RobotApp.Client/Components/Mapping/MapView.razor

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

RobotApp.Client/Layout/NavMenu.razor

@@ -36,12 +36,6 @@
             </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

@@ -1,181 +0,0 @@
-@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

@@ -11,11 +11,6 @@
   <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

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

RobotApp.Common.Shares/Dtos/MapDto.cs

@@ -1,13 +0,0 @@
-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/NavigationType.cs

@@ -1,7 +0,0 @@
-namespace RobotApp.Common.Shares.Enums;
-
-public enum NavigationType
-{
-    Differential,
-    Forklift,
-}

RobotApp.Common.Shares/JsonOptionExtends.cs

@@ -1,18 +0,0 @@
-using System.Text.Json;
-
-namespace RobotApp.Common.Shares;
-
-public class JsonOptionExtends
-{
-    public static readonly JsonSerializerOptions Read = new()
-    {
-        PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
-        WriteIndented = true,
-    };
-
-    public static readonly JsonSerializerOptions Write = new()
-    {
-        PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
-        WriteIndented = true,
-    };
-}

RobotApp.Common.Shares/MessageResult.cs

@@ -1,8 +0,0 @@
-namespace RobotApp.Common.Shares;
-
-public record MessageResult(bool IsSuccess, string Message = "");
-
-public record MessageResult<T>(bool IsSuccess, string Message = "")
-{
-    public T? Data { get; set; }
-}

RobotApp.Common.Shares/RobotApp.Common.Shares.csproj

@@ -1,9 +0,0 @@
-<Project Sdk="Microsoft.NET.Sdk">
-
-  <PropertyGroup>
-    <TargetFramework>net9.0</TargetFramework>
-    <ImplicitUsings>enable</ImplicitUsings>
-    <Nullable>enable</Nullable>
-  </PropertyGroup>
-
-</Project>

RobotApp.VDA5050/Factsheet/ActionParameters.cs

@@ -2,6 +2,8 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
+
 public enum ValueDataType
 {
     BOOL,
@@ -15,9 +17,9 @@ public enum ValueDataType
 public class ActionParameters
 {
     [Required]
-    public string Key { get; set; } = string.Empty;
+    public string Key { get; set; }
     [Required]
-    public string ValueDataType { get; set; } = string.Empty;
+    public string ValueDataType { get; set; }
-    public string Description { get; set; } = string.Empty;
+    public string Description { get; set; }
     public bool IsOptional { get; set; }
 }

RobotApp.VDA5050/Factsheet/AgvActions.cs

@@ -2,6 +2,7 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
 
 public enum ActionScopes
 {
@@ -12,11 +13,11 @@ public enum ActionScopes
 public class AgvActions
 {
     [Required]
-    public string ActionType { get; set; } = string.Empty;
+    public string ActionType { get; set; }
-    public string ActionDescription { get; set; } = string.Empty;
+    public string ActionDescription { get; set; }
     [Required]
-    public string[] ActionScopes { get; set; } = [];
+    public string[] ActionScopes { get; set; }
-    public ActionParameters[] ActionParameters { get; set; } = [];
+    public ActionParameters[] ActionParameters { get; set; }
-    public string ResultDescription { get; set; } = string.Empty;
+    public string ResultDescription { get; set; }
-    public string[] BlockingTypes { get; set; } = [];
+    public string[] BlockingTypes { get; set; } 
 }

RobotApp.VDA5050/Factsheet/AgvGeometry.cs

@@ -2,10 +2,11 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable 
 
 public class AgvGeometry
 {
-    public WheelDefinitions[] WheelDefinitions { get; set; } = [];
+    public WheelDefinitions[] WheelDefinitions { get; set; }
-    public Envelopes2d[] Envelopes2d { get; set; } = [];
+    public Envelopes2d[] Envelopes2d { get; set; }
-    public Envelopes3d[] Envelopes3d { get; set; } = [];
+    public Envelopes3d[] Envelopes3d { get; set; }
 }

RobotApp.VDA5050/Factsheet/Envelopes2d.cs

@@ -2,6 +2,8 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
+
 public class PolygonPoints
 {
     [Required]
@@ -12,8 +14,8 @@ public class PolygonPoints
 public class Envelopes2d
 {
     [Required]
-    public string Set {  get; set; } = string.Empty;
+    public string Set {  get; set; }
     [Required]
-    public PolygonPoints[] PolygonPoints { get; set; } = [];
+    public PolygonPoints[] PolygonPoints { get; set; }
-    public string Description { get; set; } = string.Empty;
+    public string Description { get; set; }
 }

RobotApp.VDA5050/Factsheet/Envelopes3d.cs

@@ -2,13 +2,15 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
+
 public class Envelopes3d
 {
     [Required]
-    public string Set { get; set; } = string.Empty;
+    public string Set { get; set; }
     [Required]
-    public string Format { get; set; } = string.Empty;
+    public string Format { get; set; }
-    public object Data { get; set; } = string.Empty;
+    public object Data { get; set; }
-    public string Url { get; set; } = string.Empty;
+    public string Url { get; set; }
-    public string Description { get; set; } = string.Empty;
+    public string Description { get; set; }
 }

RobotApp.VDA5050/Factsheet/FactSheetMsg.cs

@@ -2,27 +2,29 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
 
 public  class FactSheetMsg
 {
-    public uint HeaderId { get; set; } = 1;
+    public uint HeaderId { get; set; }
-    public string Timestamp { get; set; } = DateTime.Now.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
+    public string Timestamp { get; set; }
     [Required]
-    public string Version { get; set; } = "1.0.0";
+    public string Version { get; set; }
     [Required]
-    public string Manufacturer { get; set; } = "PhenikaaX";
+    public string Manufacturer { get; set; }
     [Required]
-    public string SerialNumber { get; set; } = string.Empty;
+    public string SerialNumber { get; set; }
     [Required]
-    public TypeSpecification TypeSpecification { get; set; } = new();
+    public TypeSpecification TypeSpecification { get; set; }
     [Required]
-    public PhysicalParameters PhysicalParameters { get; set; } = new();
+    public PhysicalParameters PhysicalParameters { get; set; }
     [Required]
-    public ProtocolLimits ProtocolLimits { get; set; } = new();
+    public ProtocolLimits ProtocolLimits { get; set; }
     [Required]
-    public ProtocolFeatures ProtocolFeatures { get; set; } = new();
+    public ProtocolFeatures ProtocolFeatures { get; set; }
     [Required]
-    public AgvGeometry AgvGeometry { get; set; } = new();
+    public AgvGeometry AgvGeometry { get; set; }
     [Required]
-    public LoadSpecification LoadSpecification { get; set; } = new();
+    public LoadSpecification LoadSpecification { get; set; }    
+    //public LocalizationParameter LocalizationParameters { get; set; }
 }

RobotApp.VDA5050/Factsheet/LoadSets.cs

@@ -1,12 +1,14 @@
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
+
 public class LoadSets
 {
-    public string SetName { get; set; } = string.Empty;
+    public string SetName { get; set; } 
-    public string LoadType { get; set; } = string.Empty;
+    public string LoadType { get; set; }
-    public string[] LoadPositions { get; set; } = [];
+    public string[] LoadPositions { 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 MaxWeigth { get; set; }
     public double MinLoadhandlingHeight { get; set; }
     public double MaxLoadhandlingHeight { get; set; }
@@ -19,6 +21,6 @@ public class LoadSets
     public double AgvDecelerationLimit { get; set; }
     public double PickTime { get; set; }
     public double DropTime { get; set; }
-    public string Description { get; set; } = string.Empty;
+    public string Description { get; set; }
 
 }

RobotApp.VDA5050/Factsheet/LoadSpecification.cs

@@ -1,8 +1,9 @@
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
 
 public class LoadSpecification
 {
-    public string[] LoadPositions { get; set; } = [];
+    public string[] LoadPositions { get; set; } 
-    public LoadSets[] LoadSets { get; set; } = [];
+    public LoadSets[] LoadSets { get; set; }
 }

RobotApp.VDA5050/Factsheet/OptionalParameters.cs

@@ -2,6 +2,7 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
 
 public enum Support
 {
@@ -11,8 +12,8 @@ public enum Support
 public class OptionalParameters
 {
     [Required]
-    public string Parameter {  get; set; } = string.Empty;
+    public string Parameter {  get; set; }
     [Required]
-    public string Support { get; set; } = string.Empty;
+    public string Support { get; set; }
-    public string Description { get; set; } = string.Empty;
+    public string Description { get; set; }
 }

RobotApp.VDA5050/Factsheet/ProtocolFeatures.cs

@@ -2,11 +2,12 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
 
 public class ProtocolFeatures
 {
     [Required]
-    public OptionalParameters[] OptionalParameters { get; set; } = [];
+    public OptionalParameters[] OptionalParameters { get; set; }
     [Required]
-    public AgvActions[] AgvActions { get; set; } = [];
+    public AgvActions[] AgvActions { get; set; }  
 }

RobotApp.VDA5050/Factsheet/ProtocolLimits.cs

@@ -2,12 +2,13 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
 public class ProtocolLimits
 {
     [Required]
-    public MaxStringLens MaxStringLens { get; set; } = new();
+    public MaxStringLens MaxStringLens { get; set; }
     [Required]
-    public MaxArrayLens MaxArrayLens { get; set; } = new();
+    public MaxArrayLens MaxArrayLens { get; set; }
     [Required]
-    public Timing Timing { get; set; } = new();
+    public Timing Timing { get; set; }
 }

RobotApp.VDA5050/Factsheet/TypeSpecification.cs

@@ -2,6 +2,8 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
+
 public enum AgvKinematic
 {
     DIFF,
@@ -33,12 +35,12 @@ public enum NavigationTypes
 public class TypeSpecification
 {
     [Required]
-    public string SeriesName { get; set; } = string.Empty;
+    public string SeriesName { get; set; }  
-    public string SeriesDescription { get; set; } = string.Empty;
+    public string SeriesDescription { get; set; }
     [Required]
-    public string AgvKinematic { get; set; } = string.Empty;
+    public string AgvKinematic { get; set; }
     [Required]
-    public string AgvClass { get; set; } = string.Empty;
+    public string AgvClass { get; set; }
     [Required]
     public double MaxLoadMass { get; set; }
     [Required]

RobotApp.VDA5050/Factsheet/WheelDefinitions.cs

@@ -2,6 +2,8 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
+#nullable disable
+
 public enum WheelDefinitionsType
 {
     DRIVE,
@@ -9,7 +11,6 @@ public enum WheelDefinitionsType
     FIXED,
     MECANUM,
 }
-
 public class WheelDefinitionsPosition
 {
     [Required]
@@ -22,17 +23,17 @@ public class WheelDefinitionsPosition
 public class WheelDefinitions
 {
     [Required]
-    public string Type { get; set; } = string.Empty;
+    public string Type { get; set; }
     [Required]
     public bool IsActiveDriven { get; set; }
     [Required]
     public bool IsActiveSteered { get; set; }
     [Required]
-    public WheelDefinitionsPosition Position { get; set; } = new();
+    public WheelDefinitionsPosition Position { get; set; }
     [Required]
     public double Diameter { get; set; }
     [Required]
     public double Width { get; set; }
     public double CenterDisplacement { get; set; }
-    public string Constraints { get; set; } = string.Empty;
+    public string Constraints { get; set; }
 }

RobotApp.VDA5050/FactsheetExtend/Battery.cs

@@ -0,0 +1,9 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class Battery
+{
+    public uint Battery_low { get; set; }
+    public uint Battery_normal { get; set; }
+    public uint Battery_good { get; set; }
+    public uint Battery_full { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/BatteryThreshold.cs

@@ -0,0 +1,11 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public enum BatteryThreshold
+{
+    LOW,
+    NORMAL,
+    MIDDLE,
+    GOOD,
+    FULL,
+    NONE
+}

RobotApp.VDA5050/FactsheetExtend/CameraSafety.cs

@@ -0,0 +1,31 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class CameraSafety
+{
+    public double Pass_through_x_min { get; set; }
+    public double Pass_through_x_max { get; set; }
+    public double Pass_through_y_min { get; set; }
+    public double Pass_through_y_max { get; set; }
+    public double Pass_through_z_min { get; set; }
+    public double Pass_through_z_max { get; set; }
+    public uint Ground_seg_max_iterations { get; set; }
+    public double Ground_seg_distance_threshold { get; set; }
+    public double Warn_z1 { get; set; }
+    public double Protect_z1 { get; set; }
+    public double Warn_z2 { get; set; }
+    public double Protect_z2 { get; set; }
+    public double Warn_z3 { get; set; }
+    public double Protect_z3 { get; set; }
+    public double Warn_z4 { get; set; }
+    public double Protect_z4 { get; set; }
+    public double Warn_z5 { get; set; }
+    public double Protect_z5 { get; set; }
+    public double Warn_z6 { get; set; }
+    public double Protect_z6 { get; set; }
+    public uint Min_cluster_warn_size { get; set; }
+    public uint Min_cluster_protect_size { get; set; }
+    public uint Min_cluster_detect_size { get; set; }
+    public uint Min_consecutive_warn_count { get; set; }
+    public uint Min_consecutive_protect_count { get; set; }
+    public uint Min_consecutive_detect_count { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/ChargerParam.cs

@@ -0,0 +1,9 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+#nullable disable
+
+public class ChargerParam
+{
+    public string Charger_ip { get; set; }
+    public uint Charger_port { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/FactsheetExtendMsg.cs

@@ -0,0 +1,19 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+#nullable disable
+
+public class FactsheetExtendMsg
+{
+    public uint HeaderId { get; set; }
+    public DateTime Timestamp { get; set; }
+    public string Version { get; set; }
+    public string Manufacturer { get; set; }
+    public string SerialNumber { get; set; }
+
+    public ServerParam Server_param { get; set; }
+    public RobotParam Robot_param { get; set; }
+    public Localization Localization { get; set; }
+    public Navigation Navigation { get; set; }
+    public Safety Safety { get; set; }
+    public ChargerParam Charger_param { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/ForkSafety.cs

@@ -0,0 +1,9 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class ForkSafety
+{
+    public double Muted_field_size { get; set; }
+    public double Protected_field_size { get; set; }
+    public double Warning_field_size { get; set; }
+    public double Detect_field_size { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/Initpose.cs

@@ -0,0 +1,9 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class Initpose
+{
+    public bool Use_manual_initpose { get; set; }
+    public double Initpose_x { get; set; }
+    public double Initpose_y { get; set; }
+    public double Initpose_yaw { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/LineSegment.cs

@@ -0,0 +1,10 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class LineSegment
+{
+    public double Least_thresh { get; set; }
+    public double Min_line_length { get; set; }
+    public double Predict_distance { get; set; }
+    public uint Seed_line_points { get; set; }
+    public uint Min_line_points { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/Localization.cs

@@ -0,0 +1,14 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+#nullable disable
+
+public class Localization
+{
+    public uint Threshold_quality_loc { get; set; }
+    public bool Use_localization_marker { get; set; }
+    public bool Use_pallet_detection { get; set; }
+    public Initpose Initpose { get; set; }
+    public Xloc Xloc { get; set; }
+    public VlMarker Vl_marker { get; set; }
+
+}

RobotApp.VDA5050/FactsheetExtend/Motor.cs

@@ -0,0 +1,9 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class Motor
+{
+    public double OdomEncSteeringAngleOffset { get; set; }
+    public double Steering_fix_wheel_distance_x { get; set; }
+    public double Steering_fix_wheel_distance_y { get; set; }
+    public double WheelAcceleration { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/Navigation.cs

@@ -0,0 +1,11 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+#nullable disable
+public class Navigation
+{
+    public bool Using_control_safety { get; set; }
+    public uint Control_rate { get; set; }
+    public Rotate Rotate { get; set; }
+    public PTA Pta { get; set; }
+    public PPA Ppa { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/PPA.cs

@@ -0,0 +1,7 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class PPA
+{
+    public double Ppa_accuracy_goal { get; set; }
+    public double Ppa_distance_reduce { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/PTA.cs

@@ -0,0 +1,15 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class PTA
+{
+    public double Pta_linear_vel_max { get; set; }
+    public double Pta_linear_vel_min { get; set; }
+    public double Pta_accuracy_goal { get; set; }
+    public double Pta_distance_reduce { get; set; }
+    public double Pta_acceleration { get; set; }
+    public double Pta_lm_front { get; set; }
+    public double Pta_lm_back { get; set; }
+    public double Pta_phi_max { get; set; }
+    public double Pta_amplitude_max { get; set; }
+    public uint Pta_w_option { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/RobotParam.cs

@@ -0,0 +1,12 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class RobotParam
+{
+    public bool Use_dynamic_parameter { get; set; }          // (Default: True) Declare whether to use dynamic parameters or not
+    public string? Ethernet_name { get; set; }                // The name of Ethernet port which connects to wifi client (e.g eno1, lo, enp3s0)
+    public double Speed_max_backward { get; set; }          // (Default: True) Declare whether to use dynamic parameters or not
+    public uint Num_day_logger { get; set; }                // The name of Ethernet port which connects to wifi client (e.g eno1, lo, enp3s0)
+
+    public Motor Motor { get; set; } = new();
+    public Battery Battery { get; set; } = new();
+}

RobotApp.VDA5050/FactsheetExtend/Rotate.cs

@@ -0,0 +1,9 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class Rotate
+{
+    public double Angular_vel_max { get; set; }
+    public double Angular_vel_min { get; set; }
+    public double Acceleration_rotate { get; set; }
+    public double Tolerances_rotate { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/Safety.cs

@@ -0,0 +1,8 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class Safety
+{
+    public bool Use_camera_safety { get; set; }
+    public CameraSafety Camera_safety { get; set; } = new();
+    public ForkSafety Fork_safety { get; set; } = new();
+}

RobotApp.VDA5050/FactsheetExtend/ServerParam.cs

@@ -0,0 +1,14 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+#nullable disable
+
+public class ServerParam
+{
+    public string Server_ip { get; set; }
+    public string Server_port { get; set; }
+    public string Keepalive { get; set; }
+    public string Username { get; set; }
+    public string Password { get; set; }
+    public string Client_protocol { get; set; }
+    public string Client_id { get; set; }
+}

RobotApp.VDA5050/FactsheetExtend/VlMarker.cs

@@ -0,0 +1,21 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class VlMarker
+{
+    public bool Use_odometry { get; set; }
+    public uint V_angle { get; set; }
+    public double Length_v { get; set; }
+    public double Length_l { get; set; }
+    public double X_laser { get; set; }
+    public double Y_laser { get; set; }
+    public bool Flip_laser { get; set; }
+    public double Rotate_laser { get; set; }
+    public uint Frequence_control { get; set; }
+    public double Angle_min { get; set; }
+    public double Angle_max { get; set; }
+    public double Max_init_x { get; set; }
+    public double Max_init_y { get; set; }
+    public double Max_init_yaw { get; set; }
+
+    public LineSegment Line_segment { get; set; } = new();
+}

RobotApp.VDA5050/FactsheetExtend/Xloc.cs

@@ -0,0 +1,16 @@
+namespace RobotApp.VDA5050.FactsheetExtend;
+
+public class Xloc
+{
+    public double Front_vls_width { get; set; }
+    public double Front_vls_pose_x { get; set; }
+    public double Front_vls_pose_y { get; set; }
+    public double Front_vls_pose_yaw { get; set; }
+    public uint Front_vls_source_id { get; set; }
+
+    public double Rear_vls_width { get; set; }
+    public double Rear_vls_pose_x { get; set; }
+    public double Rear_vls_pose_y { get; set; }
+    public double Rear_vls_pose_yaw { get; set; }
+    public uint Rear_vls_source_id { get; set; }
+}

RobotApp.VDA5050/InstantAction/ActionParameter.cs

@@ -2,6 +2,7 @@
 
 namespace RobotApp.VDA5050.InstantAction;
 
+#nullable disable
 public class ActionParameter
 {
     [Required]

RobotApp.VDA5050/InstantAction/Actions.cs

@@ -2,13 +2,14 @@
 
 namespace RobotApp.VDA5050.InstantAction;
 
+#nullable disable 
+
 public enum BlockingType
 {
     NONE,
     SOFT,
     HARD
 }
-
 public class Action
 {
     [Required]

RobotApp.VDA5050/InstantAction/InstantActionsMsg.cs

@@ -1,5 +1,7 @@
 namespace RobotApp.VDA5050.InstantAction;
 
+#nullable disable
+
 public class InstantActionsMsg
 {
     public uint HeaderId { get; set; }

RobotApp.VDA5050/Type/ActionType.cs

@@ -2,16 +2,34 @@
 
 public enum ActionType
 {
-    START_PAUSE,
+    startPause,              // No actionParameters
-    STOP_PAUSE,
+    stopPause,              // No actionParameters
-    START_CHARGING,
+    startCharging,         // ActionParameters {CHARGER_IP, CHARGER_PORT, X, Y, THETA}
-    STOP_CHARGING,
+    stopCharging,            // ActionParameters {X, Y, THETA}
-    INITIALIZATION_POSITION,             
+    initPosition,            // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
-    PICK,                   
+    stateRequest,            // No actionParameters
-    DROP,               
+    logReport,               // No actionParameters
-    CANCEL_ORDER,       
+    pick,                    // No actionParameters
-    ROTATE,
+    drop,                   // No actionParameters
-    REQUEST_FACTSHEET,
+    detectObject,            // No actionParameters
-    REQUEST_VISUALIZATION,
+    finePositioning,         // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
-    REQUEST_STATE,
+    waitForTrigger,          // No actionParameters
+    cancelOrder,             // No actionParameters
+    factsheetRequest,        // No actionParameters
+
+    setDynparam,             // ActionParameters {PARAM_NAME, PARAM_TYPE, PARAM_VALUE}
+    saveDynparamRuntime,     // No actionParameters
+    loadDynparamRuntime,     // No actionParameters
+    loadDynparamDefault,     // No actionParameters
+    getDynparamRuntime,      // No actionParameters
+
+    controlLight,            // ActionParameters {LIGHT_TYPE, CONTROL_TYPE}
+    controlFan,              // ActionParameters {CONTROL_TYPE}
+    controlSpeaker,          // ActionParameters {SONG_NUMBER, CONTROL_TYPE}
+    controlSafetyField,      // ActionParameters {FIELD_TYPE, CONTROL_TYPE}
+    startInPallet,        // ActionParameters {X, Y, THETA}
+    startOutPallet,                    // ActionParameters {X, Y, THETA}      
+
+    rotate,      // ActionParameters {THETA}      
+    setMap,      // ActionParameter {MAP_ID}
 }

RobotApp.VDA5050/VDA5050Helper.cs

@@ -0,0 +1,29 @@
+using RobotApp.VDA5050.State;
+using System.Text;
+
+namespace RobotApp.VDA5050;
+
+public class VDA5050Helper
+{
+    public static string ConvertErrorDetail(IEnumerable<Error> errors)
+    {
+        string errorsType = "";
+        foreach (var error in errors)
+        {
+            if (error == errors.Last()) errorsType += $"{error.ErrorType}";
+            else errorsType += $"{error.ErrorType}, ";
+        }
+        StringBuilder errorStr = new($"Robot có lỗi: [{errorsType}]\n");
+        foreach (var error in errors)
+        {
+            string errorDes = $"- {error.ErrorType}: {error.ErrorDescription}\n";
+            errorStr.Append(errorDes.PadLeft(errorDes.Length + 3));
+            foreach (var refer in error.ErrorReferences)
+            {
+                string errorRefer = $"+ {refer.ReferenceKey}: {refer.ReferenceValue}\n";
+                errorStr.Append(errorRefer.PadLeft(errorRefer.Length + 9));
+            }
+        }
+        return !errors.Any() ? "" : errorStr.ToString();
+    }
+}

RobotApp.VDA5050/VDA5050Setting.cs

@@ -1,12 +1,19 @@
 namespace RobotApp.VDA5050;
 
+#nullable disable
+
 public class VDA5050Setting
 {
-    public string HostServer { get; set; } = string.Empty;
+    public bool ServerEnable { get; set; }
-    public int Port { get; set; } = 1883;
+    public string HostServer { get; set; }
-    public string UserName { get; set; } = "robotics";
+    public int Port { get; set; }
-    public string Password { get; set; } = "robotics";
+    public string UserName { get; set; }
-    public string Manufacturer { get; set; } = "PhenikaaX";
+    public string Password { get; set; }
-    public string Version { get; set; } = "0.0.1";
+    public string Manufacturer { get; set; }
-    public int PublishRepeat { get; set; } = 2;
+    public string Version { get; set; }
+    public int Repeat { get; set; }
+    public int ConnectionTimeoutSeconds { get; set; }
+    public int ConnectionBacklog { set; get; }
+    public int KeepAliveInterval { get; set; }
+    public int CheckingRobotMsgTimout { get; set; }
 }

RobotApp.VDA5050/VDA5050Topic.cs

@@ -1,46 +1,12 @@
 namespace RobotApp.VDA5050;
 
-public enum VDA5050Topic
+public static class VDA5050Topic
 {
-    CONNECTION,
+    public const string Connection = "connection";
-    ORDER,
+    public const string Order = "order";
-    INSTANTACTIONS,
+    public const string InstantActions = "instantActions";
-    STATE,
+    public const string State = "state";
-    VISUALIZATION,
+    public const string Visualization = "visualization";
-    FACTSHEET
+    public const string Factsheet = "factsheet";
+    public const string FactsheetExtend = "factsheetExtend";    // custom by TungNV
 }
-
-public static class EnumExtensions
-{
-    private static readonly Dictionary<VDA5050Topic, string> TopicToStringMap = new()
-    {
-        { VDA5050Topic.CONNECTION, "connection" },
-        { VDA5050Topic.ORDER, "order" },
-        { VDA5050Topic.INSTANTACTIONS, "instantActions" },
-        { VDA5050Topic.STATE, "state" },
-        { VDA5050Topic.VISUALIZATION, "visualization" },
-        { VDA5050Topic.FACTSHEET, "factsheet" }
-    };
-
-    private static readonly Dictionary<string, VDA5050Topic> StringToTopicMap = new(StringComparer.OrdinalIgnoreCase)
-    {
-        { "connection", VDA5050Topic.CONNECTION },
-        { "order", VDA5050Topic.ORDER },
-        { "instantActions", VDA5050Topic.INSTANTACTIONS },
-        { "state", VDA5050Topic.STATE },
-        { "visualization", VDA5050Topic.VISUALIZATION },
-        { "factsheet", VDA5050Topic.FACTSHEET }
-    };
-
-    public static string ToTopicString(this VDA5050Topic type)
-    {
-        if (TopicToStringMap.TryGetValue(type, out var value)) return value;
-        throw new ArgumentException($"Invalid VDA5050Topic: {type}");
-    }
-
-    public static VDA5050Topic ToTopic(string value)
-    {
-        if (StringToTopicMap.TryGetValue(value, out var result)) return result;
-        throw new ArgumentException($"No VDA5050Topic with string value '{value}' found.");
-    }
-}

RobotApp.sln

@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 18
+# Visual Studio Version 17
-VisualStudioVersion = 18.0.11018.127 d18.0
+VisualStudioVersion = 17.12.35707.178
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp", "RobotApp\RobotApp.csproj", "{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}"
 EndProject
@@ -9,8 +9,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.Client", "RobotApp
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.VDA5050", "RobotApp.VDA5050\RobotApp.VDA5050.csproj", "{617FD155-904A-44E6-AD1A-6BC878421F9F}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.Common.Shares", "RobotApp.Common.Shares\RobotApp.Common.Shares.csproj", "{480F459B-F07C-44D9-A738-E8DF6C438A80}"
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -29,15 +27,8 @@ Global
 		{617FD155-904A-44E6-AD1A-6BC878421F9F}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{617FD155-904A-44E6-AD1A-6BC878421F9F}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{617FD155-904A-44E6-AD1A-6BC878421F9F}.Release|Any CPU.Build.0 = Release|Any CPU
-		{480F459B-F07C-44D9-A738-E8DF6C438A80}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{480F459B-F07C-44D9-A738-E8DF6C438A80}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{480F459B-F07C-44D9-A738-E8DF6C438A80}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{480F459B-F07C-44D9-A738-E8DF6C438A80}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
 	EndGlobalSection
-	GlobalSection(ExtensibilityGlobals) = postSolution
-		SolutionGuid = {CCB0B2E5-3C19-4B2E-B229-08A74F6EF27D}
-	EndGlobalSection
 EndGlobal

RobotApp/Interfaces/IDriver.cs

@@ -1,37 +0,0 @@
-namespace RobotApp.Interfaces;
-
-/// <summary>
-/// Interface điều khiển động cơ robot
-/// </summary>
-public interface IDriver
-{
-    /// <summary>
-    /// Trạng thái sẵn sàng nhận lệnh điều khiển
-    /// </summary>
-    bool IsReady { get; }
-
-    /// <summary>
-    /// Tốc độ động cơ bên trái
-    /// </summary>
-    double LeftVelocity { get; }
-
-    /// <summary>
-    /// Tốc độ động cơ bên phải
-    /// </summary>
-    double RightVelocity { get; }
-
-    /// <summary>
-    /// Điều khiển tốc độ động cơ trái và phải
-    /// </summary>
-    /// <param name="left">Tốc độ động cơ bên trái</param>
-    /// <param name="right">Tốc độ động cơ bên phải</param>
-    /// <returns></returns>
-    bool ControlVelocity(double left, double right);
-
-    /// <summary>
-    /// Dừng robot
-    /// </summary>
-    /// <param name="isFree">true nếu dừng thả trôi, false nếu dừng khóa cứng</param>
-    /// <returns></returns>
-    bool Stop(bool isFree);
-}

RobotApp/Interfaces/IInstanceActions.cs

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

RobotApp/Interfaces/ILocalization.cs

@@ -1,28 +0,0 @@
-namespace RobotApp.Interfaces;
-
-public interface ILocalization
-{
-    /// <summary>
-    /// Vị trí hiện tại của robot trong hệ tọa độ toàn cục theo trục X (đơn vị: mét).
-    /// </summary>
-    double X { get; }
-
-    /// <summary>
-    /// Vị trí hiện tại của robot trong hệ tọa độ toàn cục theo trục Y (đơn vị: mét).
-    /// </summary>
-    double Y { get; }
-
-    /// <summary>
-    /// Hướng hiện tại của robot trong hệ tọa độ toàn cục (đơn vị: độ).
-    /// </summary>
-    double Theta { get; }
-
-    /// <summary>
-    /// Khởi tạo vị trí của robot trong hệ tọa độ toàn cục.
-    /// </summary>
-    /// <param name="x">đơn vị: mét</param>
-    /// <param name="y">đơn vị: mét</param>
-    /// <param name="theta">đơn vị: độ</param>
-    /// <returns></returns>
-    bool InitializePosition(double x, double y, double theta);
-}

RobotApp/Interfaces/INavigation.cs

@@ -1,33 +0,0 @@
-using RobotApp.VDA5050.Order;
-
-namespace RobotApp.Interfaces;
-
-public enum NavigationState
-{
-    Idle,
-    Moving,
-    Rotating,
-    Paused,
-    Error
-}
-
-public enum NavigationProccess
-{
-    Started,
-    InProgress,
-    Completed,
-    Failed,
-    Cancelled
-}
-
-public interface INavigation
-{
-    NavigationState State { get; }
-    NavigationProccess Proccess { get; }
-    bool Move(Node nodes, Edge edges);
-    bool MoveStraight(double x, double y);
-    bool Rotate(double angle);
-    bool Paused();
-    bool Resume();  
-    bool CancelMovement();
-}

RobotApp/Interfaces/IOrder.cs

@@ -1,15 +0,0 @@
-using RobotApp.VDA5050.State;
-
-namespace RobotApp.Interfaces;
-
-public interface IOrder
-{
-    string OrderId { get; }
-    VDA5050.InstantAction.Action[] Actions { get; }
-    NodeState[] NodeStates { get; }
-    EdgeState[] EdgeStates { get; }
-
-    bool StartOrder();
-    bool UpdateOrder();
-    bool StopOrder();
-}

RobotApp/Interfaces/ISensorIMU.cs

@@ -1,12 +0,0 @@
-namespace RobotApp.Interfaces;
-
-/// <summary>
-/// Interface cảm biến IMU
-/// </summary>
-public interface ISensorIMU
-{
-    /// <summary>
-    /// Góc xoay của robot (đơn vị độ)
-    /// </summary>
-    double Angle { get; }
-}

RobotApp/Program.cs

@@ -1,10 +1,10 @@
 using Microsoft.AspNetCore.Components.Authorization;
 using Microsoft.AspNetCore.Identity;
 using Microsoft.EntityFrameworkCore;
+using RobotApp.Client.Pages;
 using RobotApp.Components;
 using RobotApp.Components.Account;
 using RobotApp.Data;
-using RobotApp.Services.Robot;
 
 var builder = WebApplication.CreateBuilder(args);
 
@@ -27,9 +27,8 @@ builder.Services.AddAuthentication(options =>
     .AddIdentityCookies();
 
 var connectionString = builder.Configuration.GetConnectionString("DefaultConnection") ?? throw new InvalidOperationException("Connection string 'DefaultConnection' not found.");
-Action<DbContextOptionsBuilder> appDbOptions = options => options.UseSqlite(connectionString, b => b.MigrationsAssembly("RobotApp"));
+builder.Services.AddDbContext<ApplicationDbContext>(options =>
-
+    options.UseSqlServer(connectionString));
-builder.Services.AddDbContext<ApplicationDbContext>(appDbOptions);
 builder.Services.AddDatabaseDeveloperPageExceptionFilter();
 
 builder.Services.AddIdentityCore<ApplicationUser>(options => options.SignIn.RequireConfirmedAccount = true)
@@ -39,10 +38,6 @@ builder.Services.AddIdentityCore<ApplicationUser>(options => options.SignIn.Requ
 
 builder.Services.AddSingleton<IEmailSender<ApplicationUser>, IdentityNoOpEmailSender>();
 
-builder.Services.AddSingleton(typeof(RobotApp.Services.Logger<>));
-builder.Services.AddSingleton<RobotConnection>();
-builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotConnection>());
-
 var app = builder.Build();
 
 // Configure the HTTP request pipeline.

RobotApp/RobotApp.csproj

@@ -9,18 +9,11 @@
 
   <ItemGroup>
     <ProjectReference Include="..\RobotApp.Client\RobotApp.Client.csproj" />
-    <ProjectReference Include="..\RobotApp.Common.Shares\RobotApp.Common.Shares.csproj" />
+    <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Server" Version="9.0.1" />
-    <ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
+    <PackageReference Include="Microsoft.AspNetCore.Diagnostics.EntityFrameworkCore" Version="9.0.1" />
-    <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Server" Version="9.0.9" />
+    <PackageReference Include="Microsoft.AspNetCore.Identity.EntityFrameworkCore" Version="9.0.1" />
-    <PackageReference Include="Microsoft.AspNetCore.Diagnostics.EntityFrameworkCore" Version="9.0.9" />
+    <PackageReference Include="Microsoft.EntityFrameworkCore.SqlServer" Version="9.0.1" />
-    <PackageReference Include="Microsoft.AspNetCore.Identity.EntityFrameworkCore" Version="9.0.9" />
+    <PackageReference Include="Microsoft.EntityFrameworkCore.Tools" Version="9.0.1" />
-    <PackageReference Include="Microsoft.EntityFrameworkCore.Sqlite" Version="9.0.9" />
-    <PackageReference Include="Microsoft.EntityFrameworkCore.SqlServer" Version="9.0.9" />
-    <PackageReference Include="Microsoft.EntityFrameworkCore.Tools" Version="9.0.9">
-      <PrivateAssets>all</PrivateAssets>
-      <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
-    </PackageReference>
-    <PackageReference Include="MQTTnet" Version="5.0.1.1416" />
   </ItemGroup>
 
   <ItemGroup>

RobotApp/Services/Logger.cs

@@ -1,108 +0,0 @@
-namespace RobotApp.Services;
-
-public class Logger<T>(ILogger<T> Logger) where T : class
-{
-    public event Action? LoggerUpdate;
-    public void Write(string message, LogLevel level)
-    {
-        switch (level)
-        {
-            case LogLevel.Trace:
-                Logger.LogTrace("{mes}", message);
-                break;
-            case LogLevel.Debug:
-                Logger.LogDebug("{mes}", message);
-                break;
-            case LogLevel.Information:
-                Logger.LogInformation("{mes}", message);
-                break;
-            case LogLevel.Warning:
-                Logger.LogWarning("{mes}", message);
-                break;
-            case LogLevel.Error:
-                Logger.LogError("{mes}", message);
-                break;
-            case LogLevel.Critical:
-                Logger.LogCritical("{mes}", message);
-                break;
-        }
-        LoggerUpdate?.Invoke();
-    }
-
-    public void Write(string message)
-    {
-        Write(message, LogLevel.Information);
-    }
-
-    public async Task WriteAsync(string message)
-    {
-        var write = Task.Run(() => Write(message));
-        await write.WaitAsync(CancellationToken.None);
-    }
-
-    public async Task TraceAsync(string message)
-    {
-        var write = Task.Run(() => Write(message, LogLevel.Trace));
-        await write.WaitAsync(CancellationToken.None);
-    }
-
-    public async Task DebugAsync(string message)
-    {
-        var write = Task.Run(() => Write(message, LogLevel.Debug));
-        await write.WaitAsync(CancellationToken.None);
-    }
-
-    public async Task InfoAsync(string message)
-    {
-        var write = Task.Run(() => Write(message, LogLevel.Information));
-        await write.WaitAsync(CancellationToken.None);
-    }
-
-    public async Task WarningAsync(string message)
-    {
-        var write = Task.Run(() => Write(message, LogLevel.Warning));
-        await write.WaitAsync(CancellationToken.None);
-    }
-
-    public async Task ErrorAsync(string message)
-    {
-        var write = Task.Run(() => Write(message, LogLevel.Error));
-        await write.WaitAsync(CancellationToken.None);
-    }
-
-    public async Task CriticalAsync(string message)
-    {
-        var write = Task.Run(() => Write(message, LogLevel.Critical));
-        await write.WaitAsync(CancellationToken.None);
-    }
-
-    public void Trace(string message)
-    {
-        Write(message, LogLevel.Trace);
-    }
-
-    public void Debug(string message)
-    {
-        Write(message, LogLevel.Debug);
-    }
-
-    public void Info(string message)
-    {
-        Write(message, LogLevel.Information);
-    }
-
-    public void Warning(string message)
-    {
-        Write(message, LogLevel.Warning);
-    }
-
-    public void Error(string message)
-    {
-        Write(message, LogLevel.Error);
-    }
-
-    public void Critical(string message)
-    {
-        Write(message, LogLevel.Critical);
-    }
-}

RobotApp/Services/MQTTClient.cs

@@ -1,161 +0,0 @@
-using MQTTnet;
-using MQTTnet.Protocol;
-using RobotApp.Common.Shares;
-using RobotApp.VDA5050;
-using System.Text;
-
-namespace RobotApp.Services;
-
-public class MQTTClient : IAsyncDisposable
-{
-    private readonly MqttClientFactory MqttClientFactory;
-    private readonly MqttClientOptions MqttClientOptions;
-    private readonly MqttClientSubscribeOptions MqttClientSubscribeOptions;
-    private IMqttClient? MqttClient;
-
-    private readonly Logger<MQTTClient> Logger;
-    private readonly VDA5050Setting VDA5050Setting;
-    private bool IsReconnecing;
-
-    public event Action<string>? OrderChanged;
-    public event Action<string>? InstanceActionsChanged;
-    public bool IsConnected => !IsReconnecing && MqttClient is not null && MqttClient.IsConnected;
-
-    public MQTTClient(string clientId, VDA5050Setting setting, Logger<MQTTClient> logger)
-    {
-        VDA5050Setting = setting;
-        Logger = logger;
-
-        MqttClientFactory = new MqttClientFactory();
-        MqttClient = MqttClientFactory.CreateMqttClient();
-        MqttClientOptions = MqttClientFactory.CreateClientOptionsBuilder()
-                            .WithTcpServer(setting.HostServer, setting.Port)
-                            .WithCredentials(setting.UserName, setting.Password)
-                            .WithClientId(clientId)
-                            .WithCleanSession(true)
-                            .Build();
-        MqttClientSubscribeOptions = MqttClientFactory.CreateSubscribeOptionsBuilder()
-                            .WithTopicFilter(f => f.WithTopic(VDA5050Topic.ORDER.ToTopicString()))
-                            .WithTopicFilter(f => f.WithTopic(VDA5050Topic.INSTANTACTIONS.ToTopicString()))
-                            .Build();
-        MqttClient.DisconnectedAsync += async delegate (MqttClientDisconnectedEventArgs args)
-        {
-            if (args.ClientWasConnected && !IsReconnecing)
-            {
-                IsReconnecing = true;
-                Logger.Warning("Mất kết nối tới broker, đang cố gắng kết nối lại...");
-                if (MqttClient.IsConnected)  await MqttClient.DisconnectAsync();
-                MqttClient.Dispose();
-
-                await ConnectAsync();
-                await SubscribeAsync();
-                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($"Không thể kết nối tới broker do: {connection.ReasonString}");
-                else
-                {
-                    Logger.Info("Kết nối tới broker thành công");
-                    break;
-                }
-            }
-            catch (Exception ex)
-            {
-                Logger.Error($"Lỗi khi tạo MQTT client: {ex.Message}");
-            }
-            await Task.Delay(3000, cancellationToken);
-        }
-    }
-
-    public async Task SubscribeAsync(CancellationToken cancellationToken = default)
-    {
-        if (MqttClient is null) throw new Exception("Kết nối tới broker chưa được khởi tạo nhưng đã yêu cầu subscribe");
-        if(!MqttClient.IsConnected) throw new Exception("Kết nối tới broker chưa thành công nhưng đã yêu cầu subscribe");
-
-        MqttClient.ApplicationMessageReceivedAsync += delegate (MqttApplicationMessageReceivedEventArgs args)
-        {
-            var stringData = Encoding.UTF8.GetString(args.ApplicationMessage.Payload);
-            VDA5050Topic topic = EnumExtensions.ToTopic(args.ApplicationMessage.Topic);
-            if (topic == VDA5050Topic.ORDER) OrderChanged?.Invoke(stringData);
-            else if (topic == VDA5050Topic.INSTANTACTIONS) InstanceActionsChanged?.Invoke(stringData);
-            return Task.CompletedTask;
-        };
-
-        while (!cancellationToken.IsCancellationRequested)
-        {
-            try
-            {
-                var response = await MqttClient.SubscribeAsync(MqttClientSubscribeOptions, cancellationToken);
-                bool isSuccess = true;
-                foreach (var item in response.Items)
-                {
-                    if (item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS0 ||
-                        item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS1 ||
-                        item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS2)
-                    {
-                        Logger.Info($"Subscribe thành công cho topic: {item.TopicFilter.Topic} với QoS: {item.ResultCode}");
-                    }
-                    else
-                    {
-                        Logger.Warning($"Subscribe thất bại cho topic: {item.TopicFilter.Topic}. Lý do: {response.ReasonString}");
-                        isSuccess = false;
-                        break;
-                    }
-                }
-                if (isSuccess) break;
-            }
-            catch (Exception ex)
-            {
-                Logger.Error($"Lỗi khi subscribe: {ex.Message}");
-            }
-            await Task.Delay(3000, cancellationToken);
-        }
-    }
-
-    public async Task<MessageResult> PublishAsync(string topic, string data)
-    {
-        var repeat = VDA5050Setting.PublishRepeat;
-        while (repeat-- > 0)
-        {
-            try
-            {
-                var applicationMessage = new MqttApplicationMessageBuilder()
-                                .WithTopic(topic)
-                                .WithPayload(data)
-                                .WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtLeastOnce)
-                                .Build();
-                if (MqttClient is null || !IsConnected) return new(false, "Chưa có kết nối tới broker");
-                var publish = await MqttClient.PublishAsync(applicationMessage);
-                if (!publish.IsSuccess) continue;
-                return new(true);
-            }
-            catch (Exception ex)
-            {
-                Logger.Error($"Lỗi khi publish MQTT: {ex.Message}");
-            }
-        }
-        return new(false, "Không thể publish tới broker");
-    }
-
-    public async ValueTask DisposeAsync()
-    {
-        if (MqttClient is not null)
-        {
-            if (MqttClient.IsConnected) await MqttClient.DisconnectAsync();
-            MqttClient.Dispose();
-            MqttClient = null;
-        }
-        GC.SuppressFinalize(this);
-    }
-}

RobotApp/Services/Navigation/Algorithm/FuzzyLogic.cs

@@ -1,252 +0,0 @@
-namespace RobotApp.Services.Navigation.Algorithm;
-
-public class FuzzyLogic
-{
-    private double Gain_P = 0.5;
-    private double Gain_I = 0.01;
-    private double DiscreteTimeIntegrator_DSTATE;
-
-    public FuzzyLogic WithGainP(double gainP)
-    {
-        Gain_P = gainP;
-        return this;
-    }
-
-    public FuzzyLogic WithGainI(double gainI)
-    {
-        Gain_I = gainI;
-        return this;
-    }
-
-    private static double Fuzzy_trapmf(double x, double[] parame)
-    {
-        double b_y1;
-        double y2;
-        b_y1 = 0.0;
-        y2 = 0.0;
-        if (x >= parame[1])
-        {
-            b_y1 = 1.0;
-        }
-        if (x < parame[0])
-        {
-            b_y1 = 0.0;
-        }
-        if (parame[0] <= x && x < parame[1] && parame[0] != parame[1])
-        {
-            b_y1 = 1.0 / (parame[1] - parame[0]) * (x - parame[0]);
-        }
-        if (x <= parame[2])
-        {
-            y2 = 1.0;
-        }
-        if (x > parame[3])
-        {
-            y2 = 0.0;
-        }
-        if (parame[2] < x && x <= parame[3] && parame[2] != parame[3])
-        {
-            y2 = 1.0 / (parame[3] - parame[2]) * (parame[3] - x);
-        }
-        return b_y1 < y2 ? b_y1 : y2;
-    }
-
-    private static double Fuzzy_trimf(double x, double[] parame)
-    {
-        double y;
-        y = 0.0;
-        if (parame[0] != parame[1] && parame[0] < x && x < parame[1])
-        {
-            y = 1.0 / (parame[1] - parame[0]) * (x - parame[0]);
-        }
-        if (parame[1] != parame[2] && parame[1] < x && x < parame[2])
-        {
-            y = 1.0 / (parame[2] - parame[1]) * (parame[2] - x);
-        }
-        if (x == parame[1])
-        {
-            y = 1.0;
-        }
-        return y;
-    }
-
-    public (double wl, double wr) Fuzzy_step(double v, double w, double TimeSample)
-    {
-        (double wl, double wr) result = new();
-        double[] inputMFCache = new double[10];
-        double[] outputMFCache = new double[5];
-        double[] outputMFCache_0 = new double[5];
-        double[] tmp = new double[3];
-        double aggregatedOutputs;
-        double rtb_TmpSignalConversionAtSFun_0;
-        double rtb_antecedentOutputs_e;
-        double sumAntecedentOutputs;
-        int ruleID;
-        double[] f = [-1.0E+10, -1.0E+10, -1.0, -0.5];
-        double[] e = [0.5, 1.0, 1.0E+10, 1.0E+10];
-        double[] d = [0.75, 1.0, 1.0E+9, 1.0E+9];
-        double[] c = [-1.0E+9, -1.0E+9, 0.0, 0.25];
-        byte[] b = [ 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 4,
-                         4, 4, 4, 4, 5, 5, 5, 5, 5, 1, 2, 3, 4, 5, 1, 2, 3,
-                         4, 5, 1, 2, 3, 4, 5, 3, 4, 5, 1, 2, 1, 2, 3, 4, 5 ];
-        byte[] b_0 = [1, 1, 2, 1, 1, 2, 3, 5, 1, 4, 5, 5, 5, 5, 5, 2, 1, 1, 1, 1, 5, 5, 5, 5, 5];
-        byte[] b_1 = [  1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 4,
-                            4, 4, 4, 4, 5, 5, 5, 5, 5, 1, 2, 3, 4, 5, 4, 1,
-                            2, 3, 5, 3, 1, 2, 4, 5, 1, 2, 3, 4, 5, 1, 2, 4, 5, 3 ];
-        byte[] b_2 = [5, 5, 5, 5, 5, 1, 2, 3, 5, 4, 2, 1, 1, 1, 1, 5, 5, 5, 5, 5, 1, 1, 1, 1, 2];
-        double inputMFCache_tmp;
-        double inputMFCache_tmp_0;
-        double inputMFCache_tmp_1;
-        double inputMFCache_tmp_2;
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller' */
-        /* SignalConversion generated from: '<S4>/ SFunction ' incorporates:
-         *  Constant: '<Root>/w'
-         *  DiscreteIntegrator: '<Root>/Discrete-Time Integrator'
-         *  Gain: '<Root>/Gain1'
-         *  MATLAB Function: '<S1>/Evaluate Rule Antecedents'
-         *  MATLAB Function: '<S2>/Evaluate Rule Antecedents'
-         *  SignalConversion generated from: '<S7>/ SFunction '
-         *  Sum: '<Root>/Sum'
-         */
-        DiscreteTimeIntegrator_DSTATE += Gain_I * w * TimeSample;
-        rtb_TmpSignalConversionAtSFun_0 = Gain_P * w + DiscreteTimeIntegrator_DSTATE;
-        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        /* MATLAB Function: '<S1>/Evaluate Rule Antecedents' incorporates:
-         *  Constant: '<Root>/v'
-         *  MATLAB Function: '<S2>/Evaluate Rule Antecedents'
-         *  SignalConversion generated from: '<S4>/ SFunction '
-         */
-        sumAntecedentOutputs = 0.0;
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache_tmp = Fuzzy_trapmf(rtb_TmpSignalConversionAtSFun_0, f);
-        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache[0] = inputMFCache_tmp;
-        tmp[0] = -0.5;
-        tmp[1] = 0.0;
-        tmp[2] = 0.5;
-        inputMFCache[1] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache_tmp_0 = Fuzzy_trapmf(rtb_TmpSignalConversionAtSFun_0, e);
-        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache[2] = inputMFCache_tmp_0;
-        tmp[0] = -1.0;
-        tmp[1] = -0.5;
-        tmp[2] = 0.0;
-        inputMFCache[3] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        tmp[0] = 0.0;
-        tmp[1] = 0.5;
-        tmp[2] = 1.0;
-        inputMFCache[4] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        tmp[0] = 0.0;
-        tmp[1] = 0.25;
-        tmp[2] = 0.5;
-        inputMFCache[5] = Fuzzy_trimf(v, tmp);
-        tmp[0] = 0.25;
-        tmp[1] = 0.5;
-        tmp[2] = 0.75;
-        inputMFCache[6] = Fuzzy_trimf(v, tmp);
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache_tmp_1 = Fuzzy_trapmf(v, d);
-        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache[7] = inputMFCache_tmp_1;
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache_tmp_2 = Fuzzy_trapmf(v, c);
-        /* End of Outputs for SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        inputMFCache[8] = inputMFCache_tmp_2;
-        tmp[0] = 0.5;
-        tmp[1] = 0.75;
-        tmp[2] = 1.0;
-        inputMFCache[9] = Fuzzy_trimf(v, tmp);
-        /* MATLAB Function: '<S1>/Evaluate Rule Consequents' */
-        aggregatedOutputs = 0.0;
-        outputMFCache[0] = 0.0;
-        outputMFCache[1] = 0.25;
-        outputMFCache[2] = 0.5;
-        outputMFCache[3] = 0.75;
-        outputMFCache[4] = 1.0;
-        for (ruleID = 0; ruleID < 25; ruleID++)
-        {
-            /* MATLAB Function: '<S1>/Evaluate Rule Antecedents' */
-            rtb_antecedentOutputs_e = inputMFCache[b[ruleID + 25] + 4] * inputMFCache[b[ruleID] - 1];
-            sumAntecedentOutputs += rtb_antecedentOutputs_e;
-            /* MATLAB Function: '<S1>/Evaluate Rule Consequents' */
-            aggregatedOutputs += outputMFCache[b_0[ruleID] - 1] * rtb_antecedentOutputs_e;
-        }
-        /* MATLAB Function: '<S1>/Defuzzify Outputs' incorporates:
-         *  MATLAB Function: '<S1>/Evaluate Rule Antecedents'
-         *  MATLAB Function: '<S1>/Evaluate Rule Consequents'
-         */
-        if (sumAntecedentOutputs == 0.0)
-        {
-            result.wr = 0.5;
-        }
-        else
-        {
-            result.wr = 1.0 / sumAntecedentOutputs * aggregatedOutputs;
-        }
-        /* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic  Controller1' */
-        /* MATLAB Function: '<S2>/Evaluate Rule Antecedents' incorporates:
-         *  Constant: '<Root>/v'
-         *  SignalConversion generated from: '<S7>/ SFunction '
-         */
-        sumAntecedentOutputs = 0.0;
-        inputMFCache[0] = inputMFCache_tmp;
-        tmp[0] = -0.5;
-        tmp[1] = 0.0;
-        tmp[2] = 0.5;
-        inputMFCache[1] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        inputMFCache[2] = inputMFCache_tmp_0;
-        tmp[0] = -1.0;
-        tmp[1] = -0.5;
-        tmp[2] = 0.0;
-        inputMFCache[3] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        tmp[0] = 0.0;
-        tmp[1] = 0.5;
-        tmp[2] = 1.0;
-        inputMFCache[4] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
-        tmp[0] = 0.0;
-        tmp[1] = 0.25;
-        tmp[2] = 0.5;
-        inputMFCache[5] = Fuzzy_trimf(v, tmp);
-        tmp[0] = 0.25;
-        tmp[1] = 0.5;
-        tmp[2] = 0.75;
-        inputMFCache[6] = Fuzzy_trimf(v, tmp);
-        inputMFCache[7] = inputMFCache_tmp_1;
-        inputMFCache[8] = inputMFCache_tmp_2;
-        tmp[0] = 0.5;
-        tmp[1] = 0.75;
-        tmp[2] = 1.0;
-        inputMFCache[9] = Fuzzy_trimf(v, tmp);
-        /* MATLAB Function: '<S2>/Evaluate Rule Consequents' */
-        aggregatedOutputs = 0.0;
-        outputMFCache_0[0] = 0.0;
-        outputMFCache_0[1] = 0.25;
-        outputMFCache_0[2] = 0.5;
-        outputMFCache_0[3] = 0.75;
-        outputMFCache_0[4] = 1.0;
-        for (ruleID = 0; ruleID < 25; ruleID++)
-        {
-            /* MATLAB Function: '<S2>/Evaluate Rule Antecedents' */
-            rtb_antecedentOutputs_e = inputMFCache[b_1[ruleID + 25] + 4] * inputMFCache[b_1[ruleID] - 1];
-            sumAntecedentOutputs += rtb_antecedentOutputs_e;
-            /* MATLAB Function: '<S2>/Evaluate Rule Consequents' */
-            aggregatedOutputs += outputMFCache_0[b_2[ruleID] - 1] *
-              rtb_antecedentOutputs_e;
-        }
-        /* MATLAB Function: '<S2>/Defuzzify Outputs' incorporates:
-         *  MATLAB Function: '<S2>/Evaluate Rule Antecedents'
-         *  MATLAB Function: '<S2>/Evaluate Rule Consequents'
-         */
-        if (sumAntecedentOutputs == 0.0)
-        {
-            result.wl = 0.5;
-        }
-        else
-        {
-            result.wl = 1.0 / sumAntecedentOutputs * aggregatedOutputs;
-        }
-        return result;
-    }
-}

RobotApp/Services/Navigation/Algorithm/PID.cs

@@ -1,47 +0,0 @@
-namespace RobotApp.Services.Navigation.Algorithm;
-
-public class PID
-{
-    private double Kp = 0.3;
-    private double Ki = 0.0001;
-    private double Kd = 0.01;
-    private double Pre_Error;
-    private double Pre_Pre_Error;
-    private double Pre_Out;
-
-    private DateTime PreTime;
-
-    public PID WithKp(double kp)
-    {
-        Kp = kp;
-        return this;
-    }
-
-    public PID WithKi(double ki)
-    {
-        Ki = ki;
-        return this;
-    }
-
-    public PID WithKd(double kd)
-    {
-        Kd = kd;
-        return this;
-    }
-
-    public double PID_step(double error, double min, double max)
-    {
-        DateTime CurrentTime = DateTime.Now;
-        double TimeSample = (CurrentTime - PreTime).TotalSeconds;
-        double P_part = Kp * (error - Pre_Error);
-        double I_part = 0.5 * Ki * TimeSample * (error + Pre_Error);
-        double D_part = Kd / TimeSample * (error - 2 * Pre_Error + Pre_Pre_Error);
-        double Out = Pre_Out + P_part + I_part + D_part;
-        Pre_Pre_Error = Pre_Error;
-        Pre_Error = error;
-        Pre_Out = Out;
-        Out = Math.Clamp(Out, min, max);
-        PreTime = CurrentTime;
-        return Out;
-    }
-}

RobotApp/Services/Navigation/Algorithm/PurePursuit.cs

@@ -1,156 +0,0 @@
-//namespace RobotApp.Services.Navigation.Algorithm;
-//public class PurePursuit
-//{
-//    private double MaxAngularVelocity = 1.5;
-//    private double LookaheadDistance = 0.5;
-//    private List<NavigationNode> Waypoints_Value = [];
-//    public int OnNodeIndex = 0;
-//    public int GoalIndex = 0;
-//    public NavigationNode? Goal;
-
-//    public PurePursuit WithLookheadDistance(double distance)
-//    {
-//        LookaheadDistance = distance;
-//        return this;
-//    }
-
-//    public PurePursuit WithMaxAngularVelocity(double vel)
-//    {
-//        MaxAngularVelocity = vel;
-//        return this;
-//    }
-
-//    public PurePursuit WithPath(NavigationNode[] path)
-//    {
-//        Waypoints_Value = [.. path];
-//        return this;
-//    }
-
-//    public void UpdatePath(NavigationNode[] path)
-//    {
-//        Waypoints_Value = [.. path];
-//    }
-
-//    public void UpdateGoal(NavigationNode goal)
-//    {
-//        Goal = goal;
-//        GoalIndex = Waypoints_Value.IndexOf(Goal);
-//    }
-
-//    public (NavigationNode node, int index) GetOnNode(double x, double y)
-//    {
-//        double minDistance = double.MaxValue;
-//        NavigationNode onNode = Waypoints_Value[0];
-//        int index = 0;
-//        for (int i = 1; i < Waypoints_Value.Count; i++)
-//        {
-//            var distance = Math.Sqrt(Math.Pow(x - Waypoints_Value[i].X, 2) + Math.Pow(y - Waypoints_Value[i].Y, 2));
-//            if (distance < minDistance)
-//            {
-//                onNode = Waypoints_Value[i];
-//                minDistance = distance;
-//                index = i;
-//            }
-//        }
-//        return (onNode, index);
-//    }
-
-//    private (NavigationNode? node, int index) OnNode(double x, double y)
-//    {
-//        if (Waypoints_Value is null || Waypoints_Value.Count == 0) return (null, 0);
-//        double minDistance = double.MaxValue;
-//        int index = 0;
-//        NavigationNode? onNode = null;
-//        if (Goal is null) return (onNode, index);
-//        for (int i = OnNodeIndex; i < Waypoints_Value.IndexOf(Goal); i++)
-//        {
-//            var distance = Math.Sqrt(Math.Pow(x - Waypoints_Value[i].X, 2) + Math.Pow(y - Waypoints_Value[i].Y, 2));
-//            if (distance < minDistance)
-//            {
-//                onNode = Waypoints_Value[i];
-//                minDistance = distance;
-//                index = i;
-//            }
-//        }
-//        return (onNode, index);
-//    }
-
-//    public double PurePursuit_step(double X_Ref, double Y_Ref, double Angle_Ref)
-//    {
-//        if (Waypoints_Value is null || Waypoints_Value.Count < 2) return 0;
-//        NavigationNode? lookaheadStartPt = null;
-//        var (onNode, index) = OnNode(X_Ref, Y_Ref);
-//        if (onNode is null || Goal is null) return 0;
-//        OnNodeIndex = index;
-//        double lookDistance = 0;
-//        for (int i = OnNodeIndex + 1; i < Waypoints_Value.IndexOf(Goal); i++)
-//        {
-//            lookDistance += Math.Sqrt(Math.Pow(Waypoints_Value[i - 1].X - Waypoints_Value[i].X, 2) + Math.Pow(Waypoints_Value[i - 1].Y - Waypoints_Value[i].Y, 2));
-//            if (lookDistance >= LookaheadDistance || Waypoints_Value[i].Direction != onNode.Direction)
-//            {
-//                lookaheadStartPt = Waypoints_Value[i];
-//                break;
-//            }
-//        }
-//        lookaheadStartPt ??= Goal;
-//        if (onNode.Direction == RobotDirection.BACKWARD)
-//        {
-//            if (Angle_Ref > Math.PI) Angle_Ref -= Math.PI * 2;
-//            else if (Angle_Ref < -Math.PI) Angle_Ref += Math.PI * 2;
-//            Angle_Ref += Math.PI;
-//            if (Angle_Ref > Math.PI) Angle_Ref -= Math.PI * 2;
-//        }
-//        var distance = Math.Atan2(lookaheadStartPt.Y - Y_Ref, lookaheadStartPt.X - X_Ref) - Angle_Ref;
-
-//        if (Math.Abs(distance) > Math.PI)
-//        {
-//            double minDistance;
-//            if (distance + Math.PI == 0.0) minDistance = 0.0;
-//            else
-//            {
-//                double data = (distance + Math.PI) / (2 * Math.PI);
-//                if (data < 0) data = Math.Round(data + 0.5);
-//                else data = Math.Round(data - 0.5);
-//                minDistance = distance + Math.PI - data * (2 * Math.PI);
-//                double checker = 0;
-//                if (minDistance != 0.0)
-//                {
-//                    checker = Math.Abs((distance + Math.PI) / (2 * Math.PI));
-//                }
-//                if (!(Math.Abs(checker - Math.Floor(checker + 0.5)) > 2.2204460492503131E-16 * checker))
-//                {
-//                    minDistance = 0.0;
-//                }
-//                else if (distance + Math.PI < 0.0)
-//                {
-//                    minDistance += Math.PI * 2;
-//                }
-//            }
-//            if (minDistance == 0.0 && distance + Math.PI > 0.0)
-//            {
-//                minDistance = Math.PI * 2;
-//            }
-//            distance = minDistance - Math.PI;
-//        }
-
-//        var AngularVelocity = 2.0 * 0.5 * Math.Sin(distance) / LookaheadDistance;
-//        if (Math.Abs(AngularVelocity) > MaxAngularVelocity)
-//        {
-//            if (AngularVelocity < 0.0)
-//            {
-//                AngularVelocity = -1.0;
-//            }
-//            else if (AngularVelocity > 0.0)
-//            {
-//                AngularVelocity = 1.0;
-//            }
-//            else if (AngularVelocity == 0.0)
-//            {
-//                AngularVelocity = 0.0;
-//            }
-//            AngularVelocity *= MaxAngularVelocity;
-//        }
-//        return AngularVelocity;
-//    }
-
-//}

RobotApp/Services/Navigation/NavigationController.cs

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

RobotApp/Services/Navigation/NavigationManager.cs

@@ -1,6 +0,0 @@
-namespace RobotApp.Services.Navigation
-{
-    public class NavigationManager
-    {
-    }
-}

RobotApp/Services/Robot/RobotAction.cs

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

RobotApp/Services/Robot/RobotConfiguration.cs

@@ -1,9 +0,0 @@
-using RobotApp.Common.Shares.Enums;
-
-namespace RobotApp.Services.Robot;
-
-public class RobotConfiguration
-{
-    public static string SerialNumber { get; set; } = "Robot-Demo";
-    public static NavigationType NavigationType { get; set; } = NavigationType.Differential;
-}

RobotApp/Services/Robot/RobotConnection.cs

@@ -1,69 +0,0 @@
-using RobotApp.Common.Shares;
-using RobotApp.VDA5050;
-using RobotApp.VDA5050.InstantAction;
-using RobotApp.VDA5050.Order;
-using System.Text.Json;
-
-namespace RobotApp.Services.Robot;
-
-public class RobotConnection(Logger<RobotConnection> Logger, Logger<MQTTClient> MQTTClientLogger) : BackgroundService
-{
-    private readonly VDA5050Setting VDA5050Setting = new()
-    {
-        HostServer = "172.20.235.170",
-        Port = 1886,
-    };
-    private MQTTClient? MqttClient;
-
-    public bool IsConnected => MqttClient is not null && MqttClient.IsConnected;
-    public readonly static string SerialNumber = "RobotDemo";
-
-    private void OrderChanged(string data)
-    {
-        try
-        {
-            var msg = JsonSerializer.Deserialize<OrderMsg>(data);
-            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != SerialNumber) return;
-        }
-        catch (Exception ex)
-        {
-            Logger.Warning($"Nhận Order xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
-        }
-    }
-
-    private void InstanceActionsChanged(string data)
-    {
-        try
-        {
-            var msg = JsonSerializer.Deserialize<InstantActionsMsg>(data);
-            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != SerialNumber) return;
-        }
-        catch (Exception ex)
-        {
-            Logger.Warning($"Nhận InstanceActions xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
-        }
-    }
-
-    public async Task<MessageResult> Publish(string topic, string data)
-    {
-        if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync(topic, data);
-        return new(false, "Chưa có kết nối tới broker");
-    }
-
-    protected override async Task ExecuteAsync(CancellationToken stoppingToken)
-    {
-        await Task.Yield();
-
-        MqttClient = new MQTTClient(SerialNumber, VDA5050Setting, MQTTClientLogger);
-        MqttClient.OrderChanged += OrderChanged;
-        MqttClient.InstanceActionsChanged += InstanceActionsChanged;
-        await MqttClient.ConnectAsync(stoppingToken);
-        await MqttClient.SubscribeAsync(stoppingToken);
-    }
-
-    public override async Task StopAsync(CancellationToken cancellationToken)
-    {
-        if(MqttClient is not null) await MqttClient.DisposeAsync();
-        await base.StopAsync(cancellationToken);
-    }
-}

RobotApp/Services/Robot/RobotController.cs

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

RobotApp/Services/Robot/RobotFactsheet.cs

@@ -1,34 +0,0 @@
-
-using RobotApp.Common.Shares;
-using RobotApp.VDA5050;
-using RobotApp.VDA5050.Factsheet;
-using System.Text.Json;
-
-namespace RobotApp.Services.Robot;
-
-public class RobotFactsheet(RobotConnection RobotConnection) : BackgroundService
-{
-    public async Task PubFactsheet()
-    {
-        if (!RobotConnection.IsConnected) return;
-        FactSheetMsg factSheet = new()
-        {
-            SerialNumber = RobotConnection.SerialNumber,
-            ProtocolFeatures = new()
-            {
-                AgvActions = [],
-            }
-        };
-        string factSheetJson = JsonSerializer.Serialize(factSheet, JsonOptionExtends.Write);
-        await RobotConnection.Publish(VDA5050Topic.FACTSHEET.ToTopicString(), factSheetJson);
-    }
-    protected override async Task ExecuteAsync(CancellationToken stoppingToken)
-    {
-        while(!stoppingToken.IsCancellationRequested)
-        {
-            await Task.Delay(1000, stoppingToken);
-            if (RobotConnection.IsConnected) break;
-        }
-
-    }
-}

RobotApp/Services/Robot/RobotOrderController.cs

@@ -1,30 +0,0 @@
-using RobotApp.Interfaces;
-using RobotApp.VDA5050.State;
-
-namespace RobotApp.Services.Robot;
-
-public class RobotOrderController : IOrder
-{
-    public string OrderId => throw new NotImplementedException();
-
-    public VDA5050.InstantAction.Action[] Actions => throw new NotImplementedException();
-
-    public NodeState[] NodeStates => throw new NotImplementedException();
-
-    public EdgeState[] EdgeStates => throw new NotImplementedException();
-
-    public bool StartOrder()
-    {
-        throw new NotImplementedException();
-    }
-
-    public bool UpdateOrder()
-    {
-        throw new NotImplementedException();
-    }
-
-    public bool StopOrder()
-    {
-        throw new NotImplementedException();
-    }
-}

RobotApp/Services/Robot/RobotVisualization.cs

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

RobotApp/Services/WatchTimer.cs

@@ -1,76 +0,0 @@
-using System.Diagnostics;
-
-namespace RobotApp.Services;
-
-public class WatchTimer<T>(int Interval, Action Callback, Logger<T>? Logger) : IDisposable where T : class
-{
-    private Timer? Timer;
-    private readonly Stopwatch Watch = new();
-    public bool Disposed;
-
-    private void Handler(object? state)
-    {
-        try
-        {
-            Watch.Restart();
-
-            Callback.Invoke();
-
-            Watch.Stop();
-            if (Watch.ElapsedMilliseconds >= Interval || Interval - Watch.ElapsedMilliseconds <= 50)
-            {
-                Timer?.Change(Interval, Timeout.Infinite);
-            }
-            else
-            {
-                Timer?.Change(Interval - Watch.ElapsedMilliseconds, Timeout.Infinite);
-            }
-        }
-        catch (Exception ex)
-        {
-            Logger?.Error($"WatchTimer Error: {ex}");
-            Timer?.Change(Interval, Timeout.Infinite);
-        }
-    }
-
-    public void Start()
-    {
-        if (!Disposed)
-        {
-            Timer = new Timer(Handler, null, Timeout.Infinite, Timeout.Infinite);
-            Timer.Change(Interval, 0);
-        }
-        else throw new ObjectDisposedException(nameof(WatchTimer<T>));
-    }
-
-    public void Stop()
-    {
-        if (Disposed) return;
-        if (Timer != null)
-        {
-            Timer.Change(Timeout.Infinite, Timeout.Infinite);
-            Timer.Dispose();
-            Timer = null;
-        }
-    }
-
-    public void Dispose()
-    {
-        Dispose(true);
-        GC.SuppressFinalize(this);
-    }
-
-    protected virtual void Dispose(bool disposing)
-    {
-        if (Disposed) return;
-
-        if (disposing) Stop();
-
-        Disposed = true;
-    }
-
-    ~WatchTimer()
-    {
-        Dispose(false);
-    }
-}

RobotApp/Services/WatchTimerAsync.cs

@@ -1,76 +0,0 @@
-using System.Diagnostics;
-
-namespace RobotApp.Services;
-
-public class WatchTimerAsync<T>(int Interval, Func<Task> Callback, Logger<T>? Logger) : IDisposable where T : class
-{
-    private Timer? Timer;
-    private readonly Stopwatch Watch = new();
-    public bool Disposed;
-
-    private async void Handler(object? state)
-    {
-        try
-        {
-            Watch.Restart();
-
-            await Callback.Invoke();
-
-            Watch.Stop();
-            if (Watch.ElapsedMilliseconds >= Interval || Interval - Watch.ElapsedMilliseconds <= 50)
-            {
-                Timer?.Change(Interval, Timeout.Infinite);
-            }
-            else
-            {
-                Timer?.Change(Interval - Watch.ElapsedMilliseconds, Timeout.Infinite);
-            }
-        }
-        catch (Exception ex)
-        {
-            Logger?.Error($"WatchTimerAsync Error: {ex}");
-            Timer?.Change(Interval, Timeout.Infinite);
-        }
-    }
-
-    public void Start()
-    {
-        if (!Disposed)
-        {
-            Timer = new Timer(Handler, null, Timeout.Infinite, Timeout.Infinite);
-            Timer.Change(Interval, 0);
-        }
-        else throw new ObjectDisposedException(nameof(WatchTimerAsync<T>));
-    }
-
-    public void Stop()
-    {
-        if (Disposed) return;
-        if (Timer != null)
-        {
-            Timer.Change(Timeout.Infinite, Timeout.Infinite);
-            Timer.Dispose();
-            Timer = null;
-        }
-    }
-
-    public void Dispose()
-    {
-        Dispose(true);
-        GC.SuppressFinalize(this);
-    }
-
-    protected virtual void Dispose(bool disposing)
-    {
-        if (Disposed) return;
-
-        if (disposing) Stop();
-
-        Disposed = true;
-    }
-
-    ~WatchTimerAsync()
-    {
-        Dispose(false);
-    }
-}

RobotApp/appsettings.json

@@ -1,6 +1,6 @@
 {
   "ConnectionStrings": {
-    "DefaultConnection": "Data Source=robot.db"
+    "DefaultConnection": "Server=(localdb)\\mssqllocaldb;Database=aspnet-RobotApp-1f61caa2-bbbb-40cd-88b6-409b408a84ea;Trusted_Connection=True;MultipleActiveResultSets=true"
   },
   "Logging": {
     "LogLevel": {