActionState[] ActionStates { get; private set; } = [];
+    public class RobotAction
-
-    public bool HasActionRunning => throw new NotImplementedException();
-
-    public bool AddInstanceAction(VDA5050.InstantAction.Action action)
     {
-        throw new NotImplementedException();
-    }
-
-    public bool AddOrderActions(VDA5050.InstantAction.Action[] actions)
-    {
-        throw new NotImplementedException();
-    }
-
-    public bool StartAction(string actionId)
-    {
-        throw new NotImplementedException();
-    }
-
-    public bool StopAction()
-    {
-        throw new NotImplementedException();
     }
 }

RobotApp/Services/Robot/RobotBattery.cs

@@ -1,6 +0,0 @@
-namespace RobotApp.Services.Robot
-{
-    public class RobotBattery
-    {
-    }
-}

RobotApp/Services/Robot/RobotController.cs

@@ -1,96 +1,6 @@
-using RobotApp.Interfaces;
+namespace RobotApp.Services.Robot
-using RobotApp.Services.Exceptions;
-using RobotApp.VDA5050.Order;
-using RobotApp.VDA5050.State;
-
-namespace RobotApp.Services.Robot;
-
-public class RobotController(IOrder OrderManager,
-                             INavigation NavigationManager,
-                             IInstanceActions ActionManager,
-                             IBattery BatteryManager,
-                             ILocalization Localization,
-                             IPeripheral PeripheralManager,
-                             ISafety SafetyManager,
-                             IError ErrorManager,
-                             IInfomation InfomationManager,
-                             Logger<RobotController> Logger,
-                             RobotConnection ConnectionManager) : BackgroundService
 {
-    private readonly Mutex NewOrderMutex = new();
+    public class RobotController
-    private readonly Mutex NewInstanceMutex = new();
-
-    private WatchTimer<RobotController>? UpdateStateTimer;
-    private const int UpdateStateInterval = 1000;
-
-    protected override Task ExecuteAsync(CancellationToken stoppingToken)
     {
-        UpdateStateTimer = new(UpdateStateInterval, UpdateStateHandler, Logger);
-        UpdateStateTimer.Start();
-        return Task.CompletedTask;
-    }
-
-    private void UpdateStateHandler()
-    {
-        // xử lý cập nhật trạng thái robot và gửi thông tin qua kết nối
-    }
-
-    public void NewOrderUpdated(OrderMsg order)
-    {
-        if (NewOrderMutex.WaitOne(2000))
-        {
-            try
-            {
-                if (!string.IsNullOrEmpty(OrderManager.OrderId))
-                {
-                    if (order.OrderId != OrderManager.OrderId) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1001", ErrorLevel.WARNING, $"Có order đang được thực hiện. OrderId: {OrderManager.OrderId}, OrderId mới: {order.OrderId}"));
-                    OrderManager.UpdateOrder(order.OrderUpdateId, order.Nodes, order.Edges);
-                }
-                else if (PeripheralManager.OperatingMode != Interfaces.OperatingMode.AUTOMATIC) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1006", ErrorLevel.WARNING, $"Không thể khởi tạo order mới khi chế độ vận hành không phải là TỰ ĐỘNG. Chế độ hiện tại: {PeripheralManager.OperatingMode}"));
-                else if(ActionManager.HasActionRunning) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1007", ErrorLevel.WARNING, $"Không thể khởi tạo order mới khi có action đang thực hiện. Vui lòng chờ hoàn thành các action hiện tại."));
-                else if(ErrorManager.HasFatalError) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1008", ErrorLevel.WARNING, $"Không thể khởi tạo order mới khi có lỗi nghiêm trọng. Vui lòng kiểm tra và xử lý lỗi."));
-                else if(NavigationManager.Driving) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1009", ErrorLevel.WARNING, $"Không thể khởi tạo order mới khi robot đang di chuyển. Vui lòng dừng robot."));
-                else OrderManager.StartOrder(order.OrderId, order.Nodes, order.Edges);
-            }
-            catch (OrderException orEx)
-            {
-                if (orEx.Error is not null)
-                {
-                    ErrorManager.AddError(orEx.Error, TimeSpan.FromSeconds(10));
-                    Logger.Warning($"Lỗi khi xử lí Order: {orEx.Error.ErrorDescription}");
-                }
-            }
-            catch (Exception ex)
-            {
-                Logger.Warning($"Lỗi khi xử lí Order: {ex.Message}");
-            }
-            finally
-            {
-                NewOrderMutex.ReleaseMutex();
-            }
-        }
-    }
-
-    public void NewInstanceActionUpdated()
-    {
-        if (NewInstanceMutex.WaitOne(2000))
-        {
-            try
-            {
-
-            }
-            catch (ActionException acEx)
-            {
-
-            }
-            catch (Exception ex)
-            {
-
-            }
-            finally
-            {
-                NewInstanceMutex.ReleaseMutex();
-            }
-        }
     }
 }

RobotApp/Services/Robot/RobotErrors.cs

@@ -1,41 +0,0 @@
-using RobotApp.VDA5050.State;
-using RobotApp.VDA5050.Type;
-
-namespace RobotApp.Services.Robot;
-
-public class RobotErrors
-{
-    private readonly List<Error> Errors = [];
-
-    public void AddError(Error error, TimeSpan? clearAfter = null)
-    {
-        lock (Errors)
-        {
-            Errors.Add(error);
-        }
-        if (clearAfter is not null && clearAfter.HasValue)
-        {
-            if (clearAfter.Value < TimeSpan.Zero) throw new ArgumentOutOfRangeException(nameof(clearAfter), "TimeSpan cannot be negative.");
-            _ = Task.Run(async () =>
-            {
-                await Task.Delay(clearAfter.Value);
-                lock (Errors)
-                {
-                    Errors.RemoveAll(e => e.ErrorType == error.ErrorType);
-                }
-            });
-        }
-    }
-
-    public static Error CreateError(ErrorType type, string hint, ErrorLevel level, string description)
-    {
-        return new Error()
-        {
-            ErrorType = type.ToString(),
-            ErrorLevel = level.ToString(),
-            ErrorDescription = description,
-            ErrorHint = hint,
-            ErrorReferences = []
-        };
-    }
-}

RobotApp/Services/Robot/RobotFactsheet.cs

@@ -29,6 +29,6 @@ public class RobotFactsheet(RobotConnection RobotConnection) : BackgroundService
             await Task.Delay(1000, stoppingToken);
             if (RobotConnection.IsConnected) break;
         }
-        await PubFactsheet();
+
     }
 }

RobotApp/Services/Robot/RobotInfomations.cs

@@ -1,6 +0,0 @@
-namespace RobotApp.Services.Robot
-{
-    public class RobotInfomations
-    {
-    }
-}

RobotApp/Services/Robot/RobotLoads.cs

@@ -1,6 +0,0 @@
-namespace RobotApp.Services.Robot
-{
-    public class RobotLoads
-    {
-    }
-}

RobotApp/Services/Robot/RobotOrderController.cs

@@ -1,182 +1,30 @@
 using RobotApp.Interfaces;
-using RobotApp.Services.Exceptions;
-using RobotApp.VDA5050.Order;
 using RobotApp.VDA5050.State;
-using Action = RobotApp.VDA5050.InstantAction.Action;
 
 namespace RobotApp.Services.Robot;
 
-public class RobotOrderController(INavigation NavigationManager, IInstanceActions ActionManager, IError ErrorManager, Logger<RobotOrderController> Logger) : IOrder
+public class RobotOrderController : IOrder
 {
-    public string OrderId { get; private set; } = string.Empty;
+    public string OrderId => throw new NotImplementedException();
-    public int OrderUpdateId { get; private set; }
-    public NodeState[] NodeStates { get; private set; } = [];
-    public EdgeState[] EdgeStates { get; private set; } = [];
-    public string LastNodeId { get; private set; } = string.Empty;
-    public int LastNodeSequenceId { get; private set; }
 
-    private readonly Dictionary<string, Action[]> OrderActions = [];
+    public VDA5050.InstantAction.Action[] Actions => throw new NotImplementedException();
-    private readonly Mutex OrderMutex = new();
 
-    protected const int CycleHandlerMilliseconds = 100;
+    public NodeState[] NodeStates => throw new NotImplementedException();
-    private WatchTimer<RobotOrderController>? OrderTimer;
 
-    private int BaseSequenceId = 0;
+    public EdgeState[] EdgeStates => throw new NotImplementedException();
-    public void StartOrder(string orderId, Node[] nodes, Edge[] edges)
-    {
-        if (OrderMutex.WaitOne(2000))
-        {
-            try
-            {
-                if (!string.IsNullOrEmpty(OrderId) && orderId != OrderId) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1001", ErrorLevel.WARNING, $"Có order đang được thực hiện. OrderId: {OrderId}, OrderId mới: {orderId}"));
-                if (nodes.Length < 2) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1002", ErrorLevel.WARNING, $"Order Nodes không hợp lệ. Kích thước: {nodes.Length}"));
-                if (edges.Length < 1) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1003", ErrorLevel.WARNING, $"Order Edges không hợp lệ. Kích thước: {edges.Length}"));
-                if (edges.Length != nodes.Length - 1) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1004", ErrorLevel.WARNING, $"Order không hợp lệ do kích thước giữa Nodes và Edges không phù hợp. Kích thước Edges: {edges.Length}, kích thước nodes: {nodes.Length}"));
-                if (NavigationManager.State != NavigationState.Idle) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1012", ErrorLevel.WARNING, $"Không thể khởi tạo order mới khi hệ thống điều hướng không ở trạng thái sẵn sàng. Trạng thái hiện tại: {NavigationManager.State}"));
 
-                for (int i = 0; i < nodes.Length; i++)
+    public bool StartOrder()
     {
-                    if (nodes[i].Actions is not null && nodes[i].Actions.Length > 0)
+        throw new NotImplementedException();
-                    {
-                        foreach (var item in nodes[i].Actions)
-                        {
-                            item.ActionDescription += $"\n NodeId: {nodes[i].NodeId}";
-                        }
-                        OrderActions.Add(nodes[i].NodeId, nodes[i].Actions);
-                    }
-                    if (i < nodes.Length - 1 && edges[i] is not null && edges[i].Length > 0)
-                    {
-                        foreach (var item in edges[i].Actions)
-                        {
-                            item.ActionDescription += $"\n NodeId: {nodes[i].NodeId}";
-                        }
-                        OrderActions.TryAdd(nodes[i].NodeId, edges[i].Actions);
-                    }
-                    if (nodes[i].SequenceId != i) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1010", ErrorLevel.WARNING, $"Order Nodes không đúng thứ tự. NodeId: {nodes[i].NodeId}, SequenceId: {nodes[i].SequenceId}, Vị trí đúng: {i}"));
-                    if (i < nodes.Length - 1 &&  edges[i].SequenceId != i) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1011", ErrorLevel.WARNING, $"Order Edges không đúng thứ tự. EdgeId: {edges[i].EdgeId}, SequenceId: {edges[i].SequenceId}, Vị trí đúng: {i}"));
-                    if (nodes[i].Released) BaseSequenceId = nodes[i].SequenceId;
     }
 
-                NodeStates = nodes.Select(n => new NodeState
+    public bool UpdateOrder()
     {
-                    NodeId = n.NodeId,
+        throw new NotImplementedException();
-                    Released = n.Released,
-                    SequenceId = n.SequenceId,
-                    NodeDescription = n.NodeDescription,
-                    NodePosition = new()
-                    {
-                        X = n.NodePosition.X,
-                        Y = n.NodePosition.Y,
-                        Theta = n.NodePosition.Theta,
-                        MapId = n.NodePosition.MapId
-                    }
-                }).ToArray();
-                EdgeStates = edges.Select(e => new EdgeState
-                {
-                    EdgeId = e.EdgeId,
-                    Released = e.Released,
-                    EdgeDescription = e.EdgeDescription,
-                    SequenceId = e.SequenceId,
-                    Trajectory = e.Trajectory
-                }).ToArray();
-
-                OrderId = orderId;
-                ActionManager.AddOrderActions([.. OrderActions.Values.SelectMany(a => a)]);
-                NavigationManager.Move(nodes, edges);
-                HandleNavigationStart();
-            }
-            catch (OrderException orEx)
-            {
-                if (orEx.Error is not null)
-                {
-                    ErrorManager.AddError(orEx.Error, TimeSpan.FromSeconds(10));
-                    Logger.Warning($"Lỗi khi khởi tạo Order: {orEx.Error.ErrorDescription}");
-                }
-            }
-            catch (Exception ex)
-            {
-                Logger.Warning($"Lỗi khi khởi tạo Order: {ex.Message}");
-            }
-            finally
-            {
-                OrderMutex.ReleaseMutex();
-            }
-        }
-        Logger.Warning($"Lỗi khi khởi tạo Order: có order đang được khởi tạo chưa xong");
     }
 
-    public void UpdateOrder(int orderUpdateId,Node[] nodes, Edge[] edges)
+    public bool StopOrder()
     {
-        if (OrderMutex.WaitOne(2000))
+        throw new NotImplementedException();
-        {
-            try
-            {
-                if (string.IsNullOrEmpty(OrderId)) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1005", ErrorLevel.WARNING, $"Không có order đang được thực hiện."));
-                if (orderUpdateId > OrderUpdateId)
-                {
-                    OrderUpdateId = orderUpdateId;
-                    // Check Order Update hợp lệ
-                    // Check Order update Hoziron hay không
-                }
-            }
-            catch (OrderException orEx)
-            {
-                if (orEx.Error is not null)
-                {
-                    ErrorManager.AddError(orEx.Error, TimeSpan.FromSeconds(10));
-                    Logger.Warning($"Lỗi khi cập nhật Order: {orEx.Error.ErrorDescription}");
-                }
-            }
-            catch (Exception ex)
-            {
-                Logger.Warning($"Lỗi khi cập nhật Order: {ex.Message}");
-            }
-            finally
-            {
-                OrderMutex.ReleaseMutex();
-            }
-        }
-        Logger.Warning($"Lỗi khi cập nhật Order: có order đang được cập nhật chưa xong");
-    }
-
-    public void StopOrder()
-    {
-        HandleNavigationStop();
-        NavigationManager.CancelMovement();
-
-        OrderId = string.Empty;
-        OrderActions.Clear();
-        OrderUpdateId = 0;
-        BaseSequenceId = 0;
-        LastNodeSequenceId = 0;
-        NodeStates = [];
-        EdgeStates = [];
-    }
-
-    private void HandleNavigationStart()
-    {
-        OrderTimer = new(CycleHandlerMilliseconds, OrderHandler, Logger);
-        OrderTimer.Start();
-    }
-
-    private void HandleNavigationStop()
-    {
-        OrderTimer?.Dispose();
-    }
-
-    private void OrderHandler()
-    {
-        if(!string.IsNullOrEmpty(OrderId) && BaseSequenceId > 0)
-        {
-            if(NavigationManager.State == NavigationState.Initializing)
-            {
-                // khởi tạo Order
-                
-            }
-            else
-            {
-                // xử lí khi có Order
-            }
-        }
     }
 }

RobotApp/Services/Robot/RobotPathPlanner.cs

@@ -1,88 +0,0 @@
-using RobotApp.Common.Shares;
-using RobotApp.Common.Shares.Enums;
-using RobotApp.Common.Shares.Model;
-using RobotApp.Services.Exceptions;
-using RobotApp.Services.Robot.Navigation;
-using RobotApp.VDA5050.Order;
-using RobotApp.VDA5050.State;
-
-namespace RobotApp.Services.Robot;
-
-public class RobotPathPlanner(IConfiguration Configuration)
-{
-    private readonly double ResolutionSplit = Configuration.GetValue("PathPlanning:ResolutionSplit", 0.1);
-
-    public NavigationNode[] GetNavigationNode(double currentTheta, Node[] nodes, Edge[] edges)
-    {
-        if (nodes.Length < 2) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1002", ErrorLevel.WARNING, $"Order Nodes không hợp lệ. Kích thước: {nodes.Length}"));
-        if (edges.Length < 1) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1003", ErrorLevel.WARNING, $"Order Edges không hợp lệ. Kích thước: {edges.Length}"));
-        if (edges.Length != nodes.Length - 1) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1004", ErrorLevel.WARNING, $"Order không hợp lệ do kích thước giữa Nodes và Edges không phù hợp. Kích thước Edges: {edges.Length}, kích thước nodes: {nodes.Length}"));
-
-        return [];
-    }
-
-    public NavigationNode[] PathSplit(NavigationNode[] nodes, Edge[] edges)
-    {
-        if (nodes.Length < 2) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1002", ErrorLevel.WARNING, $"Order Nodes không hợp lệ. Kích thước: {nodes.Length}"));
-        if (edges.Length < 1) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1003", ErrorLevel.WARNING, $"Order Edges không hợp lệ. Kích thước: {edges.Length}"));
-        if (edges.Length != nodes.Length - 1) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1004", ErrorLevel.WARNING, $"Order không hợp lệ do kích thước giữa Nodes và Edges không phù hợp. Kích thước Edges: {edges.Length}, kích thước nodes: {nodes.Length}"));
-
-        List<NavigationNode> navigationNode = [new()
-        {
-            NodeId = nodes[0].NodeId,
-            X = nodes[0].X,
-            Y = nodes[0].Y,
-            Theta = nodes[0].Theta,
-            Direction = nodes[0].Direction,
-            Description = nodes[0].Description
-        }];
-        foreach (var edge in edges)
-        {
-            var startNode = nodes.FirstOrDefault(n => n.NodeId == edge.StartNodeId);
-            var endNode = nodes.FirstOrDefault(n => n.NodeId == edge.EndNodeId);
-            if (startNode is null) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1014", ErrorLevel.WARNING, $"Edge chứa StartNodeId không tồn tại trong Nodes . StartNodeId: {edge.StartNodeId}"));
-            if (endNode is null) throw new OrderException(RobotErrors.CreateError(ErrorType.INITIALIZE_ORDER, "1015", ErrorLevel.WARNING, $"Edge chứa EndNodeId không tồn tại trong Nodes . EndNodeId: {edge.EndNodeId}"));
-
-            var EdgeCalculatorModel = new EdgeCalculatorModel()
-            {
-                X1 = startNode.X,
-                Y1 = startNode.Y,
-                X2 = endNode.X,
-                Y2 = endNode.Y,
-                ControlPoint1X = edge.Trajectory.ControlPoints.Length > 0 ? edge.Trajectory.ControlPoints[0].X : 0,
-                ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 0 ? edge.Trajectory.ControlPoints[0].Y : 0,
-                ControlPoint2X = edge.Trajectory.ControlPoints.Length > 1 ? edge.Trajectory.ControlPoints[1].X : 0,
-                ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 1 ? edge.Trajectory.ControlPoints[1].Y : 0,
-                TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two :TrajectoryDegree.Three
-            };
-
-            double length = EdgeCalculatorModel.GetEdgeLength();
-            if (length <= 0) continue;
-            double step = ResolutionSplit / length;
-
-            for (double t = step; t <= 1 - step; t += step)
-            {
-                (double x, double y) = EdgeCalculatorModel.Curve(t);
-                navigationNode.Add(new()
-                {
-                    NodeId = string.Empty,
-                    X = x,
-                    Y = y,
-                    Theta = startNode.Theta,
-                    Direction = startNode.Direction,
-                    Description = string.Empty,
-                });
-            }
-            navigationNode.Add(new()
-            {
-                NodeId = endNode.NodeId,
-                X = endNode.X,
-                Y = endNode.Y,
-                Theta = endNode.Theta,
-                Direction = endNode.Direction,
-                Description = nodes[0].Description
-            });
-        }
-        return [..navigationNode];
-    }
-}

RobotApp/Services/Robot/RobotSafety.cs

@@ -1,6 +0,0 @@
-namespace RobotApp.Services.Robot
-{
-    public class RobotSafety
-    {
-    }
-}

RobotApp/Services/Robot/RobotStates.cs

@@ -1,5 +0,0 @@
-namespace RobotApp.Services.Robot;
-
-public class RobotStates
-{
-}

RobotApp/Services/State/RobotState.cs

@@ -1,8 +0,0 @@
-namespace RobotApp.Services.State;
-
-public abstract class RobotState<T>(T type) where T : Enum
-{
-    public readonly T Type = type;
-    public virtual void Enter() { }
-    public virtual void Exit() { }
-}

RobotApp/Services/WatchTimer.cs

@@ -19,7 +19,6 @@ public class WatchTimer<T>(int Interval, Action Callback, Logger<T>? Logger) : I
             Watch.Stop();
             if (Watch.ElapsedMilliseconds >= Interval || Interval - Watch.ElapsedMilliseconds <= 50)
             {
-                if(Watch.ElapsedMilliseconds > Interval) Logger?.Warning($"WatchTimer Warning: Elapsed time {Watch.ElapsedMilliseconds}ms exceeds interval {Interval}ms.");
                 Timer?.Change(Interval, Timeout.Infinite);
             }
             else