update

RobotApp.Client/ClientRenderMode.cs

@@ -0,0 +1,8 @@
+using Microsoft.AspNetCore.Components.Web;
+
+namespace RobotApp.Client;
+
+public class ClientRenderMode
+{
+    public static InteractiveWebAssemblyRenderMode InteractiveWebAssemblyNoPrerender { get; } = new(prerender: false);
+}

RobotApp.Client/Layout/MainLayout.razor

@@ -1,20 +0,0 @@
-@inherits LayoutComponentBase
-
-
-<div class="app-shell">
-    <AuthorizeView>
-        <Authorized>
-            <NavMenu />
-        </Authorized>
-    </AuthorizeView>
-
-    <main class="page">
-        @Body
-    </main>
-</div>
-
-<MudPopoverProvider />
-<MudThemeProvider IsDarkMode />
-<MudDialogProvider MaxWidth="MaxWidth.ExtraLarge" />
-<MudSnackbarProvider />
-

RobotApp.Client/Layout/MainLayout.razor.css

@@ -1,11 +0,0 @@
-
-.app-shell {
-    display: flex;
-    min-height: 100vh; 
-}
-
-.page {
-    flex: 1 1 auto; 
-    min-width: 0; 
-    overflow: auto; 
-}

RobotApp.Client/Layout/NavMenu.razor

@@ -1,67 +0,0 @@
-<script>
-    function toggleSidebar() {
-        let sidebar = document.querySelector(".sidebar");
-        sidebar.classList.toggle("collapsed");
-    }
-</script>
-
-<div class="sidebar collapsed">
-    <div class="flex-grow-1 d-flex flex-column">
-        <div class="title">
-            <img src="images/logoLight.svg" alt="PhenikaaX" style="height: 35px;" onclick="toggleSidebar()" />
-            <button class="btn button" onclick="toggleSidebar()">
-                <i class="mdi mdi-menu" style="color: white; font-size: 35px"></i>
-            </button>
-        </div>
-        <hr />
-        @foreach (var nav in Navs)
-        {
-            <div class="nav-item px-3">
-                <NavLink class="nav-link" href="@nav.Path" Match="@nav.Match">
-                    <div class="d-flex align-items-center">
-                        <div class="nav-icon">
-                            <span class="mdi @nav.Icon mdi-36px" aria-hidden="true"></span>
-                        </div>
-                        <span class="nav-label">@nav.Label</span>
-                    </div>
-                </NavLink>
-            </div>
-        }
-    </div>
-    <div class="user">
-    </div>
-</div>
-
-@code {
-    public class NavModel
-    {
-        public string Icon { get; set; } = "";
-        public string Path { get; set; } = "";
-        public string Label { get; set; } = "";
-        public NavLinkMatch Match { get; set; }
-    }
-
-    public NavModel[] Navs = [
-        new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-file-cog", Path="/", Label = "Script Manager", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-file-code", Path="/", Label = "Script Editor", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-flag-checkered", Path="/", Label = "Missions", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-map-legend", Path="/", Label = "Maps", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-robot-mower", Path="/", Label = "Robots", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-robot-industrial", Path="/", Label = "Robot Models", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-monitor-eye", Path="/", Label = "Monitor", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-traffic-light", Path="/", Label = "Traffic", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-factory", Path="/", Label = "Open ACS", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-math-log", Path="/", Label = "Logs", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-account", Path="/", Label = "User", Match = NavLinkMatch.All},
-    ];
-
-    private bool collapseNavMenu = true;
-
-    private string? NavMenuCssClass => collapseNavMenu ? "collapse" : null;
-
-    private void ToggleNavMenu()
-    {
-        collapseNavMenu = !collapseNavMenu;
-    }
-}

RobotApp.Client/MainLayout.razor

@@ -0,0 +1,85 @@
+@inherits LayoutComponentBase
+
+<script>
+    function toggleSidebar() {
+        let sidebar = document.querySelector(".sidebar");
+        sidebar.classList.toggle("collapsed");
+    }
+</script>
+
+<div class="app-shell">
+    <div class="sidebar collapsed">
+        <div class="flex-grow-1 d-flex flex-column">
+            <div class="title">
+                <img src="images/logoLight.svg" alt="PhenikaaX" style="height: 35px;" onclick="toggleSidebar()" />
+                <button class="btn button" onclick="toggleSidebar()">
+                    <i class="mdi mdi-menu" style="color: white; font-size: 35px"></i>
+                </button>
+            </div>
+            <hr />
+            @foreach (var nav in Navs)
+            {
+                <div class="nav-item px-3">
+                    <NavLink class="nav-link" href="@nav.Path" Match="@nav.Match">
+                        <div class="d-flex align-items-center">
+                            <div class="nav-icon">
+                                <span class="mdi @nav.Icon mdi-36px" aria-hidden="true"></span>
+                            </div>
+                            <span class="nav-label">@nav.Label</span>
+                        </div>
+                    </NavLink>
+                </div>
+            }
+        </div>
+        <div class="user">
+            <div>
+                <span class="mdi mdi-account mdi-36px text-white "></span>
+            </div>
+            <AuthorizeView>
+                <Authorized>
+                    <div class="nav-label">
+                        <MudText Class="text-white" Typo="Typo.subtitle1">@context.User.Identity?.Name</MudText>
+                    </div>
+                </Authorized>
+            </AuthorizeView>
+            <MudSpacer />
+            <form action="Account/Logout" method="post">
+                <AntiforgeryToken />
+                <input type="hidden" name="ReturnUrl" value="" />
+                <button class="btn button">
+                    <i class="mdi mdi-logout" style="color: white; font-size: 35px"></i>
+                </button>
+                @* <MudIconButton Class="text-white" ButtonType="@ButtonType.Submit" Icon="@Icons.Material.Filled.Logout" /> *@
+            </form>
+        </div>
+    </div>
+
+    <main class="page">
+        @Body
+    </main>
+</div>
+
+@code{
+    public class NavModel
+    {
+        public string Icon { get; set; } = "";
+        public string Path { get; set; } = "";
+        public string Label { get; set; } = "";
+        public NavLinkMatch Match { get; set; }
+    }
+
+    public NavModel[] Navs = [
+        new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
+        new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
+    ];
+
+    private bool collapseNavMenu = true;
+
+    private string? NavMenuCssClass => collapseNavMenu ? "collapse" : null;
+
+    private void ToggleNavMenu()
+    {
+        collapseNavMenu = !collapseNavMenu;
+    }
+}
+

RobotApp.Client/MainLayout.razor.css

@@ -1,3 +1,21 @@
+.app-shell {
+    display: flex;
+    min-height: 100vh;
+    min-width: 100vw;
+    width: 100vw;
+    height: 100vh;
+    overflow: hidden;
+    flex-direction: row;
+}
+
+.page {
+    flex: 1 1 auto;
+    min-width: 0;
+    display: flex;
+    overflow: hidden;
+}
+
+
 
 .sidebar {
     background-image: linear-gradient(180deg, rgb(5, 39, 103) 0%, #3a0647 70%);
@@ -48,10 +66,9 @@
                 display: flex;
             }
 
-    /*.sidebar .title .button {
+        .sidebar.collapsed .nav-label {
-        display: flex;
+            display: none;
-        border-radius: 20px;
+        }
-    }*/
 
     .sidebar .title .button:hover {
         background-color: rgb(5, 39, 80);
@@ -67,8 +84,8 @@
         display: none !important;
     }
 
-    .sidebar.collapsed .nav-label {
+    .sidebar.collapsed .user .nav-label {
-        display: none;
+        display: none !important;
     }
 
 .nav-item {

RobotApp.Client/Pages/AssemblyLayout.razor

@@ -0,0 +1,12 @@
+@inherits LayoutComponentBase
+@layout RobotApp.Client.MainLayout
+
+<MudThemeProvider @rendermode="InteractiveWebAssemblyNoPrerender" IsDarkMode/>
+<MudPopoverProvider @rendermode="InteractiveWebAssemblyNoPrerender" />
+<MudDialogProvider @rendermode="InteractiveWebAssemblyNoPrerender" MaxWidth="MaxWidth.ExtraLarge"
+                   CloseButton="false"
+                   BackdropClick="false"
+                   Position="DialogPosition.Center" />
+<MudSnackbarProvider @rendermode="InteractiveWebAssemblyNoPrerender" />
+
+@Body

RobotApp.Client/Pages/Auth.razor

@@ -1,13 +0,0 @@
-@page "/auth"
-
-@using Microsoft.AspNetCore.Authorization
-
-@attribute [Authorize]
-
-<PageTitle>Auth</PageTitle>
-
-<h1>You are authenticated</h1>
-
-<AuthorizeView>
-    Hello @context.User.Identity?.Name!
-</AuthorizeView>

RobotApp.Client/Pages/Components/Mapping/MapTable.razor

@@ -0,0 +1,136 @@
+@inject HttpClient Http
+@inject IJSRuntime JS
+
+<div @ref="ViewContainerRef" class="w-100 h-100">
+    <MudTable Class="h-100 w-100" @ref="Table" Items="@MapsShow" T="MapDto" Dense Hover ReadOnly FixedHeader RowClass="cursor-pointer" Striped Elevation="10"
+              ServerData="ReloadData" Loading=@IsLoading Height="@($"{TableHeight}px")" HorizontalScrollbar=true>
+        <ToolBarContent>
+            <h4>Maps</h4>
+        </ToolBarContent>
+        <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>
+                <MudMenuItem Icon="@Icons.Material.Filled.Edit" IconColor="Color.Info">Active</MudMenuItem>
+                <MudMenuItem Icon="@Icons.Material.Filled.Delete" IconColor="Color.Error">Delete</MudMenuItem>
+            </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>
+
+
+@code {
+    private string txtSearch = "";
+    private bool IsLoading = false;
+
+    private List<MapDto> Maps = [];
+    private List<MapDto> MapsShow = [];
+
+    private MapDto MapSelected = new();
+
+    private MudTable<MapDto>? Table;
+    private ElementReference ViewContainerRef;
+
+    private double TableHeight = 105;
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
+
+        var containerSize = await JS.InvokeAsync<DomRect>("getElementSize", ViewContainerRef);
+        TableHeight = containerSize.Height - 105;
+        // await LoadMaps();
+        StateHasChanged();
+    }
+
+    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 });
+    }
+
+    public class DomRect
+    {
+        public double Width { get; set; }
+        public double Height { get; set; }
+    }
+}

RobotApp.Client/Pages/Components/Mapping/MapTable.razor.css

@@ -0,0 +1,5 @@
+.map-preview {
+    width: 20%;
+    height: 100%;
+    border-left: 1px solid silver;
+}

RobotApp.Client/Pages/Components/Mapping/MapView.razor

@@ -0,0 +1,466 @@
+@inject IJSRuntime JS
+@using Excubo.Blazor.Canvas.Contexts
+
+<div class="view">
+    <div class="toolbar">
+        <MudTooltip Text="Zoom In" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ZoomIn">
+                <i class="mdi mdi-magnify-plus-outline icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudTooltip Text="Zoom Out" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ZoomOut">
+                <i class="mdi mdi-magnify-minus-outline icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudTooltip Text="Reset View" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ResetView">
+                <i class="mdi mdi-fit-to-screen-outline icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudSpacer />
+        <MudTooltip Text="Start Localization" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" disabled="@(false)">
+                <i class="mdi mdi-play icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudTooltip Text="Stop Localization" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" disabled="@(true)">
+                <i class="mdi mdi-pause icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudTooltip Text="Start Mapping" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" disabled="@(false)">
+                <i class="mdi mdi-plus icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudTooltip Text="Stop Mapping" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" disabled="@(true)">
+                <i class="mdi mdi-stop icon-button"></i>
+            </button>
+        </MudTooltip>
+    </div>
+    <div @ref="ViewContainerRef">
+        <canvas @ref="CanvasRef"
+                @onwheel="HandleWheel"
+                @onmousemove="HandleMouseMove"
+                @onmouseleave="HandleMouseLeave"
+                @ontouchstart="HandleTouchStart"
+                @ontouchmove="HandleTouchMove"
+                @ontouchend="HandleTouchEnd"></canvas>
+    </div>
+</div>
+
+@code {
+    private ElementReference CanvasRef;
+    private ElementReference ViewContainerRef;
+
+    private double ZoomScale = 1.0;
+    private const double MIN_ZOOM = 0.1;
+    private const double MAX_ZOOM = 5.0;
+
+    private const double BASE_PIXELS_PER_METER = 50.0;
+
+    private bool IsMouseInCanvas = false;
+    private double MouseX;
+    private double MouseY;
+
+    private double OriginX = 0;
+    private double OriginY = 0;
+
+    private double WorldMouseX;
+    private double WorldMouseY;
+
+    private double CanvasWidth;
+    private double CanvasHeight;
+
+    private double CanvasTranslateX = 0;
+    private double CanvasTranslateY = 0;
+
+    private const double RulerHeight = 20;
+
+    private const double RobotWidth = 0.606;
+    private const double RobotLength = 1.106;
+
+    private bool RobotImageLoaded = false;
+    private bool MapImageLoaded = false;
+
+    private const double ImageX = -10;
+    private const double ImageY = -5;
+    private const double ImageResolution = 0.05;
+
+    private double MapImageWidth = 0;
+    private double MapImageHeight = 0;
+    private const string MAP_CACHE_KEY = "map_image";
+
+    private TouchPoint? LastTouchPoint;
+    private TouchPoint? LastSecondTouchPoint;
+    private double LastTouchDistance = 0;
+    private bool IsTouching = false;
+
+    protected override async Task OnAfterRenderAsync(bool first_render)
+    {
+        await base.OnAfterRenderAsync(first_render);
+        if (!first_render) return;
+
+        var containerSize = await JS.InvokeAsync<DomRect>("getElementSize", ViewContainerRef);
+
+        CanvasWidth = containerSize.Width;
+        CanvasHeight = containerSize.Height;
+
+        await JS.InvokeVoidAsync("setCanvasSize", CanvasRef, CanvasWidth, CanvasHeight);
+
+        CanvasTranslateX = CanvasWidth / 2;
+        CanvasTranslateY = CanvasHeight / 2;
+
+        await LoadRobotImage();
+        await LoadMapImage();
+
+        await DrawCanvas();
+    }
+
+    private async Task LoadRobotImage()
+    {
+        try
+        {
+            await JS.InvokeVoidAsync("preloadImage", "images/AMR-250.png");
+            RobotImageLoaded = true;
+        }
+        catch
+        {
+            RobotImageLoaded = false;
+        }
+    }
+
+    private async Task LoadMapImage()
+    {
+        try
+        {
+            MapImageLoaded = false;
+            string apiUrl = "api/images/mapping";
+            await JS.InvokeVoidAsync("preloadImageFromUrl", apiUrl, MAP_CACHE_KEY);
+
+            var imageDimensions = await JS.InvokeAsync<DomRect>("getImageDimensions", MAP_CACHE_KEY);
+            MapImageWidth = imageDimensions.Width * ImageResolution;
+            MapImageHeight = imageDimensions.Height * ImageResolution;
+            if (MapImageWidth > 0 && MapImageHeight > 0) MapImageLoaded = true;
+        }
+        catch
+        {
+            MapImageLoaded = false;
+        }
+    }
+
+    private async Task ResetView()
+    {
+        CanvasTranslateX = CanvasWidth / 2;
+        CanvasTranslateY = CanvasHeight / 2;
+        ZoomScale = 1.0;
+        StateHasChanged();
+        await DrawCanvas();
+    }
+
+    private async Task ZoomIn()
+    {
+        const double zoomFactor = 0.15;
+        double oldZoom = ZoomScale;
+
+        ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * (1 + zoomFactor));
+
+        if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
+
+        await ZoomAtCenter(oldZoom);
+    }
+
+    private async Task ZoomOut()
+    {
+        const double zoomFactor = 0.15;
+        double oldZoom = ZoomScale;
+
+        ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * (1 - zoomFactor));
+
+        if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
+
+        await ZoomAtCenter(oldZoom);
+    }
+
+    private async Task ZoomAtCenter(double oldZoom)
+    {
+        double centerX = CanvasWidth / 2;
+        double centerY = CanvasHeight / 2;
+
+        double centerWorldX = (centerX - CanvasTranslateX) / oldZoom / BASE_PIXELS_PER_METER - OriginX;
+        double centerWorldY = (centerY - CanvasTranslateY) / oldZoom / BASE_PIXELS_PER_METER - OriginY;
+
+        double newCenterCanvasX = (centerWorldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale;
+        double newCenterCanvasY = (centerWorldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale;
+
+        CanvasTranslateX = centerX - newCenterCanvasX;
+        CanvasTranslateY = centerY - newCenterCanvasY;
+
+        if (IsMouseInCanvas)
+        {
+            WorldMouseX = CanvasToWorldX(MouseX);
+            WorldMouseY = CanvasToWorldY(MouseY);
+        }
+
+        StateHasChanged();
+        await DrawCanvas();
+    }
+
+    private async Task HandleMouseMove(MouseEventArgs e)
+    {
+        MouseX = e.OffsetX;
+        MouseY = e.OffsetY;
+        IsMouseInCanvas = true;
+
+        WorldMouseX = CanvasToWorldX(MouseX);
+        WorldMouseY = CanvasToWorldY(MouseY);
+
+        StateHasChanged();
+
+        if (e.Buttons == 4)
+        {
+            CanvasTranslateX += e.MovementX;
+            CanvasTranslateY -= e.MovementY;
+        }
+        await DrawCanvas();
+    }
+
+    private async Task HandleMouseLeave(MouseEventArgs e)
+    {
+        IsMouseInCanvas = false;
+        MouseX = 0;
+        MouseY = 0;
+        StateHasChanged();
+        await DrawCanvas();
+    }
+
+    private async Task HandleWheel(WheelEventArgs e)
+    {
+        if (e.Buttons == 4) return;
+        const double zoomFactor = 0.1;
+        double oldZoom = ZoomScale;
+
+        if (e.DeltaY < 0) ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * (1 + zoomFactor));
+        else ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * (1 - zoomFactor));
+
+        if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
+
+        MouseX = e.OffsetX;
+        MouseY = e.OffsetY;
+
+        double zoomPointWorldX = (MouseX - CanvasTranslateX) / oldZoom / BASE_PIXELS_PER_METER - OriginX;
+        double zoomPointWorldY = (MouseY - CanvasTranslateY) / oldZoom / BASE_PIXELS_PER_METER - OriginY;
+
+        double newZoomPointCanvasX = (zoomPointWorldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale;
+        double newZoomPointCanvasY = (zoomPointWorldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale;
+
+        CanvasTranslateX = MouseX - newZoomPointCanvasX;
+        CanvasTranslateY = MouseY - newZoomPointCanvasY;
+
+        WorldMouseX = CanvasToWorldX(MouseX);
+        WorldMouseY = CanvasToWorldY(MouseY);
+
+        StateHasChanged();
+        await DrawCanvas();
+    }
+
+    private async Task HandleTouchMove(TouchEventArgs e)
+    {
+        if (IsTouching)
+        {
+            if (e.Touches.Length == 1)
+            {
+                await HandleSingleTouchMove(e.Touches[0]);
+            }
+            else if (e.Touches.Length == 2)
+            {
+                await HandlePinchZoom(e.Touches[0], e.Touches[1]);
+            }
+
+            StateHasChanged();
+            await DrawCanvas();
+        }
+    }
+
+    private void HandleTouchStart(TouchEventArgs e)
+    {
+        IsTouching = true;
+
+        if (e.Touches.Length == 1)
+        {
+            LastTouchPoint = new TouchPoint
+            {
+                X = e.Touches[0].ClientX,
+                Y = e.Touches[0].ClientY
+            };
+        }
+        else if (e.Touches.Length == 2)
+        {
+            LastTouchPoint = new TouchPoint
+            {
+                X = e.Touches[0].ClientX,
+                Y = e.Touches[0].ClientY
+            };
+            LastSecondTouchPoint = new TouchPoint
+            {
+                X = e.Touches[1].ClientX,
+                Y = e.Touches[1].ClientY
+            };
+
+            LastTouchDistance = CalculateTouchDistance(LastTouchPoint, LastSecondTouchPoint);
+        }
+    }
+
+    private void HandleTouchEnd(TouchEventArgs e)
+    {
+        IsTouching = false;
+        LastTouchPoint = null;
+        LastSecondTouchPoint = null;
+        LastTouchDistance = 0;
+    }
+
+    private async Task HandleSingleTouchMove(Microsoft.AspNetCore.Components.Web.TouchPoint touch)
+    {
+        if (LastTouchPoint == null) return;
+
+        var currentPoint = new TouchPoint
+        {
+            X = touch.ClientX,
+            Y = touch.ClientY
+        };
+
+        double deltaX = currentPoint.X - LastTouchPoint.X;
+        double deltaY = currentPoint.Y - LastTouchPoint.Y;
+
+        CanvasTranslateX += deltaX;
+        CanvasTranslateY += deltaY;
+
+        LastTouchPoint = currentPoint;
+
+        var canvasRect = await JS.InvokeAsync<DomRect>("getElementBoundingRect", CanvasRef);
+        MouseX = currentPoint.X - canvasRect.X;
+        MouseY = currentPoint.Y - canvasRect.Y;
+        IsMouseInCanvas = true;
+
+        WorldMouseX = CanvasToWorldX(MouseX);
+        WorldMouseY = CanvasToWorldY(MouseY);
+    }
+
+    private async Task HandlePinchZoom(Microsoft.AspNetCore.Components.Web.TouchPoint touch1, Microsoft.AspNetCore.Components.Web.TouchPoint touch2)
+    {
+        if (LastTouchPoint == null || LastSecondTouchPoint == null) return;
+
+        var currentTouch1 = new TouchPoint { X = touch1.ClientX, Y = touch1.ClientY };
+        var currentTouch2 = new TouchPoint { X = touch2.ClientX, Y = touch2.ClientY };
+
+        double currentDistance = CalculateTouchDistance(currentTouch1, currentTouch2);
+
+        if (LastTouchDistance > 0)
+        {
+            double distanceRatio = currentDistance / LastTouchDistance;
+            double oldZoom = ZoomScale;
+
+            ZoomScale = Math.Max(MIN_ZOOM, Math.Min(MAX_ZOOM, ZoomScale * distanceRatio));
+
+            if (Math.Abs(ZoomScale - oldZoom) > 0.001)
+            {
+                double centerX = (currentTouch1.X + currentTouch2.X) / 2;
+                double centerY = (currentTouch1.Y + currentTouch2.Y) / 2;
+
+                var canvasRect = await JS.InvokeAsync<DomRect>("getElementBoundingRect", CanvasRef);
+                double canvasCenterX = centerX - canvasRect.X;
+                double canvasCenterY = centerY - canvasRect.Y;
+
+                ZoomAtPoint(oldZoom, canvasCenterX, canvasCenterY);
+            }
+        }
+
+        LastTouchDistance = currentDistance;
+        LastTouchPoint = currentTouch1;
+        LastSecondTouchPoint = currentTouch2;
+    }
+
+    private double CalculateTouchDistance(TouchPoint point1, TouchPoint point2)
+    {
+        double deltaX = point2.X - point1.X;
+        double deltaY = point2.Y - point1.Y;
+        return Math.Sqrt(deltaX * deltaX + deltaY * deltaY);
+    }
+
+    private void ZoomAtPoint(double oldZoom, double pointX, double pointY)
+    {
+        double pointWorldX = (pointX - CanvasTranslateX) / oldZoom / BASE_PIXELS_PER_METER - OriginX;
+        double pointWorldY = (pointY - CanvasTranslateY) / oldZoom / BASE_PIXELS_PER_METER - OriginY;
+
+        double newPointCanvasX = (pointWorldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale;
+        double newPointCanvasY = (pointWorldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale;
+
+        CanvasTranslateX = pointX - newPointCanvasX;
+        CanvasTranslateY = pointY - newPointCanvasY;
+    }
+
+    private LaserScanData GenerateLaserScanData()
+    {
+        // Robot position (in world coordinates)
+        double robotX = 2; // Robot at origin for demo
+        double robotY = 2;
+        double robotOrientation = 0; // Robot facing right (0 degrees)
+
+        Random random = new Random(42); // Fixed seed for consistent pattern
+
+        // Laser scanner parameters
+        const double maxRange = 8.0; // meters
+        const double minRange = 0.5; // meters (fix: was 7.0, should be minimum)
+        const int numPoints = 270;   // Number of laser points
+        const double startAngle = -Math.PI / 2 - Math.PI / 4;
+        const double endAngle = Math.PI / 2 + Math.PI / 4;
+
+        double angleStep = (endAngle - startAngle) / (numPoints - 1);
+
+        var scanData = new LaserScanData
+        {
+            RobotX = robotX,
+            RobotY = robotY,
+            RobotOrientation = robotOrientation,
+        };
+
+        // Generate laser points
+        for (int i = 0; i < numPoints; i++)
+        {
+            double angle = startAngle + i * angleStep;
+
+            // Random range with some clustering around obstacles
+            double range;
+            if (random.NextDouble() < 0.3) // 30% chance of obstacles
+            {
+                range = random.NextDouble() * 3.0 + 1.0; // 1-4 meters (obstacles)
+            }
+            else if (random.NextDouble() < 0.1) // 10% chance of very close objects
+            {
+                range = random.NextDouble() * 0.8 + 0.2; // 0.2-1.0 meters
+            }
+            else
+            {
+                range = random.NextDouble() * maxRange * 0.7 + maxRange * 0.3; // Far points
+            }
+
+            // Add some noise to make it realistic
+            range += (random.NextDouble() - 0.5) * 0.1;
+            range = Math.Max(minRange, Math.Min(maxRange, range));
+
+            // Calculate point position relative to robot
+            double pointX = robotX + Math.Cos(angle + robotOrientation) * range;
+            double pointY = robotY + Math.Sin(angle + robotOrientation) * range;
+
+            scanData.Points.Add(new LaserScanPoint
+            {
+                X = pointX,
+                Y = pointY
+            });
+        }
+
+        return scanData;
+    }
+}

RobotApp.Client/Pages/Components/Mapping/MapView.razor.cs

@@ -0,0 +1,576 @@
+using Excubo.Blazor.Canvas;
+using Excubo.Blazor.Canvas.Contexts;
+using Microsoft.JSInterop;
+
+namespace RobotApp.Client.Pages.Components.Mapping;
+
+public partial class MapView
+{
+    public class TouchPoint
+    {
+        public double X { get; set; }
+        public double Y { get; set; }
+    }
+
+    public class LaserScanPoint
+    {
+        public double X { get; set; }
+        public double Y { get; set; }
+    }
+
+    public class LaserScanData
+    {
+        public double RobotX { get; set; }
+        public double RobotY { get; set; }
+        public double RobotOrientation { get; set; }
+        public List<LaserScanPoint> Points { get; set; } = [];
+    }
+
+    public class DomRect
+    {
+        public double Width { get; set; }
+        public double Height { get; set; }
+        public double X { get; set; }
+        public double Y { get; set; }
+        public double Left => X;
+        public double Top => Y;
+    }
+
+    private async Task DrawCanvas()
+    {
+        await using var ctx = await JS.GetContext2DAsync(CanvasRef);
+
+        await ctx.ClearRectAsync(0, 0, CanvasWidth, CanvasHeight);
+
+        await ctx.SaveAsync();
+
+        await ctx.TranslateAsync(CanvasTranslateX, CanvasTranslateY);
+        await ctx.ScaleAsync(ZoomScale, ZoomScale);
+
+        await DrawMapImage(ctx);
+        await DrawGrid(ctx);
+        await DrawAxes(ctx);
+        await DrawLaserScannerPoints(ctx);
+        await ctx.RestoreAsync();
+
+        if (IsMouseInCanvas)
+        {
+            await DrawMouseIndicator(ctx);
+        }
+        await DrawRulers(ctx);
+    }
+
+    private async Task DrawMouseIndicator(Context2D ctx)
+    {
+        await ctx.SaveAsync();
+
+        await ctx.StrokeStyleAsync("rgba(255, 50, 50, 0.8)");
+        await ctx.LineWidthAsync(1);
+        await ctx.SetLineDashAsync([3, 3]);
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(MouseX, RulerHeight);
+        await ctx.LineToAsync(MouseX, CanvasHeight);
+        await ctx.StrokeAsync();
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(RulerHeight, MouseY);
+        await ctx.LineToAsync(CanvasWidth, MouseY);
+        await ctx.StrokeAsync();
+
+        await ctx.SetLineDashAsync([]);
+
+        const double labelPadding = 7;
+        const double labelMargin = 8;
+
+        string coordinateText = $"({WorldMouseX:F2}m, {WorldMouseY:F2}m)";
+
+        await ctx.FontAsync("bold 12px Arial");
+        var textMetrics = await ctx.MeasureTextAsync(coordinateText);
+        double textWidth = textMetrics.Width;
+        double textHeight = 16;
+
+        double labelX = MouseX + labelMargin;
+        double labelY = MouseY - textHeight - labelPadding * 2 - labelMargin;
+
+        if (labelX + textWidth + labelPadding * 2 > CanvasWidth)
+        {
+            labelX = MouseX - textWidth - labelPadding * 2 - labelMargin;
+        }
+        if (labelY - textHeight - labelPadding * 2 < RulerHeight)
+        {
+            labelY = MouseY + labelMargin;
+        }
+
+        await ctx.FillStyleAsync("rgba(0, 0, 0, 0.8)");
+        await ctx.FillRectAsync(labelX, labelY, textWidth + labelPadding * 2, textHeight + labelPadding * 2);
+
+        await ctx.StrokeStyleAsync("rgba(255,255,255,0.6)");
+        await ctx.LineWidthAsync(1);
+        await ctx.StrokeRectAsync(labelX, labelY, textWidth + labelPadding * 2, textHeight + labelPadding * 2);
+
+        await ctx.FillStyleAsync("rgba(255, 50, 50, 0.9)");
+        await ctx.BeginPathAsync();
+        await ctx.ArcAsync(MouseX, MouseY, 3, 0, Math.PI * 2);
+        await ctx.FillAsync(FillRule.NonZero);
+
+        await ctx.StrokeStyleAsync("rgba(255, 255, 255, 0.8)");
+        await ctx.LineWidthAsync(2);
+        await ctx.BeginPathAsync();
+        await ctx.ArcAsync(MouseX, MouseY, 6, 0, Math.PI * 2);
+        await ctx.StrokeAsync();
+
+        await ctx.SaveAsync();
+
+        await ctx.TranslateAsync(labelX + labelPadding + textWidth / 2, labelY + textHeight / 2);
+        await ctx.ScaleAsync(1, -1);
+
+        await ctx.FillStyleAsync("white");
+        await ctx.FontAsync("bold 12px Arial");
+        await ctx.TextAlignAsync(TextAlign.Center);
+        await ctx.TextBaseLineAsync(TextBaseLine.Bottom);
+        await ctx.FillTextAsync(coordinateText, 0, 0);
+
+        await ctx.RestoreAsync();
+    }
+
+    private async Task DrawRulers(Context2D ctx)
+    {
+        double visibleWorldLeft = CanvasToWorldX(0);
+        double visibleWorldRight = CanvasToWorldX(CanvasWidth);
+        double visibleWorldTop = CanvasToWorldY(0);
+        double visibleWorldBottom = CanvasToWorldY(CanvasHeight);
+
+        double scaleInterval = GetRulerScaleInterval();
+
+        await DrawXRuler(ctx, RulerHeight, visibleWorldLeft, visibleWorldRight, scaleInterval);
+        await DrawYRuler(ctx, RulerHeight, visibleWorldTop, visibleWorldBottom, scaleInterval);
+    }
+
+    private double GetRulerScaleInterval()
+    {
+        double pixelsPerMeter = BASE_PIXELS_PER_METER * ZoomScale;
+
+        if (pixelsPerMeter >= 400) return 0.1;
+        else if (pixelsPerMeter >= 200) return 0.2;
+        else if (pixelsPerMeter >= 100) return 0.5;
+        else if (pixelsPerMeter >= 50) return 1.0;
+        else if (pixelsPerMeter >= 25) return 2.0;
+        else if (pixelsPerMeter >= 12) return 5.0;
+        else if (pixelsPerMeter >= 6) return 10.0;
+        else return 20.0;
+    }
+
+    private async Task DrawXRuler(Context2D ctx, double rulerHeight, double visibleWorldLeft, double visibleWorldRight, double scaleInterval)
+    {
+        await ctx.FillStyleAsync("rgba(240, 240, 240, 0.9)");
+        await ctx.FillRectAsync(0, 0, CanvasWidth, rulerHeight);
+
+        await ctx.StrokeStyleAsync("rgba(100, 100, 100, 0.8)");
+        await ctx.LineWidthAsync(1);
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(0, rulerHeight);
+        await ctx.LineToAsync(CanvasWidth, rulerHeight);
+        await ctx.StrokeAsync();
+
+        double startWorld = Math.Floor(visibleWorldLeft / scaleInterval) * scaleInterval;
+        double endWorld = Math.Ceiling(visibleWorldRight / scaleInterval) * scaleInterval;
+
+        startWorld -= scaleInterval;
+        endWorld += scaleInterval;
+
+        for (double worldX = startWorld; worldX <= endWorld; worldX += scaleInterval)
+        {
+            double canvasX = WorldToCanvasX(worldX);
+
+            if (canvasX < -50 || canvasX > CanvasWidth + 50) continue;
+
+            bool isMajorTick = IsNearMultiple(worldX, scaleInterval * 2) || Math.Abs(worldX) < 0.001;
+            double tickHeight = isMajorTick ? rulerHeight * 0.4 : rulerHeight * 0.2;
+
+            await ctx.StrokeStyleAsync("rgba(60, 60, 60, 0.8)");
+            await ctx.LineWidthAsync(1);
+            await ctx.BeginPathAsync();
+            await ctx.MoveToAsync(canvasX, rulerHeight);
+            await ctx.LineToAsync(canvasX, rulerHeight - tickHeight);
+            await ctx.StrokeAsync();
+
+            if (isMajorTick && canvasX >= -20 && canvasX <= CanvasWidth + 20)
+            {
+                await ctx.SaveAsync();
+
+                await ctx.TranslateAsync(canvasX, rulerHeight - tickHeight - 8);
+                await ctx.ScaleAsync(1, -1);
+
+                await ctx.FillStyleAsync("blue");
+                await ctx.FontAsync("bold 10px Arial");
+                await ctx.TextAlignAsync(TextAlign.Center);
+
+                string labelText = FormatRulerLabel(worldX, scaleInterval);
+                await ctx.FillTextAsync(labelText, 0, 0);
+
+                await ctx.RestoreAsync();
+            }
+        }
+    }
+
+    private async Task DrawYRuler(Context2D ctx, double rulerWidth, double visibleWorldTop, double visibleWorldBottom, double scaleInterval)
+    {
+        await ctx.FillStyleAsync("rgba(240, 240, 240, 0.9)");
+        await ctx.FillRectAsync(0, 0, rulerWidth, CanvasHeight);
+
+        await ctx.StrokeStyleAsync("rgba(100, 100, 100, 0.8)");
+        await ctx.LineWidthAsync(1);
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(rulerWidth, 0);
+        await ctx.LineToAsync(rulerWidth, CanvasHeight);
+        await ctx.StrokeAsync();
+
+        double startWorld = Math.Floor(visibleWorldTop / scaleInterval) * scaleInterval;
+        double endWorld = Math.Ceiling(visibleWorldBottom / scaleInterval) * scaleInterval;
+
+        startWorld -= scaleInterval;
+        endWorld += scaleInterval;
+
+        for (double worldY = startWorld; worldY <= endWorld; worldY += scaleInterval)
+        {
+            double canvasY = WorldToCanvasY(worldY);
+
+            if (canvasY < -50 || canvasY > CanvasHeight + 50) continue;
+
+            bool isMajorTick = IsNearMultiple(worldY, scaleInterval * 2) || Math.Abs(worldY) < 0.001;
+            double tickWidth = isMajorTick ? rulerWidth * 0.4 : rulerWidth * 0.2;
+
+            await ctx.StrokeStyleAsync("rgba(60, 60, 60, 0.8)");
+            await ctx.LineWidthAsync(1);
+            await ctx.BeginPathAsync();
+            await ctx.MoveToAsync(rulerWidth, canvasY);
+            await ctx.LineToAsync(rulerWidth - tickWidth, canvasY);
+            await ctx.StrokeAsync();
+
+            if (isMajorTick && canvasY >= -20 && canvasY <= CanvasHeight + 20)
+            {
+                await ctx.SaveAsync();
+
+                await ctx.TranslateAsync(rulerWidth - tickWidth - 2, canvasY);
+                await ctx.ScaleAsync(1, -1);
+                await ctx.RotateAsync(-Math.PI / 2);
+
+                await ctx.FillStyleAsync("blue");
+                await ctx.FontAsync("bold 10px Arial");
+                await ctx.TextAlignAsync(TextAlign.Center);
+
+                string labelText = FormatRulerLabel(worldY, scaleInterval);
+                await ctx.FillTextAsync(labelText, 0, 0);
+
+                await ctx.RestoreAsync();
+            }
+        }
+    }
+
+    private static bool IsNearMultiple(double value, double multiple)
+    {
+        if (multiple == 0) return false;
+        double remainder = Math.Abs(value % multiple);
+        double epsilon = multiple * 0.001;
+        return remainder < epsilon || remainder > multiple - epsilon;
+    }
+
+    private static string FormatRulerLabel(double worldValue, double scaleInterval)
+    {
+        return scaleInterval < 1.0 ? $"{worldValue:F1}m" : $"{worldValue:F0}m";
+    }
+
+    private async Task DrawAxes(Context2D ctx)
+    {
+        double originCanvasX = OriginX * BASE_PIXELS_PER_METER;
+        double originCanvasY = OriginY * BASE_PIXELS_PER_METER;
+
+        await ctx.FillStyleAsync("red");
+        await ctx.BeginPathAsync();
+        await ctx.ArcAsync(originCanvasX, originCanvasY, 8 / ZoomScale, 0, Math.PI * 2);
+        await ctx.FillAsync(FillRule.NonZero);
+
+        double gridSpacingMeters = GetGridSpacingMeters();
+        double arrowLength = gridSpacingMeters * BASE_PIXELS_PER_METER;
+        double arrowHeadSize = 16 / ZoomScale;
+
+        await ctx.FillStyleAsync("blue");
+        await ctx.StrokeStyleAsync("blue");
+        await ctx.LineWidthAsync(4 / ZoomScale);
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(originCanvasX, originCanvasY);
+        await ctx.LineToAsync(originCanvasX + arrowLength - arrowHeadSize, originCanvasY);
+        await ctx.StrokeAsync();
+
+        await ctx.BeginPathAsync();
+        double xArrowTipX = originCanvasX + arrowLength;
+        double xArrowTipY = originCanvasY;
+        await ctx.MoveToAsync(xArrowTipX, xArrowTipY);
+        await ctx.LineToAsync(xArrowTipX - arrowHeadSize, xArrowTipY - arrowHeadSize / 2);
+        await ctx.LineToAsync(xArrowTipX - arrowHeadSize, xArrowTipY + arrowHeadSize / 2);
+        await ctx.ClosePathAsync();
+        await ctx.FillAsync(FillRule.NonZero);
+
+        await ctx.FillStyleAsync("red");
+        await ctx.StrokeStyleAsync("red");
+        await ctx.LineWidthAsync(4 / ZoomScale);
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(originCanvasX, originCanvasY);
+        await ctx.LineToAsync(originCanvasX, originCanvasY + arrowLength - arrowHeadSize);
+        await ctx.StrokeAsync();
+
+        await ctx.BeginPathAsync();
+        double yArrowTipX = originCanvasX;
+        double yArrowTipY = originCanvasY + arrowLength;
+        await ctx.MoveToAsync(yArrowTipX, yArrowTipY);
+        await ctx.LineToAsync(yArrowTipX - arrowHeadSize / 2, yArrowTipY - arrowHeadSize);
+        await ctx.LineToAsync(yArrowTipX + arrowHeadSize / 2, yArrowTipY - arrowHeadSize);
+        await ctx.ClosePathAsync();
+        await ctx.FillAsync(FillRule.NonZero);
+    }
+
+    private async Task DrawGrid(Context2D ctx)
+    {
+        await ctx.StrokeStyleAsync("rgba(200, 200, 200, 0.4)");
+        await ctx.LineWidthAsync(1 / ZoomScale);
+        await ctx.SetLineDashAsync([5 / ZoomScale, 5 / ZoomScale]);
+
+        double gridSpacingMeters = GetGridSpacingMeters();
+        double gridSpacingPixels = gridSpacingMeters * BASE_PIXELS_PER_METER;
+
+        double visibleLeft = -CanvasTranslateX / ZoomScale;
+        double visibleRight = (CanvasWidth - CanvasTranslateX) / ZoomScale;
+        double visibleTop = -CanvasTranslateY / ZoomScale;
+        double visibleBottom = (CanvasHeight - CanvasTranslateY) / ZoomScale;
+
+        double startX = Math.Floor(visibleLeft / gridSpacingPixels) * gridSpacingPixels;
+        double startY = Math.Floor(visibleTop / gridSpacingPixels) * gridSpacingPixels;
+
+        for (double x = startX; x <= visibleRight; x += gridSpacingPixels)
+        {
+            await ctx.BeginPathAsync();
+            await ctx.MoveToAsync(x, visibleTop);
+            await ctx.LineToAsync(x, visibleBottom);
+            await ctx.StrokeAsync();
+        }
+
+        for (double y = startY; y <= visibleBottom; y += gridSpacingPixels)
+        {
+            await ctx.BeginPathAsync();
+            await ctx.MoveToAsync(visibleLeft, y);
+            await ctx.LineToAsync(visibleRight, y);
+            await ctx.StrokeAsync();
+        }
+
+        await ctx.SetLineDashAsync([]);
+    }
+
+    private double GetGridSpacingMeters()
+    {
+        double PixelsPerMeter = BASE_PIXELS_PER_METER * ZoomScale;
+        if (PixelsPerMeter >= 300) return 0.2;
+        else if (PixelsPerMeter >= 150) return 0.5;
+        else if (PixelsPerMeter >= 75) return 1.0;
+        else if (PixelsPerMeter >= 40) return 2.0;
+        else if (PixelsPerMeter >= 20) return 5.0;
+        else if (PixelsPerMeter >= 10) return 10.0;
+        else return 20.0;
+    }
+
+    private async Task DrawMapImage(Context2D ctx)
+    {
+        if (!MapImageLoaded)
+        {
+            return;
+        }
+
+        await ctx.SaveAsync();
+
+        try
+        {
+            double imageWidthCanvas = MapImageWidth * BASE_PIXELS_PER_METER;
+            double imageHeightCanvas = MapImageHeight * BASE_PIXELS_PER_METER;
+
+            double mapCanvasX = ImageX * BASE_PIXELS_PER_METER;
+            double mapCanvasY = (ImageY + MapImageHeight) * BASE_PIXELS_PER_METER;
+
+            bool success = await JS.InvokeAsync<bool>("drawCachedImageOnCanvas",
+                CanvasRef,
+                MAP_CACHE_KEY,
+                mapCanvasX,
+                mapCanvasY - imageHeightCanvas,
+                imageWidthCanvas,
+                imageHeightCanvas);
+        }
+        catch
+        {
+        }
+
+        await ctx.RestoreAsync();
+    }
+
+    private async Task DrawLaserScannerPoints(Context2D ctx)
+    {
+        var scanData = GenerateLaserScanData();
+
+        double robotCanvasX = scanData.RobotX * BASE_PIXELS_PER_METER;
+        double robotCanvasY = scanData.RobotY * BASE_PIXELS_PER_METER;
+
+        await ctx.SaveAsync();
+
+        if (scanData.Points.Count > 0)
+        {
+            await ctx.BeginPathAsync();
+
+            for (int i = 0; i < scanData.Points.Count; i++)
+            {
+                var point = scanData.Points[i];
+                double pointCanvasX = point.X * BASE_PIXELS_PER_METER;
+                double pointCanvasY = point.Y * BASE_PIXELS_PER_METER;
+
+                if (i == 0)
+                {
+                    await ctx.MoveToAsync(pointCanvasX, pointCanvasY);
+                }
+                else
+                {
+                    await ctx.LineToAsync(pointCanvasX, pointCanvasY);
+                }
+            }
+
+            await ctx.StrokeStyleAsync("rgba(255, 100, 100, 0.8)");
+            await ctx.LineWidthAsync(2 / ZoomScale);
+            await ctx.StrokeAsync();
+
+            await ctx.LineToAsync(robotCanvasX, robotCanvasY);
+            await ctx.ClosePathAsync();
+            await ctx.FillStyleAsync("rgba(255, 100, 100, 0.1)");
+            await ctx.FillAsync(FillRule.NonZero);
+        }
+
+        await DrawRobotImage(ctx, robotCanvasX, robotCanvasY, scanData.RobotOrientation);
+        await DrawRobotOrientationArrows(ctx, robotCanvasX, robotCanvasY, scanData.RobotOrientation);
+
+        await ctx.RestoreAsync();
+    }
+
+    private async Task DrawRobotImage(Context2D ctx, double robotCanvasX, double robotCanvasY, double robotOrientation)
+    {
+        if (!RobotImageLoaded)
+        {
+            await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
+            await ctx.BeginPathAsync();
+            await ctx.ArcAsync(robotCanvasX, robotCanvasY, 8 / ZoomScale, 0, Math.PI * 2);
+            await ctx.FillAsync(FillRule.NonZero);
+            return;
+        }
+
+        await ctx.SaveAsync();
+
+        double robotWidthPixels = RobotWidth * BASE_PIXELS_PER_METER;
+        double robotLengthPixels = RobotLength * BASE_PIXELS_PER_METER;
+
+        double scaledWidth = ZoomScale < 1 ? robotWidthPixels / ZoomScale : robotWidthPixels;
+        double scaledLength = ZoomScale < 1 ? robotLengthPixels / ZoomScale : robotLengthPixels;
+
+        await ctx.TranslateAsync(robotCanvasX, robotCanvasY);
+        await ctx.RotateAsync(robotOrientation);
+
+        try
+        {
+            bool success = await JS.InvokeAsync<bool>("drawImageOnCanvas",
+                CanvasRef,
+                "images/AMR-250.png",
+                -scaledLength / 2,
+                -scaledWidth / 2,
+                scaledLength,
+                scaledWidth);
+
+            if (!success)
+            {
+                await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
+                await ctx.FillRectAsync(-scaledLength / 2, -scaledWidth / 2, scaledLength, scaledWidth);
+            }
+        }
+        catch
+        {
+            await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
+            await ctx.FillRectAsync(-scaledLength / 2, -scaledWidth / 2, scaledLength, scaledWidth);
+        }
+
+        await ctx.RestoreAsync();
+    }
+
+    private async Task DrawRobotOrientationArrows(Context2D ctx, double robotCanvasX, double robotCanvasY, double robotOrientation)
+    {
+        double arrowLength = 30 / ZoomScale;
+        double arrowHeadSize = 10 / ZoomScale;
+
+        await ctx.StrokeStyleAsync("rgba(0, 100, 255, 1.0)");
+        await ctx.FillStyleAsync("rgba(0, 100, 255, 1.0)");
+        await ctx.LineWidthAsync(3 / ZoomScale);
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(robotCanvasX, robotCanvasY);
+        double xAxisEndX = robotCanvasX + Math.Cos(robotOrientation) * (arrowLength - arrowHeadSize + 1);
+        double xAxisEndY = robotCanvasY + Math.Sin(robotOrientation) * (arrowLength - arrowHeadSize + 1);
+        await ctx.LineToAsync(xAxisEndX, xAxisEndY);
+        await ctx.StrokeAsync();
+
+        await ctx.BeginPathAsync();
+        double xArrowTipX = robotCanvasX + Math.Cos(robotOrientation) * arrowLength;
+        double xArrowTipY = robotCanvasY + Math.Sin(robotOrientation) * arrowLength;
+        await ctx.MoveToAsync(xArrowTipX, xArrowTipY);
+        double xArrowAngle = robotOrientation + Math.PI;
+        await ctx.LineToAsync(xArrowTipX + Math.Cos(xArrowAngle + Math.PI / 6) * arrowHeadSize, xArrowTipY + Math.Sin(xArrowAngle + Math.PI / 6) * arrowHeadSize);
+        await ctx.LineToAsync(xArrowTipX + Math.Cos(xArrowAngle - Math.PI / 6) * arrowHeadSize, xArrowTipY + Math.Sin(xArrowAngle - Math.PI / 6) * arrowHeadSize);
+        await ctx.ClosePathAsync();
+        await ctx.FillAsync(FillRule.NonZero);
+
+        await ctx.StrokeStyleAsync("rgba(255, 50, 50, 1.0)");
+        await ctx.FillStyleAsync("rgba(255, 50, 50, 1.0)");
+        await ctx.LineWidthAsync(3 / ZoomScale);
+
+        double yAxisAngle = robotOrientation + Math.PI / 2;
+
+        await ctx.BeginPathAsync();
+        await ctx.MoveToAsync(robotCanvasX, robotCanvasY);
+        double yAxisEndX = robotCanvasX + Math.Cos(yAxisAngle) * (arrowLength - arrowHeadSize + 1);
+        double yAxisEndY = robotCanvasY + Math.Sin(yAxisAngle) * (arrowLength - arrowHeadSize + 1);
+        await ctx.LineToAsync(yAxisEndX, yAxisEndY);
+        await ctx.StrokeAsync();
+
+        await ctx.BeginPathAsync();
+        double yArrowTipX = robotCanvasX + Math.Cos(yAxisAngle) * arrowLength;
+        double yArrowTipY = robotCanvasY + Math.Sin(yAxisAngle) * arrowLength;
+        await ctx.MoveToAsync(yArrowTipX, yArrowTipY);
+        double yArrowAngle = yAxisAngle + Math.PI;
+        await ctx.LineToAsync(yArrowTipX + Math.Cos(yArrowAngle + Math.PI / 6) * arrowHeadSize, yArrowTipY + Math.Sin(yArrowAngle + Math.PI / 6) * arrowHeadSize);
+        await ctx.LineToAsync(yArrowTipX + Math.Cos(yArrowAngle - Math.PI / 6) * arrowHeadSize, yArrowTipY + Math.Sin(yArrowAngle - Math.PI / 6) * arrowHeadSize);
+        await ctx.ClosePathAsync();
+        await ctx.FillAsync(FillRule.NonZero);
+    }
+
+    private double CanvasToWorldX(double canvasX)
+    {
+        return (canvasX - CanvasTranslateX) / ZoomScale / BASE_PIXELS_PER_METER - OriginX;
+    }
+
+    private double CanvasToWorldY(double canvasY)
+    {
+        return (canvasY - CanvasTranslateY) / ZoomScale / BASE_PIXELS_PER_METER - OriginY;
+    }
+
+    private double WorldToCanvasX(double worldX)
+    {
+        return (worldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale + CanvasTranslateX;
+    }
+
+    private double WorldToCanvasY(double worldY)
+    {
+        return (worldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale + CanvasTranslateY;
+    }
+}

RobotApp.Client/Pages/Components/Mapping/MapView.razor.css

@@ -0,0 +1,70 @@
+.view {
+    height: 100%;
+    width: 100%;
+    overflow: hidden;
+    display: flex;
+    flex-direction: column;
+    position: relative;
+    background-color: #808080;
+    border-radius: var(--mud-default-borderradius);
+    transition: box-shadow 300ms cubic-bezier(0.4, 0, 0.2, 1) 0ms;
+    box-shadow: var(--mud-elevation-10);
+}
+
+    .view .toolbar {
+        width: 100%;
+        height: 3rem;
+        flex: 0 0 auto;
+        display: flex;
+        align-items: center;
+        padding: 0.5rem;
+        border-bottom: 1px solid var(--mud-palette-divider);
+        background-color: var(--mud-palette-background);
+    }
+
+        .view .toolbar .action-button {
+            padding: 0rem 0.4rem;
+            margin-right: 0.5rem;
+            border-radius: var(--mud-default-borderradius);
+            transition: all 0.3s ease;
+            background-color: var(--bs-gray-200);
+        }
+
+            .view .toolbar .action-button:hover {
+                background-color: var(--mud-palette-action-hover);
+                transform: translateY(-1px);
+            }
+
+            .view .toolbar .action-button:disabled {
+                opacity: 0.6;
+                cursor: not-allowed;
+            }
+
+                .view .toolbar .action-button:disabled:hover {
+                    transform: none;
+                    background-color: transparent;
+                }
+
+        .view .toolbar .icon-button {
+            font-size: 1.2rem;
+            color: var(--mud-palette-primary);
+        }
+
+
+    .view > div {
+        display: flex;
+        position: relative;
+        width: 100%;
+        flex-grow: 1;
+        overflow: hidden;
+    }
+
+        .view > div > canvas {
+            transition: cursor 0.2s ease;
+            display: block;
+            transform: scale(1, -1);
+        }
+
+            .view > div > canvas:hover {
+                cursor: crosshair;
+            }

RobotApp.Client/Pages/Components/Mapping/RobotInfomation.razor

@@ -0,0 +1,7 @@
+<div class="view">
+    <h4>Infomations</h4>
+</div>
+
+@code {
+
+}

RobotApp.Client/Pages/Components/Mapping/RobotInfomation.razor.css

@@ -0,0 +1,13 @@
+.view {
+    height: 100%;
+    width: 100%;
+    overflow: hidden;
+    display: flex;
+    flex-direction: column;
+    position: relative;
+    background-color: var(--mud-palette-surface);
+    border-radius: var(--mud-default-borderradius);
+    transition: box-shadow 300ms cubic-bezier(0.4, 0, 0.2, 1) 0ms;
+    box-shadow: var(--mud-elevation-10);
+    padding: 15px;
+}

RobotApp.Client/Pages/Counter.razor

@@ -1,18 +0,0 @@
-@page "/counter"
-
-<PageTitle>Counter</PageTitle>
-
-<h1>Counter</h1>
-
-<p role="status">Current count: @currentCount</p>
-
-<button class="btn btn-primary" @onclick="IncrementCount">Click me</button>
-
-@code {
-    private int currentCount = 0;
-
-    private void IncrementCount()
-    {
-        currentCount++;
-    }
-}

RobotApp.Client/Pages/MapsManager.razor

@@ -0,0 +1,25 @@
+@page "/maps-manager"
+
+@rendermode InteractiveWebAssemblyNoPrerender
+
+@attribute [Authorize]
+
+<PageTitle>Map Manager</PageTitle>
+
+<div class="d-flex w-100 h-100 p-2  overflow-hidden flex-row">
+    <div class="me-4 d-flex flex-column" style="height: 100%; width: 40%">
+        <div class="mb-4" style="height: 50%; width: 100%">
+            <RobotApp.Client.Pages.Components.Mapping.MapTable />
+        </div>
+        <div class="flex-grow-1" style="height: 50%; width: 100%">
+            <RobotApp.Client.Pages.Components.Mapping.RobotInfomation />
+        </div>
+    </div>
+    <div class="flex-grow-1 h-100" style="width: 60%">
+        <RobotApp.Client.Pages.Components.Mapping.MapView />
+    </div>
+</div>
+
+@code {
+    private List<MapDto> MapsShow = [];
+}

RobotApp.Client/Pages/Weather.razor

@@ -1,63 +0,0 @@
-@page "/weather"
-
-<PageTitle>Weather</PageTitle>
-
-<h1>Weather</h1>
-
-<p>This component demonstrates showing data.</p>
-
-@if (forecasts == null)
-{
-    <p><em>Loading...</em></p>
-}
-else
-{
-    <table class="table">
-        <thead>
-            <tr>
-                <th>Date</th>
-                <th aria-label="Temperature in Celsius">Temp. (C)</th>
-                <th aria-label="Temperature in Farenheit">Temp. (F)</th>
-                <th>Summary</th>
-            </tr>
-        </thead>
-        <tbody>
-            @foreach (var forecast in forecasts)
-            {
-                <tr>
-                    <td>@forecast.Date.ToShortDateString()</td>
-                    <td>@forecast.TemperatureC</td>
-                    <td>@forecast.TemperatureF</td>
-                    <td>@forecast.Summary</td>
-                </tr>
-            }
-        </tbody>
-    </table>
-}
-
-@code {
-    private WeatherForecast[]? forecasts;
-
-    protected override async Task OnInitializedAsync()
-    {
-        // Simulate asynchronous loading to demonstrate a loading indicator
-        await Task.Delay(500);
-
-        var startDate = DateOnly.FromDateTime(DateTime.Now);
-        var summaries = new[] { "Freezing", "Bracing", "Chilly", "Cool", "Mild", "Warm", "Balmy", "Hot", "Sweltering", "Scorching" };
-        forecasts = Enumerable.Range(1, 5).Select(index => new WeatherForecast
-        {
-            Date = startDate.AddDays(index),
-            TemperatureC = Random.Shared.Next(-20, 55),
-            Summary = summaries[Random.Shared.Next(summaries.Length)]
-        }).ToArray();
-    }
-
-    private class WeatherForecast
-    {
-        public DateOnly Date { get; set; }
-        public int TemperatureC { get; set; }
-        public string? Summary { get; set; }
-        public int TemperatureF => 32 + (int)(TemperatureC / 0.5556);
-    }
-}

RobotApp.Client/Pages/_Imports.razor

@@ -0,0 +1,18 @@
+@layout RobotApp.Client.Pages.AssemblyLayout
+@using System.Net.Http
+@using System.Net.Http.Json
+@using Microsoft.AspNetCore.Components.Authorization
+@using Microsoft.AspNetCore.Components.Forms
+@using Microsoft.AspNetCore.Components.Routing
+@using Microsoft.AspNetCore.Components.Web
+@using static Microsoft.AspNetCore.Components.Web.RenderMode
+@using static RobotApp.Client.ClientRenderMode
+@using Microsoft.AspNetCore.Components.Web.Virtualization
+@using Microsoft.JSInterop
+@using RobotApp.Client
+@using Microsoft.AspNetCore.Authorization
+@using MudBlazor
+@using RobotApp.Common.Shares
+@using RobotApp.Common.Shares.Dtos
+@using Excubo.Blazor.Canvas
+@using Excubo.Blazor.Canvas.Contexts

RobotApp.Client/Program.cs

@@ -1,11 +1,20 @@
 using Microsoft.AspNetCore.Components.WebAssembly.Hosting;
 using MudBlazor.Services;
+using System.Globalization;
 
+CultureInfo.DefaultThreadCurrentCulture = new CultureInfo("en-US");
 var builder = WebAssemblyHostBuilder.CreateDefault(args);
 
 builder.Services.AddAuthorizationCore();
 builder.Services.AddCascadingAuthenticationState();
 builder.Services.AddAuthenticationStateDeserialization();
-builder.Services.AddMudServices();
+
+builder.Services.AddScoped(_ => new HttpClient() { BaseAddress = new Uri(builder.HostEnvironment.BaseAddress) });
+builder.Services.AddMudServices(config =>
+{
+    config.SnackbarConfiguration.VisibleStateDuration = 2000;
+    config.SnackbarConfiguration.HideTransitionDuration = 500;
+    config.SnackbarConfiguration.ShowTransitionDuration = 500;
+});
 
 await builder.Build().RunAsync();

RobotApp.Client/RobotApp.Client.csproj

@@ -9,9 +9,18 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly" Version="9.0.9" />
+    <PackageReference Include="Excubo.Blazor.Canvas" Version="3.2.91" />
-    <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Authentication" Version="9.0.9" />
+    <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>
+
+  <ItemGroup>
+    <Folder Include="Models\" />
+  </ItemGroup>
+
 </Project>

RobotApp.Client/Routes.razor

@@ -1,18 +0,0 @@
-@using RobotApp.Client.Layout
-
-<CascadingAuthenticationState>
-    <Router AppAssembly="@typeof(Program).Assembly">
-        <Found Context="routeData">
-            <AuthorizeRouteView RouteData="routeData" DefaultLayout="typeof(MainLayout)">
-                <NotAuthorized>
-                    <RedirectToLogin />
-                </NotAuthorized>
-            </AuthorizeRouteView>
-        </Found>
-        <NotFound>
-            <LayoutView Layout="typeof(MainLayout)">
-                <p>Không tìm thấy trang.</p>
-            </LayoutView>
-        </NotFound>
-    </Router>
-</CascadingAuthenticationState>

RobotApp.Client/_Imports.razor

@@ -5,7 +5,9 @@
 @using Microsoft.AspNetCore.Components.Routing
 @using Microsoft.AspNetCore.Components.Web
 @using static Microsoft.AspNetCore.Components.Web.RenderMode
+@using static RobotApp.Client.ClientRenderMode
 @using Microsoft.AspNetCore.Components.Web.Virtualization
 @using Microsoft.JSInterop
 @using RobotApp.Client
+@using Microsoft.AspNetCore.Authorization
 @using MudBlazor

RobotApp.Client/wwwroot/js/canvas.js

@@ -0,0 +1,107 @@
+window.getElementSize = (element) => {
+    return {
+        width: element.clientWidth,
+        height: element.clientHeight,
+    };
+}
+
+window.getElementBoundingRect = (element) => {
+    const rect = element.getBoundingClientRect();
+    return {
+        width: rect.width,
+        height: rect.height,
+        x: rect.x,
+        y: rect.y,
+        left: rect.left,
+        top: rect.top
+    };
+}
+
+window.setCanvasSize = (canvas, width, height) => {
+    canvas.width = width;
+    canvas.height = height;
+}
+
+window.imageCache = new Map();
+
+window.preloadImage = (imagePath) => {
+    return new Promise((resolve, reject) => {
+        if (window.imageCache.has(imagePath)) {
+            resolve(window.imageCache.get(imagePath));
+            return;
+        }
+
+        const img = new Image();
+        img.onload = () => {
+            window.imageCache.set(imagePath, img);
+            resolve(img);
+        };
+        img.onerror = () => {
+            reject(new Error(`Failed to load image: ${imagePath}`));
+        };
+        img.src = imagePath;
+    });
+};
+
+window.preloadImageFromUrl = (url, cacheKey) => {
+    return new Promise((resolve, reject) => {
+        if (window.imageCache.has(cacheKey)) {
+            resolve(window.imageCache.get(cacheKey));
+            return;
+        }
+
+        const img = new Image();
+        img.onload = () => {
+            window.imageCache.set(cacheKey, img);
+            resolve(img);
+        };
+        img.onerror = (error) => {
+            reject(new Error(`Failed to load image from URL: ${url}`));
+        };
+        img.src = url;
+    });
+};
+
+window.getImageDimensions = (cacheKey) => {
+    const img = window.imageCache.get(cacheKey);
+    if (!img) {
+        return { width: 0, height: 0 };
+    }
+    
+    return {
+        width: img.naturalWidth || img.width,
+        height: img.naturalHeight || img.height
+    };
+};
+
+window.drawImageOnCanvas = (canvas, imagePath, x, y, width, height) => {
+    const ctx = canvas.getContext('2d');
+    const img = window.imageCache.get(imagePath);
+    
+    if (!img) {
+        return false;
+    }
+
+    try {
+        ctx.drawImage(img, x, y, width, height);
+        return true;
+    } catch (error) {
+        return false;
+    }
+};
+
+window.drawCachedImageOnCanvas = (canvas, cacheKey, x, y, width, height) => {
+    const ctx = canvas.getContext('2d');
+    const img = window.imageCache.get(cacheKey);
+    
+    if (!img) {
+        return false;
+    }
+
+    try {
+        ctx.drawImage(img, x, y, width, height);
+        return true;
+    } catch (error) {
+        return false;
+    }
+};

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/NavigationType.cs

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

RobotApp.Common.Shares/Enums/RobotDirection.cs

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

RobotApp.Common.Shares/Enums/StateType.cs

@@ -0,0 +1,93 @@
+namespace RobotApp.Common.Shares.Enums;
+
+public enum RootStateType
+{
+    System,
+    Auto,
+    Manual,
+    Service,
+    Stop,
+    Fault,
+}
+
+public enum SystemStateType
+{
+    Initializing,
+    Standby,
+    Shutting_Down,
+}
+
+public enum AutoStateType
+{
+    Idle,
+    Executing,
+    Paused,
+    Holding,
+    Canceling,
+    Recovering,
+    Remote_Override,
+}
+
+public enum ManualStateType
+{
+    Idle,
+    Active,
+}
+
+public enum ServiceStateType
+{
+    Idle,
+    Active,
+}
+
+public enum StopStateType
+{
+    EMC,
+    Protective,
+    Manual,
+}
+
+public enum FaultStateType
+{
+    Navigation,
+    Localization,
+    Shielf,
+    Battery,
+    Driver,
+    Peripherals,
+    Safety,
+    Communication,
+}
+
+public enum ExecutingStateType
+{
+    Planning,
+    Moving,
+    ACT,
+}
+
+public enum ACTStateType
+{
+    Docking,
+    Docked,
+    Charging,
+    Undocking,
+    Loading,
+    Unloading,
+    TechAction,
+}
+
+public enum MoveStateType
+{
+    Navigation,
+    Avoidance,
+    Approach,
+    Tracking,
+    Repositioning,
+}
+
+public enum PlanStateType
+{
+    Task,
+    Path,
+}

RobotApp.Common.Shares/Enums/TrajectoryDegree.cs

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

RobotApp.Common.Shares/JsonOptionExtends.cs

@@ -0,0 +1,18 @@
+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/MathExtensions.cs

@@ -0,0 +1,105 @@
+using RobotApp.Common.Shares.Model;
+
+namespace RobotApp.Common.Shares;
+
+public static class MathExtensions
+{
+    public static double NormalizeAngle(double angle)
+    {
+        angle = angle % 360;
+        if (angle > 180)  angle -= 360;
+        else if (angle < -180) angle += 360;
+        return angle;
+    }
+
+    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;
+    }
+
+    public static double GetVectorAngle(double originNodeX, double originNodeY, double vector1X, double vector1Y, double vector2X, double vector2Y)
+    {
+        double BA_x = vector1X - originNodeX;
+        double BA_y = vector1Y - originNodeY;
+        double BC_x = vector2X - originNodeX;
+        double BC_y = vector2Y - originNodeY;
+        // Tính độ dài của các vector AB và BC
+        double lengthAB = Math.Sqrt(BA_x * BA_x + BA_y * BA_y);
+        double lengthBC = Math.Sqrt(BC_x * BC_x + BC_y * BC_y);
+        // Tính tích vô hướng của AB và BC
+        double dotProduct = BA_x * BC_x + BA_y * BC_y;
+        if (lengthAB * lengthBC == 0) return 0;
+        if (dotProduct / (lengthAB * lengthBC) > 1) return 0;
+        if (dotProduct / (lengthAB * lengthBC) < -1) return 180;
+        return Math.Acos(dotProduct / (lengthAB * lengthBC)) * (180.0 / Math.PI);
+    }
+}

RobotApp.Common.Shares/MessageResult.cs

@@ -0,0 +1,8 @@
+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/Model/EdgeCalculatorModel.cs

@@ -0,0 +1,16 @@
+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.Common.Shares/RobotApp.Common.Shares.csproj

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

RobotApp.VDA5050/Factsheet/ActionParameters.cs

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

RobotApp.VDA5050/Factsheet/AgvActions.cs

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

RobotApp.VDA5050/Factsheet/AgvGeometry.cs

@@ -2,11 +2,10 @@
 
 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

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

RobotApp.VDA5050/Factsheet/Envelopes3d.cs

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

RobotApp.VDA5050/Factsheet/FactSheetMsg.cs

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

RobotApp.VDA5050/Factsheet/LoadSets.cs

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

RobotApp.VDA5050/Factsheet/LoadSpecification.cs

@@ -1,9 +1,8 @@
 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

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

RobotApp.VDA5050/Factsheet/ProtocolFeatures.cs

@@ -2,12 +2,11 @@
 
 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

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

RobotApp.VDA5050/Factsheet/TypeSpecification.cs

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

RobotApp.VDA5050/Factsheet/WheelDefinitions.cs

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

RobotApp.VDA5050/FactsheetExtend/Battery.cs

@@ -1,9 +0,0 @@
-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

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

RobotApp.VDA5050/FactsheetExtend/CameraSafety.cs

@@ -1,31 +0,0 @@
-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

@@ -1,9 +0,0 @@
-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

@@ -1,19 +0,0 @@
-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

@@ -1,9 +0,0 @@
-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

@@ -1,9 +0,0 @@
-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

@@ -1,10 +0,0 @@
-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

@@ -1,14 +0,0 @@
-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

@@ -1,9 +0,0 @@
-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

@@ -1,11 +0,0 @@
-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

@@ -1,7 +0,0 @@
-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

@@ -1,15 +0,0 @@
-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

@@ -1,12 +0,0 @@
-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

@@ -1,9 +0,0 @@
-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

@@ -1,8 +0,0 @@
-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

@@ -1,14 +0,0 @@
-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

@@ -1,21 +0,0 @@
-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

@@ -1,16 +0,0 @@
-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/Action.cs

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

RobotApp.VDA5050/InstantAction/ActionParameter.cs

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

RobotApp.VDA5050/InstantAction/InstantActionsMsg.cs

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

RobotApp.VDA5050/State/ActionState.cs

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

RobotApp.VDA5050/State/EdgeState.cs

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

RobotApp.VDA5050/State/Error.cs

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

RobotApp.VDA5050/State/Information.cs

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

RobotApp.VDA5050/State/Load.cs

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

RobotApp.VDA5050/State/NodeState.cs

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

RobotApp.VDA5050/State/StateMsg.cs

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

RobotApp.VDA5050/Type/ActionType.cs

@@ -2,34 +2,16 @@
 
 public enum ActionType
 {
-    startPause,              // No actionParameters
+    START_PAUSE,
-    stopPause,              // No actionParameters
+    STOP_PAUSE,
-    startCharging,         // ActionParameters {CHARGER_IP, CHARGER_PORT, X, Y, THETA}
+    START_CHARGING,
-    stopCharging,            // ActionParameters {X, Y, THETA}
+    STOP_CHARGING,
-    initPosition,            // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
+    INITIALIZATION_POSITION,             
-    stateRequest,            // No actionParameters
+    PICK,                   
-    logReport,               // No actionParameters
+    DROP,               
-    pick,                    // No actionParameters
+    CANCEL_ORDER,       
-    drop,                   // No actionParameters
+    ROTATE,
-    detectObject,            // No actionParameters
+    REQUEST_FACTSHEET,
-    finePositioning,         // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
+    REQUEST_VISUALIZATION,
-    waitForTrigger,          // No actionParameters
+    REQUEST_STATE,
-    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

@@ -1,29 +0,0 @@
-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

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

@@ -1,12 +1,46 @@
 namespace RobotApp.VDA5050;
 
-public static class VDA5050Topic
+public enum VDA5050Topic
 {
-    public const string Connection = "connection";
+    CONNECTION,
-    public const string Order = "order";
+    ORDER,
-    public const string InstantActions = "instantActions";
+    INSTANTACTIONS,
-    public const string State = "state";
+    STATE,
-    public const string Visualization = "visualization";
+    VISUALIZATION,
-    public const string Factsheet = "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.VDA5050/Visualization/AgvPosition.cs

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

RobotApp.VDA5050/Visualization/Visualizationmsg.cs

@@ -1,16 +1,16 @@
-namespace RobotApp.VDA5050.Visualization;
+using System.ComponentModel.DataAnnotations;
 
-#nullable disable
+namespace RobotApp.VDA5050.Visualization;
 
 public class VisualizationMsg
 {
     public uint HeaderId { get; set; }
-    public string Timestamp { get; set; }
+    public string Timestamp { get; set; } = DateTime.Now.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
-    public string Version { get; set; }
+    public string Version { get; set; } = "1.0.0";
-    public string Manufacturer { get; set; }
+    public string Manufacturer { get; set; } = "PhenikaaX";
-    public string SerialNumber { get; set; }
+    public string SerialNumber { get; set; } = string.Empty;
-    public string MapId { get; set; }
+    public string MapId { get; set; } = string.Empty;
-    public string MapDescription { get; set; }
+    public string MapDescription { get; set; } = string.Empty;
     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
-VisualStudioVersion = 17.12.35707.178
+VisualStudioVersion = 17.14.36511.14
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp", "RobotApp\RobotApp.csproj", "{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}"
 EndProject
@@ -9,6 +9,8 @@ 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
@@ -27,8 +29,15 @@ 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/Components/Account/IdentityComponentsEndpointRouteBuilderExtensions.cs

@@ -1,14 +1,7 @@
-using System.Security.Claims;
-using System.Text.Json;
-using Microsoft.AspNetCore.Authentication;
-using Microsoft.AspNetCore.Components.Authorization;
-using Microsoft.AspNetCore.Http.Extensions;
 using Microsoft.AspNetCore.Identity;
 using Microsoft.AspNetCore.Mvc;
-using Microsoft.Extensions.Primitives;
-using RobotApp.Components.Account.Pages;
-using RobotApp.Components.Account.Shared;
 using RobotApp.Data;
+using System.Security.Claims;
 
 namespace Microsoft.AspNetCore.Routing
 {

RobotApp/Components/Account/Pages/Register.razor

@@ -1,118 +0,0 @@
-@page "/Account/Register"
-
-@using System.ComponentModel.DataAnnotations
-@using System.Text
-@using System.Text.Encodings.Web
-@using Microsoft.AspNetCore.Identity
-@using Microsoft.AspNetCore.WebUtilities
-@using RobotApp.Data
-
-@inject UserManager<ApplicationUser> UserManager
-@inject IUserStore<ApplicationUser> UserStore
-@inject SignInManager<ApplicationUser> SignInManager
-@inject IEmailSender<ApplicationUser> EmailSender
-@inject ILogger<Register> Logger
-@inject NavigationManager NavigationManager
-@inject IdentityRedirectManager RedirectManager
-
-<PageTitle>Register</PageTitle>
-
-<div class="w-100 h-100 d-flex flex-column justify-content-center align-items-center">
-    <h1>Create a new account.</h1>
-    @if (!string.IsNullOrEmpty(errorMessage))
-    {
-        var statusMessageClass = errorMessage.StartsWith("Error") ? "danger" : "success";
-        <div class="alert alert-@statusMessageClass" role="alert">
-            @errorMessage
-        </div>
-    }
-    <EditForm style="width:500px" Model="Input" asp-route-returnUrl="@ReturnUrl" method="post" OnValidSubmit="RegisterUser" FormName="register">
-        <DataAnnotationsValidator />
-        <hr />
-        <ValidationSummary class="text-danger" role="alert" />
-        <div class="form-floating mb-3 ">
-            <InputText @bind-Value="Input.UserName" class="form-control" autocomplete="username" aria-required="true" placeholder="name" />
-            <label for="user">UserName</label>
-            <ValidationMessage For="() => Input.UserName" class="text-danger" />
-        </div>
-        <div class="form-floating mb-3">
-            <InputText type="password" @bind-Value="Input.Password" class="form-control" autocomplete="new-password" aria-required="true" placeholder="password" />
-            <label for="password">Password</label>
-            <ValidationMessage For="() => Input.Password" class="text-danger" />
-        </div>
-        <div class="form-floating mb-3">
-            <InputText type="password" @bind-Value="Input.ConfirmPassword" class="form-control" autocomplete="new-password" aria-required="true" placeholder="password" />
-            <label for="confirm-password">Confirm Password</label>
-            <ValidationMessage For="() => Input.ConfirmPassword" class="text-danger" />
-        </div>
-        <button type="submit" class="w-100 btn btn-lg btn-primary">Register</button>
-    </EditForm>
-</div>
-
-
-@code {
-    private string errorMessage = string.Empty;
-
-    private IEnumerable<IdentityError>? identityErrors;
-
-    [SupplyParameterFromForm]
-    private InputModel Input { get; set; } = new();
-
-    [SupplyParameterFromQuery]
-    private string? ReturnUrl { get; set; }
-
-    private string? Message => identityErrors is null ? null : $"Error: {string.Join(", ", identityErrors.Select(error => error.Description))}";
-
-    public async Task RegisterUser(EditContext editContext)
-    {
-        var user = CreateUser();
-
-        await UserStore.SetUserNameAsync(user, Input.UserName, CancellationToken.None);
-        user.NormalizedUserName = Input.UserName.ToUpperInvariant();
-        user.EmailConfirmed = true;
-        var result = await UserManager.CreateAsync(user, Input.Password);
-
-        if (!result.Succeeded)
-        {
-            identityErrors = result.Errors;
-            return;
-        }
-
-        Logger.LogInformation("User created a new account with password.");
-
-        await SignInManager.SignInAsync(user, isPersistent: false);
-        RedirectManager.RedirectTo(ReturnUrl);
-    }
-
-    private ApplicationUser CreateUser()
-    {
-        try
-        {
-            return Activator.CreateInstance<ApplicationUser>();
-        }
-        catch
-        {
-            throw new InvalidOperationException($"Can't create an instance of '{nameof(ApplicationUser)}'. " +
-                $"Ensure that '{nameof(ApplicationUser)}' is not an abstract class and has a parameterless constructor.");
-        }
-    }
-
-
-    private sealed class InputModel
-    {
-        [Required]
-        [Display(Name = "UserName")]
-        public string UserName { get; set; } = "";
-
-        [Required]
-        [StringLength(100, ErrorMessage = "The {0} must be at least {2} and at max {1} characters long.", MinimumLength = 6)]
-        [DataType(DataType.Password)]
-        [Display(Name = "Password")]
-        public string Password { get; set; } = "";
-
-        [DataType(DataType.Password)]
-        [Display(Name = "Confirm password")]
-        [Compare("Password", ErrorMessage = "The password and confirmation password do not match.")]
-        public string ConfirmPassword { get; set; } = "";
-    }
-}

RobotApp/Components/App.razor

@@ -4,28 +4,43 @@
 <head>
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>RobotApp</title>
     <base href="/" />
-    <link rel="stylesheet" href="_content/MudBlazor/MudBlazor.min.css" />
     <link rel="stylesheet" href="@Assets["lib/bootstrap/css/bootstrap.min.css"]" />
     <link rel="stylesheet" href="@Assets["lib/mdi/font/css/materialdesignicons.min.css"]" />
-    <link rel="stylesheet" href="@Assets["lib/bootstrap/dist/css/bootstrap.min.css"]" />
     <link rel="stylesheet" href="@Assets["app.css"]" />
     <link rel="stylesheet" href="@Assets["RobotApp.styles.css"]" />
+    <link rel="stylesheet" href="@Assets["_content/MudBlazor/MudBlazor.min.css"]" />
+    <link rel="icon" type="image/svg+xml" href="favicon.svg" />
     <ImportMap />
-    <link rel="icon" type="image/png" href="favicon.png" />
+    <HeadOutlet />
-    <ImportMap @rendermode="InteractiveServer" />
-    <HeadOutlet @rendermode="InteractiveServer" />
 </head>
 
 <body>
-   
+    <CascadingAuthenticationState>
-    <Routes />
+        <Router AppAssembly="@typeof(Program).Assembly">
+            <Found Context="routeData">
+                <AuthorizeRouteView RouteData="routeData" DefaultLayout="typeof(RobotApp.Client.MainLayout)">
+                    <NotAuthorized>
+                        <RedirectToLogin />
+                    </NotAuthorized>
+                </AuthorizeRouteView>
+            </Found>
+            <NotFound>
+                <PageTitle>Not found</PageTitle>
+                <LayoutView Layout="typeof(RobotApp.Client.MainLayout)">
+                    <p>Không tìm thấy trang.</p>
+                </LayoutView>
+            </NotFound>
+        </Router>
+    </CascadingAuthenticationState>
+
 
     <script src="_framework/blazor.web.js"></script>
     <script src="@Assets["lib/bootstrap/js/bootstrap.bundle.min.js"]"></script>
     <script src="@Assets["lib/bootstrap/js/bootstrap.min.js"]"></script>
-    <script src="_content/MudBlazor/MudBlazor.min.js"></script>
+    <script src="@Assets["_content/MudBlazor/MudBlazor.min.js"]"></script>
-    
+    <script src="@Assets["js/canvas.js"]"></script>
 </body>
 
 </html>

RobotApp/Components/Pages/Home.razor

@@ -1,4 +1,7 @@
 @page "/"
 @using Microsoft.AspNetCore.Authorization
+
+@rendermode InteractiveServer
+
 @attribute [Authorize]
-<h1>Welcome to RobotApp!</h1>
+<h1>Welcome to RobotApp!</h1>

RobotApp/Components/ServerLayout.razor

@@ -0,0 +1,12 @@
+@inherits LayoutComponentBase
+@layout RobotApp.Client.MainLayout
+
+<MudThemeProvider @rendermode="InteractiveServer" IsDarkMode/>
+<MudPopoverProvider @rendermode="InteractiveServer" />
+<MudDialogProvider @rendermode="InteractiveServer" MaxWidth="MaxWidth.ExtraLarge"
+                   CloseButton="false"
+                   BackdropClick="false"
+                   Position="DialogPosition.Center" />
+<MudSnackbarProvider @rendermode="InteractiveServer" />
+
+@Body

RobotApp/Controllers/ImagesController.cs

@@ -0,0 +1,61 @@
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+
+namespace RobotApp.Controllers;
+
+[Route("api/[controller]")]
+[ApiController]
+[AllowAnonymous]
+public class ImagesController(Services.Logger<ImagesController> Logger) : ControllerBase
+{
+    [HttpGet]
+    [Route("mapping")]
+    public async Task<IActionResult> GetMapImage()
+    {
+        try
+        {
+            await Task.Delay(1);
+            
+            string fileName = "gara20250309.png";
+            string filePath = Path.Combine("maps", fileName);
+            
+            if (System.IO.File.Exists(filePath))
+            {
+                byte[] imageBytes = await System.IO.File.ReadAllBytesAsync(filePath);
+                return File(imageBytes, "image/png");
+            }
+            else
+            {
+                string mapsDir = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "maps");
+                if (Directory.Exists(mapsDir))
+                {
+                    var pngFiles = Directory.GetFiles(mapsDir, "*.png");
+
+                    return NotFound(new 
+                    { 
+                        error = "Map image not found",
+                        searchPath = filePath,
+                        mapsDirectory = mapsDir,
+                        availableFiles = pngFiles.Select(Path.GetFileName).ToArray(),
+                        baseDirectory = AppDomain.CurrentDomain.BaseDirectory
+                    });
+                }
+                else
+                {
+                    Logger.Warning($"GetMapImage: Maps directory does not exist: {mapsDir}");
+                    return NotFound(new 
+                    { 
+                        error = "Maps directory not found",
+                        searchPath = mapsDir,
+                        baseDirectory = AppDomain.CurrentDomain.BaseDirectory
+                    });
+                }
+            }
+        }
+        catch (Exception ex)
+        {
+            Logger.Warning($"GetMapImage: Exception occurred - {ex.Message}");
+            return StatusCode(500, new { error = "Internal server error", message = ex.Message, stackTrace = ex.StackTrace });
+        }
+    }
+}

RobotApp/Data/ApplicationDbContext.cs

@@ -8,6 +8,5 @@ namespace RobotApp.Data
         public ApplicationDbContext(DbContextOptions<ApplicationDbContext> options) : base(options)
         {
         }
-
     }
 }

RobotApp/Data/ApplicationDbExtensions.cs

@@ -0,0 +1,54 @@
+using Microsoft.AspNetCore.Identity;
+using Microsoft.EntityFrameworkCore;
+
+namespace RobotApp.Data;
+
+public static class ApplicationDbExtensions
+{
+    public static async Task SeedApplicationDbAsync(this IServiceProvider serviceProvider)
+    {
+        using var scope = serviceProvider.GetRequiredService<IServiceScopeFactory>().CreateScope();
+
+        using var appDb = scope.ServiceProvider.GetRequiredService<ApplicationDbContext>();
+
+        await appDb.Database.MigrateAsync();
+        //await appDb.Database.EnsureCreatedAsync();
+        await appDb.SaveChangesAsync();
+
+        await scope.ServiceProvider.SeedRolesAsync();
+        await scope.ServiceProvider.SeedUsersAsync();
+    }
+
+    private static async Task SeedRolesAsync(this IServiceProvider serviceProvider)
+    {
+        var roleManager = serviceProvider.GetRequiredService<RoleManager<ApplicationRole>>();
+
+        if (!await roleManager.RoleExistsAsync("Administrator"))
+        {
+            await roleManager.CreateAsync(new ApplicationRole()
+            {
+                Name = "Administrator",
+                NormalizedName = "ADMINISTRATOR",
+            });
+        }
+    }
+
+    private static async Task SeedUsersAsync(this IServiceProvider serviceProvider)
+    {
+        using var userManager = serviceProvider.GetRequiredService<UserManager<ApplicationUser>>();
+        if (await userManager.FindByNameAsync("admin") is null)
+        {
+            var admin = new ApplicationUser()
+            {
+                UserName = "admin",
+                Email = "administrator@phenikaa-x.com",
+                NormalizedUserName = "ADMINISTRATOR",
+                NormalizedEmail = "ADMINISTRATOR@PHENIKAA-X.COM",
+                EmailConfirmed = true,
+            };
+
+            await userManager.CreateAsync(admin, "robotics");
+            await userManager.AddToRoleAsync(admin, "Administrator");
+        }
+    }
+}

RobotApp/Data/Migrations/00000000000000_CreateIdentitySchema.Designer.cs

@@ -35,7 +35,7 @@ namespace RobotApp.Migrations
 
                     b.Property<string>("ConcurrencyStamp")
                         .IsConcurrencyToken()
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.Property<string>("Email")
                         .HasMaxLength(256)
@@ -59,16 +59,16 @@ namespace RobotApp.Migrations
                         .HasColumnType("nvarchar(256)");
 
                     b.Property<string>("PasswordHash")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.Property<string>("PhoneNumber")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.Property<bool>("PhoneNumberConfirmed")
                         .HasColumnType("bit");
 
                     b.Property<string>("SecurityStamp")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.Property<bool>("TwoFactorEnabled")
                         .HasColumnType("bit");
@@ -97,7 +97,7 @@ namespace RobotApp.Migrations
 
                     b.Property<string>("ConcurrencyStamp")
                         .IsConcurrencyToken()
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.Property<string>("Name")
                         .HasMaxLength(256)
@@ -126,10 +126,10 @@ namespace RobotApp.Migrations
                     SqlServerPropertyBuilderExtensions.UseIdentityColumn(b.Property<int>("Id"));
 
                     b.Property<string>("ClaimType")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.Property<string>("ClaimValue")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.Property<string>("RoleId")
                         .IsRequired()
@@ -151,10 +151,10 @@ namespace RobotApp.Migrations
                     SqlServerPropertyBuilderExtensions.UseIdentityColumn(b.Property<int>("Id"));
 
                     b.Property<string>("ClaimType")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.Property<string>("ClaimValue")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.Property<string>("UserId")
                         .IsRequired()
@@ -176,7 +176,7 @@ namespace RobotApp.Migrations
                         .HasColumnType("nvarchar(450)");
 
                     b.Property<string>("ProviderDisplayName")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.Property<string>("UserId")
                         .IsRequired()
@@ -216,7 +216,7 @@ namespace RobotApp.Migrations
                         .HasColumnType("nvarchar(450)");
 
                     b.Property<string>("Value")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("Text");
 
                     b.HasKey("UserId", "LoginProvider", "Name");
 

RobotApp/Data/Migrations/00000000000000_CreateIdentitySchema.cs

@@ -18,7 +18,7 @@ namespace RobotApp.Migrations
                     Id = table.Column<string>(type: "nvarchar(450)", nullable: false),
                     Name = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
                     NormalizedName = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
-                    ConcurrencyStamp = table.Column<string>(type: "nvarchar(max)", nullable: true)
+                    ConcurrencyStamp = table.Column<string>(type: "Text", nullable: true)
                 },
                 constraints: table =>
                 {
@@ -35,10 +35,10 @@ namespace RobotApp.Migrations
                     Email = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
                     NormalizedEmail = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
                     EmailConfirmed = table.Column<bool>(type: "bit", nullable: false),
-                    PasswordHash = table.Column<string>(type: "nvarchar(max)", nullable: true),
+                    PasswordHash = table.Column<string>(type: "Text", nullable: true),
-                    SecurityStamp = table.Column<string>(type: "nvarchar(max)", nullable: true),
+                    SecurityStamp = table.Column<string>(type: "Text", nullable: true),
-                    ConcurrencyStamp = table.Column<string>(type: "nvarchar(max)", nullable: true),
+                    ConcurrencyStamp = table.Column<string>(type: "Text", nullable: true),
-                    PhoneNumber = table.Column<string>(type: "nvarchar(max)", nullable: true),
+                    PhoneNumber = table.Column<string>(type: "Text", nullable: true),
                     PhoneNumberConfirmed = table.Column<bool>(type: "bit", nullable: false),
                     TwoFactorEnabled = table.Column<bool>(type: "bit", nullable: false),
                     LockoutEnd = table.Column<DateTimeOffset>(type: "datetimeoffset", nullable: true),
@@ -57,8 +57,8 @@ namespace RobotApp.Migrations
                     Id = table.Column<int>(type: "int", nullable: false)
                         .Annotation("SqlServer:Identity", "1, 1"),
                     RoleId = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    ClaimType = table.Column<string>(type: "nvarchar(max)", nullable: true),
+                    ClaimType = table.Column<string>(type: "Text", nullable: true),
-                    ClaimValue = table.Column<string>(type: "nvarchar(max)", nullable: true)
+                    ClaimValue = table.Column<string>(type: "Text", nullable: true)
                 },
                 constraints: table =>
                 {
@@ -78,8 +78,8 @@ namespace RobotApp.Migrations
                     Id = table.Column<int>(type: "int", nullable: false)
                         .Annotation("SqlServer:Identity", "1, 1"),
                     UserId = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    ClaimType = table.Column<string>(type: "nvarchar(max)", nullable: true),
+                    ClaimType = table.Column<string>(type: "Text", nullable: true),
-                    ClaimValue = table.Column<string>(type: "nvarchar(max)", nullable: true)
+                    ClaimValue = table.Column<string>(type: "Text", nullable: true)
                 },
                 constraints: table =>
                 {
@@ -98,7 +98,7 @@ namespace RobotApp.Migrations
                 {
                     LoginProvider = table.Column<string>(type: "nvarchar(450)", nullable: false),
                     ProviderKey = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    ProviderDisplayName = table.Column<string>(type: "nvarchar(max)", nullable: true),
+                    ProviderDisplayName = table.Column<string>(type: "Text", nullable: true),
                     UserId = table.Column<string>(type: "nvarchar(450)", nullable: false)
                 },
                 constraints: table =>
@@ -143,7 +143,7 @@ namespace RobotApp.Migrations
                     UserId = table.Column<string>(type: "nvarchar(450)", nullable: false),
                     LoginProvider = table.Column<string>(type: "nvarchar(450)", nullable: false),
                     Name = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    Value = table.Column<string>(type: "nvarchar(max)", nullable: true)
+                    Value = table.Column<string>(type: "Text", nullable: true)
                 },
                 constraints: table =>
                 {

RobotApp/Data/Migrations/20250926020848_initDb.Designer.cs

@@ -0,0 +1,268 @@
+// <auto-generated />
+using System;
+using Microsoft.EntityFrameworkCore;
+using Microsoft.EntityFrameworkCore.Infrastructure;
+using Microsoft.EntityFrameworkCore.Migrations;
+using Microsoft.EntityFrameworkCore.Storage.ValueConversion;
+using RobotApp.Data;
+
+#nullable disable
+
+namespace RobotApp.Data.Migrations
+{
+    [DbContext(typeof(ApplicationDbContext))]
+    [Migration("20250926020848_initDb")]
+    partial class initDb
+    {
+        /// <inheritdoc />
+        protected override void BuildTargetModel(ModelBuilder modelBuilder)
+        {
+#pragma warning disable 612, 618
+            modelBuilder.HasAnnotation("ProductVersion", "9.0.9");
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
+                {
+                    b.Property<int>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("ClaimType")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ClaimValue")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("RoleId")
+                        .IsRequired()
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("Id");
+
+                    b.HasIndex("RoleId");
+
+                    b.ToTable("AspNetRoleClaims", (string)null);
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserClaim<string>", b =>
+                {
+                    b.Property<int>("Id")
+                        .ValueGeneratedOnAdd()
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("ClaimType")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ClaimValue")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("UserId")
+                        .IsRequired()
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("Id");
+
+                    b.HasIndex("UserId");
+
+                    b.ToTable("AspNetUserClaims", (string)null);
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
+                {
+                    b.Property<string>("LoginProvider")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ProviderKey")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ProviderDisplayName")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("UserId")
+                        .IsRequired()
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("LoginProvider", "ProviderKey");
+
+                    b.HasIndex("UserId");
+
+                    b.ToTable("AspNetUserLogins", (string)null);
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
+                {
+                    b.Property<string>("UserId")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("RoleId")
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("UserId", "RoleId");
+
+                    b.HasIndex("RoleId");
+
+                    b.ToTable("AspNetUserRoles", (string)null);
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
+                {
+                    b.Property<string>("UserId")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("LoginProvider")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("Name")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("Value")
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("UserId", "LoginProvider", "Name");
+
+                    b.ToTable("AspNetUserTokens", (string)null);
+                });
+
+            modelBuilder.Entity("RobotApp.Data.ApplicationRole", b =>
+                {
+                    b.Property<string>("Id")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ConcurrencyStamp")
+                        .IsConcurrencyToken()
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("Name")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("NormalizedName")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("Id");
+
+                    b.HasIndex("NormalizedName")
+                        .IsUnique()
+                        .HasDatabaseName("RoleNameIndex");
+
+                    b.ToTable("AspNetRoles", (string)null);
+                });
+
+            modelBuilder.Entity("RobotApp.Data.ApplicationUser", b =>
+                {
+                    b.Property<string>("Id")
+                        .HasColumnType("TEXT");
+
+                    b.Property<int>("AccessFailedCount")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("ConcurrencyStamp")
+                        .IsConcurrencyToken()
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("Email")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<bool>("EmailConfirmed")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<bool>("LockoutEnabled")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<DateTimeOffset?>("LockoutEnd")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("NormalizedEmail")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("NormalizedUserName")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("PasswordHash")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("PhoneNumber")
+                        .HasColumnType("TEXT");
+
+                    b.Property<bool>("PhoneNumberConfirmed")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("SecurityStamp")
+                        .HasColumnType("TEXT");
+
+                    b.Property<bool>("TwoFactorEnabled")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("UserName")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("Id");
+
+                    b.HasIndex("NormalizedEmail")
+                        .HasDatabaseName("EmailIndex");
+
+                    b.HasIndex("NormalizedUserName")
+                        .IsUnique()
+                        .HasDatabaseName("UserNameIndex");
+
+                    b.ToTable("AspNetUsers", (string)null);
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
+                {
+                    b.HasOne("RobotApp.Data.ApplicationRole", null)
+                        .WithMany()
+                        .HasForeignKey("RoleId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserClaim<string>", b =>
+                {
+                    b.HasOne("RobotApp.Data.ApplicationUser", null)
+                        .WithMany()
+                        .HasForeignKey("UserId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
+                {
+                    b.HasOne("RobotApp.Data.ApplicationUser", null)
+                        .WithMany()
+                        .HasForeignKey("UserId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
+                {
+                    b.HasOne("RobotApp.Data.ApplicationRole", null)
+                        .WithMany()
+                        .HasForeignKey("RoleId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+
+                    b.HasOne("RobotApp.Data.ApplicationUser", null)
+                        .WithMany()
+                        .HasForeignKey("UserId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+                });
+
+            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
+                {
+                    b.HasOne("RobotApp.Data.ApplicationUser", null)
+                        .WithMany()
+                        .HasForeignKey("UserId")
+                        .OnDelete(DeleteBehavior.Cascade)
+                        .IsRequired();
+                });
+#pragma warning restore 612, 618
+        }
+    }
+}

RobotApp/Data/Migrations/20250926020848_initDb.cs

@@ -0,0 +1,721 @@
+using System;
+using Microsoft.EntityFrameworkCore.Migrations;
+
+#nullable disable
+
+namespace RobotApp.Data.Migrations
+{
+    /// <inheritdoc />
+    public partial class initDb : Migration
+    {
+        /// <inheritdoc />
+        protected override void Up(MigrationBuilder migrationBuilder)
+        {
+            migrationBuilder.DropIndex(
+                name: "UserNameIndex",
+                table: "AspNetUsers");
+
+            migrationBuilder.DropIndex(
+                name: "RoleNameIndex",
+                table: "AspNetRoles");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Value",
+                table: "AspNetUserTokens",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Name",
+                table: "AspNetUserTokens",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "LoginProvider",
+                table: "AspNetUserTokens",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "UserId",
+                table: "AspNetUserTokens",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "UserName",
+                table: "AspNetUsers",
+                type: "TEXT",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(256)",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<bool>(
+                name: "TwoFactorEnabled",
+                table: "AspNetUsers",
+                type: "INTEGER",
+                nullable: false,
+                oldClrType: typeof(bool),
+                oldType: "bit");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "SecurityStamp",
+                table: "AspNetUsers",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<bool>(
+                name: "PhoneNumberConfirmed",
+                table: "AspNetUsers",
+                type: "INTEGER",
+                nullable: false,
+                oldClrType: typeof(bool),
+                oldType: "bit");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "PhoneNumber",
+                table: "AspNetUsers",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "PasswordHash",
+                table: "AspNetUsers",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "NormalizedUserName",
+                table: "AspNetUsers",
+                type: "TEXT",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(256)",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "NormalizedEmail",
+                table: "AspNetUsers",
+                type: "TEXT",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(256)",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<DateTimeOffset>(
+                name: "LockoutEnd",
+                table: "AspNetUsers",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(DateTimeOffset),
+                oldType: "datetimeoffset",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<bool>(
+                name: "LockoutEnabled",
+                table: "AspNetUsers",
+                type: "INTEGER",
+                nullable: false,
+                oldClrType: typeof(bool),
+                oldType: "bit");
+
+            migrationBuilder.AlterColumn<bool>(
+                name: "EmailConfirmed",
+                table: "AspNetUsers",
+                type: "INTEGER",
+                nullable: false,
+                oldClrType: typeof(bool),
+                oldType: "bit");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Email",
+                table: "AspNetUsers",
+                type: "TEXT",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(256)",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ConcurrencyStamp",
+                table: "AspNetUsers",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<int>(
+                name: "AccessFailedCount",
+                table: "AspNetUsers",
+                type: "INTEGER",
+                nullable: false,
+                oldClrType: typeof(int),
+                oldType: "int");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Id",
+                table: "AspNetUsers",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "RoleId",
+                table: "AspNetUserRoles",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "UserId",
+                table: "AspNetUserRoles",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "UserId",
+                table: "AspNetUserLogins",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ProviderDisplayName",
+                table: "AspNetUserLogins",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ProviderKey",
+                table: "AspNetUserLogins",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "LoginProvider",
+                table: "AspNetUserLogins",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "UserId",
+                table: "AspNetUserClaims",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ClaimValue",
+                table: "AspNetUserClaims",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ClaimType",
+                table: "AspNetUserClaims",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<int>(
+                name: "Id",
+                table: "AspNetUserClaims",
+                type: "INTEGER",
+                nullable: false,
+                oldClrType: typeof(int),
+                oldType: "int")
+                .Annotation("Sqlite:Autoincrement", true)
+                .OldAnnotation("Sqlite:Autoincrement", true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "NormalizedName",
+                table: "AspNetRoles",
+                type: "TEXT",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(256)",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Name",
+                table: "AspNetRoles",
+                type: "TEXT",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(256)",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ConcurrencyStamp",
+                table: "AspNetRoles",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Id",
+                table: "AspNetRoles",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "RoleId",
+                table: "AspNetRoleClaims",
+                type: "TEXT",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "nvarchar(450)");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ClaimValue",
+                table: "AspNetRoleClaims",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ClaimType",
+                table: "AspNetRoleClaims",
+                type: "TEXT",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "Text",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<int>(
+                name: "Id",
+                table: "AspNetRoleClaims",
+                type: "INTEGER",
+                nullable: false,
+                oldClrType: typeof(int),
+                oldType: "int")
+                .Annotation("Sqlite:Autoincrement", true)
+                .OldAnnotation("Sqlite:Autoincrement", true);
+
+            migrationBuilder.CreateIndex(
+                name: "UserNameIndex",
+                table: "AspNetUsers",
+                column: "NormalizedUserName",
+                unique: true);
+
+            migrationBuilder.CreateIndex(
+                name: "RoleNameIndex",
+                table: "AspNetRoles",
+                column: "NormalizedName",
+                unique: true);
+        }
+
+        /// <inheritdoc />
+        protected override void Down(MigrationBuilder migrationBuilder)
+        {
+            migrationBuilder.DropIndex(
+                name: "UserNameIndex",
+                table: "AspNetUsers");
+
+            migrationBuilder.DropIndex(
+                name: "RoleNameIndex",
+                table: "AspNetRoles");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Value",
+                table: "AspNetUserTokens",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Name",
+                table: "AspNetUserTokens",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "LoginProvider",
+                table: "AspNetUserTokens",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "UserId",
+                table: "AspNetUserTokens",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "UserName",
+                table: "AspNetUsers",
+                type: "nvarchar(256)",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<bool>(
+                name: "TwoFactorEnabled",
+                table: "AspNetUsers",
+                type: "bit",
+                nullable: false,
+                oldClrType: typeof(bool),
+                oldType: "INTEGER");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "SecurityStamp",
+                table: "AspNetUsers",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<bool>(
+                name: "PhoneNumberConfirmed",
+                table: "AspNetUsers",
+                type: "bit",
+                nullable: false,
+                oldClrType: typeof(bool),
+                oldType: "INTEGER");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "PhoneNumber",
+                table: "AspNetUsers",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "PasswordHash",
+                table: "AspNetUsers",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "NormalizedUserName",
+                table: "AspNetUsers",
+                type: "nvarchar(256)",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "NormalizedEmail",
+                table: "AspNetUsers",
+                type: "nvarchar(256)",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<DateTimeOffset>(
+                name: "LockoutEnd",
+                table: "AspNetUsers",
+                type: "datetimeoffset",
+                nullable: true,
+                oldClrType: typeof(DateTimeOffset),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<bool>(
+                name: "LockoutEnabled",
+                table: "AspNetUsers",
+                type: "bit",
+                nullable: false,
+                oldClrType: typeof(bool),
+                oldType: "INTEGER");
+
+            migrationBuilder.AlterColumn<bool>(
+                name: "EmailConfirmed",
+                table: "AspNetUsers",
+                type: "bit",
+                nullable: false,
+                oldClrType: typeof(bool),
+                oldType: "INTEGER");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Email",
+                table: "AspNetUsers",
+                type: "nvarchar(256)",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ConcurrencyStamp",
+                table: "AspNetUsers",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<int>(
+                name: "AccessFailedCount",
+                table: "AspNetUsers",
+                type: "int",
+                nullable: false,
+                oldClrType: typeof(int),
+                oldType: "INTEGER");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Id",
+                table: "AspNetUsers",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "RoleId",
+                table: "AspNetUserRoles",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "UserId",
+                table: "AspNetUserRoles",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "UserId",
+                table: "AspNetUserLogins",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ProviderDisplayName",
+                table: "AspNetUserLogins",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ProviderKey",
+                table: "AspNetUserLogins",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "LoginProvider",
+                table: "AspNetUserLogins",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "UserId",
+                table: "AspNetUserClaims",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ClaimValue",
+                table: "AspNetUserClaims",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ClaimType",
+                table: "AspNetUserClaims",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<int>(
+                name: "Id",
+                table: "AspNetUserClaims",
+                type: "int",
+                nullable: false,
+                oldClrType: typeof(int),
+                oldType: "INTEGER")
+                .Annotation("Sqlite:Autoincrement", true)
+                .OldAnnotation("Sqlite:Autoincrement", true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "NormalizedName",
+                table: "AspNetRoles",
+                type: "nvarchar(256)",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Name",
+                table: "AspNetRoles",
+                type: "nvarchar(256)",
+                maxLength: 256,
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldMaxLength: 256,
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ConcurrencyStamp",
+                table: "AspNetRoles",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "Id",
+                table: "AspNetRoles",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "RoleId",
+                table: "AspNetRoleClaims",
+                type: "nvarchar(450)",
+                nullable: false,
+                oldClrType: typeof(string),
+                oldType: "TEXT");
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ClaimValue",
+                table: "AspNetRoleClaims",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<string>(
+                name: "ClaimType",
+                table: "AspNetRoleClaims",
+                type: "Text",
+                nullable: true,
+                oldClrType: typeof(string),
+                oldType: "TEXT",
+                oldNullable: true);
+
+            migrationBuilder.AlterColumn<int>(
+                name: "Id",
+                table: "AspNetRoleClaims",
+                type: "int",
+                nullable: false,
+                oldClrType: typeof(int),
+                oldType: "INTEGER")
+                .Annotation("Sqlite:Autoincrement", true)
+                .OldAnnotation("Sqlite:Autoincrement", true);
+
+            migrationBuilder.CreateIndex(
+                name: "UserNameIndex",
+                table: "AspNetUsers",
+                column: "NormalizedUserName",
+                unique: true,
+                filter: "[NormalizedUserName] IS NOT NULL");
+
+            migrationBuilder.CreateIndex(
+                name: "RoleNameIndex",
+                table: "AspNetRoles",
+                column: "NormalizedName",
+                unique: true,
+                filter: "[NormalizedName] IS NOT NULL");
+        }
+    }
+}

RobotApp/Data/Migrations/ApplicationDbContextModelSnapshot.cs

@@ -1,8 +1,7 @@
-// <auto-generated />
+// <auto-generated />
 using System;
 using Microsoft.EntityFrameworkCore;
 using Microsoft.EntityFrameworkCore.Infrastructure;
-using Microsoft.EntityFrameworkCore.Metadata;
 using Microsoft.EntityFrameworkCore.Storage.ValueConversion;
 using RobotApp.Data;
 
@@ -16,121 +15,23 @@ namespace RobotApp.Migrations
         protected override void BuildModel(ModelBuilder modelBuilder)
         {
 #pragma warning disable 612, 618
-            modelBuilder
+            modelBuilder.HasAnnotation("ProductVersion", "9.0.9");
-                .HasAnnotation("ProductVersion", "8.0.0")
-                .HasAnnotation("Relational:MaxIdentifierLength", 128);
-
-            SqlServerModelBuilderExtensions.UseIdentityColumns(modelBuilder);
-
-            modelBuilder.Entity("RobotApp.Data.ApplicationUser", b =>
-                {
-                    b.Property<string>("Id")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<int>("AccessFailedCount")
-                        .HasColumnType("int");
-
-                    b.Property<string>("ConcurrencyStamp")
-                        .IsConcurrencyToken()
-                        .HasColumnType("nvarchar(max)");
-
-                    b.Property<string>("Email")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.Property<bool>("EmailConfirmed")
-                        .HasColumnType("bit");
-
-                    b.Property<bool>("LockoutEnabled")
-                        .HasColumnType("bit");
-
-                    b.Property<DateTimeOffset?>("LockoutEnd")
-                        .HasColumnType("datetimeoffset");
-
-                    b.Property<string>("NormalizedEmail")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.Property<string>("NormalizedUserName")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.Property<string>("PasswordHash")
-                        .HasColumnType("nvarchar(max)");
-
-                    b.Property<string>("PhoneNumber")
-                        .HasColumnType("nvarchar(max)");
-
-                    b.Property<bool>("PhoneNumberConfirmed")
-                        .HasColumnType("bit");
-
-                    b.Property<string>("SecurityStamp")
-                        .HasColumnType("nvarchar(max)");
-
-                    b.Property<bool>("TwoFactorEnabled")
-                        .HasColumnType("bit");
-
-                    b.Property<string>("UserName")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("NormalizedEmail")
-                        .HasDatabaseName("EmailIndex");
-
-                    b.HasIndex("NormalizedUserName")
-                        .IsUnique()
-                        .HasDatabaseName("UserNameIndex")
-                        .HasFilter("[NormalizedUserName] IS NOT NULL");
-
-                    b.ToTable("AspNetUsers", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRole", b =>
-                {
-                    b.Property<string>("Id")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("ConcurrencyStamp")
-                        .IsConcurrencyToken()
-                        .HasColumnType("nvarchar(max)");
-
-                    b.Property<string>("Name")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.Property<string>("NormalizedName")
-                        .HasMaxLength(256)
-                        .HasColumnType("nvarchar(256)");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("NormalizedName")
-                        .IsUnique()
-                        .HasDatabaseName("RoleNameIndex")
-                        .HasFilter("[NormalizedName] IS NOT NULL");
-
-                    b.ToTable("AspNetRoles", (string)null);
-                });
 
             modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
                 {
                     b.Property<int>("Id")
                         .ValueGeneratedOnAdd()
-                        .HasColumnType("int");
+                        .HasColumnType("INTEGER");
-
-                    SqlServerPropertyBuilderExtensions.UseIdentityColumn(b.Property<int>("Id"));
 
                     b.Property<string>("ClaimType")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("ClaimValue")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("RoleId")
                         .IsRequired()
-                        .HasColumnType("nvarchar(450)");
+                        .HasColumnType("TEXT");
 
                     b.HasKey("Id");
 
@@ -143,19 +44,17 @@ namespace RobotApp.Migrations
                 {
                     b.Property<int>("Id")
                         .ValueGeneratedOnAdd()
-                        .HasColumnType("int");
+                        .HasColumnType("INTEGER");
-
-                    SqlServerPropertyBuilderExtensions.UseIdentityColumn(b.Property<int>("Id"));
 
                     b.Property<string>("ClaimType")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("ClaimValue")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("UserId")
                         .IsRequired()
-                        .HasColumnType("nvarchar(450)");
+                        .HasColumnType("TEXT");
 
                     b.HasKey("Id");
 
@@ -167,17 +66,17 @@ namespace RobotApp.Migrations
             modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
                 {
                     b.Property<string>("LoginProvider")
-                        .HasColumnType("nvarchar(450)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("ProviderKey")
-                        .HasColumnType("nvarchar(450)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("ProviderDisplayName")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("UserId")
                         .IsRequired()
-                        .HasColumnType("nvarchar(450)");
+                        .HasColumnType("TEXT");
 
                     b.HasKey("LoginProvider", "ProviderKey");
 
@@ -189,10 +88,10 @@ namespace RobotApp.Migrations
             modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
                 {
                     b.Property<string>("UserId")
-                        .HasColumnType("nvarchar(450)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("RoleId")
-                        .HasColumnType("nvarchar(450)");
+                        .HasColumnType("TEXT");
 
                     b.HasKey("UserId", "RoleId");
 
@@ -204,25 +103,115 @@ namespace RobotApp.Migrations
             modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
                 {
                     b.Property<string>("UserId")
-                        .HasColumnType("nvarchar(450)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("LoginProvider")
-                        .HasColumnType("nvarchar(450)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("Name")
-                        .HasColumnType("nvarchar(450)");
+                        .HasColumnType("TEXT");
 
                     b.Property<string>("Value")
-                        .HasColumnType("nvarchar(max)");
+                        .HasColumnType("TEXT");
 
                     b.HasKey("UserId", "LoginProvider", "Name");
 
                     b.ToTable("AspNetUserTokens", (string)null);
                 });
 
+            modelBuilder.Entity("RobotApp.Data.ApplicationRole", b =>
+                {
+                    b.Property<string>("Id")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("ConcurrencyStamp")
+                        .IsConcurrencyToken()
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("Name")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("NormalizedName")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("Id");
+
+                    b.HasIndex("NormalizedName")
+                        .IsUnique()
+                        .HasDatabaseName("RoleNameIndex");
+
+                    b.ToTable("AspNetRoles", (string)null);
+                });
+
+            modelBuilder.Entity("RobotApp.Data.ApplicationUser", b =>
+                {
+                    b.Property<string>("Id")
+                        .HasColumnType("TEXT");
+
+                    b.Property<int>("AccessFailedCount")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("ConcurrencyStamp")
+                        .IsConcurrencyToken()
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("Email")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<bool>("EmailConfirmed")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<bool>("LockoutEnabled")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<DateTimeOffset?>("LockoutEnd")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("NormalizedEmail")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("NormalizedUserName")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("PasswordHash")
+                        .HasColumnType("TEXT");
+
+                    b.Property<string>("PhoneNumber")
+                        .HasColumnType("TEXT");
+
+                    b.Property<bool>("PhoneNumberConfirmed")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("SecurityStamp")
+                        .HasColumnType("TEXT");
+
+                    b.Property<bool>("TwoFactorEnabled")
+                        .HasColumnType("INTEGER");
+
+                    b.Property<string>("UserName")
+                        .HasMaxLength(256)
+                        .HasColumnType("TEXT");
+
+                    b.HasKey("Id");
+
+                    b.HasIndex("NormalizedEmail")
+                        .HasDatabaseName("EmailIndex");
+
+                    b.HasIndex("NormalizedUserName")
+                        .IsUnique()
+                        .HasDatabaseName("UserNameIndex");
+
+                    b.ToTable("AspNetUsers", (string)null);
+                });
+
             modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
                 {
-                    b.HasOne("Microsoft.AspNetCore.Identity.IdentityRole", null)
+                    b.HasOne("RobotApp.Data.ApplicationRole", null)
                         .WithMany()
                         .HasForeignKey("RoleId")
                         .OnDelete(DeleteBehavior.Cascade)
@@ -249,7 +238,7 @@ namespace RobotApp.Migrations
 
             modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
                 {
-                    b.HasOne("Microsoft.AspNetCore.Identity.IdentityRole", null)
+                    b.HasOne("RobotApp.Data.ApplicationRole", null)
                         .WithMany()
                         .HasForeignKey("RoleId")
                         .OnDelete(DeleteBehavior.Cascade)

RobotApp/Interfaces/IBattery.cs

@@ -0,0 +1,31 @@
+namespace RobotApp.Interfaces;
+
+public enum BatteryStatus
+{
+    Unknown,
+    Charging,
+    Discharging,
+    Full,
+    NotCharging,
+    Fault,
+    Standby
+}
+
+public interface IBattery
+{
+    bool IsReady { get; }
+    double Voltage { get; }
+    double Current { get; }
+    double SOC { get; }
+    double SOH { get; }
+    BatteryStatus Status { get; }
+    int ChargeTime { get; }
+    int DischargeTime { get; }
+    double Temperature { get; }
+    double RemainingCapacity { get; }
+    double RemainingEnergy { get; }
+    int DischargeCycles { get; }
+    int ChargeCycles { get; }
+    bool IsCharging { get; }
+    string[] ErrorStatus { get; }
+}

RobotApp/Interfaces/IDriver.cs

@@ -0,0 +1,37 @@
+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/IError.cs

@@ -0,0 +1,11 @@
+using RobotApp.VDA5050.State;
+
+namespace RobotApp.Interfaces;
+
+public interface IError
+{
+    bool HasFatalError { get; }
+    void AddError(Error error, TimeSpan? clearAfter = null);
+    void DeleteError(string errorType);
+    void ClearAllErrors();
+}