update

README.md

@@ -1,2 +1,5 @@
 # RobotApp
 
+docker build -t robotics.doc/robotnet/robotapp_dde:2.7 .
+docker save -o robotapp-dde.2.7.tar robotics.doc/robotnet/robotapp_dde:2.7
+scp .\robotapp-dde.2.7.tar robotics@172.20.235.176:~/DDE

RobotApp.Client/Pages/Components/Monitor/RobotMonitorView.razor

@@ -17,12 +17,26 @@
                 <i class="mdi mdi-fit-to-screen-outline icon-button"></i>
             </button>
         </MudTooltip>
+        <div class="auto-follow-control">
+            <MudTooltip Text="Auto Follow Robot" Placement="Placement.Bottom" Color="Color.Info">
+                <MudSwitch T="bool" Value="AutoFollowRobot" ValueChanged="OnAutoFollowRobotChanged" Color="Color.Info" Size="Size.Small">
+                    <span style="color: white; font-size: 14px; margin-left: 8px;">Follow Robot</span>
+                </MudSwitch>
+            </MudTooltip>
+        </div>
         <MudSpacer />
         @if (MonitorData?.RobotPosition != null)
         {
             <div class="robot-position-info">
                 <i class="mdi mdi-map-marker"></i>
-                <span>X: @MonitorData.RobotPosition.X.ToString("F2")m | Y: @MonitorData.RobotPosition.Y.ToString("F2")m | θ: @((MonitorData.RobotPosition.Theta * 180 / Math.PI).ToString("F1"))°</span>
+                <span>Robot: X: @MonitorData.RobotPosition.X.ToString("F2")m | Y: @MonitorData.RobotPosition.Y.ToString("F2")m | θ: @((MonitorData.RobotPosition.Theta * 180 / Math.PI).ToString("F1"))°</span>
+            </div>
+        }
+        @if (MouseWorldX.HasValue && MouseWorldY.HasValue)
+        {
+            <div class="mouse-position-info">
+                <i class="mdi mdi-cursor-pointer"></i>
+                <span>Mouse: X: @MouseWorldX.Value.ToString("F2")m | Y: @MouseWorldY.Value.ToString("F2")m</span>
             </div>
         }
        @*  <MudChip T="string" Color="@(IsConnected? Color.Success: Color.Error)" Size="Size.Small">
@@ -36,18 +50,52 @@
              @onmousemove="HandleMouseMove"
              @onmouseup="HandleMouseUp"
              @onmouseleave="HandleMouseLeave">
+            @* Arrow markers for origin *@
+            <defs>
+                <marker id="arrowhead-x" markerWidth="10" markerHeight="10" 
+                        refX="9" refY="3" orient="auto" markerUnits="strokeWidth">
+                    <path d="M0,0 L0,6 L9,3 z" fill="#FF0000" />
+                </marker>
+                <marker id="arrowhead-y" markerWidth="10" markerHeight="10" 
+                        refX="9" refY="3" orient="auto" markerUnits="strokeWidth">
+                    <path d="M0,0 L0,6 L9,3 z" fill="#00FF00" />
+                </marker>
+            </defs>
             <g transform="@GetTransform()">
+                @* Background Map Image *@
+                @if (MapImageLoaded && MapImageWidth > 0 && MapImageHeight > 0)
+                {
+                    @* Image origin is at bottom-left corner (MapImageOriginX, MapImageOriginY) in world coordinates
+                        In SVG (after Y flip), image top-left corner is at (MapImageOriginX, -MapImageOriginY - MapImageHeight)
+                        So we render image at: x = MapImageOriginX, y = -MapImageOriginY - MapImageHeight *@
+                    <image href="@MapImageUrl"
+                           x="@WorldToSvgX(MapImageOriginX)"
+                           y="@WorldToSvgY(MapImageOriginY + MapImageHeight)"
+                           width="@MapImageWidth"
+                           height="@MapImageHeight"
+                           preserveAspectRatio="none"
+                           opacity="0.8"
+                           style="pointer-events: none; image-rendering: pixelated;"
+                           id="map-background-image" />
+                }
+                
+                @* Origin Marker (2 arrows: X+ and Y+) at (MapImageOriginX, MapImageOriginY) *@
+                <g transform="@GetOriginMarkerTransform()">
+                    @* X+ Arrow (pointing right) *@
+                    <line x1="0" y1="0" x2="@GetOriginMarkerSize()" y2="0" 
+                          stroke="#FF0000" stroke-width="@GetOriginMarkerStrokeWidth()" 
+                          marker-end="url(#arrowhead-x)" />
+                    @* Y+ Arrow (pointing up in world, down in SVG) *@
+                    <line x1="0" y1="0" x2="0" y2="@(-GetOriginMarkerSize())" 
+                          stroke="#00FF00" stroke-width="@GetOriginMarkerStrokeWidth()" 
+                          marker-end="url(#arrowhead-y)" />
+                    @* Origin point *@
+                    <circle cx="0" cy="0" r="@(GetOriginMarkerSize() * 0.12)" 
+                            fill="#FFFF00" stroke="#000" stroke-width="@(GetOriginMarkerStrokeWidth() * 0.5)" />
+                </g>
+                
                 @if (MonitorData?.HasOrder == true)
                 {
-                    @* @for (int i = 0; i < MonitorData.EdgeStates.Length; i++)
-                    {
-                        var edge = MonitorData.EdgeStates[i];
-                        var (startX, startY, endX, endY) = GetEdgeEndpoints(i, edge);
-                        <path d="@GetPathFromTrajectory(edge.Trajectory, startX, startY, endX, endY)" 
-                              fill="none"
-                              stroke="#42A5F5"
-                              stroke-width="0.08" />
-                    } *@
                     <path d="@PathView"
                           fill="none"
                           stroke="#42A5F5"
@@ -106,7 +154,7 @@
     private ElementReference SvgRef;
     private ElementReference SvgContainerRef;
 
-    private double ZoomScale = 2.0; // Zoom vào robot hơn khi mở
+    private double ZoomScale = 1.5; // Zoom vào robot hơn khi mở
     private const double MIN_ZOOM = 0.1;
     private const double MAX_ZOOM = 5.0;
     private const double BASE_PIXELS_PER_METER = 50.0;
@@ -124,14 +172,44 @@
     private string PathView = "";
     private string PathIsNot = "hidden";
 
+    // Mouse world coordinates
+    private double? MouseWorldX = null;
+    private double? MouseWorldY = null;
+
+    // Auto-follow robot
+    private bool AutoFollowRobot = false;
+    
+    private void OnAutoFollowRobotChanged(bool value)
+    {
+        AutoFollowRobot = value;
+        if (AutoFollowRobot && MonitorData?.RobotPosition != null)
+        {
+            UpdateViewToFollowRobot();
+            StateHasChanged();
+        }
+    }
+
+    // Map image properties
+    private const double MapImageOriginX = -20.0; // OriginX in world coordinates (meters)
+    private const double MapImageOriginY = -20.0;   // OriginY in world coordinates (meters)
+    private const double MapImageResolution = 0.1; // Resolution: meters per pixel
+    private const string MapImageUrl = "images/gara20250309.png";
+    
+    private bool MapImageLoaded = false;
+    private double MapImageWidth = 0;  // Width in world coordinates (meters)
+    private double MapImageHeight = 0; // Height in world coordinates (meters)
+
     protected override async Task OnAfterRenderAsync(bool firstRender)
     {
         if (firstRender)
         {
-            var containerSize = await JS.InvokeAsync<ElementSize>("getElementSize", SvgContainerRef);
+            var containerSize = await JS.InvokeAsync<ElementSize>("robotMonitor.getElementSize", SvgContainerRef);
             SvgWidth = containerSize.Width;
             SvgHeight = containerSize.Height;
 
+            // Load map image and get dimensions
+            await LoadMapImage();
+
             // Center view on robot if available with initial zoom
             if (MonitorData?.RobotPosition != null)
             {
@@ -150,8 +228,37 @@
         }
     }
 
+    private async Task LoadMapImage()
+    {
+        try
+        {
+            var imageDimensions = await JS.InvokeAsync<ElementSize>("robotMonitor.loadImageAndGetDimensions", MapImageUrl);
+            
+            // Convert pixel dimensions to world coordinates (meters)
+            MapImageWidth = imageDimensions.Width * MapImageResolution;
+            MapImageHeight = imageDimensions.Height * MapImageResolution;
+            
+            if (MapImageWidth > 0 && MapImageHeight > 0)
+            {
+                MapImageLoaded = true;
+                await InvokeAsync(StateHasChanged); // Force re-render after image is loaded
+            }
+        }
+        catch (Exception ex)
+        {
+            MapImageLoaded = false;
+            Console.WriteLine($"Failed to load map image: {ex.Message}");
+        }
+    }
+
     private string GetTransform()
     {
+        // Transform applies: first translate (in screen pixels), then scale (pixels per meter)
+        // World coordinates are in meters
+        // After transform: screenX = TranslateX + worldX * (ZoomScale * BASE_PIXELS_PER_METER)
+        //                  screenY = TranslateY + worldY * (ZoomScale * BASE_PIXELS_PER_METER)
+        // But we need to flip Y: screenY = TranslateY - worldY * (ZoomScale * BASE_PIXELS_PER_METER)
+        // This is handled by WorldToSvgY which flips Y before applying transform
         return $"translate({TranslateX}, {TranslateY}) scale({ZoomScale * BASE_PIXELS_PER_METER})";
     }
 
@@ -174,7 +281,7 @@
         
         // Điều chỉnh kích thước dựa trên ZoomScale
         // Tăng kích thước lên 1.5x để robot to hơn
-        double scaleFactor = 3 / ZoomScale; // Tăng kích thước hiển thị
+        double scaleFactor = 2 / ZoomScale; // Tăng kích thước hiển thị
         
         double width = RobotWidthMeters * scaleFactor;
         double height = RobotLengthMeters * scaleFactor;
@@ -217,6 +324,53 @@
         return -worldY;
     }
 
+    private string GetOriginMarkerTransform()
+    {
+        // Origin is at (MapImageOriginX, MapImageOriginY) in world coordinates (bottom-left corner of image)
+        // In SVG coordinates (after Y flip): (MapImageOriginX, -MapImageOriginY)
+        // Note: Image is rendered at (MapImageOriginX, -MapImageOriginY - MapImageHeight) in SVG
+        // So origin marker should be at (MapImageOriginX, -MapImageOriginY) in SVG
+        var x = WorldToSvgX(0);
+        var y = WorldToSvgY(0);
+        
+        return $"translate({x}, {y})";
+    }
+
+    private double GetOriginMarkerSize()
+    {
+        // Marker size in world coordinates (meters)
+        const double BaseMarkerSize = 1; // 1 meter
+        double scaleFactor = 1.0 / ZoomScale; // Keep visual size constant
+        return BaseMarkerSize * scaleFactor;
+    }
+
+    private double GetOriginMarkerStrokeWidth()
+    {
+        // Stroke width in world coordinates
+        const double BaseStrokeWidth = 0.05; // 5cm
+        double scaleFactor = 1.0 / ZoomScale; // Keep visual size constant
+        return BaseStrokeWidth * scaleFactor;
+    }
+
+    public void OnMonitorDataUpdated()
+    {
+        // Auto-follow robot when MonitorData changes
+        if (AutoFollowRobot && !IsPanning && MonitorData?.RobotPosition != null)
+        {
+            UpdateViewToFollowRobot();
+        }
+    }
+
+    private void UpdateViewToFollowRobot()
+    {
+        if (MonitorData?.RobotPosition == null) return;
+        
+        // Center view on robot
+        TranslateX = SvgWidth / 2 - MonitorData.RobotPosition.X * BASE_PIXELS_PER_METER * ZoomScale;
+        TranslateY = SvgHeight / 2 + MonitorData.RobotPosition.Y * BASE_PIXELS_PER_METER * ZoomScale;
+        StateHasChanged();
+    }
+
     public void UpdatePath()
     {
         if (MonitorData is not null && MonitorData.EdgeStates.Length > 0)
@@ -291,14 +445,26 @@
         PanStartY = e.ClientY - TranslateY;
     }
 
-    private void HandleMouseMove(MouseEventArgs e)
+    private async Task HandleMouseMove(MouseEventArgs e)
     {
+        // Calculate world coordinates of mouse
+        var svgRect = await JS.InvokeAsync<ElementBoundingRect>("robotMonitor.getElementBoundingRect", SvgRef);
+        double mouseX = e.ClientX - svgRect.X;
+        double mouseY = e.ClientY - svgRect.Y;
+
+        // Convert to world coordinates
+        // World X = (mouseX - TranslateX) / (ZoomScale * BASE_PIXELS_PER_METER)
+        MouseWorldX = (mouseX - TranslateX) / (ZoomScale * BASE_PIXELS_PER_METER);
+        // World Y = -(mouseY - TranslateY) / (ZoomScale * BASE_PIXELS_PER_METER) (flip Y axis)
+        MouseWorldY = -(mouseY - TranslateY) / (ZoomScale * BASE_PIXELS_PER_METER);
+
         if (IsPanning)
         {
             TranslateX = e.ClientX - PanStartX;
             TranslateY = e.ClientY - PanStartY;
-            StateHasChanged();
         }
+        
+        StateHasChanged();
     }
 
     private void HandleMouseUp(MouseEventArgs e)
@@ -309,6 +475,9 @@
     private void HandleMouseLeave(MouseEventArgs e)
     {
         IsPanning = false;
+        MouseWorldX = null;
+        MouseWorldY = null;
+        StateHasChanged();
     }
 
     private async Task HandleWheel(WheelEventArgs e)
@@ -324,7 +493,7 @@
         if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
 
         // Zoom at mouse position
-        var svgRect = await JS.InvokeAsync<ElementBoundingRect>("getElementBoundingRect", SvgRef);
+        var svgRect = await JS.InvokeAsync<ElementBoundingRect>("robotMonitor.getElementBoundingRect", SvgRef);
         double mouseX = e.ClientX - svgRect.X;
         double mouseY = e.ClientY - svgRect.Y;
 

RobotApp.Client/Pages/Components/Monitor/RobotMonitorView.razor.css

@@ -54,19 +54,39 @@
     gap: 8px;
 }
 
+.mouse-position-info {
+    color: #fff;
+    font-size: 14px;
+    font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
+    padding: 4px 12px;
+    background-color: #3d3d3d;
+    border-radius: 4px;
+    display: flex;
+    align-items: center;
+    gap: 8px;
+}
+
+.auto-follow-control {
+    display: flex;
+    align-items: center;
+    padding: 4px 8px;
+    background-color: #3d3d3d;
+    border-radius: 4px;
+}
+
 .svg-container {
     flex: 1;
     overflow: hidden;
     position: relative;
-    background-color: #fafafa;
+    background-color: #808080;
 }
 
-.svg-container svg {
-    width: 100%;
-    height: 100%;
-    cursor: grab;
-    background-color: dimgray;
-}
+    .svg-container svg {
+        width: 100%;
+        height: 100%;
+        cursor: grab;
+        background-color: #808080;
+    }
 
 .svg-container svg:active {
     cursor: grabbing;

RobotApp.Client/Pages/Dashboard.razor

@@ -13,7 +13,7 @@
     <!-- Header Dashboard -->
     <MudPaper Class="pa-6 mb-4 d-flex align-center justify-space-between" Elevation="3">
         <div>
-            <MudText Typo="Typo.h3" Class="mb-2" >Robot Dashboard</MudText>
+            <MudText Typo="Typo.h3" Class="mb-2">Robot Dashboard</MudText>
             @if (CurrentState != null)
             {
                 <MudText Typo="Typo.subtitle1">
@@ -37,17 +37,15 @@
         @if (CurrentState != null)
         {
             <MudChip T="string"
-                     Icon="@(IsConnected
-                                      ? Icons.Material.Filled.CheckCircle
-                                  : Icons.Material.Filled.Error)"
-                 Size="Size.Large"
-                 Color="@(IsConnected ? Color.Success : Color.Error)"
-                 Variant="Variant.Filled"
-                 Class="px-6 py-4 text-white"
-                 Style="font-weight: bold; font-size: 1.1rem;">
-            @(IsConnected ? "ONLINE" : "OFFLINE")
-        </MudChip>
-                }
+                     Icon="@(IsConnected ? Icons.Material.Filled.CheckCircle : Icons.Material.Filled.Error)"
+                     Size="Size.Large"
+                     Color="@(IsConnected ? Color.Success : Color.Error)"
+                     Variant="Variant.Filled"
+                     Class="px-6 py-4 text-white"
+                     Style="font-weight: bold; font-size: 1.1rem;">
+                @(IsConnected ? "ONLINE" : "OFFLINE")
+            </MudChip>
+        }
 
     </MudPaper>
 
@@ -152,7 +150,7 @@
                                        Rounded="true"
                                        Striped="true"
                                        Color="@(msg.BatteryState.BatteryCharge > 50 ? Color.Success :
-                                                                                       msg.BatteryState.BatteryCharge > 20 ? Color.Warning : Color.Error)"
+                                                                                                                                                                                                                                                   msg.BatteryState.BatteryCharge > 20 ? Color.Warning : Color.Error)"
                                        Class="mb-4"
                                        Style="height: 28px;" />
 
@@ -266,13 +264,13 @@
                                 <MudChip T="string"
                                          Size="Size.Small"
                                          Color="@(context.Level.Contains("ERROR", StringComparison.OrdinalIgnoreCase) ? Color.Error :
-                                                                                           context.Level.Contains("WARN", StringComparison.OrdinalIgnoreCase) ? Color.Warning : Color.Info)"
+                                                                                                                                                                                                                                                               context.Level.Contains("WARN", StringComparison.OrdinalIgnoreCase) ? Color.Warning : Color.Info)"
                                          Variant="@Variant.Filled">
                                     @context.Level
                                 </MudChip>
                             </MudTd>
                             <MudTd>
-                                <MudText Typo="Typo.body2" Class="text-truncate" Style="max-width: 300px;" Title="@context.Description">
+                                <MudText Typo="Typo.body2" Class="text-truncate" Style="max-width: 300px;">
                                     @context.Description
                                 </MudText>
                             </MudTd>
@@ -311,14 +309,14 @@
                             <MudTh Style="text-align:right">Status</MudTh>
                         </HeaderContent>
                         <RowTemplate>
-                            <MudTd><MudText Typo="Typo.body2" Class="text-truncate" Title="@context.ActionType">@context.ActionType</MudText></MudTd>
+                            <MudTd><MudText Typo="Typo.body2" Class="text-truncate">@context.ActionType</MudText></MudTd>
                             <MudTd><MudText Typo="Typo.caption">@context.ActionId</MudText></MudTd>
                             <MudTd Style="text-align:right">
                                 <MudChip T="string"
                                          Size="Size.Small"
                                          Color="@(context.ActionStatus == "RUNNING" ? Color.Info :
-                                                                                           context.ActionStatus == "FINISHED" ? Color.Success :
-                                                                                           context.ActionStatus == "FAILED" ? Color.Error : Color.Default)"
+                                                                                                                                                                                                                                                               context.ActionStatus == "FINISHED" ? Color.Success :
+                                                                                                                                                                                                                                                               context.ActionStatus == "FAILED" ? Color.Error : Color.Default)"
                                          Variant="@Variant.Filled">
                                     @context.ActionStatus
                                 </MudChip>
@@ -373,45 +371,34 @@
 
     private StateMsg? CurrentState;
     private bool IsConnected;
-    private readonly string RobotSerial = "T800-002";
     private List<MessageRow> MessageRows = new();
 
-    protected override async Task OnInitializedAsync()
+    protected override async Task OnAfterRenderAsync(bool firstRender)
     {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
         RobotStateClient.OnStateReceived += OnRobotStateReceived;
         RobotStateClient.OnRobotConnectionChanged += OnRobotConnectionChanged;
 
-        if (RobotStateClient.ConnectionState == RobotClientState.Disconnected)
-        {
-            await RobotStateClient.StartAsync();
-        }
-
-        await RobotStateClient.SubscribeRobotAsync(RobotSerial);
-
-        CurrentState = RobotStateClient.GetLatestState(RobotSerial);
+        await RobotStateClient.StartAsync();
+        CurrentState = RobotStateClient.GetLatestState();
         IsConnected = RobotStateClient.IsRobotConnected;
 
         UpdateMessageRows();
     }
+
     private void OnRobotConnectionChanged(bool connected)
     {
-        InvokeAsync(() =>
-        {
-            IsConnected = connected;
-            StateHasChanged();
-        });
+        IsConnected = connected;
+        StateHasChanged();
     }
 
 
     private void OnRobotStateReceived(string serialNumber, StateMsg state)
     {
-        if (serialNumber != RobotSerial) return;
-        InvokeAsync(() =>
-        {
-            CurrentState = state;
-            UpdateMessageRows();
-            StateHasChanged();
-        });
+        CurrentState = state;
+        UpdateMessageRows();
+        StateHasChanged();
     }
 
     private void UpdateMessageRows()

RobotApp.Client/Pages/Order/EdgesPanel.razor

@@ -38,8 +38,7 @@
                             <MudIconButton Icon="@Icons.Material.Filled.Delete"
                                            Color="Color.Error"
                                            Size="Size.Small"
-                                           OnClick="@(() => RemoveEdgeAsync(edge))"
-                                           StopPropagation="true" />
+                                           OnClick="@(() => RemoveEdgeAsync(edge))" />
                         </div>
                     </TitleContent>
 
@@ -88,47 +87,6 @@
                                     }
                                 </MudSelect>
                             </MudItem>
-
-                          @*   <!-- Radius -->
-                            <MudItem xs="6">
-                                <MudNumericField T="double"
-                                                 Value="@edge.Radius"
-                                                 ValueChanged="@((double v) => SetValue(() => edge.Radius = v))"
-                                                 Immediate="true"
-                                                 Min="0"
-                                                 Step="0.1"
-                                                 Label="Radius (0 = straight line)" />
-                            </MudItem>
-
-                            <!-- Quadrant -->
-                            @if (edge.Radius > 0)
-                            {
-                                <MudItem xs="6">
-                                    <MudSelect T="Quadrant"
-                                               Value="@edge.Quadrant"
-                                               ValueChanged="@((Quadrant v) => SetValue(() => edge.Quadrant = v))"
-                                               Label="Quadrant">
-                                        <MudSelectItem Value="Quadrant.I">I</MudSelectItem>
-                                        <MudSelectItem Value="Quadrant.II">II</MudSelectItem>
-                                        <MudSelectItem Value="Quadrant.III">III</MudSelectItem>
-                                        <MudSelectItem Value="Quadrant.IV">IV</MudSelectItem>
-                                    </MudSelect>
-                                </MudItem>
-                            }
-
-                            <!-- Apply Curve -->
-                            @if (!edge.HasTrajectory && edge.Radius > 0 && !edge.Expanded)
-                            {
-                                <MudItem xs="12">
-                                    <MudButton Color="Color.Primary"
-                                               Variant="Variant.Outlined"
-                                               StartIcon="@Icons.Material.Filled.Merge"
-                                               OnClick="@(() => ApplyCurveAsync(edge))">
-                                        Apply Curve (generate node)
-                                    </MudButton>
-                                </MudItem>
-                            } *@
-
                         </MudGrid>
                     </ChildContent>
                 </MudExpansionPanel>
@@ -141,8 +99,7 @@
     [Parameter] public OrderMessage Order { get; set; } = default!;
 
     [Parameter] public EventCallback OnAddEdge { get; set; }
-    [Parameter] public EventCallback<UiEdge> OnRemoveEdge { get; set; }
-    [Parameter] public EventCallback<UiEdge> OnApplyCurve { get; set; }
+    [Parameter] public EventCallback<VDA5050.Order.Edge> OnRemoveEdge { get; set; }
 
     [Parameter] public EventCallback OnOrderChanged { get; set; }
 
@@ -158,15 +115,9 @@
         await OnOrderChanged.InvokeAsync();
     }
 
-    private async Task RemoveEdgeAsync(UiEdge edge)
+    private async Task RemoveEdgeAsync(VDA5050.Order.Edge edge)
     {
         await OnRemoveEdge.InvokeAsync(edge);
         await OnOrderChanged.InvokeAsync();
     }
-
-    private async Task ApplyCurveAsync(UiEdge edge)
-    {
-        await OnApplyCurve.InvokeAsync(edge);
-        await OnOrderChanged.InvokeAsync();
-    }
 }

RobotApp.Client/Pages/Order/ImportOrderDialog.razor

@@ -132,17 +132,17 @@
 
         try
         {
-            using var doc = JsonDocument.Parse(JsonText);
-            var root = doc.RootElement;
-
-            // ===== BASIC STRUCTURE CHECK =====
-            if (!root.TryGetProperty("nodes", out _) ||
-                !root.TryGetProperty("edges", out _))
+            var order = JsonSerializer.Deserialize<OrderMsg>(JsonText, new JsonSerializerOptions
             {
-                throw new Exception("Missing 'nodes' or 'edges' field.");
+                WriteIndented = true,
+                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
+            });
+            if(order is null)
+            {
+                ShowWarning = true;
+                ErrorMessage = "Can not convert file to Order message";
+                return;
             }
-
-            var order = OrderMessage.FromSchemaObject(root);
             ValidateOrder(order);
 
             MudDialog.Close(DialogResult.Ok(order));
@@ -160,15 +160,15 @@
     }
 
     // ================= DOMAIN VALIDATION =================
-    private void ValidateOrder(OrderMessage order)
+    private void ValidateOrder(OrderMsg order)
     {
-        if (order.Nodes.Count == 0)
+        if (order.Nodes.Length == 0)
             throw new Exception("Order must contain at least one node.");
 
-        if (order.Nodes.Count != order.Edges.Count + 1)
+        if (order.Nodes.Length != order.Edges.Length + 1)
             throw new Exception(
-                $"Invalid path structure: Nodes count ({order.Nodes.Count}) " +
-                $"must equal Edges count + 1 ({order.Edges.Count + 1})."
+                $"Invalid path structure: Nodes count ({order.Nodes.Length}) " +
+                $"must equal Edges count + 1 ({order.Edges.Length + 1})."
             );
 
         var nodeIds = order.Nodes

RobotApp.Client/Pages/Order/JsonOutputPanel.razor

@@ -1,7 +1,7 @@
 <MudPaper Class="pa-4 h-100 d-flex flex-column overflow-hidden" Elevation="2">
     <MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
               Class="mb-4 flex-shrink-0">
-        <MudText Typo="Typo.h6">📄 JSON Output (/order)</MudText>
+        <MudText Typo="Typo.h6">Output (/order)</MudText>
 
         <div class="d-flex gap-2">
 

RobotApp.Client/Pages/Order/NodesPanel.razor

@@ -21,13 +21,11 @@
                                 <MudIconButton Icon="@Icons.Material.Filled.Edit"
                                                Color="Color.Primary"
                                                Size="Size.Small"
-                                               OnClick="@(() => EditNodeAsync(node))"
-                                               StopPropagation />
+                                               OnClick="@(() => EditNodeAsync(node))" />
                                 <MudIconButton Icon="@Icons.Material.Filled.Delete"
                                                Color="Color.Error"
                                                Size="Size.Small"
-                                               OnClick="@(() => RemoveNodeAsync(node))"
-                                               StopPropagation />
+                                               OnClick="@(() => RemoveNodeAsync(node))" />
                             </div>
                         </div>
                     </TitleContent>
@@ -78,22 +76,22 @@
                                                  Label="Y" />
                             </MudItem>
 
-                            <MudItem xs="12">
+                            @* <MudItem xs="12">
                                 <MudTextField Value="@node.NodePosition.MapId"
                                               ValueChanged="@((string v) => SetValue(() => node.NodePosition.MapId = v))"
                                               Immediate="true"
                                               Label="Map ID" />
-                            </MudItem>
+                            </MudItem> *@
 
-                            <MudItem xs="6">
+                            @* <MudItem xs="6">
                                 <MudNumericField T="double"
                                                  Value="@node.NodePosition.Theta"
                                                  ValueChanged="@((double v) => SetValue(() => node.NodePosition.Theta = v))"
                                                  Immediate="true"
                                                  Label="Theta (rad)" />
-                            </MudItem>
+                            </MudItem> *@
 
-                            <MudItem xs="6">
+                            @* <MudItem xs="6">
                                 <MudNumericField T="double"
                                                  Value="@node.NodePosition.AllowedDeviationXY"
                                                  ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationXY = v))"
@@ -107,7 +105,7 @@
                                                  ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationTheta = v))"
                                                  Immediate="true"
                                                  Label="Allowed Dev Theta" />
-                            </MudItem>
+                            </MudItem> *@
 
                             <!-- Actions -->
                             <MudItem xs="12">

RobotApp.Client/Pages/Order/OrderMess.razor

@@ -37,7 +37,6 @@
                             <EdgesPanel Order="Order"
                                         OnAddEdge="AddEdge"
                                         OnRemoveEdge="RemoveEdge"
-                                        OnApplyCurve="ApplyCurve"
                                         OnOrderChanged="OnOrderChanged" />
                         </MudItem>
 
@@ -84,9 +83,10 @@
             new JsonSerializerOptions
             {
                 WriteIndented = true,
-                DefaultIgnoreCondition = JsonIgnoreCondition.WhenWritingNull
+                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
             });
     }
+
     private async Task OpenImportDialog()
     {
         var dialog = await DialogService.ShowAsync<ImportOrderDialog>(
@@ -99,9 +99,9 @@
 
         var result = await dialog.Result;
 
-        if (!result.Canceled && result.Data is OrderMessage imported)
+        if (result is not null && !result.Canceled && result.Data is OrderMsg imported)
         {
-            Order = imported;
+            Order.Import(imported);
             RebuildOrderJson();
             StateHasChanged();
         }
@@ -149,7 +149,7 @@
             ? Order.Nodes[1].NodeId
             : start; // 👈 1 node thì start = end
 
-        Order.Edges.Add(new UiEdge
+        Order.Edges.Add(new VDA5050.Order.Edge
         {
             EdgeId = $"EDGE_{Order.Edges.Count + 1}",
             StartNodeId = start,
@@ -158,25 +158,10 @@
     }
 
 
-    void RemoveEdge(UiEdge edge)
+    void RemoveEdge(VDA5050.Order.Edge edge)
     {
         Order.Edges.Remove(edge);
     }
-
-    void ApplyCurve(UiEdge edge)
-    {
-        if (edge.Radius <= 0 || edge.Expanded) return;
-
-        var startNode = Order.Nodes.First(n => n.NodeId == edge.StartNodeId);
-        var newNode = OrderMessage.CreateCurveNode(startNode, edge);
-
-        Order.Nodes.Add(newNode);
-        edge.EndNodeId = newNode.NodeId;
-        edge.MarkExpanded(); // ✅
-
-        ResequenceNodes();
-    }
-
     // ================= ACTION =================
     void AddAction(Node node)
     {
@@ -193,22 +178,19 @@
 
     void RemoveAction(Node node, VDA5050.InstantAction.Action action)
     {
-        node.Actions = node.Actions?.Where(a => a != action).ToArray()
-                       ?? Array.Empty<VDA5050.InstantAction.Action>();
+        node.Actions = node.Actions?.Where(a => a != action).ToArray() ?? [];
     }
 
     void AddActionParameter(VDA5050.InstantAction.Action act)
     {
-        var list = (act.ActionParameters ?? Array.Empty<ActionParameter>()).ToList();
+        var list = (act.ActionParameters ?? []).ToList();
         list.Add(new UiActionParameter());
         act.ActionParameters = list.ToArray();
     }
 
     void RemoveActionParameter(VDA5050.InstantAction.Action act, ActionParameter param)
     {
-        act.ActionParameters =
-            act.ActionParameters?.Where(p => p != param).ToArray()
-            ?? Array.Empty<ActionParameter>();
+        act.ActionParameters = act.ActionParameters?.Where(p => p != param).ToArray() ?? [];
     }
 
     // ================= SEND / COPY =================
@@ -220,7 +202,12 @@
 
         try
         {
-            var orderMsg = JsonSerializer.Deserialize<OrderMsg>(OrderJson);
+            var orderMsg = JsonSerializer.Deserialize<OrderMsg>(OrderJson,
+            new JsonSerializerOptions
+            {
+                WriteIndented = true,
+                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
+            });
             if (orderMsg is null)
             {
                 Snackbar.Add("Unable to convert JSON to Order", Severity.Warning);
@@ -251,20 +238,17 @@
                 }
             }
 
-            var response = await Http.PostAsJsonAsync(
-                "/api/order",
-                JsonSerializer.Deserialize<OrderMsg>(OrderJson)
-            );
+            var response = await Http.PostAsJsonAsync("/api/order",orderMsg);
 
             sendSuccess = response.IsSuccessStatusCode;
-
         }
         catch(JsonException jsonEx)
         {
             Snackbar.Add($"Json to Order failed: {jsonEx.Message}", Severity.Warning);
         }
-        catch
+        catch (Exception ex)
         {
+            Snackbar.Add($"Send Order failed: {ex.Message}", Severity.Warning);
             sendSuccess = false;
         }
 
@@ -316,7 +300,7 @@
         _copyCts?.Cancel();
         _copyCts = new();
 
-        await JS.InvokeVoidAsync("navigator.clipboard.writeText", OrderJson);
+        await JS.InvokeVoidAsync("copyToClipboardFallback", OrderJson);
 
         copied = true;
         StateHasChanged();

RobotApp.Client/Pages/RobotMonitor.razor

@@ -17,6 +17,7 @@
 
     protected override async Task OnAfterRenderAsync(bool firstRender)
     {
+        await base.OnAfterRenderAsync(firstRender);
         if (firstRender)
         {
             MonitorService.OnDataReceived += OnMonitorDataReceived;
@@ -28,7 +29,8 @@
     {
         _monitorData = data;
         RobotMonitorViewRef?.UpdatePath();
-        InvokeAsync(StateHasChanged);
+        RobotMonitorViewRef?.OnMonitorDataUpdated();
+        StateHasChanged();
     }
 
     public async ValueTask DisposeAsync()
@@ -41,3 +43,9 @@
 
 
 
+
+
+
+
+
+

RobotApp.Client/Services/RobotStateClient.cs

@@ -107,7 +107,7 @@ public sealed class RobotStateClient : IAsyncDisposable
         // ================= SIGNALR HANDLERS =================
 
         // VDA5050 State
-        _connection.On<string>("ReceiveState", HandleState);
+        _connection.On<StateMsg>("ReceiveState", HandleState);
 
         // Robot connection (bool only)
         _connection.On<bool>("ReceiveRobotConnection", HandleRobotConnection);
@@ -125,22 +125,8 @@ public sealed class RobotStateClient : IAsyncDisposable
     }
 
     // ================= HANDLE STATE =================
-    private void HandleState(string stateJson)
+    private void HandleState(StateMsg state)
     {
-        StateMsg? state;
-
-        try
-        {
-            state = JsonSerializer.Deserialize<StateMsg>(
-                stateJson,
-                JsonOptionExtends.Read
-            );
-        }
-        catch
-        {
-            return;
-        }
-
         if (state?.SerialNumber == null)
             return;
 
@@ -189,10 +175,10 @@ public sealed class RobotStateClient : IAsyncDisposable
     }
 
     // ================= GET CACHE =================
-    public StateMsg? GetLatestState(string serialNumber)
+    public StateMsg? GetLatestState()
     {
-        LatestStates.TryGetValue(serialNumber, out var state);
-        return state;
+        if (!LatestStates.IsEmpty) return LatestStates.First().Value;
+        return null;
     }
 
     // ================= DISPOSE =================

RobotApp.Client/Services/UiEdge.cs

@@ -1,419 +1,33 @@
 using RobotApp.VDA5050.InstantAction;
 using RobotApp.VDA5050.Order;
-using System.Text.Json;
 using System.Text.Json.Serialization;
 
 namespace RobotApp.Client.Services;
 
-// ======================================================
-// EDGE UI
-// ======================================================
-public class UiEdge
-{
-    public string EdgeId { get; set; } = "";
-    public int SequenceId { get; set; }
-    public bool Released { get; set; } = true;
-
-    public string StartNodeId { get; set; } = "";
-    public string EndNodeId { get; set; } = "";
-
-    // ===== CURVE (EDITOR GENERATED) =====
-    public double Radius { get; set; } = 0;
-    public Quadrant Quadrant { get; set; }
-
-    // ===== IMPORTED TRAJECTORY =====
-    public bool HasTrajectory { get; set; } = false;
-    public UiTrajectory? Trajectory { get; set; }
-
-    // ===== UI STATE =====
-    public bool Expanded { get; private set; } = false;
-
-    public void MarkExpanded()
-    {
-        Expanded = true;
-    }
-}
-
-public class UiTrajectory
-{
-    public int Degree { get; set; }
-    public double[] KnotVector { get; set; } = Array.Empty<double>();
-    public List<Point> ControlPoints { get; set; } = new();
-}
-
-public enum Quadrant
-{
-    I,
-    II,
-    III,
-    IV
-}
-
-// ======================================================
-// GEOMETRY MODELS
-// ======================================================
-public record Point(double X, double Y);
-
-public record QuarterResult(
-    Point EndPoint,
-    object Trajectory
-);
-
-// ======================================================
-// GEOMETRY HELPER (QUARTER CIRCLE)
-// ======================================================
-public static class QuarterGeometry
-{
-    private const double K = 0.5522847498307936;
-
-    public static QuarterResult BuildQuarterTrajectory(
-        Point A,
-        double r,
-        Quadrant q
-    )
-    {
-        Point P1, P2, C;
-
-        switch (q)
-        {
-            case Quadrant.I:
-                P1 = new(A.X, A.Y + K * r);
-                P2 = new(A.X + K * r, A.Y + r);
-                C = new(A.X + r, A.Y + r);
-                break;
-
-            case Quadrant.II:
-                P1 = new(A.X - K * r, A.Y);
-                P2 = new(A.X - r, A.Y + K * r);
-                C = new(A.X - r, A.Y + r);
-                break;
-
-            case Quadrant.III:
-                P1 = new(A.X, A.Y - K * r);
-                P2 = new(A.X - K * r, A.Y - r);
-                C = new(A.X - r, A.Y - r);
-                break;
-
-            case Quadrant.IV:
-                P1 = new(A.X + K * r, A.Y);
-                P2 = new(A.X + r, A.Y - K * r);
-                C = new(A.X + r, A.Y - r);
-                break;
-
-            default:
-                throw new ArgumentOutOfRangeException(nameof(q));
-        }
-
-        return new QuarterResult(
-            C,
-            new
-            {
-                degree = 3,
-                knotVector = new[] { 0, 0, 0, 0, 1, 1, 1, 1 },
-                controlPoints = new[]
-                {
-                    new { x = A.X,  y = A.Y  },  // P0
-                    new { x = P1.X, y = P1.Y },  // P1
-                    new { x = P2.X, y = P2.Y },  // P2
-                    new { x = C.X,  y = C.Y  }   // P3
-                }
-            }
-        );
-    }
-}
 // ======================================================
 // ORDER MESSAGE
 // ======================================================
 public class OrderMessage
 {
-    public int HeaderId { get; set; }
-    public string Timestamp { get; set; } = "";
-    public string Version { get; set; } = "v1";
-    public string Manufacturer { get; set; } = "PNKX";
-    public string SerialNumber { get; set; } = "T800-002";
-    public string OrderId { get; set; } 
+    public uint HeaderId { get; set; }
+    public string Timestamp { get; set; } = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
+    public string Version { get; set; } = "2.1.0";
+    public string Manufacturer { get; set; } = "PhenikaaX";
+    public string SerialNumber { get; set; } = "T800-003";
+    public string OrderId { get; set; } = "";
     public int OrderUpdateId { get; set; }
     public string? ZoneSetId { get; set; }
 
-    public List<Node> Nodes { get; set; } = new();
-    public List<UiEdge> Edges { get; set; } = new();
-    public static Node CreateCurveNode(Node startNode, UiEdge edge)
-    {
-        var A = new Point(
-            startNode.NodePosition.X,
-            startNode.NodePosition.Y
-        );
+    public List<Node> Nodes { get; set; } = [];
+    public List<Edge> Edges { get; set; } = [];
 
-        var result = QuarterGeometry.BuildQuarterTrajectory(
-            A,
-            edge.Radius,
-            edge.Quadrant
-        );
-
-        return new Node
-        {
-            NodeId = $"NODE_C{Guid.NewGuid():N}".Substring(0, 12),
-            Released = true,
-            NodePosition = new NodePosition
-            {
-                X = result.EndPoint.X,
-                Y = result.EndPoint.Y,
-                Theta = startNode.NodePosition.Theta,
-                MapId = startNode.NodePosition.MapId
-            }
-        };
-    }
-    public static OrderMessage FromSchemaObject(JsonElement root)
-    {
-        var order = new OrderMessage
-        {
-            HeaderId = root.GetProperty("headerId").GetInt32(),
-            Timestamp = root.GetProperty("timestamp").GetString(),
-            Version = root.GetProperty("version").GetString(),
-            Manufacturer = root.GetProperty("manufacturer").GetString(),
-            SerialNumber = root.GetProperty("serialNumber").GetString(),
-            OrderId = root.GetProperty("orderId").GetString(),
-            OrderUpdateId = root.GetProperty("orderUpdateId").GetInt32()
-        };
-
-        // ================= NODES =================
-        foreach (var n in root.GetProperty("nodes").EnumerateArray())
-        {
-            var node = new Node
-            {
-                NodeId = n.GetProperty("nodeId").GetString()!,
-                SequenceId = n.GetProperty("sequenceId").GetInt32(),
-                Released = n.GetProperty("released").GetBoolean(),
-
-                NodePosition = new NodePosition
-                {
-                    X = n.GetProperty("nodePosition").GetProperty("x").GetDouble(),
-                    Y = n.GetProperty("nodePosition").GetProperty("y").GetDouble(),
-                    Theta = n.GetProperty("nodePosition").GetProperty("theta").GetDouble(),
-                    AllowedDeviationXY = n.GetProperty("nodePosition").GetProperty("allowedDeviationXY").GetDouble(),
-                    AllowedDeviationTheta = n.GetProperty("nodePosition").GetProperty("allowedDeviationTheta").GetDouble(),
-                    MapId = n.GetProperty("nodePosition").GetProperty("mapId").GetString()
-                },
-
-                Actions = ParseActions(n)
-            };
-
-            order.Nodes.Add(node);
-        }
-
-        foreach (var e in root.GetProperty("edges").EnumerateArray())
-        {
-            var edge = new UiEdge
-            {
-                EdgeId = e.GetProperty("edgeId").GetString()!,
-                SequenceId = e.GetProperty("sequenceId").GetInt32(),
-                Released = e.GetProperty("released").GetBoolean(),
-                StartNodeId = e.GetProperty("startNodeId").GetString()!,
-                EndNodeId = e.GetProperty("endNodeId").GetString()!,
-            };
-
-            // ===== IMPORT TRAJECTORY =====
-            if (e.TryGetProperty("trajectory", out var traj))
-            {
-                edge.HasTrajectory = true;
-                edge.Trajectory = new UiTrajectory
-                {
-                    Degree = traj.GetProperty("degree").GetInt32(),
-                    KnotVector = traj.GetProperty("knotVector")
-                        .EnumerateArray()
-                        .Select(x => x.GetDouble())
-                        .ToArray(),
-
-                    ControlPoints = traj.GetProperty("controlPoints")
-                        .EnumerateArray()
-                        .Select(p => new Point(
-                            p.GetProperty("x").GetDouble(),
-                            p.GetProperty("y").GetDouble()
-                        ))
-                        .ToList()
-                };
-
-                // 🔥 IMPORTED CURVE → LOCK APPLY
-                edge.MarkExpanded();
-            }
-
-            order.Edges.Add(edge);
-        }
-
-        return order;
-    }
-
-    // ================= ACTION PARSER =================
-    private static VDA5050.InstantAction.Action[] ParseActions(JsonElement parent)
-    {
-        if (!parent.TryGetProperty("actions", out var acts))
-            return Array.Empty<VDA5050.InstantAction.Action>();
-
-        return acts.EnumerateArray().Select(a =>
-            new VDA5050.InstantAction.Action
-            {
-                ActionId = a.GetProperty("actionId").GetString(),
-                ActionType = a.GetProperty("actionType").GetString(),
-                BlockingType = a.GetProperty("blockingType").GetString(),
-
-                ActionParameters = a.TryGetProperty("actionParameters", out var ps)
-                    ? ps.EnumerateArray()
-                        .Select(p => new ActionParameter
-                        {
-                            Key = p.GetProperty("key").GetString(),
-                            Value = p.GetProperty("value").GetString()
-                        })
-                        .ToArray()
-                    : Array.Empty<ActionParameter>()
-            }
-        ).ToArray();
-    }
     public OrderMsg ToSchemaObject()
     {
-        // ================= SORT NODES BY UI SEQUENCE =================
-        var orderedNodes = Nodes
-            .OrderBy(n => n.SequenceId)
-            .ToList();
-
-        // ================= BUILD NODE OBJECTS =================
-        var nodeObjects = orderedNodes
-            .Select((n, index) => new Node
-            {
-                NodeId = n.NodeId,
-                SequenceId = index * 2,               // ✅ NODE = EVEN
-                Released = n.Released,
-
-                NodePosition = new NodePosition
-                {
-                    X = n.NodePosition.X,
-                    Y = n.NodePosition.Y,
-                    Theta = n.NodePosition.Theta,
-
-                    AllowedDeviationXY = n.NodePosition.AllowedDeviationXY,
-                    AllowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,
-
-                    MapId = string.IsNullOrWhiteSpace(n.NodePosition.MapId)
-                        ? "MAP_01"
-                        : n.NodePosition.MapId
-                },
-
-                Actions = n.Actions?
-                    .Select(a => new VDA5050.InstantAction.Action
-                    {
-                        ActionId = a.ActionId,
-                        ActionType = a.ActionType,
-                        BlockingType = a.BlockingType,
-
-                        ActionParameters = a.ActionParameters?
-                            .Select(p => new ActionParameter
-                            {
-                                Key = p.Key,
-                                Value = p.Value
-                            })
-                            .ToArray()
-                            ?? []
-                    })
-                    .ToArray()
-                    ?? []
-            })
-            .ToArray();
-
-        // ================= BUILD EDGE OBJECTS =================
-        Edge[] edgeObjects = Edges
-            .Select((e, index) =>
-            {
-                int sequenceId = index * 2 + 1;        // ✅ EDGE = ODD
-
-                // ---------- BASE ----------
-                var baseEdge = new
-                {
-                    edgeId = e.EdgeId,
-                    sequenceId,
-                    released = true,
-                    startNodeId = e.StartNodeId,
-                    endNodeId = e.EndNodeId
-                };
-
-                // =================================================
-                // 1️⃣ IMPORTED TRAJECTORY
-                // =================================================
-                if (e.HasTrajectory && e.Trajectory != null)
-                {
-                    return new Edge
-                    {
-                        EdgeId = baseEdge.edgeId,
-                        SequenceId = baseEdge.sequenceId,
-                        Released= baseEdge.released,
-                        StartNodeId= baseEdge.startNodeId,
-                        EndNodeId= baseEdge.endNodeId,
-
-                        Trajectory = new Trajectory
-                        {
-                            Degree = e.Trajectory.Degree,
-                            KnotVector = e.Trajectory.KnotVector,
-                            ControlPoints = e.Trajectory.ControlPoints
-                                .Select(p => new ControlPoint { X = p.X, Y = p.Y , Weight = 1})
-                                .ToArray()
-                        },
-
-                        Actions = []
-                    };
-                }
-
-                // =================================================
-                // 2️⃣ STRAIGHT EDGE
-                // =================================================
-                if (e.Radius <= 0)
-                {
-                    return new Edge
-                    {
-                        EdgeId = baseEdge.edgeId,
-                        SequenceId = baseEdge.sequenceId,
-                        Released = baseEdge.released,
-                        StartNodeId = baseEdge.startNodeId,
-                        EndNodeId = baseEdge.endNodeId,
-
-                        Actions = []
-                    };
-                }
-
-                // =================================================
-                // 3️⃣ GENERATED CURVE (EDITOR)
-                // =================================================
-                var startNode = orderedNodes.First(n => n.NodeId == e.StartNodeId);
-
-                var A = new Point(
-                    startNode.NodePosition.X,
-                    startNode.NodePosition.Y
-                );
-
-                var result = QuarterGeometry.BuildQuarterTrajectory(
-                    A,
-                    e.Radius,
-                    e.Quadrant
-                );
-
-                return new Edge
-                {
-                    EdgeId = baseEdge.edgeId,
-                    SequenceId = baseEdge.sequenceId,
-                    Released = baseEdge.released,
-                    StartNodeId = baseEdge.startNodeId,
-                    EndNodeId = baseEdge.endNodeId,
-
-                    Actions = []
-                };
-            })
-            .ToArray();
-
-        // ================= FINAL SCHEMA OBJECT =================
         return new OrderMsg
         {
             HeaderId = (uint)HeaderId++,
 
-            Timestamp = string.IsNullOrWhiteSpace(Timestamp)
-                ? DateTime.UtcNow.ToString("O")
-                : Timestamp,
+            Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
 
             Version = Version,
             Manufacturer = Manufacturer,
@@ -426,10 +40,24 @@ public class OrderMessage
                 ? null
                 : ZoneSetId,
 
-            Nodes = nodeObjects,
-            Edges = edgeObjects,
+            Nodes = [..Nodes],
+            Edges = [..Edges],
         };
     }
+
+    public void Import(OrderMsg order)
+    {
+        HeaderId = order.HeaderId;
+        Timestamp = order.Timestamp;
+        Version = order.Version;
+        Manufacturer = order.Manufacturer;
+        SerialNumber = order.SerialNumber;
+        OrderId = order.OrderId;
+        ZoneSetId = order.ZoneSetId;
+        OrderUpdateId = order.OrderUpdateId;
+        Nodes = [.. order.Nodes];
+        Edges = [.. order.Edges];
+    }
 }
 
 // ======================================================

RobotApp.Client/wwwroot/js/app.js

@@ -1 +1,10 @@
-
+window.copyToClipboardFallback = function (text) {
+    const textarea = document.createElement('textarea');
+    textarea.value = text;
+    textarea.style.position = 'fixed';
+    textarea.style.opacity = '0';
+    document.body.appendChild(textarea);
+    textarea.select();
+    document.execCommand('copy');
+    document.body.removeChild(textarea);
+}

RobotApp.Client/wwwroot/js/robotMonitor.js

@@ -55,8 +55,31 @@ window.robotMonitor = {
         }
 
         return `M ${startX} ${startY} L ${endX} ${endY}`;
+    },
+
+    // Load image and get dimensions
+    loadImageAndGetDimensions: function (imageUrl) {
+        return new Promise((resolve, reject) => {
+            const img = new Image();
+            img.onload = () => {
+                resolve({
+                    Width: img.naturalWidth || img.width,
+                    Height: img.naturalHeight || img.height
+                });
+            };
+            img.onerror = () => {
+                reject(new Error(`Failed to load image: ${imageUrl}`));
+            };
+            img.src = imageUrl;
+        });
     }
 };
 
 
 
+
+
+
+
+
+

RobotApp.VDA5050/Order/Edge.cs

@@ -2,7 +2,6 @@
 
 namespace RobotApp.VDA5050.Order;
 
-#nullable disable
 
 public class Edge
 {
@@ -26,7 +25,7 @@ public class Edge
     public bool RotationAllowed { get; set; }
     public double MaxRotationSpeed { get; set; }
     public double Length { get; set; }
-    public Trajectory Trajectory { get; set; }
+    public Trajectory? Trajectory { get; set; }
     public Corridor Corridor { get; set; } = new();
     [Required]
     public InstantAction.Action[] Actions { get; set; } = [];

RobotApp.VDA5050/State/EdgeState.cs

@@ -13,5 +13,5 @@ public class EdgeState
     public string EdgeDescription { get; set; } = string.Empty;
     [Required]
     public bool Released { get; set; }
-    public Trajectory Trajectory { get; set; } = new();
+    public Trajectory? Trajectory { get; set; }
 }

RobotApp.VDA5050/Type/ActionType.cs

@@ -21,7 +21,7 @@ public enum ActionType
     //liftUp,
     //liftDown,
     //liftRotate,
-    //rotate,
+    rotate,
     //rotateKeepLift,
     //mutedBaseOn,
     //mutedBaseOff,

RobotApp/Components/App.razor

@@ -42,6 +42,7 @@
     <script src="@Assets["_content/MudBlazor/MudBlazor.min.js"]"></script>
     <script src="@Assets["js/canvas.js"]"></script>
     <script src="@Assets["js/app.js"]"></script>
+    <script src="@Assets["js/robotMonitor.js"]"></script>
 </body>
 
 </html>

RobotApp/Controllers/OrderController.cs

@@ -28,7 +28,6 @@ public class OrderController(IOrder robotOrderController, IInstantActions instan
     {
         robotOrderController.StopOrder();
         instantActions.StopOrderAction();
-
         return Ok(new
         {
             success = true,

RobotApp/Hubs/RobotHub.cs

@@ -21,8 +21,8 @@ namespace RobotApp.Hubs
         // Phương thức này sẽ được gọi từ service để broadcast
         public async Task SendState(string serialNumber, StateMsg state)
         {
-            var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
-            await Clients.Group(serialNumber).SendAsync("ReceiveState", json);
+            //var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
+            await Clients.Group(serialNumber).SendAsync("ReceiveState", state);
         }
     }
 }

RobotApp/Hubs/RobotMonitorHub.cs

@@ -12,3 +12,9 @@ public class RobotMonitorHub : Hub
 
 
 
+
+
+
+
+
+

RobotApp/Program.cs

@@ -63,7 +63,7 @@ builder.Services.AddRobot();
 builder.Services.AddSingleton<RobotApp.Services.RobotMonitorService>();
 builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotApp.Services.RobotMonitorService>());
 
-builder.Services.AddScoped<RobotStateClient>();
+//builder.Services.AddScoped<RobotStateClient>();
 builder.Services.AddHostedService<RobotStatePublisher>();
 
 var app = builder.Build();

RobotApp/Services/Robot/RobotActionStorage.cs

@@ -21,7 +21,7 @@ public class RobotActionStorage(IServiceProvider ServiceProvider)
         ActionType.drop => new RobotDropAction(ServiceProvider),
         ActionType.pick => new RobotPickAction(ServiceProvider),
         //ActionType.liftRotate => new RobotLiftRotateAction(ServiceProvider),
-        //ActionType.rotate => new RobotRotateAction(ServiceProvider),
+        ActionType.rotate => new RobotRotateAction(ServiceProvider),
         //ActionType.rotateKeepLift => new RobotRotateKeepLift(ServiceProvider),
         //ActionType.mutedBaseOn => new RobotMutedBaseOnAction(ServiceProvider),
         //ActionType.mutedBaseOff => new RobotMutedBaseOffAction(ServiceProvider),

RobotApp/Services/Robot/RobotConnection.cs

@@ -26,12 +26,16 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
         {
             //Logger.Debug($"Nhận Order: {data}");
             var msg = JsonSerializer.Deserialize<OrderMsg>(data, JsonOptionExtends.Read);
-            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber) return;
+            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber)
+            {
+                Logger.Warning($"SerialNumber cuả order không hợp lệ: message SerialNumber {msg?.SerialNumber}");
+                return;
+            }
             OrderUpdated?.Invoke(msg);
         }
         catch (Exception ex)
         {
-            Logger.Warning($"Nhận Order xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
+            Logger.Warning($"Nhận Order xảy ra lỗi: {ex.Message}");
         }
     }
 
@@ -41,12 +45,16 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
         {
             //Logger.Debug($"Nhận InstanceActions: {data}");
             var msg = JsonSerializer.Deserialize<InstantActionsMsg>(data, JsonOptionExtends.Read);
-            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber) return;
+            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber)
+            {
+                Logger.Warning($"SerialNumber của action không hợp lệ: message SerialNumber {msg?.SerialNumber}");
+                return;
+            }
             ActionUpdated?.Invoke(msg);
         }
         catch (Exception ex)
         {
-            Logger.Warning($"Nhận InstanceActions xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
+            Logger.Warning($"Nhận InstanceActions xảy ra lỗi: {ex.Message}");
         }
     }
 

RobotApp/Services/Robot/RobotErrors.cs

@@ -105,7 +105,10 @@ public class RobotErrors : IError
         => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại order", ErrorLevel.WARNING, $"Order mới nhận được không phải là nối tiếp của order khi LastNodeSequenceId: {lastNodeSequenceId} mà node đầu tiên của order mới có sequence: {newStartNodeSequenceId}");
     public static Error Error1018(int oldOrderUpdateId, int newOrderUpdateId)
         => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại OrderUpdateId", ErrorLevel.WARNING, $"OrderUpdateId {newOrderUpdateId} nhận được nhỏ hơn OrderUpdateId hiện tại là {oldOrderUpdateId}");
-
+    public static Error Error1019()
+        => CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại Order", ErrorLevel.WARNING, "Order có node đầu tiên quá xa robot");
+    public static Error Error1020()
+        => CreateError(ErrorType.INITIALIZE_ORDER, "", ErrorLevel.WARNING, "Robot đang ở đích của Order");
 
     public static Error Error2001()
         => CreateError(ErrorType.READ_PERIPHERAL_FAILURE, "2001", ErrorLevel.FATAL, "Có lỗi xảy ra trong quá trình đọc tín hiệu từ hệ thống ngoại vi(PLC)");

RobotApp/Services/Robot/RobotFactsheet.cs

@@ -25,7 +25,7 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
             { ActionType.pick, Pick},
             { ActionType.drop, Drop},
             //{ ActionType.liftRotate, LiftRotate},
-            //{ ActionType.rotate, Rotate},
+            { ActionType.rotate, Rotate},
             //{ ActionType.rotateKeepLift, RotateKeepLift},
             //{ ActionType.mutedBaseOn, MutedBaseOn},
             //{ ActionType.mutedBaseOff, MutedBaseOff},
@@ -224,22 +224,22 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
     //    BlockingTypes = [BlockingType.HARD.ToString()],
     //};
 
-    //public readonly static AgvAction Rotate = new()
-    //{
-    //    ActionType = ActionType.rotate.ToString(),
-    //    ActionDescription = "Xoay robot tại chỗ.",
-    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-    //    ActionParameters = [
-    //        new()
-    //        {
-    //            Key = "angle",
-    //            Description = "Góc xoay của robot. (rad)",
-    //            ValueDataType = ValueDataType.FLOAT.ToString(),
-    //            IsOptional = false,
-    //        }],
-    //    ResultDescription = "Robot đã xoay tại chỗ.",
-    //    BlockingTypes = [BlockingType.HARD.ToString()],
-    //};
+    public readonly static AgvAction Rotate = new()
+    {
+        ActionType = ActionType.rotate.ToString(),
+        ActionDescription = "Xoay robot tại chỗ.",
+        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+        ActionParameters = [
+            new()
+            {
+                Key = "angle",
+                Description = "Góc xoay của robot. (rad)",
+                ValueDataType = ValueDataType.FLOAT.ToString(),
+                IsOptional = false,
+            }],
+        ResultDescription = "Robot đã xoay tại chỗ.",
+        BlockingTypes = [BlockingType.HARD.ToString()],
+    };
 
     //public readonly static AgvAction RotateKeepLift = new()
     //{

RobotApp/Services/Robot/RobotLoads.cs

@@ -3,7 +3,7 @@ using RobotApp.VDA5050.State;
 
 namespace RobotApp.Services.Robot;
 
-public class RobotLoads(IPeripheral PeriperalManager) : ILoad
+public class RobotLoads() : ILoad
 {
     //public Load[] Load => PeriperalManager.HasLoad ? [GetLoad()] : [];
     public Load[] Load { get; private set; } = [];

RobotApp/Services/Robot/RobotLocalization.cs

@@ -274,32 +274,37 @@ public class RobotLocalization(RobotConfiguration RobotConfiguration, Simulation
     {
         try
         {
-            var xyzw = QuaternionToXYZW(0, 0, theta);
-            var response = XlocClient.SetInitialPose(new SetInitialPoseRequest()
-            {
-                InitialPose = new Pose()
-                {
-                    Position = new Point()
-                    {
-                        X = x,
-                        Y = y,
-                        Z = 0,
-                    },
-                    Orientation = new Quaternion()
-                    {
-                        X = xyzw.x,
-                        Y = xyzw.y,
-                        Z = xyzw.z,
-                        W = xyzw.w
-                    }
-                }
-            });
-            if (response.Status.Code == StatusResponse.Types.StatusCode.Ok) return new(true);
+            if (IsSimulation) SimVisualization.LocalizationInitialize(x, y, theta);
             else
             {
-                Logger.Warning("Khởi tạo vị trí cho robot thất bại. Kết quả trả về: {response.Status.Code} - {response.Status.Message}");
-                return new(false, "Khởi tạo vị trí cho robot thất bại");
+                var xyzw = QuaternionToXYZW(0, 0, theta);
+                var response = XlocClient.SetInitialPose(new SetInitialPoseRequest()
+                {
+                    InitialPose = new Pose()
+                    {
+                        Position = new Point()
+                        {
+                            X = x,
+                            Y = y,
+                            Z = 0,
+                        },
+                        Orientation = new Quaternion()
+                        {
+                            X = xyzw.x,
+                            Y = xyzw.y,
+                            Z = xyzw.z,
+                            W = xyzw.w
+                        }
+                    }
+                });
+                if (response.Status.Code == StatusResponse.Types.StatusCode.Ok) return new(true);
+                else
+                {
+                    Logger.Warning("Khởi tạo vị trí cho robot thất bại. Kết quả trả về: {response.Status.Code} - {response.Status.Message}");
+                    return new(false, "Khởi tạo vị trí cho robot thất bại");
+                }
             }
+            return new(true);
         }
         catch (Exception ex)
         {

RobotApp/Services/Robot/RobotOrderController.cs

@@ -9,6 +9,7 @@ using RobotApp.VDA5050.Order;
 using RobotApp.VDA5050.State;
 using System.Collections.Concurrent;
 using System.Data;
+using System.Xml.Linq;
 using Action = RobotApp.VDA5050.InstantAction.Action;
 
 namespace RobotApp.Services.Robot;
@@ -247,11 +248,6 @@ public class RobotOrderController(INavigation NavigationManager,
         UpdateState();
     }
 
-    private bool IsNewPath()
-    {
-        return true;
-    }
-
     private void ClearLastNode()
     {
         if (LastNode is null) return;
@@ -292,6 +288,7 @@ public class RobotOrderController(INavigation NavigationManager,
 
     private void HandleOrder()
     {
+        if (Nodes.Length <= 0) return;
         if (IsCancelOrder)
         {
             NavigationManager.CancelMovement();
@@ -309,9 +306,13 @@ public class RobotOrderController(INavigation NavigationManager,
             {
                 var action = FinalAction[0];
                 var robotAction = ActionManager[action.ActionId];
-                if (robotAction is null) return;
-                if (robotAction.IsCompleted) FinalAction.Remove(action);
-                if (robotAction.Status == ActionStatus.WAITING) ActionManager.StartOrderAction(action.ActionId);
+                if (robotAction is null)
+                {
+                    FinalAction.Remove(action);
+                    return;
+                }
+                if (robotAction.IsCompleted)
+                    if (robotAction.Status == ActionStatus.WAITING) ActionManager.StartOrderAction(action.ActionId);
             }
             else
             {
@@ -398,6 +399,18 @@ public class RobotOrderController(INavigation NavigationManager,
                 if (NodeStates.Length != 0 || EdgeStates.Length != 0) HandleUpdateOrder(NewOrderHandler);
                 else
                 {
+                    Node startNode = NewOrderHandler.Nodes[0];
+                    var nodeDeviation = startNode.NodePosition.AllowedDeviationXY == 0.0 ? NewOrderHandler.Nodes.Length == 1 ? 0.3 : 0.5 : startNode.NodePosition.AllowedDeviationXY;
+                    var distance = Localization.DistanceTo(startNode.NodePosition.X, startNode.NodePosition.Y);
+                    if (distance > nodeDeviation) throw new OrderException(RobotErrors.Error1019());
+
+                    if (NewOrderHandler.Nodes.Length > 1)
+                    {
+                        Node endNode = NewOrderHandler.Nodes[^1];
+                        nodeDeviation = endNode.NodePosition.AllowedDeviationXY == 0.0 ? 0.2 : endNode.NodePosition.AllowedDeviationXY;
+                        distance = Localization.DistanceTo(endNode.NodePosition.X, endNode.NodePosition.Y);
+                        if (distance < nodeDeviation) throw new OrderException(RobotErrors.Error1020());
+                    }
                     HandleNewOrder(NewOrderHandler);
                 }
             }
@@ -409,6 +422,7 @@ public class RobotOrderController(INavigation NavigationManager,
             {
                 ErrorManager.AddError(orEx.Error, TimeSpan.FromSeconds(10));
                 Logger.Warning($"Lỗi khi xử lí Order: {orEx.Error.ErrorDescription}");
+                if (Nodes.Length == 0) HandleOrderStop();
             }
             else Logger.Warning($"Lỗi khi xử lí Order: {orEx.Message}");
         }
@@ -465,17 +479,23 @@ public class RobotOrderController(INavigation NavigationManager,
             var edges = NewOrderEdges.ToList().GetRange(lastNodeIndex + 1, nodes.Count - 1);
             for (int i = 0; i < nodes.Count - 1; i++)
             {
+                if (edges[i] is null) return (NodeStates, [.. pathEdges]);
+
+                var trajectory = edges[i].Trajectory;
+                var controlPoints = trajectory?.ControlPoints;
+
+
                 pathEdges.Add(new()
                 {
                     StartX = nodes[i].NodePosition.X,
                     StartY = nodes[i].NodePosition.Y,
                     EndX = nodes[i + 1].NodePosition.X,
                     EndY = nodes[i + 1].NodePosition.Y,
-                    ControlPoint1X = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].X : 0,
-                    ControlPoint1Y = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].Y : 0,
-                    ControlPoint2X = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].X : 0,
-                    ControlPoint2Y = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].Y : 0,
-                    Degree = edges[i].Trajectory.Degree,
+                    ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
+                    ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
+                    ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
+                    ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
+                    Degree = trajectory is null ? 1 : trajectory.Degree,
                 });
             }
         }

RobotApp/Services/Robot/RobotPathPlanner.cs

@@ -21,11 +21,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
             Y1 = inNode.NodePosition.Y,
             X2 = futureNode.NodePosition.X,
             Y2 = futureNode.NodePosition.Y,
-            ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
-            ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
-            ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
-            ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
-            TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
+            ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
+            ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
+            ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
+            ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
+            TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
         });
         (double robotx, double roboty) =
         (
@@ -61,30 +61,46 @@ public class RobotPathPlanner(IConfiguration Configuration)
         navigationNodes[0].Direction = GetDirectionInNode(currentTheta, nodes[0], nodes[1], edges[0]);
         for (int i = 1; i < nodes.Length - 1; i++)
         {
+            var trajectory = edges[i - 1].Trajectory;
+            var controlPoints = trajectory?.ControlPoints;
             (double lastx, double lasty) = MathExtensions.Curve(0.1, new()
             {
                 X1 = nodes[i - 1].NodePosition.X,
                 Y1 = nodes[i - 1].NodePosition.Y,
                 X2 = nodes[i].NodePosition.X,
                 Y2 = nodes[i].NodePosition.Y,
-                ControlPoint1X = edges[i - 1].Trajectory.ControlPoints.Length > 2 ? edges[i - 1].Trajectory.ControlPoints[1].X : 0,
-                ControlPoint1Y = edges[i - 1].Trajectory.ControlPoints.Length > 2 ? edges[i - 1].Trajectory.ControlPoints[1].Y : 0,
-                ControlPoint2X = edges[i - 1].Trajectory.ControlPoints.Length > 3 ? edges[i - 1].Trajectory.ControlPoints[2].X : 0,
-                ControlPoint2Y = edges[i - 1].Trajectory.ControlPoints.Length > 3 ? edges[i - 1].Trajectory.ControlPoints[2].Y : 0,
-                TrajectoryDegree = edges[i - 1].Trajectory.Degree == 1 ? TrajectoryDegree.One : edges[i - 1].Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
+                ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
+                ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
+                ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
+                ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
+                TrajectoryDegree = trajectory?.Degree switch
+                {
+                    1 => TrajectoryDegree.One,
+                    2 => TrajectoryDegree.Two,
+                    _ => TrajectoryDegree.Three
+                },
             });
+
+            trajectory = edges[i].Trajectory;
+            controlPoints = trajectory?.ControlPoints;
             (double futurex, double futurey) = MathExtensions.Curve(0.1, new()
             {
                 X1 = nodes[i].NodePosition.X,
                 Y1 = nodes[i].NodePosition.Y,
                 X2 = nodes[i + 1].NodePosition.X,
                 Y2 = nodes[i + 1].NodePosition.Y,
-                ControlPoint1X = edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].X : 0,
-                ControlPoint1Y = edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].Y : 0,
-                ControlPoint2X = edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].X : 0,
-                ControlPoint2Y = edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].Y : 0,
-                TrajectoryDegree = edges[i].Trajectory.Degree == 1 ? TrajectoryDegree.One : edges[i].Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
+                ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
+                ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
+                ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
+                ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
+                TrajectoryDegree = trajectory?.Degree switch
+                {
+                    1 => TrajectoryDegree.One,
+                    2 => TrajectoryDegree.Two,
+                    _ => TrajectoryDegree.Three
+                },
             });
+
             var angle = MathExtensions.GetVectorAngle(
                 nodes[i].NodePosition.X,
                 nodes[i].NodePosition.Y,
@@ -128,11 +144,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
                 Y1 = startNode.Y,
                 X2 = endNode.X,
                 Y2 = endNode.Y,
-                ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
-                ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
-                ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
-                ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
-                TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
+                ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
+                ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
+                ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
+                ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
+                TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
             };
 
             double length = EdgeCalculatorModel.GetEdgeLength();
@@ -194,11 +210,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
                 Y1 = startNode.NodePosition.Y,
                 X2 = endNode.NodePosition.X,
                 Y2 = endNode.NodePosition.Y,
-                ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
-                ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
-                ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
-                ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
-                TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
+                ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
+                ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
+                ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
+                ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
+                TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
             };
 
             double length = EdgeCalculatorModel.GetEdgeLength();

RobotApp/Services/Robot/RobotStatePublisher.cs

@@ -12,164 +12,22 @@ using System.Text.Json;
 
 namespace RobotApp.Services.Robot;
 
-public class RobotStatePublisher : BackgroundService
+public class RobotStatePublisher(
+    IHubContext<RobotHub> _hubContext,
+    RobotStates _robotState,
+    RobotConnection _robotConnection) : BackgroundService
 {
-    private readonly IHubContext<RobotHub> _hubContext;
-    private readonly RobotConfiguration _robotConfig;
-    private readonly IOrder _orderManager;
-    private readonly IInstantActions _actionManager;
-    private readonly IPeripheral _peripheralManager;
-    private readonly IInfomation _infoManager;
-    private readonly IError _errorManager;
-    private readonly ILocalization _localizationManager;
-    private readonly IBattery _batteryManager;
-    private readonly ILoad _loadManager;
-    private readonly INavigation _navigationManager;
-    private readonly RobotStateMachine _stateManager;
-    private readonly RobotConnection _robotConnection;
-    private bool? _lastRobotConnectionState;
-
-    private uint _headerId = 0;
     private readonly PeriodicTimer _timer = new(TimeSpan.FromMilliseconds(1000)); // 1 giây/lần
 
-    public RobotStatePublisher(
-        IHubContext<RobotHub> hubContext,
-        RobotConfiguration robotConfig,
-        IOrder orderManager,
-        IInstantActions actionManager,
-        IPeripheral peripheralManager,
-        IInfomation infoManager,
-        IError errorManager,
-        ILocalization localizationManager,
-        IBattery batteryManager,
-        ILoad loadManager,
-        INavigation navigationManager,
-        RobotStateMachine stateManager,
-        RobotConnection robotConnection)
-    {
-        _hubContext = hubContext;
-        _robotConfig = robotConfig;
-        _orderManager = orderManager;
-        _actionManager = actionManager;
-        _peripheralManager = peripheralManager;
-        _infoManager = infoManager;
-        _errorManager = errorManager;
-        _localizationManager = localizationManager;
-        _batteryManager = batteryManager;
-        _loadManager = loadManager;
-        _navigationManager = navigationManager;
-        _stateManager = stateManager;
-        _robotConnection = robotConnection;
-    }
-
-    private StateMsg GetStateMsg()
-    {
-        return new StateMsg
-        {
-            HeaderId = _headerId++,
-            Timestamp = DateTime.UtcNow.ToString("o"), // ISO 8601
-            Manufacturer = _robotConfig.VDA5050Setting.Manufacturer,
-            Version = _robotConfig.VDA5050Setting.Version,
-            SerialNumber = _robotConfig.SerialNumber,
-            Maps = [],
-            OrderId = _orderManager.OrderId,
-            OrderUpdateId = _orderManager.OrderUpdateId,
-            ZoneSetId = "",
-            LastNodeId = _orderManager.LastNodeId,
-            LastNodeSequenceId = _orderManager.LastNodeSequenceId,
-            Driving = Math.Abs(_navigationManager.VelocityX) > 0.01 || Math.Abs(_navigationManager.Omega) > 0.01,
-            Paused = false,
-            NewBaseRequest = true,
-            DistanceSinceLastNode = 0,
-            OperatingMode = _peripheralManager.PeripheralMode.ToString(),
-            NodeStates = _orderManager.NodeStates,
-            EdgeStates = _orderManager.EdgeStates,
-            ActionStates = _actionManager.ActionStates,
-            Information = [General, .. _infoManager.InformationState],
-            Errors = _errorManager.ErrorsState,
-            AgvPosition = new AgvPosition
-            {
-                X = _localizationManager.X,
-                Y = _localizationManager.Y,
-                Theta = _localizationManager.Theta,
-                LocalizationScore = _localizationManager.MatchingScore,
-                MapId = _localizationManager.CurrentActiveMap,
-                DeviationRange = _localizationManager.Reliability,
-                PositionInitialized = _localizationManager.IsReady,
-            },
-            BatteryState = new BatteryState
-            {
-                Charging = _batteryManager.IsCharging,
-                BatteryHealth = _batteryManager.SOH,
-                Reach = 0,
-                BatteryVoltage = _batteryManager.Voltage,
-                BatteryCharge = _batteryManager.SOC,
-            },
-            Loads = _loadManager.Load,
-            Velocity = new Velocity
-            {
-                Vx = _navigationManager.VelocityX,
-                Vy = _navigationManager.VelocityY,
-                Omega = _navigationManager.Omega,
-            },
-            SafetyState = new SafetyState
-            {
-                FieldViolation = _peripheralManager.LidarBackProtectField ||
-                                 _peripheralManager.LidarFrontProtectField ||
-                                 _peripheralManager.LidarFrontTimProtectField,
-                EStop = (_peripheralManager.Emergency || _peripheralManager.Bumper)
-                    ? EStop.AUTOACK.ToString()
-                    : EStop.NONE.ToString(),
-            }
-        };
-    }
-
-    private Information General => new()
-    {
-        InfoType = InformationType.robot_general.ToString(),
-        InfoDescription = "Thông tin chung của robot",
-        InfoLevel = InfoLevel.INFO.ToString(),
-        InfoReferences =
-        [
-            new InfomationReferences
-            {
-                ReferenceKey = InformationReferencesKey.robot_state.ToString(),
-                ReferenceValue = _stateManager.CurrentStateName,
-            }
-        ]
-    };
-
     protected override async Task ExecuteAsync(CancellationToken stoppingToken)
     {
         while (await _timer.WaitForNextTickAsync(stoppingToken))
         {
             try
             {
-                var serialNumber = _robotConfig.SerialNumber;
-
                 // ===== SEND STATE =====
-                var state = GetStateMsg();
-                var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
-
-                await _hubContext.Clients
-                    .Group(serialNumber)
-                    .SendAsync("ReceiveState", json, stoppingToken);
-
-                // ===== SEND ROBOT CONNECTION (ONLY WHEN CHANGED) =====
-                var isConnected = _robotConnection.IsConnected;
-
-                if (_lastRobotConnectionState != isConnected)
-                {
-                    _lastRobotConnectionState = isConnected;
-
-                    await _hubContext.Clients
-                        .Group(serialNumber)   // routing only
-                        .SendAsync(
-                            "ReceiveRobotConnection",
-                            isConnected,       // payload only bool
-                            stoppingToken
-                        );
-                }
+                await _hubContext.Clients.All.SendAsync("ReceiveState", _robotState.GetStateMsg(), stoppingToken);
+                await _hubContext.Clients.All.SendAsync("ReceiveRobotConnection", _robotConnection.IsConnected, stoppingToken);
             }
             catch
             {
@@ -177,10 +35,10 @@ public class RobotStatePublisher : BackgroundService
         }
     }
 
-
-    public override void Dispose()
+    public override Task StopAsync(CancellationToken cancellationToken)
     {
         _timer?.Dispose();
         base.Dispose();
+        return base.StopAsync(cancellationToken);
     }
 }

RobotApp/Services/Robot/RobotStates.cs

@@ -36,7 +36,7 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
         catch { }
     }
 
-    private StateMsg GetStateMsg()
+    public StateMsg GetStateMsg()
     {
         return new StateMsg
         {

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

@@ -23,8 +23,8 @@ public class SimulationNavigation : INavigation, IDisposable
 
     protected const int CycleHandlerMilliseconds = 50;
     private const double Scale = 1;
-    //private WatchTimer<SimulationNavigation>? NavigationTimer;
-    private HighPrecisionTimer<SimulationNavigation>? NavigationTimer;
+    private WatchTimer<SimulationNavigation>? NavigationTimer;
+    //private HighPrecisionTimer<SimulationNavigation>? NavigationTimer;
 
     protected double TargetAngle = 0;
     protected PID? RotatePID;