update

.dockerignore

@@ -0,0 +1,66 @@
+# Build artifacts
+**/bin/
+**/obj/
+**/out/
+
+# Visual Studio files
+**/.vs/
+**/.vscode/
+**/*.user
+**/*.suo
+**/*.userosscache
+**/*.sln.docstates
+
+# User-specific files
+**/.user
+**/.suo
+**/.userosscache
+
+# Build results
+[Dd]ebug/
+[Dd]ebugPublic/
+[Rr]elease/
+[Rr]eleases/
+x64/
+x86/
+[Aa][Rr][Mm]/
+[Aa][Rr][Mm]64/
+bld/
+[Bb]in/
+[Oo]bj/
+[Ll]og/
+[Ll]ogs/
+
+# NuGet packages
+**/packages/
+**/*.nupkg
+**/*.snupkg
+
+# Test results
+**/[Tt]est[Rr]esult*/
+**/[Bb]uild[Ll]og.*
+
+# Docker files
+Dockerfile*
+docker-compose*
+.dockerignore
+
+# Git
+.git/
+.gitignore
+.gitattributes
+
+# IDE
+.idea/
+*.swp
+*.swo
+*~
+
+# OS
+.DS_Store
+Thumbs.db
+
+# Data and logs (will be mounted as volumes)
+data/
+logs/
+

Dockerfile

@@ -0,0 +1,57 @@
+# Stage 1: Build
+# Note: Project files specify net10.0, but using .NET 9.0 based on package versions (9.0.9)
+# Adjust version if needed: 8.0 (LTS), 9.0 (current), or future 10.0
+FROM mcr.microsoft.com/dotnet/aspnet:10.0 AS base
+WORKDIR /app
+
+FROM mcr.microsoft.com/dotnet/sdk:10.0 AS build
+WORKDIR /src
+
+# Copy solution file
+COPY RobotApp.sln .
+
+# Copy project files
+COPY RobotApp/RobotApp.csproj RobotApp/
+COPY RobotApp.Client/RobotApp.Client.csproj RobotApp.Client/
+COPY RobotApp.Common.Shares/RobotApp.Common.Shares.csproj RobotApp.Common.Shares/
+COPY RobotApp.VDA5050/RobotApp.VDA5050.csproj RobotApp.VDA5050/
+
+# Restore dependencies
+RUN dotnet restore RobotApp.sln
+
+# Copy all source files
+COPY RobotApp/ RobotApp/
+COPY RobotApp.Client/ RobotApp.Client/
+COPY RobotApp.Common.Shares/ RobotApp.Common.Shares/
+COPY RobotApp.VDA5050/ RobotApp.VDA5050/
+
+RUN rm -rf ./RobotApp/RobotApp/bin
+RUN rm -rf ./RobotApp/RobotApp/obj
+RUN rm -rf ./RobotApp.Client/RobotApp.Client/bin
+RUN rm -rf ./RobotApp.Client/RobotApp.Client/obj
+RUN rm -rf ./RobotApp.Common.Shares/RobotApp.Common.Shares/bin
+RUN rm -rf ./RobotApp.Common.Shares/RobotApp.Common.Shares/obj
+RUN rm -rf ./RobotApp.VDA5050/RobotApp.VDA5050/bin
+RUN rm -rf ./RobotApp.VDA5050/RobotApp.VDA5050/obj
+
+# Build the solution
+WORKDIR /src/RobotApp
+RUN dotnet build -c Release -o /app/build
+
+# Stage 2: Publish
+FROM build AS publish
+WORKDIR /src/RobotApp
+RUN dotnet publish -c Release -o /app/publish /p:UseAppHost=false
+
+# Copy published files
+FROM base AS final
+WORKDIR /app
+COPY --from=publish /app/publish ./
+
+# Set environment variables
+#ENV ASPNETCORE_URLS=http://+:8080
+ENV ASPNETCORE_ENVIRONMENT=Production
+
+# Run the application
+ENTRYPOINT ["dotnet", "RobotApp.dll"]
+

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/MainLayout.razor

@@ -59,7 +59,7 @@
     </main>
 </div>
 
-@code{
+@code {
     public class NavModel
     {
         public string Icon { get; set; } = "";
@@ -69,11 +69,12 @@
     }
 
     public NavModel[] Navs = [
-        new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
+        new(){Icon = "mdi-view-dashboard", Path="/dashboard", Label = "Dashboard", Match = NavLinkMatch.All},
         // new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
         new(){Icon = "mdi-monitor", Path="/robot-monitor", Label = "Robot Monitor", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-application-cog", Path="/robot-config", Label = "Config", Match = NavLinkMatch.All},
-        new(){Icon = "mdi-application-cog", Path="/robot-state", Label = "state", Match = NavLinkMatch.All},
+        new(){Icon = "mdi-state-machine", Path="/robot-order", Label = "order", Match = NavLinkMatch.All},
+        new(){Icon = "mdi-application-cog", Path="/robot-config", Label = "Config", Match = NavLinkMatch.All },
+        new(){Icon = "mdi-math-log", Path="/logs", Label = "Logs", Match = NavLinkMatch.All},
     ];
 
     private bool collapseNavMenu = true;

RobotApp.Client/Models/LoggerModel.cs

@@ -0,0 +1,40 @@
+using System.Text.Json.Serialization;
+
+namespace RobotApp.Client.Models;
+
+public class LoggerModel
+{
+    [JsonPropertyName("time")]
+    public string? Time { get; set; }
+
+    [JsonPropertyName("level")]
+    public string? Level { get; set; }
+
+    [JsonPropertyName("message")]
+    public string? Message { get; set; }
+
+    [JsonPropertyName("exception")]
+    public string? Exception { get; set; }
+
+    public string ColorClass => Level switch
+    {
+        "WARN" => "text-warning",
+        "INFO" => "text-info",
+        "DEBUG" => "text-success",
+        "ERROR" => "text-danger",
+        "FATAL" => "text-secondary",
+        _ => "text-muted",
+    };
+
+    public string BackgroundClass => Level switch
+    {
+        "WARN" => "bg-warning text-dark",
+        "INFO" => "bg-info text-dark",
+        "DEBUG" => "bg-success text-white",
+        "ERROR" => "bg-danger text-white",
+        "FATAL" => "bg-secondary text-white",
+        _ => "bg-dark text-white",
+    };
+
+    public bool HasException => !string.IsNullOrEmpty(Exception);
+}

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

@@ -17,17 +17,31 @@
                 <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>
         }
-        <MudChip T="string" Color="@(IsConnected? Color.Success: Color.Error)" Size="Size.Small">
+        @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">
             @(IsConnected ? "Connected" : "Disconnected")
-        </MudChip>
+        </MudChip> *@
     </div>
     <div @ref="SvgContainerRef" class="svg-container">
         <svg @ref="SvgRef"
@@ -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"
@@ -86,6 +134,7 @@
 </div>
 
 @code {
+
     [Parameter] public RobotMonitorDto? MonitorData { get; set; }
     [Parameter] public bool IsConnected { get; set; }
 
@@ -106,7 +155,7 @@
     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 +173,44 @@
     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 +229,37 @@
         }
     }
 
+    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 +282,8 @@
 
         // 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
+        scaleFactor = scaleFactor < 1 ? 1 : scaleFactor;
 
         double width = RobotWidthMeters * scaleFactor;
         double height = RobotLengthMeters * scaleFactor;
@@ -217,6 +326,53 @@
         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 +447,26 @@
         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 +477,9 @@
     private void HandleMouseLeave(MouseEventArgs e)
     {
         IsPanning = false;
+        MouseWorldX = null;
+        MouseWorldY = null;
+        StateHasChanged();
     }
 
     private async Task HandleWheel(WheelEventArgs e)
@@ -324,7 +495,7 @@
         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

@@ -0,0 +1,430 @@
+@page "/dashboard"
+
+@using RobotApp.Client.Services
+@using RobotApp.VDA5050.State
+@using MudBlazor
+
+@implements IDisposable
+
+@inject RobotStateClient RobotStateClient
+@rendermode InteractiveWebAssemblyNoPrerender
+
+<MudContainer MaxWidth="MaxWidth.False" Class="pa-4" Style="overflow-y:auto">
+    <!-- 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>
+            @if (CurrentState != null)
+            {
+                <MudText Typo="Typo.subtitle1">
+                    <MudIcon Icon="@Icons.Material.Filled.Memory" Class="mr-2" />
+                    @CurrentState.Version •
+                    <MudIcon Icon="@Icons.Material.Filled.Business" Class="mr-2 ml-4" />
+                    @CurrentState.Manufacturer •
+                    <MudIcon Icon="@Icons.Material.Filled.Tag" Class="mr-2 ml-4" />
+                    @CurrentState.SerialNumber
+                </MudText>
+            }
+            else
+            {
+                <MudText Typo="Typo.subtitle1">
+                    <MudIcon Icon="@Icons.Material.Filled.Sync" Class="mr-2" />
+                    Connecting to robot...
+                </MudText>
+            }
+        </div>
+
+        @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>
+        }
+
+    </MudPaper>
+
+    @{
+        var msg = CurrentState ?? EmptyState;
+    }
+
+    <!-- Thông tin header state -->
+    <MudPaper Class="pa-5 mb-6 rounded-lg" Elevation="4">
+        <MudGrid Spacing="4" Class="align-center">
+            <MudItem xs="12" sm="4">
+                <MudText Typo="Typo.caption" Color="Color.Tertiary">Header ID</MudText>
+                <MudText Typo="Typo.h6">@msg.HeaderId</MudText>
+            </MudItem>
+            <MudItem xs="12" sm="4">
+                <MudText Typo="Typo.caption" Color="Color.Tertiary">Timestamp (UTC)</MudText>
+                <MudText Typo="Typo.h6">@msg.Timestamp</MudText>
+            </MudItem>
+            <MudItem xs="12" sm="2">
+                <MudText Typo="Typo.caption" Color="Color.Tertiary">Version</MudText>
+                <MudText Typo="Typo.h6">@msg.Version</MudText>
+            </MudItem>
+            <MudItem xs="12" sm="2" Class="d-flex justify-center">
+                <MudText Typo="Typo.caption" Color="Color.Tertiary">Order Update ID</MudText>
+                <MudChip T="string" Color="Color.Primary" Variant="@Variant.Filled" Class="mt-2">
+                    @msg.OrderUpdateId
+                </MudChip>
+            </MudItem>
+        </MudGrid>
+    </MudPaper>
+
+    <MudGrid Spacing="4">
+        <!-- POSITION + VELOCITY -->
+        <MudItem xs="12" md="6" lg="4">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.LocationOn" Class="mr-2" />
+                            Position & Velocity
+                        </MudText>
+                    </CardHeaderContent>
+                    <CardHeaderActions>
+                        <MudChip T="string"
+                                 Size="Size.Small"
+                                 Color="@(msg.NewBaseRequest ? Color.Success : Color.Error)"
+                                 Variant="@Variant.Filled">
+                            NewBase: @(msg.NewBaseRequest ? "TRUE" : "FALSE")
+                        </MudChip>
+                    </CardHeaderActions>
+                </MudCardHeader>
+                <MudCardContent Class="pa-4">
+                    <MudGrid Spacing="3">
+                        <MudItem xs="6">
+                            <MudText>X: <strong>@msg.AgvPosition.X.ToString("F2")</strong> m</MudText>
+                            <MudText>Y: <strong>@msg.AgvPosition.Y.ToString("F2")</strong> m</MudText>
+                            <MudText>θ: <strong>@msg.AgvPosition.Theta.ToString("F2")</strong> rad</MudText>
+                        </MudItem>
+                        <MudItem xs="6">
+                            <MudText>Vx: <strong>@msg.Velocity.Vx.ToString("F2")</strong> m/s</MudText>
+                            <MudText>Vy: <strong>@msg.Velocity.Vy.ToString("F2")</strong> m/s</MudText>
+                            <MudText>Ω: <strong>@msg.Velocity.Omega.ToString("F3")</strong> rad/s</MudText>
+                        </MudItem>
+                    </MudGrid>
+                    <MudDivider Class="my-4" />
+                    <div class="d-flex justify-space-between align-center">
+                        <MudChip T="string"
+                                 Size="Size.Small"
+                                 Color="@(msg.AgvPosition.PositionInitialized ? Color.Success : Color.Error)"
+                                 Variant="@Variant.Filled">
+                            @(msg.AgvPosition.PositionInitialized ? "Initialized" : "Not Initialized")
+                        </MudChip>
+                        <MudText Typo="Typo.caption">
+                            Deviation: <strong>@msg.AgvPosition.DeviationRange</strong>
+                        </MudText>
+                    </div>
+                    <MudProgressLinear Value="@(msg.AgvPosition.LocalizationScore * 100)"
+                                       Color="Color.Success"
+                                       Class="mt-4 rounded"
+                                       Style="height: 10px;" />
+                    <MudText Typo="Typo.caption" Class="mt-2 text-center">
+                        Localization Score: <strong>@(msg.AgvPosition.LocalizationScore * 100)%</strong>
+                    </MudText>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+
+        <!-- BATTERY -->
+        <MudItem xs="12" md="6" lg="4">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.BatteryFull" Class="mr-2" />
+                            Battery Status
+                        </MudText>
+                    </CardHeaderContent>
+                </MudCardHeader>
+                <MudCardContent Class="pa-6">
+                    <MudProgressLinear Value="@msg.BatteryState.BatteryCharge"
+                                       Size="Size.Large"
+                                       Rounded="true"
+                                       Striped="true"
+                                       Color="@(msg.BatteryState.BatteryCharge > 50 ? Color.Success :
+                                                                                                                                                                                                                                                   msg.BatteryState.BatteryCharge > 20 ? Color.Warning : Color.Error)"
+                                       Class="mb-4"
+                                       Style="height: 28px;" />
+
+                    <!-- Phần mới: % pin và trạng thái Charging/Discharging cùng dòng -->
+                    <div class="d-flex align-center justify-space-between mb-6">
+                        <MudText Typo="Typo.h3" Class="mb-0">
+                            @msg.BatteryState.BatteryCharge<span class="mud-typography-h4">%</span>
+                        </MudText>
+
+                        <MudChip T="string"
+                                 Icon="@(msg.BatteryState.Charging ? Icons.Material.Filled.Bolt : Icons.Material.Filled.PowerOff)"
+                                 Size="Size.Large"
+                                 Color="@(msg.BatteryState.Charging ? Color.Info : Color.Default)"
+                                 Variant="@Variant.Filled"
+                                 Class="px-5 py-3">
+                            @(msg.BatteryState.Charging ? "Charging" : "Discharging")
+                        </MudChip>
+                    </div>
+
+                    <!-- Các thông tin phụ -->
+                    <MudGrid Spacing="3">
+                        <MudItem xs="4">
+                            <MudText Typo="Typo.caption">Voltage</MudText>
+                            <MudText Typo="Typo.h6">@msg.BatteryState.BatteryVoltage:F1 V</MudText>
+                        </MudItem>
+                        <MudItem xs="4">
+                            <MudText Typo="Typo.caption">Health (SOH)</MudText>
+                            <MudText Typo="Typo.h6">@msg.BatteryState.BatteryHealth%</MudText>
+                        </MudItem>
+                        <MudItem xs="4">
+                            <MudText Typo="Typo.caption">Reach</MudText>
+                            <MudText Typo="Typo.h6">@((int)msg.BatteryState.Reach) m</MudText>
+                        </MudItem>
+                    </MudGrid>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+        <!-- ORDER & PATH -->
+        <MudItem xs="12" md="6" lg="4">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.Navigation" Class="mr-2" />
+                            Order & Path
+                        </MudText>
+                    </CardHeaderContent>
+                </MudCardHeader>
+                <MudCardContent Class="pa-4">
+                    <MudText>Order ID: <strong>@(msg.OrderId ?? "—")</strong></MudText>
+                    <MudText>Update ID: <strong>@msg.OrderUpdateId</strong></MudText>
+                    <MudDivider Class="my-4" />
+                    <MudText>Last Node: <strong>@msg.LastNodeId</strong> <span class="mud-typography-caption">(Seq: @msg.LastNodeSequenceId)</span></MudText>
+                    <MudText>Distance since last: <strong>@msg.DistanceSinceLastNode m</strong></MudText>
+                    <MudDivider Class="my-4" />
+                    @{
+                        var nodeReleased = msg.NodeStates?.Count(n => n.Released) ?? 0;
+                        var nodeTotal = msg.NodeStates?.Length ?? 0;
+                        var edgeReleased = msg.EdgeStates?.Count(e => e.Released) ?? 0;
+                        var edgeTotal = msg.EdgeStates?.Length ?? 0;
+                    }
+                    <div class="d-flex flex-wrap gap-3 mt-3">
+                        <MudChip T="string" Color="Color.Primary" Variant="@Variant.Filled">Nodes: @nodeReleased/@nodeTotal</MudChip>
+                        <MudChip T="string" Color="Color.Secondary" Variant="@Variant.Filled">Edges: @edgeReleased/@edgeTotal</MudChip>
+                        <MudChip T="string" Size="Size.Small" Color="@(msg.Driving? Color.Success: Color.Default)" Variant="@Variant.Filled">
+                            @(msg.Driving ? "DRIVING" : "STOPPED")
+                        </MudChip>
+                        <MudChip T="string" Size="Size.Small" Color="@(msg.Paused? Color.Warning: Color.Success)" Variant="@Variant.Filled">
+                            @(msg.Paused ? "PAUSED" : "ACTIVE")
+                        </MudChip>
+                    </div>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+
+        <!-- ERRORS + INFORMATION -->
+        <MudItem xs="12" lg="6">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.WarningAmber" Class="mr-2" />
+                            Errors & Information
+                        </MudText>
+                    </CardHeaderContent>
+                </MudCardHeader>
+                <MudCardContent>
+                    <MudTable Items="@MessageRows"
+                              Dense="true"
+                              Hover="true"
+                              Bordered="true"
+                              FixedHeader="true"
+                              Height="250px">
+                        <ColGroup>
+                            <col style="width:30%" />
+                            <col style="width:15%" />
+                            <col />
+                        </ColGroup>
+                        <HeaderContent>
+                            <MudTh><MudText Typo="Typo.subtitle2">Type</MudText></MudTh>
+                            <MudTh><MudText Typo="Typo.subtitle2">Level</MudText></MudTh>
+                            <MudTh><MudText Typo="Typo.subtitle2">Description</MudText></MudTh>
+                        </HeaderContent>
+                        <RowTemplate>
+                            <MudTd>
+                                <MudText Color="@(context.IsError? Color.Error: Color.Info)" Typo="Typo.body1">
+                                    <strong>@context.Type</strong>
+                                </MudText>
+                            </MudTd>
+                            <MudTd>
+                                <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)"
+                                         Variant="@Variant.Filled">
+                                    @context.Level
+                                </MudChip>
+                            </MudTd>
+                            <MudTd>
+                                <MudText Typo="Typo.body2" Class="text-truncate" Style="max-width: 300px;">
+                                    @context.Description
+                                </MudText>
+                            </MudTd>
+                        </RowTemplate>
+                        <NoRecordsContent>
+                            <MudAlert Severity="Severity.Info" Class="mx-4 my-8" Variant="@Variant.Text">
+                                <MudText>No errors or information messages</MudText>
+                            </MudAlert>
+                        </NoRecordsContent>
+                    </MudTable>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+
+        <!-- ACTIONS -->
+        <MudItem xs="12" md="6" lg="3">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.Settings" Class="mr-2" />
+                            Active Actions
+                        </MudText>
+                    </CardHeaderContent>
+                </MudCardHeader>
+                <MudCardContent>
+                    <MudTable Items="msg.ActionStates"
+                              Dense="true"
+                              Hover="true"
+                              Bordered="true"
+                              FixedHeader="true"
+                              Height="220px">
+                        <HeaderContent>
+                            <MudTh>Action</MudTh>
+                            <MudTh>ID</MudTh>
+                            <MudTh Style="text-align:right">Status</MudTh>
+                        </HeaderContent>
+                        <RowTemplate>
+                            <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)"
+                                         Variant="@Variant.Filled">
+                                    @context.ActionStatus
+                                </MudChip>
+                            </MudTd>
+                        </RowTemplate>
+                        <NoRecordsContent>
+                            <MudText Class="pa-8 text-center" Color="Color.Secondary">No active actions</MudText>
+                        </NoRecordsContent>
+                    </MudTable>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+
+        <!-- SAFETY -->
+        <MudItem xs="12" md="6" lg="3">
+            <MudCard Elevation="6" Class="h-100 rounded-lg">
+                <MudCardHeader>
+                    <CardHeaderContent>
+                        <MudText Typo="Typo.h6">
+                            <MudIcon Icon="@Icons.Material.Filled.Security" Class="mr-2" />
+                            Safety State
+                        </MudText>
+                    </CardHeaderContent>
+                </MudCardHeader>
+                <MudCardContent Class="pa-6 d-flex flex-column gap-4">
+                    <MudChip T="string"
+                             Icon="@(msg.SafetyState.EStop == "NONE" ? Icons.Material.Filled.CheckCircle : Icons.Material.Filled.ErrorOutline)"
+                             Size="Size.Large"
+                             Color="@(msg.SafetyState.EStop == "NONE" ? Color.Success : Color.Error)"
+                             Variant="@Variant.Filled"
+                             Class="py-6">
+                        E-STOP: @msg.SafetyState.EStop
+                    </MudChip>
+                    <MudChip T="string"
+                             Icon="@(msg.SafetyState.FieldViolation ? Icons.Material.Filled.Warning : Icons.Material.Filled.Shield)"
+                             Size="Size.Large"
+                             Color="@(msg.SafetyState.FieldViolation ? Color.Error : Color.Success)"
+                             Variant="@Variant.Filled"
+                             Class="py-6">
+                        Field Violation: @(msg.SafetyState.FieldViolation ? "YES" : "NO")
+                    </MudChip>
+                </MudCardContent>
+            </MudCard>
+        </MudItem>
+    </MudGrid>
+</MudContainer>
+
+@code {
+    private static readonly StateMsg EmptyState = new()
+    {
+    };
+
+    private StateMsg? CurrentState;
+    private bool IsConnected;
+    private List<MessageRow> MessageRows = new();
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
+        RobotStateClient.OnStateReceived += OnRobotStateReceived;
+        RobotStateClient.OnRobotConnectionChanged += OnRobotConnectionChanged;
+
+        await RobotStateClient.StartAsync();
+        CurrentState = RobotStateClient.GetLatestState();
+        IsConnected = RobotStateClient.IsRobotConnected;
+
+        UpdateMessageRows();
+    }
+
+    private void OnRobotConnectionChanged(bool connected)
+    {
+        IsConnected = connected;
+        StateHasChanged();
+    }
+
+
+    private void OnRobotStateReceived(string serialNumber, StateMsg state)
+    {
+        CurrentState = state;
+        UpdateMessageRows();
+        StateHasChanged();
+    }
+
+    private void UpdateMessageRows()
+    {
+        MessageRows.Clear();
+        if (CurrentState?.Errors != null)
+        {
+            foreach (var err in CurrentState.Errors)
+            {
+                MessageRows.Add(new MessageRow(err.ErrorType ?? "-", err.ErrorLevel ?? "ERROR", err.ErrorDescription ?? "", true));
+            }
+        }
+        if (CurrentState?.Information != null)
+        {
+            foreach (var info in CurrentState.Information)
+            {
+                MessageRows.Add(new MessageRow(info.InfoType ?? "-", info.InfoLevel ?? "INFO", info.InfoDescription ?? "", false));
+            }
+        }
+    }
+
+    public void Dispose()
+    {
+        RobotStateClient.OnStateReceived -= OnRobotStateReceived;
+        RobotStateClient.OnRobotConnectionChanged -= OnRobotConnectionChanged;
+    }
+
+    private record MessageRow(string Type, string Level, string Description, bool IsError);
+}

RobotApp.Client/Pages/Home.razor

@@ -1,652 +0,0 @@
-@page "/"
-@using System.Text.Json
-@using System.Text.Json.Serialization
-@using RobotApp.VDA5050.InstantAction
-@using RobotApp.VDA5050.Order
-@using RobotApp.VDA5050.Type
-@using System.ComponentModel.DataAnnotations
-@attribute [Authorize]
-@rendermode InteractiveWebAssemblyNoPrerender
-@inject IJSRuntime JS
-
-@inject IDialogService DialogService
-
-<MudMainContent Class="pa-0 ma-0">
-    <div style="height:100vh; overflow:hidden;">
-        <MudContainer MaxWidth="MaxWidth.False" Class="pa-4" Style="max-width: 100%; height:100%; display:flex; flex-direction:column;">
-
-            <!-- TIÊU ĐỀ -->
-            <MudText Typo="Typo.h4" Align="Align.Center" Class="mb-6 flex-shrink-0">
-                🧾 VDA5050 Order Editor
-            </MudText>
-
-            <MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
-
-                <!-- ================= CỘT TRÁI (50%) ================= -->
-                <MudItem xs="12" md="7" Class="d-flex flex-column h-100" Style="gap:16px;">
-                    <!-- Nodes và Edges chia 1x2, mỗi phần có scroll nội bộ -->
-                    <MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
-                        <!-- Nodes (trái) -->
-                        <MudItem xs="12" md="6" Class="h-100">
-                            <MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
-                                <MudStack Row="true" AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween" Class="mb-4 flex-shrink-0">
-                                    <MudText Typo="Typo.h6">📍 Nodes</MudText>
-                                    <MudButton Variant="Variant.Filled" Color="Color.Primary" StartIcon="@Icons.Material.Filled.Add" OnClick="AddNode">
-                                        Add Node
-                                    </MudButton>
-                                </MudStack>
-
-                                <!-- Cuộn nội bộ chỉ cho phần danh sách Nodes -->
-                                <div class="flex-grow-1" style="overflow:auto;">
-                                    <MudExpansionPanels MultiExpansion="true">
-                                        @foreach (var node in Order.Nodes)
-                                        {
-                                            <MudExpansionPanel @key="node">
-
-                                                <!-- ===== HEADER ===== -->
-                                                <TitleContent>
-                                                    <div class="d-flex align-center justify-space-between w-100">
-                                                        <MudText Typo="Typo.subtitle1" Class="fw-bold">
-                                                            @node.NodeId
-                                                        </MudText>
-                                                        <MudIconButton Icon="@Icons.Material.Filled.Edit"
-                                                                       Color="Color.Primary"
-                                                                       Size="Size.Small"
-                                                                       OnClick="@(() => OpenEditNodeDialog(node))"
-                                                                       StopPropagation="true" />
-                                                        <MudIconButton Icon="@Icons.Material.Filled.Delete"
-                                                                       Color="Color.Error"
-                                                                       Size="Size.Small"
-                                                                       OnClick="@(() => RemoveNode(node))"
-                                                                       StopPropagation="true" />
-                                                    </div>
-                                                </TitleContent>
-
-                                                <!-- ===== BODY (BẮT BUỘC ChildContent) ===== -->
-                                                <ChildContent>
-                                                    <MudGrid Spacing="3">
-                                                        <MudItem xs="12">
-                                                            <MudTextField @bind-Value="node.NodeId" Label="Node ID" />
-                                                        </MudItem>
-
-                                                        <MudItem xs="12">
-                                                            <MudNumericField T="int"
-                                                                             @bind-Value="node.SequenceId"
-                                                                             Label="Sequence ID" />
-                                                        </MudItem>
-
-                                                        <MudItem xs="12">
-                                                            <MudSwitch T="bool"
-                                                                       @bind-Checked="node.Released"
-                                                                       Label="Released" />
-                                                        </MudItem>
-
-
-                                                        <MudItem xs="6">
-                                                            <MudNumericField T="double"
-                                                                             @bind-Value="node.NodePosition.X"
-                                                                             Label="X" />
-                                                        </MudItem>
-                                                        <MudItem xs="6">
-                                                            <MudNumericField T="double"
-                                                                             @bind-Value="node.NodePosition.Y"
-                                                                             Label="Y" />
-                                                        </MudItem>
-                                                        <MudItem xs="12">
-                                                            <MudTextField @bind-Value="node.NodePosition.MapId"
-                                                                          Label="Map ID" />
-                                                        </MudItem>
-                                                        <MudItem xs="6">
-                                                            <MudNumericField T="double"
-                                                                             @bind-Value="node.NodePosition.Theta"
-                                                                             Label="Theta (rad)" />
-                                                        </MudItem>
-
-                                                        <MudItem xs="6">
-                                                            <MudNumericField T="double"
-                                                                             @bind-Value="node.NodePosition.AllowedDeviationXY"
-                                                                             Label="Allowed Dev XY" />
-                                                        </MudItem>
-
-                                                        <MudItem xs="6">
-                                                            <MudNumericField T="double"
-                                                                             @bind-Value="node.NodePosition.AllowedDeviationTheta"
-                                                                             Label="Allowed Dev Theta" />
-                                                        </MudItem>
-
-
-                                                        <MudItem xs="12">
-                                                            <MudDivider Class="my-4" />
-                                                            <MudText Typo="Typo.subtitle1" Class="mb-3">
-                                                                Actions
-                                                            </MudText>
-
-                                                            @foreach (var act in node.Actions)
-                                                            {
-                                                                <MudPaper Class="pa-3 mb-3" Outlined>
-                                                                    <MudGrid Spacing="3">
-                                                                        <MudItem xs="12">
-                                                                            <MudSelect T="string"
-                                                                                       Label="Action Type"
-                                                                                       @bind-Value="act.ActionType"
-                                                                                       Dense="true"
-                                                                                       Required="true">
-                                                                                @foreach (var at in Enum.GetValues<ActionType>())
-                                                                                {
-                                                                                    <MudSelectItem Value="@at.ToString()">
-                                                                                        @at
-                                                                                    </MudSelectItem>
-                                                                                }
-                                                                            </MudSelect>
-                                                                        </MudItem>
-
-                                                                        <MudItem xs="12">
-                                                                            <MudSelect T="string"
-                                                                                       @bind-Value="act.BlockingType"
-                                                                                       Label="Blocking Type">
-                                                                                <MudSelectItem Value="@("NONE")">NONE</MudSelectItem>
-                                                                                <MudSelectItem Value="@("SOFT")">SOFT</MudSelectItem>
-                                                                                <MudSelectItem Value="@("HARD")">HARD</MudSelectItem>
-                                                                            </MudSelect>
-                                                                        </MudItem>
-
-                                                                        <MudItem xs="12">
-                                                                            <MudTextField @bind-Value="act.ActionId"
-                                                                                          Label="Action ID" />
-                                                                        </MudItem>
-                                                                    </MudGrid>
-
-                                                                    <MudText Typo="Typo.caption" Class="mt-3 mb-2">
-                                                                        Action Parameters
-                                                                    </MudText>
-
-                                                                    @foreach (var p in act.ActionParameters.Cast<UiActionParameter>())
-                                                                    {
-                                                                        <MudGrid Class="mt-1">
-                                                                            <MudItem xs="6">
-                                                                                <MudTextField @bind-Value="p.Key" Label="Key" />
-                                                                            </MudItem>
-                                                                            <MudItem xs="6">
-                                                                                <MudTextField @bind-Value="p.ValueString" Label="Value" />
-                                                                            </MudItem>
-                                                                            <MudItem xs="2">
-                                                                                <MudIconButton Icon="@Icons.Material.Filled.Delete"
-                                                                                               Color="Color.Error"
-                                                                                               OnClick="@(() => RemoveActionParameter(act, p))" />
-                                                                            </MudItem>
-                                                                        </MudGrid>
-                                                                    }
-
-                                                                    <MudButton Size="Size.Small"
-                                                                               StartIcon="@Icons.Material.Filled.Add"
-                                                                               Class="mt-3"
-                                                                               OnClick="@(() => AddActionParameter(act))">
-                                                                        Add Parameter
-                                                                    </MudButton>
-
-                                                                    <MudDivider Class="my-3" />
-
-                                                                    <MudButton Size="Size.Small"
-                                                                               Color="Color.Error"
-                                                                               Variant="Variant.Text"
-                                                                               StartIcon="@Icons.Material.Filled.Delete"
-                                                                               OnClick="@(() => RemoveAction(node, act))">
-                                                                        Remove Action
-                                                                    </MudButton>
-                                                                </MudPaper>
-                                                            }
-
-                                                            <MudButton Size="Size.Small"
-                                                                       StartIcon="@Icons.Material.Filled.Add"
-                                                                       OnClick="@(() => AddAction(node))">
-                                                                Add Action
-                                                            </MudButton>
-                                                        </MudItem>
-                                                    </MudGrid>
-                                                </ChildContent>
-
-                                            </MudExpansionPanel>
-                                        }
-                                    </MudExpansionPanels>
-                                </div>
-
-                            </MudPaper>
-                        </MudItem>
-
-                        <!-- Edges (phải) -->
-                        <MudItem xs="12" md="6" Class="h-100">
-                            <MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
-                                <MudStack Row="true" AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween" Class="mb-4 flex-shrink-0">
-                                    <MudText Typo="Typo.h6">🔗 Edges</MudText>
-                                    <MudButton Variant="Variant.Filled" Color="Color.Primary" StartIcon="@Icons.Material.Filled.Add" OnClick="AddEdge">
-                                        Add Edge
-                                    </MudButton>
-                                </MudStack>
-
-                                <!-- Cuộn nội bộ chỉ cho phần danh sách Edges -->
-                                <div class="flex-grow-1" style="overflow:auto;">
-                                    <MudExpansionPanels MultiExpansion="true">
-                                        @foreach (var edge in Order.Edges)
-                                        {
-                                            <MudExpansionPanel Text="@($"{edge.EdgeId} ({edge.StartNodeId} → {edge.EndNodeId})")" @key="edge">
-                                                <MudGrid Spacing="3">
-                                                    <MudItem xs="12"><MudTextField @bind-Value="edge.EdgeId" Label="Edge ID" /></MudItem>
-                                                    <MudItem xs="12">
-                                                        <MudSelect T="string"
-                                                                   Label="Start Node"
-                                                                   Dense="true"
-                                                                   Required="true"
-                                                                   @bind-Value="edge.StartNodeId">
-                                                            @foreach (var node in Order.Nodes)
-                                                            {
-                                                                <MudSelectItem Value="@node.NodeId">
-                                                                    @node.NodeId
-                                                                </MudSelectItem>
-                                                            }
-                                                        </MudSelect>
-                                                    </MudItem>
-
-                                                    <MudItem xs="12">
-                                                        <MudSelect T="string"
-                                                                   Label="End Node"
-                                                                   Dense="true"
-                                                                   Required="true"
-                                                                   @bind-Value="edge.EndNodeId">
-                                                            @foreach (var node in Order.Nodes)
-                                                            {
-                                                                <MudSelectItem Value="@node.NodeId"
-                                                                               Disabled="@(node.NodeId == edge.StartNodeId)">
-                                                                    @node.NodeId
-                                                                </MudSelectItem>
-                                                            }
-                                                        </MudSelect>
-                                                    </MudItem>
-
-                                                    <MudItem xs="12" Class="mt-4">
-                                                        <MudButton Color="Color.Error" Variant="Variant.Text" StartIcon="@Icons.Material.Filled.Delete"
-                                                                   OnClick="@(() => RemoveEdge(edge))">Remove Edge</MudButton>
-                                                    </MudItem>
-                                                </MudGrid>
-                                            </MudExpansionPanel>
-                                        }
-                                    </MudExpansionPanels>
-                                </div>
-                            </MudPaper>
-                        </MudItem>
-                    </MudGrid>
-                </MudItem>
-                <!-- ================= CỘT PHẢI (50%) - JSON Output ================= -->
-                <MudItem xs="12" md="5" Class="h-100">
-                    <MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
-                        <MudStack Row="true" AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween" Class="mb-4 flex-shrink-0">
-                            <MudText Typo="Typo.h6">📄 JSON Output (/order)</MudText>
-
-                            <MudButton Variant="Variant.Filled"
-                                       Color="Color.Success"
-                                       StartIcon="@Icons.Material.Filled.Send"
-                                       OnClick="SendOrderToServer">
-                                Send
-                            </MudButton>
-                            @if (!string.IsNullOrEmpty(sendResult))
-                            {
-                                <MudAlert Severity="@(sendResult.StartsWith("✅") ? Severity.Success : Severity.Error)"
-                                          Class="mt-3">
-                                    @sendResult
-                                </MudAlert>
-                            }
-
-                            <MudTooltip Text="@(copied ? "Copied!" : "Copy to clipboard")">
-                                <MudButton Variant="Variant.Filled"
-                                           Color="@(copied ? Color.Success : Color.Primary)"
-                                           Size="Size.Small"
-                                           StartIcon="@(copied ? Icons.Material.Filled.Check : Icons.Material.Filled.ContentCopy)"
-                                           OnClick="CopyJsonToClipboard">
-                                    @if (copied)
-                                    {
-                                        <MudText Class="ml-2">Copied!</MudText>
-                                    }
-                                    else
-                                    {
-                                        <MudText Class="ml-2">Copy</MudText>
-                                    }
-                                </MudButton>
-                            </MudTooltip>
-                        </MudStack>
-
-                        <!-- Cuộn nội bộ cho JSON -->
-                        <div class="flex-grow-1" style="overflow:auto;">
-                            <MudTextField Value="@OrderJson"
-                                          ReadOnly="true"
-                                          Variant="Variant.Filled"
-                                          Lines="70"
-                                          Class="h-100"
-                                          Style="font-family: 'Roboto Mono', Consolas, 'Courier New', monospace;
-                                 font-size: 0.875rem;
-                                 background-color: #1e1e1e;
-                                 color: #d4d4d4;" />
-                        </div>
-                    </MudPaper>
-                </MudItem>
-
-            </MudGrid>
-        </MudContainer>
-    </div>
-</MudMainContent>
-
-<script>
-    window.copyText = async function (text) {
-        if (navigator.clipboard && window.isSecureContext) {
-            await navigator.clipboard.writeText(text);
-            return true;
-        }
-
-        const textarea = document.createElement("textarea");
-        textarea.value = text;
-        textarea.style.position = "fixed";
-        textarea.style.opacity = "0";
-
-        document.body.appendChild(textarea);
-        textarea.focus();
-        textarea.select();
-
-        try {
-            document.execCommand("copy");
-            return true;
-        } catch (err) {
-            console.error("Copy failed", err);
-            return false;
-        } finally {
-            document.body.removeChild(textarea);
-        }
-    };
-</script>
-
-@code {
-    [Inject] HttpClient Http { get; set; } = default!;
-
-    bool sending;
-    string? sendResult;
-    bool IsEditNodeOpen;
-    Node? EditingNode;
-    OrderMessage Order = new();
-
-    async Task SendOrderToServer()
-    {
-        if (sending)
-            return;
-
-        sending = true;
-        sendResult = null;
-        StateHasChanged();
-
-        try
-        {
-            var response = await Http.PostAsJsonAsync(
-                "/api/order",
-                JsonSerializer.Deserialize<JsonElement>(OrderJson)
-            );
-
-            if (response.IsSuccessStatusCode)
-            {
-                sendResult = "✅ Done!";
-            }
-            else
-            {
-                sendResult = $"❌ Failed: {response.StatusCode}";
-            }
-        }
-        catch (Exception ex)
-        {
-            sendResult = $"❌ Error: {ex.Message}";
-        }
-        finally
-        {
-            sending = false;
-            StateHasChanged();
-        }
-    }
-
-    void AddNode()
-    {
-        Order.Nodes.Add(new Node
-        {
-            NodeId = $"NODE_{Order.Nodes.Count + 1}",
-            SequenceId = Order.Nodes.Count,
-            Released = true,
-            NodePosition = new NodePosition()
-        });
-    }
-
-    void RemoveNode(Node node)
-    {
-        Order.Nodes.Remove(node);
-
-        Order.Edges.RemoveAll(e =>
-            e.StartNodeId == node.NodeId ||
-            e.EndNodeId == node.NodeId);
-
-        for (int i = 0; i < Order.Nodes.Count; i++)
-            Order.Nodes[i].SequenceId = i;
-    }
-
-    void RemoveAction(Node node, VDA5050.InstantAction.Action act)
-    {
-        node.Actions = node.Actions
-            .Where(a => a != act)
-            .ToArray();
-    }
-
-
-    void AddAction(Node node)
-    {
-        node.Actions = node.Actions
-            .Append(new VDA5050.InstantAction.Action
-            {
-                ActionId = Guid.NewGuid().ToString(),
-                ActionType = ActionType.startPause.ToString(),
-                BlockingType = "NONE",
-                ActionParameters = Array.Empty<ActionParameter>()
-            })
-            .ToArray();
-    }
-
-
-    private void RemoveActionParameter(VDA5050.InstantAction.Action act, ActionParameter param)
-    {
-        if (act.ActionParameters == null) return;
-        act.ActionParameters = act.ActionParameters
-            .Where(p => p != param)
-            .ToArray();
-    }
-    void AddActionParameter(VDA5050.InstantAction.Action act)
-    {
-        var newList = (act.ActionParameters ?? Array.Empty<ActionParameter>()).ToList();
-        newList.Add(new UiActionParameter());
-        act.ActionParameters = newList.ToArray();
-    }
-
-    void AddEdge()
-    {
-        if (Order.Nodes.Count < 2) return;
-
-        Order.Edges.Add(new VDA5050.Order.Edge
-        {
-            EdgeId = $"EDGE_{Order.Edges.Count + 1}",
-            StartNodeId = Order.Nodes[^2].NodeId,
-            EndNodeId = Order.Nodes[^1].NodeId
-        });
-    }
-
-    bool copied = false;
-    CancellationTokenSource? _copyCts;
-
-    async Task CopyJsonToClipboard()
-    {
-        _copyCts?.Cancel();
-        _copyCts = new();
-
-        var success = await JS.InvokeAsync<bool>(
-            "copyText",
-            OrderJson
-        );
-
-        if (!success)
-            return;
-
-        copied = true;
-        StateHasChanged();
-
-        try
-        {
-            await Task.Delay(1500, _copyCts.Token);
-        }
-        catch { }
-
-        copied = false;
-        StateHasChanged();
-    }
-
-
-    void RemoveEdge(VDA5050.Order.Edge edge)
-    {
-        Order.Edges.Remove(edge);
-    }
-
-    string OrderJson =>
-        JsonSerializer.Serialize(
-            Order.ToSchemaObject(),
-            new JsonSerializerOptions
-            {
-                WriteIndented = true,
-                DefaultIgnoreCondition = JsonIgnoreCondition.WhenWritingNull
-            });
-
-
-    public class UiActionParameter : ActionParameter
-    {
-        [JsonIgnore]
-        public string ValueString
-        {
-            get => Value?.ToString() ?? "";
-            set => Value = value;
-        }
-    }
-
-    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; } = "AMR-01";
-        public string OrderId { get; set; } = Guid.NewGuid().ToString();
-        public int OrderUpdateId { get; set; }
-        public string? ZoneSetId { get; set; }
-        public List<Node> Nodes { get; set; } = new();
-        public List<VDA5050.Order.Edge> Edges { get; set; } = new();
-
-        public object ToSchemaObject()
-        {
-            int seq = 0;
-
-            return new
-            {
-                headerId = HeaderId++,
-
-                timestamp = string.IsNullOrWhiteSpace(Timestamp)
-                    ? DateTime.UtcNow.ToString("O")
-                    : Timestamp,
-
-                version = Version,
-                manufacturer = Manufacturer,
-                serialNumber = SerialNumber,
-                orderId = OrderId,
-                orderUpdateId = OrderUpdateId,
-
-                zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
-                    ? null
-                    : ZoneSetId,
-
-                // ================= NODES =================
-                nodes = Nodes
-                    .Select(n => new
-                    {
-                        nodeId = n.NodeId,
-                        sequenceId = seq++,
-                        released = n.Released,
-
-                        nodePosition = new
-                        {
-                            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
-                            {
-                                actionId = a.ActionId,
-                                actionType = a.ActionType,
-                                blockingType = a.BlockingType,
-
-                                actionParameters = a.ActionParameters != null
-                                    ? a.ActionParameters
-                                        .Select(p => new
-                                        {
-                                            key = p.Key,
-                                            value = p.Value
-                                        })
-                                        .ToArray()
-                                    : Array.Empty<object>()
-                            })
-                            .ToArray()
-                    })
-                    .ToArray(),   // ✅ QUAN TRỌNG
-
-                // ================= EDGES =================
-                edges = Edges
-                    .Select(e => new
-                    {
-                        edgeId = e.EdgeId,
-                        sequenceId = seq++,
-                        released = true,
-
-                        startNodeId = e.StartNodeId,
-                        endNodeId = e.EndNodeId,
-
-                        actions = Array.Empty<object>()
-                    })
-                    .ToArray()    // ✅ QUAN TRỌNG
-            };
-        }
-
-    }
-
-    private async Task OpenEditNodeDialog(Node node)
-    {
-        var parameters = new DialogParameters<EditNodeDialog>
-    {
-        { x => x.Node, node }  // Truyền trực tiếp reference gốc
-    };
-
-        var options = new DialogOptions
-        {
-            CloseButton = true,
-            MaxWidth = MaxWidth.Large,
-            FullWidth = true,
-            CloseOnEscapeKey = true
-        };
-
-        var dialog = await DialogService.ShowAsync<EditNodeDialog>($"Edit Node: {node.NodeId}", parameters, options);
-        await dialog.Result;  // Đợi dialog đóng
-
-        StateHasChanged();
-    }
-}

RobotApp.Client/Pages/Logs.razor

@@ -0,0 +1,182 @@
+@page "/logs"
+@rendermode InteractiveWebAssemblyNoPrerender
+
+@using Microsoft.AspNetCore.Components.WebAssembly.Authentication
+@using RobotApp.Client.Models
+
+@inject IJSRuntime JSRuntime
+@inject HttpClient Http
+@inject IConfiguration Configuration
+@inject ISnackbar Snackbar
+
+<PageTitle>Logs</PageTitle>
+
+<div class="w-100 h-100 d-flex flex-column">
+    <div class="d-flex flex-row align-items-center justify-content-between" style="border-bottom: 1px solid silver">
+        <MudTextField Class="mt-1 ms-2" T="string" Value="FilterLog" Adornment="Adornment.End" ValueChanged="OnSearch" AdornmentIcon="@Icons.Material.Filled.Search"
+                      IconSize="Size.Medium" Variant="Variant.Outlined" Margin="Margin.Dense" AdornmentColor="Color.Secondary" Label="Search"></MudTextField>
+        <MudSpacer />
+        <div class="m-1 d-flex flex-row">
+            <MudDatePicker Class="mx-4" Label="Date" Date="DateLog" DateChanged="OnDateChanged" MaxDate="DateTime.Today" Variant="Variant.Outlined" Color="Color.Primary"
+                           ShowToolbar="false" Margin="Margin.Dense" AdornmentColor="Color.Primary" />
+
+            <MudTooltip Text="Export">
+                <MudFab Class="mt-2" Color="Color.Info" StartIcon="@Icons.Material.Filled.ImportExport" Size="Size.Small" OnClick="ExportLogs" />
+            </MudTooltip>
+            <MudTooltip Text="Refresh">
+                <MudFab Class="mx-4 mt-2" StartIcon="@Icons.Material.Filled.Refresh" Color="Color.Primary" Size="Size.Small" OnClick="LoadLogs" />
+            </MudTooltip>
+        </div>
+    </div>
+    <div class="flex-grow-1 mt-2 ms-2 position-relative" style="background-color: rgba(0, 0, 0, 0);">
+        <MudOverlay Visible="IsLoading" DarkBackground="true" Absolute="true">
+            <MudProgressCircular Color="Color.Info" Indeterminate="true" />
+        </MudOverlay>
+        <div class="h-100 w-100 position-relative">
+            <div class="log-container" @ref="LogContainerRef">
+                @if (ShowRawLog)
+                {
+                    <div class="d-flex justify-content-center my-3">
+                        <div><MudButton Variant="Variant.Outlined" Size="Size.Small" OnClick="@(() => ShowRawLog = false)">Normal</MudButton></div>
+                    </div>
+                    <big style="font-size: 14px;">
+                        @foreach (var log in ShowLogs)
+                        {
+                            @log <br />
+                        }
+                    </big>
+                }
+                else
+                {
+                    @if (SearchLogs.Count < ShowLogs.Count)
+                    {
+                        <div class="d-flex justify-content-center my-3">
+                            <div><MudButton Variant="Variant.Outlined" Size="Size.Small" OnClick="@(() => ShowRawLog = true)">Raw log</MudButton></div>
+                        </div>
+                    }
+
+                    @foreach (var log in SearchLogs)
+                    {
+                        <div class="log">
+                            <span class="log-head @log.BackgroundClass">
+                                @log.Time <span class="log-level">@log.Level</span>
+                            </span>
+                            <span>@log.Message</span>
+                            @if (log.HasException)
+                            {
+                                <br />
+                                <pre class="log-exception">
+                                    @log.Exception
+                                                                    </pre>
+                            }
+                        </div>
+                    }
+                }
+            </div>
+        </div>
+    </div>
+</div>
+
+<script>
+    window.ScrollToBottom = (element) => {
+    if (element) {
+        element.scrollTop = element.scrollHeight;
+    }
+};
+</script>
+
+@code {
+    private DateTime DateLog = DateTime.Today;
+    private bool IsLoading;
+    private readonly List<string> ShowLogs = new();
+    private readonly List<LoggerModel> SearchLogs = new();
+    private ElementReference LogContainerRef { get; set; }
+    private bool ShowRawLog { get; set; }
+    private string? FilterLog { get; set; }
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
+
+        await LoadLogs();
+    }
+
+    private async Task LoadLogs()
+    {
+        try
+        {
+            IsLoading = true;
+            ShowLogs.Clear();
+            StateHasChanged();
+
+            var logs = await Http.GetFromJsonAsync<IEnumerable<string>>($"api/LogsManager?date={DateLog}");
+            ShowLogs.AddRange(logs ?? []);
+
+            IsLoading = false;
+            StateHasChanged();
+
+            await ReloadLogs();
+        }
+        catch (AccessTokenNotAvailableException ex)
+        {
+            ex.Redirect();
+            return;
+        }
+    }
+
+    private async Task ReloadLogs()
+    {
+        IsLoading = true;
+        SearchLogs.Clear();
+        StateHasChanged();
+
+        foreach (var line in ShowLogs.Where(log => string.IsNullOrEmpty(FilterLog) || log.Contains(FilterLog)).TakeLast(2000))
+        {
+            try
+            {
+                var log = System.Text.Json.JsonSerializer.Deserialize<LoggerModel>(line);
+                if (log is not null) SearchLogs.Add(log);
+            }
+            catch (System.Text.Json.JsonException)
+            {
+                continue;
+            }
+        }
+
+        IsLoading = false;
+        StateHasChanged();
+        await JSRuntime.InvokeVoidAsync("ScrollToBottom", LogContainerRef);
+    }
+
+    private async Task OnSearch(string text)
+    {
+        FilterLog = text;
+        await ReloadLogs();
+    }
+
+    private async Task OnDateChanged(DateTime? date)
+    {
+        if (date is not null && date.HasValue)
+        {
+            DateLog = date.Value;
+            await LoadLogs();
+        }
+    }
+
+    private async Task ExportLogs()
+    {
+        try
+        {
+            var fileContent = await Http.GetFromJsonAsync<IEnumerable<string>>($"api/LogsManager?date={DateLog}");
+            var formattedContent = string.Join("\n", fileContent ?? []);
+            var fileName = $"LogsManager_{DateLog.ToShortDateString()}.txt";
+            await JSRuntime.InvokeVoidAsync("downloadFile", fileName, formattedContent, "text/plain");
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Lỗi khi tải file: {ex.Message}", Severity.Warning);
+        }
+    }
+}
+

RobotApp.Client/Pages/Logs.razor.css

@@ -0,0 +1,38 @@
+.log-container {
+    height: 100%;
+    width: 100%;
+    overflow-x: hidden;
+    overflow-y: auto;
+    position: absolute;
+    top: 0px;
+    left: 0px;
+    display: flex;
+    flex-direction: column;
+}
+
+.log {
+    word-wrap: break-word;
+    line-height: 18px;
+    margin-bottom: 12px;
+}
+
+.log-logger {
+    color: rgba(0, 0, 0, 0.3);
+    font-size: 12px;
+}
+
+.log-level {
+    display: inline-block;
+    width: 60px;
+}
+
+.log-head {
+    border-radius: 3px;
+    padding: 2px 5px;
+}
+
+.log-exception {
+    line-height: 16px;
+    margin-left: 30px;
+    color: crimson;
+}

RobotApp.Client/Pages/MapsManager.razor

@@ -2,8 +2,6 @@
 
 @rendermode InteractiveWebAssemblyNoPrerender
 
-@attribute [Authorize]
-
 <PageTitle>Map Manager</PageTitle>
 
 <div class="d-flex w-100 h-100 p-2  overflow-hidden flex-row">

RobotApp.Client/Pages/Order/EdgesPanel.razor

@@ -0,0 +1,123 @@
+<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
+    <MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
+              Class="mb-4 flex-shrink-0">
+        <MudText Typo="Typo.h6">🔗 Edges</MudText>
+
+        <MudButton Variant="Variant.Filled"
+                   Color="Color.Primary"
+                   StartIcon="@Icons.Material.Filled.Add"
+                   OnClick="AddEdgeAsync">
+            Add Edge
+        </MudButton>
+    </MudStack>
+
+    <div class="flex-grow-1" style="overflow:auto;">
+        <MudExpansionPanels MultiExpansion>
+            @foreach (var edge in Order.Edges)
+            {
+                <MudExpansionPanel @key="edge">
+                    <!-- ================= HEADER ================= -->
+                    <TitleContent>
+                        <div class="d-flex align-center justify-space-between w-100">
+
+                            <!-- LEFT: Edge information -->
+                            <div class="d-flex align-center gap-3">
+                                <MudText Typo="Typo.subtitle1" Class="fw-bold">
+                                    @edge.EdgeId
+                                </MudText>
+
+                                <MudChip T="string"
+                                         Size="Size.Small"
+                                         Color="Color.Info"
+                                         Variant="Variant.Outlined">
+                                    @edge.StartNodeId → @edge.EndNodeId
+                                </MudChip>
+                            </div>
+
+                            <!-- RIGHT: Delete -->
+                            <MudIconButton Icon="@Icons.Material.Filled.Delete"
+                                           Color="Color.Error"
+                                           Size="Size.Small"
+                                           OnClick="@(() => RemoveEdgeAsync(edge))" />
+                        </div>
+                    </TitleContent>
+
+                    <!-- ================= BODY ================= -->
+                    <ChildContent>
+                        <MudGrid Spacing="3">
+
+                            <!-- Edge ID -->
+                            <MudItem xs="12">
+                                <MudTextField Value="@edge.EdgeId"
+                                              ValueChanged="@((string v) => SetValue(() => edge.EdgeId = v))"
+                                              Immediate="true"
+                                              Label="Edge ID" />
+                            </MudItem>
+
+                            <!-- Start Node -->
+                            <MudItem xs="12">
+                                <MudSelect T="string"
+                                           Value="@edge.StartNodeId"
+                                           ValueChanged="@((string v) => SetValue(() => edge.StartNodeId = v))"
+                                           Dense
+                                           Label="Start Node"
+                                           Required="true">
+                                    @foreach (var n in Order.Nodes)
+                                    {
+                                        <MudSelectItem Value="@n.NodeId">
+                                            @n.NodeId
+                                        </MudSelectItem>
+                                    }
+                                </MudSelect>
+                            </MudItem>
+
+                            <!-- End Node -->
+                            <MudItem xs="12">
+                                <MudSelect T="string"
+                                           Value="@edge.EndNodeId"
+                                           ValueChanged="@((string v) => SetValue(() => edge.EndNodeId = v))"
+                                           Dense
+                                           Label="End Node"
+                                           Required="true">
+                                    @foreach (var n in Order.Nodes)
+                                    {
+                                        <MudSelectItem Value="@n.NodeId">
+                                            @n.NodeId
+                                        </MudSelectItem>
+                                    }
+                                </MudSelect>
+                            </MudItem>
+                        </MudGrid>
+                    </ChildContent>
+                </MudExpansionPanel>
+            }
+        </MudExpansionPanels>
+    </div>
+</MudPaper>
+
+@code {
+    [Parameter] public OrderMessage Order { get; set; } = default!;
+
+    [Parameter] public EventCallback OnAddEdge { get; set; }
+    [Parameter] public EventCallback<VDA5050.Order.Edge> OnRemoveEdge { get; set; }
+
+    [Parameter] public EventCallback OnOrderChanged { get; set; }
+
+    private async Task SetValue(System.Action setter)
+    {
+        setter();
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task AddEdgeAsync()
+    {
+        await OnAddEdge.InvokeAsync();
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task RemoveEdgeAsync(VDA5050.Order.Edge edge)
+    {
+        await OnRemoveEdge.InvokeAsync(edge);
+        await OnOrderChanged.InvokeAsync();
+    }
+}

RobotApp.Client/Pages/Order/EditNodeDialog.razor

@@ -1,9 +1,4 @@
 @inherits MudComponentBase
-@using RobotApp.VDA5050.InstantAction
-@using System.Text.Json
-@using System.Text.Json.Serialization
-@using RobotApp.VDA5050.Order
-@using RobotApp.VDA5050.Type
 
 <MudDialog>
     <TitleContent>
@@ -15,12 +10,6 @@
             <MudItem xs="12">
                 <MudTextField @bind-Value="Node.NodeId" Label="Node ID" Required="true" />
             </MudItem>
-            <MudItem xs="12">
-                <MudNumericField T="int" @bind-Value="Node.SequenceId" Label="Sequence ID" Required="true" />
-            </MudItem>
-            <MudItem xs="12">
-                <MudSwitch T="bool" @bind-Checked="Node.Released" Label="Released" />
-            </MudItem>
             <MudItem xs="6">
                 <MudNumericField T="double" @bind-Value="Node.NodePosition.X" Label="X" />
             </MudItem>

RobotApp.Client/Pages/Order/ImportOrderDialog.razor

@@ -0,0 +1,199 @@
+@using System.Text.Json
+@using MudBlazor
+@using Microsoft.AspNetCore.Components.Forms
+
+<MudDialog>
+
+    <!-- ================= TITLE ================= -->
+    <TitleContent>
+        <MudStack Row AlignItems="AlignItems.Center" Spacing="2">
+            <MudIcon Icon="@Icons.Material.Filled.UploadFile"
+                     Color="Color.Primary" />
+            <MudText Typo="Typo.h6">
+                Import Order JSON
+            </MudText>
+        </MudStack>
+    </TitleContent>
+
+    <!-- ================= CONTENT ================= -->
+    <DialogContent>
+
+        @if (ShowWarning)
+        {
+            <MudAlert Severity="Severity.Warning"
+                      Variant="Variant.Outlined"
+                      Class="mb-4">
+                Only valid <b>VDA 5050 Order JSON</b> is accepted.<br />
+                Invalid structure will be rejected.
+            </MudAlert>
+        }
+
+        <!-- ===== FILE INPUT (PURE BLAZOR) ===== -->
+        <div class="mb-4">
+            <label class="mud-button-root mud-button mud-button-outlined mud-button-outlined-primary"
+                   style="cursor:pointer;">
+                <MudIcon Icon="@Icons.Material.Filled.AttachFile" Class="mr-2" />
+                Choose JSON file
+                <InputFile OnChange="OnFileSelected"
+                           accept=".json"
+                           style="display:none" />
+            </label>
+        </div>
+
+        <MudDivider Class="my-3" />
+
+        <!-- ===== PASTE JSON ===== -->
+        <MudTextField @bind-Value="JsonText"
+                      Label="Paste Order JSON"
+                      Lines="20"
+                      Variant="Variant.Filled"
+                      Immediate
+                      Style="font-family: monospace" />
+
+        @if (!string.IsNullOrEmpty(ErrorMessage))
+        {
+            <MudAlert Severity="Severity.Error" Class="mt-3">
+                @ErrorMessage
+            </MudAlert>
+        }
+
+    </DialogContent>
+
+    <!-- ================= ACTIONS ================= -->
+    <DialogActions>
+        <MudButton OnClick="Cancel">
+            Cancel
+        </MudButton>
+
+        <MudButton Variant="Variant.Filled"
+                   Color="Color.Primary"
+                   OnClick="ValidateAndImport">
+            Import
+        </MudButton>
+    </DialogActions>
+
+</MudDialog>
+
+@code {
+    [CascadingParameter]
+    public IMudDialogInstance MudDialog { get; set; } = default!;
+
+    public string JsonText { get; set; } = "";
+    public string? ErrorMessage;
+    public bool ShowWarning { get; set; }
+
+    private void Cancel() => MudDialog.Cancel();
+
+    // ================= FILE HANDLER =================
+    private async Task OnFileSelected(InputFileChangeEventArgs e)
+    {
+        ErrorMessage = null;
+        ShowWarning = false;
+
+        var file = e.File;
+        if (file == null)
+            return;
+
+        if (!file.Name.EndsWith(".json", StringComparison.OrdinalIgnoreCase) &&
+            !file.Name.EndsWith(".txt", StringComparison.OrdinalIgnoreCase))
+        {
+            ShowWarning = true;
+            ErrorMessage = "Only .json or .txt files are supported.";
+            return;
+        }
+
+        try
+        {
+            using var stream = file.OpenReadStream(maxAllowedSize: 1_048_576);
+            using var reader = new StreamReader(stream);
+
+            JsonText = await reader.ReadToEndAsync();
+            StateHasChanged();
+        }
+        catch (Exception ex)
+        {
+            ShowWarning = true;
+            ErrorMessage = $"Failed to read file: {ex.Message}";
+        }
+    }
+
+    // ================= VALIDATE & IMPORT =================
+    private void ValidateAndImport()
+    {
+        ErrorMessage = null;
+        ShowWarning = false;
+
+        if (string.IsNullOrWhiteSpace(JsonText))
+        {
+            ShowWarning = true;
+            ErrorMessage = "JSON content is empty.";
+            return;
+        }
+
+        try
+        {
+            var order = JsonSerializer.Deserialize<OrderMsg>(JsonText, new JsonSerializerOptions
+            {
+                WriteIndented = true,
+                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
+            });
+            if(order is null)
+            {
+                ShowWarning = true;
+                ErrorMessage = "Can not convert file to Order message";
+                return;
+            }
+            ValidateOrder(order);
+
+            MudDialog.Close(DialogResult.Ok(order));
+        }
+        catch (JsonException)
+        {
+            ShowWarning = true;
+            ErrorMessage = "Invalid JSON format.";
+        }
+        catch (Exception ex)
+        {
+            ShowWarning = true;
+            ErrorMessage = ex.Message;
+        }
+    }
+
+    // ================= DOMAIN VALIDATION =================
+    private void ValidateOrder(OrderMsg order)
+    {
+        if (order.Nodes.Length == 0)
+            throw new Exception("Order must contain at least one node.");
+
+        if (order.Nodes.Length != order.Edges.Length + 1)
+            throw new Exception(
+                $"Invalid path structure: Nodes count ({order.Nodes.Length}) " +
+                $"must equal Edges count + 1 ({order.Edges.Length + 1})."
+            );
+
+        var nodeIds = order.Nodes
+            .Select(n => n.NodeId)
+            .ToHashSet(StringComparer.Ordinal);
+
+        foreach (var e in order.Edges)
+        {
+            if (string.IsNullOrWhiteSpace(e.StartNodeId) ||
+                string.IsNullOrWhiteSpace(e.EndNodeId))
+            {
+                throw new Exception(
+                    $"Edge '{e.EdgeId}' must define both StartNodeId and EndNodeId."
+                );
+            }
+
+            if (!nodeIds.Contains(e.StartNodeId))
+                throw new Exception(
+                    $"Edge '{e.EdgeId}' references unknown StartNodeId '{e.StartNodeId}'."
+                );
+
+            if (!nodeIds.Contains(e.EndNodeId))
+                throw new Exception(
+                    $"Edge '{e.EdgeId}' references unknown EndNodeId '{e.EndNodeId}'."
+                );
+        }
+    }
+}

RobotApp.Client/Pages/Order/JsonOutputPanel.razor

@@ -0,0 +1,131 @@
+<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">Output (/order)</MudText>
+
+        <div class="d-flex gap-2">
+
+            <!-- IMPORT -->
+            <MudButton Variant="Variant.Outlined"
+                       Color="Color.Secondary"
+                       Size="Size.Small"
+                       StartIcon="@Icons.Material.Filled.UploadFile"
+                       OnClick="OnImport">
+                Import JSON
+            </MudButton>
+
+            <!-- CANCEL -->
+            <MudButton Variant="Variant.Filled"
+                       Color="@CancelButtonColor"
+                       StartIcon="@CancelButtonIcon"
+                       Disabled="@DisableCancel"
+                       OnClick="OnCancel">
+                @CancelButtonText
+            </MudButton>
+
+
+            <!-- SEND -->
+            <MudButton Variant="Variant.Filled"
+                       Color="@SendButtonColor"
+                       StartIcon="@SendButtonIcon"
+                       OnClick="OnSend"
+                       Disabled="@(string.IsNullOrEmpty(OrderJson.Trim()))">
+                @SendButtonText
+            </MudButton>
+
+            <!-- COPY -->
+            <MudTooltip Text="@(Copied ? "Copied!" : "Copy to clipboard")">
+                <MudButton Variant="Variant.Filled"
+                           Color="@(Copied ? Color.Success : Color.Primary)"
+                           StartIcon="@(Copied ? Icons.Material.Filled.Check : Icons.Material.Filled.ContentCopy)"
+                           OnClick="OnCopy">
+                    @(Copied ? "Copied!" : "Copy")
+                </MudButton>
+            </MudTooltip>
+        </div>
+    </MudStack>
+
+    <div class="flex-grow-1">
+        <MudTextField Value="@OrderJson"
+                      T="string"
+                      ValueChanged="OrderJsonChange"
+                      Variant="Variant.Filled"
+                      Immediate=true
+                      Lines="50"
+                      Style="font-family: 'Roboto Mono', Consolas, monospace;
+                             font-size: 0.85rem;
+                             background:#1e1e1e;
+                             color:#d4d4d4;" />
+    </div>
+</MudPaper>
+
+@code {
+    [Parameter] public string OrderJson { get; set; } = "";
+    [Parameter] public bool Copied { get; set; }
+    [Parameter] public bool? SendSuccess { get; set; }
+    [Parameter] public bool DisableCancel { get; set; }
+    [Parameter] public bool? CancelSuccess { get; set; }
+
+    [Parameter] public EventCallback<string> OrderJsonChanged { get; set; }
+
+    [Parameter] public EventCallback OnCopy { get; set; }
+    [Parameter] public EventCallback OnSend { get; set; }
+    [Parameter] public EventCallback OnImport { get; set; }
+    [Parameter] public EventCallback OnCancel { get; set; }
+
+    private string SendButtonText =>
+        SendSuccess switch
+        {
+            true => "Done",
+            false => "Error",
+            _ => "Send"
+        };
+
+    private Color SendButtonColor =>
+        SendSuccess switch
+        {
+            true => Color.Success,
+            false => Color.Error,
+            _ => Color.Success
+        };
+
+    private string SendButtonIcon =>
+        SendSuccess switch
+        {
+            true => Icons.Material.Filled.CheckCircle,
+            false => Icons.Material.Filled.Error,
+            _ => Icons.Material.Filled.Send
+        };
+
+    private string CancelButtonText =>
+    CancelSuccess switch
+    {
+        true => "Done",
+        false => "Error",
+        _ => "Cancel"
+    };
+
+    private Color CancelButtonColor =>
+        CancelSuccess switch
+        {
+            true => Color.Success,
+            false => Color.Error,
+            _ => Color.Error
+        };
+
+    private string CancelButtonIcon =>
+        CancelSuccess switch
+        {
+            true => Icons.Material.Filled.CheckCircle,
+            false => Icons.Material.Filled.Error,
+            _ => Icons.Material.Filled.Cancel
+        };
+
+
+    private void OrderJsonChange(string value)
+    {
+        OrderJson = value;
+        OrderJsonChanged.InvokeAsync(OrderJson);
+        StateHasChanged();
+    }
+}

RobotApp.Client/Pages/Order/NodesPanel.razor

@@ -0,0 +1,274 @@
+<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
+    <MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween" Class="mb-4 flex-shrink-0">
+        <MudText Typo="Typo.h6">📍 Nodes</MudText>
+        <MudButton Variant="Variant.Filled"
+                   Color="Color.Primary"
+                   StartIcon="@Icons.Material.Filled.Add"
+                   OnClick="AddNodeAsync">
+            Add Node
+        </MudButton>
+    </MudStack>
+
+    <div class="flex-grow-1" style="overflow:auto;">
+        <MudExpansionPanels MultiExpansion>
+            @foreach (var node in Order.Nodes)
+            {
+                <MudExpansionPanel @key="node.NodeId">
+                    <TitleContent>
+                        <div class="d-flex align-center justify-space-between w-100">
+                            <MudText Typo="Typo.subtitle1" Class="fw-bold">@node.NodeId</MudText>
+                            <div>
+                                <MudIconButton Icon="@Icons.Material.Filled.Edit"
+                                               Color="Color.Primary"
+                                               Size="Size.Small"
+                                               OnClick="@(() => EditNodeAsync(node))" />
+                                <MudIconButton Icon="@Icons.Material.Filled.Delete"
+                                               Color="Color.Error"
+                                               Size="Size.Small"
+                                               OnClick="@(() => RemoveNodeAsync(node))" />
+                            </div>
+                        </div>
+                    </TitleContent>
+
+                    <ChildContent>
+                        <MudGrid Spacing="3">
+
+                            <!-- Node ID -->
+                            <MudItem xs="12">
+                                <MudTextField Value="@node.NodeId"
+                                              ValueChanged="@((string v) => SetValue(() => node.NodeId = v))"
+                                              Immediate="true"
+                                              Label="Node ID" />
+                            </MudItem>
+
+                            <!-- Sequence -->
+                            @* <MudItem xs="12">
+                                <MudNumericField T="int"
+                                                 Value="@node.SequenceId"
+                                                 ValueChanged="@((int v) => SetValue(() => node.SequenceId = v))"
+                                                 Immediate="true"
+                                                 Label="Sequence ID" />
+                            </MudItem> *@
+
+                            <!-- Released -->
+                            @* <MudItem xs="12">
+                                <MudSwitch T="bool"
+                                           Checked="@node.Released"
+                                           CheckedChanged="@((bool v) => SetValue(() => node.Released = v))"
+                                           Label="Released" />
+
+                            </MudItem> *@
+
+                            <!-- Position -->
+                            <MudItem xs="6">
+                                <MudNumericField T="double"
+                                                 Value="@node.NodePosition.X"
+                                                 ValueChanged="@((double v) => SetValue(() => node.NodePosition.X = v))"
+                                                 Immediate="true"
+                                                 Label="X" />
+                            </MudItem>
+
+                            <MudItem xs="6">
+                                <MudNumericField T="double"
+                                                 Value="@node.NodePosition.Y"
+                                                 ValueChanged="@((double v) => SetValue(() => node.NodePosition.Y = v))"
+                                                 Immediate="true"
+                                                 Label="Y" />
+                            </MudItem>
+
+                            @* <MudItem xs="12">
+                                <MudTextField Value="@node.NodePosition.MapId"
+                                              ValueChanged="@((string v) => SetValue(() => node.NodePosition.MapId = v))"
+                                              Immediate="true"
+                                              Label="Map ID" />
+                            </MudItem> *@
+
+                            @* <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 xs="6">
+                                <MudNumericField T="double"
+                                                 Value="@node.NodePosition.AllowedDeviationXY"
+                                                 ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationXY = v))"
+                                                 Immediate="true"
+                                                 Label="Allowed Dev XY" />
+                            </MudItem>
+
+                            <MudItem xs="6">
+                                <MudNumericField T="double"
+                                                 Value="@node.NodePosition.AllowedDeviationTheta"
+                                                 ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationTheta = v))"
+                                                 Immediate="true"
+                                                 Label="Allowed Dev Theta" />
+                            </MudItem> *@
+
+                            <!-- Actions -->
+                            <MudItem xs="12">
+                                <MudDivider Class="my-4" />
+                                <MudText Typo="Typo.subtitle1" Class="mb-3">Actions</MudText>
+
+                                @foreach (var act in node.Actions ?? Array.Empty<VDA5050.InstantAction.Action>())
+                                {
+                                    <MudPaper Class="pa-3 mb-3" Outlined>
+                                        <MudGrid Spacing="3">
+
+                                            <MudItem xs="12">
+                                                <MudSelect T="string"
+                                                           Value="@act.ActionType"
+                                                           ValueChanged="@((string v) => SetValue(() => act.ActionType = v))"
+                                                           Dense
+                                                           Label="Action Type">
+                                                    @foreach (var at in Enum.GetValues<ActionType>())
+                                                    {
+                                                        <MudSelectItem Value="@at.ToString()">@at</MudSelectItem>
+                                                    }
+                                                </MudSelect>
+                                            </MudItem>
+
+                                            <MudItem xs="12">
+                                                <MudSelect T="string"
+                                                           Value="@act.BlockingType"
+                                                           ValueChanged="@((string v) => SetValue(() => act.BlockingType = v))"
+                                                           Label="Blocking Type">
+                                                    <MudSelectItem Value="@("NONE")">NONE</MudSelectItem>
+                                                    <MudSelectItem Value="@("SOFT")">SOFT</MudSelectItem>
+                                                    <MudSelectItem Value="@("HARD")">HARD</MudSelectItem>
+                                                </MudSelect>
+                                            </MudItem>
+
+                                            <MudItem xs="12">
+                                                <MudTextField Value="@act.ActionId"
+                                                              ValueChanged="@((string v) => SetValue(() => act.ActionId = v))"
+                                                              Immediate="true"
+                                                              Label="Action ID" />
+                                            </MudItem>
+                                        </MudGrid>
+
+                                        <MudText Typo="Typo.caption" Class="mt-3 mb-2">Action Parameters</MudText>
+
+                                        @foreach (var p in act.ActionParameters.Cast<UiActionParameter>())
+                                        {
+                                            <MudGrid Class="mt-1">
+                                                <MudItem xs="6">
+                                                    <MudTextField Value="@p.Key"
+                                                                  ValueChanged="@((string v) => SetValue(() => p.Key = v))"
+                                                                  Immediate="true"
+                                                                  Label="Key" />
+                                                </MudItem>
+
+                                                <MudItem xs="6">
+                                                    <MudTextField Value="@p.ValueString"
+                                                                  ValueChanged="@((string v) => SetValue(() => p.ValueString = v))"
+                                                                  Immediate="true"
+                                                                  Label="Value" />
+                                                </MudItem>
+
+                                                <MudItem xs="2">
+                                                    <MudIconButton Icon="@Icons.Material.Filled.Delete"
+                                                                   Color="Color.Error"
+                                                                   OnClick="@(() => RemoveActionParameterAsync(act, p))" />
+                                                </MudItem>
+                                            </MudGrid>
+                                        }
+
+                                        <MudButton Size="Size.Small"
+                                                   StartIcon="@Icons.Material.Filled.Add"
+                                                   Class="mt-3"
+                                                   OnClick="@(() => AddActionParameterAsync(act))">
+                                            Add Parameter
+                                        </MudButton>
+
+                                        <MudDivider Class="my-3" />
+
+                                        <MudButton Size="Size.Small"
+                                                   Color="Color.Error"
+                                                   Variant="Variant.Text"
+                                                   StartIcon="@Icons.Material.Filled.Delete"
+                                                   OnClick="@(() => RemoveActionAsync(node, act))">
+                                            Remove Action
+                                        </MudButton>
+                                    </MudPaper>
+                                }
+
+                                <MudButton Size="Size.Small"
+                                           StartIcon="@Icons.Material.Filled.Add"
+                                           OnClick="@(() => AddActionAsync(node))">
+                                    Add Action
+                                </MudButton>
+                            </MudItem>
+                        </MudGrid>
+                    </ChildContent>
+                </MudExpansionPanel>
+            }
+        </MudExpansionPanels>
+    </div>
+</MudPaper>
+
+@code {
+    [Parameter] public OrderMessage Order { get; set; } = default!;
+    [Parameter] public EventCallback OnAddNode { get; set; }
+    [Parameter] public EventCallback<Node> OnRemoveNode { get; set; }
+    [Parameter] public EventCallback<Node> OnEditNode { get; set; }
+    [Parameter] public EventCallback<Node> OnAddAction { get; set; }
+    [Parameter] public EventCallback<NodeActionWrapper> OnRemoveAction { get; set; }
+    [Parameter] public EventCallback<VDA5050.InstantAction.Action> OnAddActionParameter { get; set; }
+    [Parameter] public EventCallback<ActionParamWrapper> OnRemoveActionParameter { get; set; }
+    [Parameter] public EventCallback OnOrderChanged { get; set; }
+
+    // 🔥 helper realtime – KHÔNG ambiguous
+    private async Task SetValue(System.Action setter)
+    {
+        setter();
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task AddNodeAsync()
+    {
+        await OnAddNode.InvokeAsync();
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task RemoveNodeAsync(Node node)
+    {
+        await OnRemoveNode.InvokeAsync(node);
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task EditNodeAsync(Node node)
+    {
+        await OnEditNode.InvokeAsync(node);
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task AddActionAsync(Node node)
+    {
+        await OnAddAction.InvokeAsync(node);
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task RemoveActionAsync(Node node, VDA5050.InstantAction.Action action)
+    {
+        await OnRemoveAction.InvokeAsync(new NodeActionWrapper(node, action));
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task AddActionParameterAsync(VDA5050.InstantAction.Action act)
+    {
+        await OnAddActionParameter.InvokeAsync(act);
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task RemoveActionParameterAsync(VDA5050.InstantAction.Action act, ActionParameter param)
+    {
+        await OnRemoveActionParameter.InvokeAsync(new ActionParamWrapper(act, param));
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    public record NodeActionWrapper(Node Node, VDA5050.InstantAction.Action Action);
+    public record ActionParamWrapper(VDA5050.InstantAction.Action Action, ActionParameter Parameter);
+}

RobotApp.Client/Pages/Order/OrderMess.razor

@@ -0,0 +1,334 @@
+@page "/robot-order"
+
+@rendermode InteractiveWebAssemblyNoPrerender
+
+@using System.Text.Json
+@using System.Text.Json.Serialization
+
+@inject IJSRuntime JS
+@inject IDialogService DialogService
+@inject HttpClient Http
+@inject ISnackbar Snackbar
+
+<MudMainContent Class="pa-0 ma-0">
+    <div style="height:100vh; overflow:hidden;">
+        <MudContainer MaxWidth="MaxWidth.False"
+                      Class="pa-4"
+                      Style="max-width:100%; height:100%; display:flex; flex-direction:column;">
+            <MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
+
+                <!-- ================= LEFT ================= -->
+                <MudItem xs="12" md="7" Class="d-flex flex-column h-100" Style="gap:16px;">
+                    <MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
+
+                        <MudItem xs="12" md="6" Class="h-100">
+                            <NodesPanel Order="Order"
+                                        OnAddNode="AddNode"
+                                        OnRemoveNode="RemoveNode"
+                                        OnEditNode="OpenEditNodeDialog"
+                                        OnAddAction="AddAction"
+                                        OnRemoveAction="@(w => RemoveAction(w.Node, w.Action))"
+                                        OnAddActionParameter="AddActionParameter"
+                                        OnRemoveActionParameter="@(w => RemoveActionParameter(w.Action, w.Parameter))"
+                                        OnOrderChanged="OnOrderChanged" />
+                        </MudItem>
+
+                        <MudItem xs="12" md="6" Class="h-100">
+                            <EdgesPanel Order="Order"
+                                        OnAddEdge="AddEdge"
+                                        OnRemoveEdge="RemoveEdge"
+                                        OnOrderChanged="OnOrderChanged" />
+                        </MudItem>
+
+                    </MudGrid>
+                </MudItem>
+
+                <!-- ================= RIGHT ================= -->
+                <MudItem xs="12" md="5" Class="h-100">
+                    <JsonOutputPanel @bind-OrderJson="@OrderJson"
+                                     Copied="@copied"
+                                     SendSuccess="@sendSuccess"
+                                     CancelSuccess="@cancelSuccess"
+                                     OnCopy="CopyJsonToClipboard"
+                                     OnSend="SendOrderToServer"
+                                     OnImport="OpenImportDialog"
+                                     OnCancel="CancelOrder" />
+                </MudItem>
+
+            </MudGrid>
+        </MudContainer>
+    </div>
+</MudMainContent>
+
+@code {
+    // ================= STATE =================
+    private OrderMessage Order { get; set; } = new();
+    private string OrderJson = "";          // 🔥 CACHE JSON (QUAN TRỌNG)
+    private bool copied;
+    private bool? sendSuccess;
+    private bool? cancelSuccess;
+    private CancellationTokenSource? _copyCts;
+
+    // ================= INIT =================
+    protected override void OnInitialized()
+    {
+        RebuildOrderJson();
+    }
+
+    // ================= CORE FIX =================
+    private void RebuildOrderJson()
+    {
+        OrderJson = JsonSerializer.Serialize(
+            Order.ToSchemaObject(),
+            new JsonSerializerOptions
+            {
+                WriteIndented = true,
+                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
+            });
+    }
+
+    private async Task OpenImportDialog()
+    {
+        var dialog = await DialogService.ShowAsync<ImportOrderDialog>(
+            "Import Order JSON",
+            new DialogOptions
+            {
+                FullWidth = true,
+                MaxWidth = MaxWidth.Large
+            });
+
+        var result = await dialog.Result;
+
+        if (result is not null && !result.Canceled && result.Data is OrderMsg imported)
+        {
+            Order.Import(imported);
+            RebuildOrderJson();
+            StateHasChanged();
+        }
+    }
+
+    private void OnOrderChanged()
+    {
+        RebuildOrderJson();   // 🔥 JSON luôn rebuild
+        StateHasChanged();    // 🔥 ép render
+    }
+
+    // ================= NODE =================
+    void AddNode()
+    {
+        Order.Nodes.Add(new Node
+        {
+            NodeId = $"NODE_{Order.Nodes.Count + 1}",
+            SequenceId = Order.Nodes.Count,
+            Released = true,
+            NodePosition = new VDA5050.Order.NodePosition { MapId = "MAP_01" }
+        });
+    }
+
+    void RemoveNode(Node node)
+    {
+        Order.Nodes.Remove(node);
+        Order.Edges.RemoveAll(e => e.StartNodeId == node.NodeId || e.EndNodeId == node.NodeId);
+        ResequenceNodes();
+    }
+
+    void ResequenceNodes()
+    {
+        for (int i = 0; i < Order.Nodes.Count; i++)
+            Order.Nodes[i].SequenceId = i;
+    }
+
+    // ================= EDGE =================
+    void AddEdge()
+    {
+        if (Order.Nodes.Count == 0)
+            return;
+
+        var start = Order.Nodes[0].NodeId;
+        var end = Order.Nodes.Count > 1
+            ? Order.Nodes[1].NodeId
+            : start; // 👈 1 node thì start = end
+
+        Order.Edges.Add(new VDA5050.Order.Edge
+        {
+            EdgeId = $"EDGE_{Order.Edges.Count + 1}",
+            StartNodeId = start,
+            EndNodeId = end
+        });
+    }
+
+
+    void RemoveEdge(VDA5050.Order.Edge edge)
+    {
+        Order.Edges.Remove(edge);
+    }
+    // ================= ACTION =================
+    void AddAction(Node node)
+    {
+        var list = node.Actions?.ToList() ?? new();
+        list.Add(new VDA5050.InstantAction.Action
+        {
+            ActionId = Guid.NewGuid().ToString(),
+            ActionType = ActionType.startPause.ToString(),
+            BlockingType = "NONE",
+            ActionParameters = Array.Empty<ActionParameter>()
+        });
+        node.Actions = list.ToArray();
+    }
+
+    void RemoveAction(Node node, VDA5050.InstantAction.Action action)
+    {
+        node.Actions = node.Actions?.Where(a => a != action).ToArray() ?? [];
+    }
+
+    void AddActionParameter(VDA5050.InstantAction.Action act)
+    {
+        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() ?? [];
+    }
+
+    // ================= SEND / COPY =================
+    async Task SendOrderToServer()
+    {
+        // reset trạng thái trước khi gửi
+        sendSuccess = null;
+        StateHasChanged();
+
+        try
+        {
+            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);
+                return;
+            }
+            if (orderMsg.Nodes.Length < 1)
+            {
+                Snackbar.Add("The order must contain at least one node (number of nodes > 0)", Severity.Warning);
+                return;
+            }
+            if (orderMsg.Nodes.Length - 1 != orderMsg.Edges.Length)
+            {
+                Snackbar.Add("Order must have a number of edges equal to the number of nodes minus 1", Severity.Warning);
+                return;
+            }
+
+            foreach(var edge in orderMsg.Edges)
+            {
+                if (!orderMsg.Nodes.Any(n => n.NodeId == edge.StartNodeId))
+                {
+                    Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.StartNodeId} that does not exist in the list of nodes", Severity.Warning);
+                    return;
+                }
+                if (!orderMsg.Nodes.Any(n => n.NodeId == edge.EndNodeId))
+                {
+                    Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.EndNodeId} that does not exist in the list of nodes", Severity.Warning);
+                    return;
+                }
+            }
+
+            var response = await Http.PostAsJsonAsync("/api/order",orderMsg);
+
+            sendSuccess = response.IsSuccessStatusCode;
+        }
+        catch(JsonException jsonEx)
+        {
+            Snackbar.Add($"Json to Order failed: {jsonEx.Message}", Severity.Warning);
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Send Order failed: {ex.Message}", Severity.Warning);
+            sendSuccess = false;
+        }
+
+        StateHasChanged();
+
+        // 🔥 AUTO RESET SAU 2 GIÂY
+        _ = Task.Run(async () =>
+        {
+            await Task.Delay(2000);
+
+            // quay về trạng thái Send
+            sendSuccess = null;
+
+            await InvokeAsync(StateHasChanged);
+        });
+    }
+
+    async Task CancelOrder()
+    {
+        // reset trạng thái trước khi gửi
+        cancelSuccess = null;
+        StateHasChanged();
+
+        try
+        {
+            var res = await Http.PostAsync("/api/order/cancel", null);
+            cancelSuccess = res.IsSuccessStatusCode;
+        }
+        catch
+        {
+            cancelSuccess = false;
+        }
+
+        StateHasChanged();
+
+        // 🔥 AUTO RESET SAU 2 GIÂY
+        _ = Task.Run(async () =>
+        {
+            await Task.Delay(2000);
+            cancelSuccess = null;
+            await InvokeAsync(StateHasChanged);
+        });
+    }
+
+
+
+    async Task CopyJsonToClipboard()
+    {
+        _copyCts?.Cancel();
+        _copyCts = new();
+
+        await JS.InvokeVoidAsync("copyToClipboardFallback", OrderJson);
+
+        copied = true;
+        StateHasChanged();
+
+        try { await Task.Delay(1500, _copyCts.Token); } catch { }
+        copied = false;
+        StateHasChanged();
+    }
+
+    // ================= DIALOG =================
+    async Task OpenEditNodeDialog(Node node)
+    {
+        var parameters = new DialogParameters<EditNodeDialog>
+        {
+            { x => x.Node, node }
+        };
+
+        var options = new DialogOptions
+        {
+            CloseButton = true,
+            FullWidth = true,
+            MaxWidth = MaxWidth.Large
+        };
+
+        var dialog = await DialogService.ShowAsync<EditNodeDialog>(
+            $"Edit Node: {node.NodeId}", parameters, options);
+
+        await dialog.Result;
+        OnOrderChanged(); // 🔥 cập nhật JSON sau dialog
+    }
+}

RobotApp.Client/Pages/RobotConfigManager.razor

@@ -1,6 +1,5 @@
 @page "/robot-config"
 @rendermode InteractiveWebAssemblyNoPrerender
-@attribute [Authorize]
 
 @inject HttpClient Http
 @inject ISnackbar Snackbar

RobotApp.Client/Pages/RobotConfigManager.razor.cs

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

RobotApp.Client/Pages/RobotMonitor.razor

@@ -1,6 +1,5 @@
 @page "/robot-monitor"
 @rendermode InteractiveWebAssemblyNoPrerender
-@attribute [Authorize]
 @inject RobotApp.Client.Services.RobotMonitorService MonitorService
 @implements IAsyncDisposable
 
@@ -18,6 +17,7 @@
 
     protected override async Task OnAfterRenderAsync(bool firstRender)
     {
+        await base.OnAfterRenderAsync(firstRender);
         if (firstRender)
         {
             MonitorService.OnDataReceived += OnMonitorDataReceived;
@@ -29,7 +29,8 @@
     {
         _monitorData = data;
         RobotMonitorViewRef?.UpdatePath();
-        InvokeAsync(StateHasChanged);
+        RobotMonitorViewRef?.OnMonitorDataUpdated();
+        StateHasChanged();
     }
 
     public async ValueTask DisposeAsync()
@@ -39,3 +40,12 @@
     }
 }
 
+
+
+
+
+
+
+
+
+

RobotApp.Client/Pages/State.razor

@@ -1,397 +0,0 @@
-@page "/robot-state"
-@using RobotApp.VDA5050.State
-@rendermode InteractiveWebAssemblyNoPrerender
-
-@inject StateMsg RobotState
-
-<MudContainer MaxWidth="MaxWidth.False" Class="pa-4">
-    <!-- ===================================================== -->
-    <!-- HEADER -->
-    <!-- ===================================================== -->
-    <MudPaper Class="pa-6 mb-4 d-flex align-center justify-space-between" Elevation="3">
-        <div>
-            <MudText Typo="Typo.h4">🤖 VDA 5050 Robot Dashboard</MudText>
-            <MudText Typo="Typo.subtitle2" Color="Color.Secondary">
-                @RobotState.Version •
-                @RobotState.Manufacturer
-                @RobotState.SerialNumber
-            </MudText>
-        </div>
-        @* @if (RobotState.Current != null)
-        {
-            <MudChip T="string" Size="Size.Large"
-                     Color="@(RobotState.Current ? Color.Success : Color.Error)">
-                @(RobotState.Current.IsOnline ? "ONLINE" : "OFFLINE")
-            </MudChip>
-        } *@
-    </MudPaper>
-
-    @if (RobotState == null)
-    {
-        <MudAlert Severity="Severity.Info" Variant="Variant.Outlined">
-            Waiting for robot state (VDA5050)...
-            <MudProgressLinear Indeterminate Class="mt-3" />
-        </MudAlert>
-    }
-    else
-    {
-        var msg = RobotState;
-
-        <!-- ===================================================== -->
-        <!-- 📨 MESSAGE META (DEBUG / TRACE) -->
-        <!-- ===================================================== -->
-        <MudPaper Class="pa-3 mb-4" Elevation="1">
-            <MudGrid Spacing="2">
-                <MudItem xs="12" md="3">
-                    <MudText Typo="Typo.caption">HeaderId</MudText>
-                    <MudText>@msg.HeaderId</MudText>
-                </MudItem>
-                <MudItem xs="12" md="5">
-                    <MudText Typo="Typo.caption">Timestamp (UTC)</MudText>
-                    <MudText>@msg.Timestamp</MudText>
-                </MudItem>
-                <MudItem xs="12" md="2">
-                    <MudText Typo="Typo.caption">Version</MudText>
-                    <MudText>@msg.Version</MudText>
-                </MudItem>
-                <MudItem xs="12" md="2">
-                    <MudText Typo="Typo.caption">OrderUpdateId</MudText>
-                    <MudChip T="string" Color="Color.Primary">
-                        @msg.OrderUpdateId
-                    </MudChip>
-                </MudItem>
-            </MudGrid>
-        </MudPaper>
-
-        <!-- ===================================================== -->
-        <!-- MAIN GRID -->
-        <!-- ===================================================== -->
-        <MudGrid Spacing="4">
-            <!-- POSITION + VELOCITY -->
-            <MudItem xs="12" md="6" lg="4">
-                <MudPaper Class="pa-5 h-100" Elevation="2">
-                    <MudGrid AlignItems="AlignItems.Center">
-                        <MudItem xs="8">
-                            <MudText Typo="Typo.h6">📍 Position & Velocity</MudText>
-                        </MudItem>
-                        <MudItem xs="4" Class="d-flex justify-end">
-                            <MudChip T="string" Size="Size.Small"
-                                     Color="@(msg.NewBaseRequest ? Color.Success : Color.Error)">
-                                NewBase: @(msg.NewBaseRequest ? "TRUE" : "FALSE")
-                            </MudChip>
-                        </MudItem>
-                    </MudGrid>
-                    <MudDivider Class="my-3" />
-                    <MudGrid Spacing="1">
-                        <MudItem xs="6">
-                            <MudText>X: <b>@msg.AgvPosition.X.ToString("F2")</b> m</MudText>
-                            <MudText>Y: <b>@msg.AgvPosition.Y.ToString("F2")</b> m</MudText>
-                            <MudText>θ: <b>@msg.AgvPosition.Theta.ToString("F2")</b> rad</MudText>
-                        </MudItem>
-                        <MudItem xs="6">
-                            <MudText>Vx: <b>@msg.Velocity.Vx.ToString("F2")</b> m/s</MudText>
-                            <MudText>Vy: <b>@msg.Velocity.Vy.ToString("F2")</b> m/s</MudText>
-                            <MudText>Ω: <b>@msg.Velocity.Omega.ToString("F3")</b> rad/s</MudText>
-                        </MudItem>
-                    </MudGrid>
-                    <MudDivider Class="my-3" />
-                    <MudGrid Spacing="1">
-                        <MudItem xs="6">
-                            <MudChip T="string" Size="Size.Small"
-                                     Color="@(msg.AgvPosition.PositionInitialized ? Color.Success : Color.Error)">
-                                Initialized: @(msg.AgvPosition.PositionInitialized ? "TRUE" : "FALSE")
-                            </MudChip>
-                        </MudItem>
-                        <MudItem xs="6" Class="d-flex justify-end">
-                            <MudText Typo="Typo.caption">
-                                DeviationRange: <b>@msg.AgvPosition.DeviationRange</b>
-                            </MudText>
-                        </MudItem>
-                    </MudGrid>
-                    <MudProgressLinear Value="@(msg.AgvPosition.LocalizationScore * 100)"
-                                       Class="mt-3"
-                                       Color="Color.Success" />
-                    <MudText Typo="Typo.caption">
-                        Localization Score: @(msg.AgvPosition.LocalizationScore * 100) %
-                    </MudText>
-                </MudPaper>
-            </MudItem>
-
-            <!-- BATTERY -->
-            <MudItem xs="12" md="6" lg="4">
-                <MudPaper Class="pa-5 h-100" Elevation="2">
-                    <MudText Typo="Typo.h6">🔋 Battery</MudText>
-                    <MudDivider Class="my-3" />
-                    <MudProgressLinear Value="@msg.BatteryState.BatteryCharge"
-                                       Size="Size.Large"
-                                       Rounded
-                                       Color="@(msg.BatteryState.BatteryCharge > 50 ? Color.Success :
-                                                msg.BatteryState.BatteryCharge > 20 ? Color.Warning : Color.Error)" />
-                    <MudText Typo="Typo.h4" Class="mt-2">
-                        @msg.BatteryState.BatteryCharge:F1 %
-                    </MudText>
-                    <MudChip T="string" Size="Size.Small"
-                             Color="@(msg.BatteryState.Charging ? Color.Info : Color.Default)">
-                        @(msg.BatteryState.Charging ? "⚡ Charging" : "Discharging")
-                    </MudChip>
-                    <MudDivider Class="my-3" />
-                    <MudGrid Spacing="1">
-                        <MudItem xs="4">
-                            <MudText Typo="Typo.caption">Voltage</MudText>
-                            <MudText><b>@msg.BatteryState.BatteryVoltage.ToString("F1")</b> V</MudText>
-                        </MudItem>
-                        <MudItem xs="4">
-                            <MudText Typo="Typo.caption">Health</MudText>
-                            <MudText><b>@msg.BatteryState.BatteryHealth</b> %</MudText>
-                        </MudItem>
-                        <MudItem xs="4">
-                            <MudText Typo="Typo.caption">Reach</MudText>
-                            <MudText><b>@((int)msg.BatteryState.Reach)</b> m</MudText>
-                        </MudItem>
-                    </MudGrid>
-                </MudPaper>
-            </MudItem>
-
-            <!-- ORDER & PATH -->
-            <MudItem xs="12" md="6" lg="4">
-                <MudPaper Class="pa-5 h-100" Elevation="2">
-                    <MudText Typo="Typo.h6">🧭 Order & Path</MudText>
-                    <MudDivider Class="my-3" />
-                    <MudText>Order ID: <b>@(msg.OrderId ?? "—")</b></MudText>
-                    <MudText>Update ID: <b>@msg.OrderUpdateId</b></MudText>
-                    <MudDivider Class="my-2" />
-                    <MudText>
-                        Last Node: <b>@msg.LastNodeId</b>
-                        <MudText Typo="Typo.caption" Inline="true">Seq: @msg.LastNodeSequenceId</MudText>
-                    </MudText>
-                    <MudText>Distance: @msg.DistanceSinceLastNode:F1 m</MudText>
-                    <MudDivider Class="my-3" />
-
-                    @{
-                        var nodeReleased = msg.NodeStates?.Count(n => n.Released) ?? 0;
-                        var nodeTotal = msg.NodeStates?.Length ?? 0;
-                        var edgeReleased = msg.EdgeStates?.Count(e => e.Released) ?? 0;
-                        var edgeTotal = msg.EdgeStates?.Length ?? 0;
-                    }
-
-                    <div class="d-flex align-center flex-wrap gap-2">
-                        <MudChip T="string" Color="Color.Info">Nodes: @nodeReleased / @nodeTotal</MudChip>
-                        <MudChip T="string" Color="Color.Info">Edges: @edgeReleased / @edgeTotal</MudChip>
-                        <MudChip T="string" Size="Size.Small" Color="@(msg.Driving ? Color.Success : Color.Default)">
-                            @(msg.Driving ? "DRIVING" : "STOPPED")
-                        </MudChip>
-                        <MudChip T="string" Size="Size.Small" Color="@(msg.Paused ? Color.Warning : Color.Success)">
-                            @(msg.Paused ? "PAUSED" : "ACTIVE")
-                        </MudChip>
-                    </div>
-                </MudPaper>
-            </MudItem>
-
-            <!-- ERRORS + INFORMATION -->
-            <MudItem xs="12" md="12" lg="6">
-                <MudPaper Class="pa-5 h-100" Elevation="2">
-
-                    <MudText Typo="Typo.h6">🚨 Errors & Information</MudText>
-                    <MudDivider Class="my-3" />
-
-                    @{
-                        var rows = new List<MessageRow>();
-
-                        if (msg.Errors != null)
-                        {
-                            foreach (var err in msg.Errors)
-                            {
-                                rows.Add(new MessageRow(
-                                err.ErrorType ?? "-",
-                                err.ErrorLevel ?? "-",
-                                err.ErrorDescription ?? "",
-                                true
-                                ));
-                            }
-                        }
-
-                        if (msg.Information != null)
-                        {
-                            foreach (var info in msg.Information)
-                            {
-                                rows.Add(new MessageRow(
-                                info.InfoType ?? "-",
-                                info.InfoLevel ?? "-",
-                                info.InfoDescription ?? "",
-                                false
-                                ));
-                            }
-                        }
-
-                        var sortedMessages = rows
-                        .OrderBy(r => r.IsError ? 0 : 1)   // Errors trước
-                        .ThenBy(r => r.Type)
-                        .ToList();
-                    }
-
-                    <MudTable Items="@sortedMessages"
-                              Dense="true"
-                              Hover="true"
-                              Bordered="true"
-                              Elevation="0"
-                              Height="180px"
-                              Breakpoint="Breakpoint.Sm"
-                              HorizontalScrollbar="true">
-
-                        <ColGroup>
-                            <col style="width: 35%" />
-                            <col style="width: 20%" />
-                            <col />
-                        </ColGroup>
-
-                        <HeaderContent>
-                            <MudTh>Type</MudTh>
-                            <MudTh>Level</MudTh>
-                            <MudTh>Description</MudTh>
-                        </HeaderContent>
-
-                        <RowTemplate>
-                            <MudTd DataLabel="Type">
-                                <MudText Class="@(context.IsError ? "text-error" : "text-info")">
-                                    <b>@context.Type</b>
-                                </MudText>
-                            </MudTd>
-
-                            <MudTd DataLabel="Level">
-                                <MudChip T="string"
-                                         Size="Size.Small"
-                                         Color="@(context.Level == "ERROR"
-                                                                                 ? Color.Error
-                                                                                 : context.Level == "WARNING"
-                                                                                     ? Color.Warning
-                                                                                     : Color.Info)">
-                                @context.Level
-                            </MudChip>
-                        </MudTd>
-
-                            <MudTd DataLabel="Description">
-                                <MudText Typo="Typo.caption"
-                                         Class="text-truncate"
-                                         Title="@context.Description">
-                                    @context.Description
-                                </MudText>
-                            </MudTd>
-                        </RowTemplate>
-
-                        <NoRecordsContent>
-                            <MudText Typo="Typo.caption"
-                                     Color="Color.Secondary"
-                                     Class="pa-4 text-center">
-                                No errors or information messages
-                            </MudText>
-                        </NoRecordsContent>
-
-                    </MudTable>
-
-                </MudPaper>
-            </MudItem>
-            
-            <!-- ACTIONS -->
-            <MudItem xs="12" md="6" lg="3">
-                <MudPaper Class="pa-5 h-100" Elevation="2">
-
-                    <MudText Typo="Typo.h6">⚙️ Actions</MudText>
-                    <MudDivider Class="my-3" />
-
-                    <MudTable Items="msg.ActionStates"
-                                Dense="true"
-                              Hover="true"
-                              Bordered="true"
-                              Elevation="0"
-                              Height="160px"
-                              Breakpoint="Breakpoint.Sm"
-                              HorizontalScrollbar="true"
-                              FixedHeader="true">
-
-                        <ColGroup>
-                            <col style="width: 40%" />
-                            <col style="width: 35%" />
-                            <col style="width: 25%" />
-                        </ColGroup>
-
-                        <HeaderContent>
-                            <MudTh>Action</MudTh>
-                            <MudTh>Action ID</MudTh>
-                            <MudTh class="text-right">Status</MudTh>
-                        </HeaderContent>
-
-                        <RowTemplate>
-                            <MudTd DataLabel="Action">
-                                <MudText Typo="Typo.body2"
-                                         Class="text-truncate"
-                                         Title="@context.ActionType">
-                                    @context.ActionType
-                                </MudText>
-                            </MudTd>
-
-                            <MudTd DataLabel="Action ID">
-                                <MudText Typo="Typo.caption">
-                                    @context.ActionId
-                                </MudText>
-                            </MudTd>
-
-                            <MudTd DataLabel="Status" Class="text-right">
-                                <MudChip T="string"
-                                         Size="Size.Small"
-                                         Variant="Variant.Filled"
-                                         Color="@(context.ActionStatus == "RUNNING"
-                                                                                                                      ? Color.Info
-                                                                                                                      : context.ActionStatus == "FINISHED"
-                                                                                                                          ? Color.Success
-                                                                                                                          : Color.Error)">
-                                @context.ActionStatus
-                            </MudChip>
-                        </MudTd>
-                    </RowTemplate>
-
-                        <NoRecordsContent>
-                            <MudText Typo="Typo.caption"
-                                     Color="Color.Secondary"
-                                     Class="pa-4 text-center">
-                                No active actions
-                            </MudText>
-                        </NoRecordsContent>
-
-                    </MudTable>
-
-                </MudPaper>
-            </MudItem>
-
-            <!-- SAFETY -->
-            <MudItem xs="12" md="6" lg="3">
-                <MudPaper Class="pa-5 h-100" Elevation="2">
-                    <MudText Typo="Typo.h6">🛑 Safety</MudText>
-                    <MudDivider Class="my-3" />
-                    <MudChip T="string" Size="Size.Large" Class="w-100 mb-2"
-                             Color="@(msg.SafetyState.EStop == "NONE" ? Color.Success : Color.Error)">
-                        E-STOP: @msg.SafetyState.EStop
-                    </MudChip>
-                    <MudChip T="string" Size="Size.Large" Class="w-100"
-                             Color="@(msg.SafetyState.FieldViolation ? Color.Error : Color.Success)">
-                        Field Violation: @(msg.SafetyState.FieldViolation ? "YES" : "NO")
-                    </MudChip>
-                </MudPaper>
-            </MudItem>
-
-        </MudGrid>
-    }
-</MudContainer>
-
-@code {
-
-    private async Task OnStateChanged()
-        => await InvokeAsync(StateHasChanged);
-
-
-    private record MessageRow(
-    string Type,
-    string Level,
-    string Description,
-    bool IsError
-    );
-}

RobotApp.Client/Pages/_Imports.razor

@@ -16,3 +16,11 @@
 @using RobotApp.Common.Shares.Dtos
 @using Excubo.Blazor.Canvas
 @using Excubo.Blazor.Canvas.Contexts
+@using System.Text.Json
+@using System.Text.Json.Serialization
+@using RobotApp.Client.Pages.Order
+@using RobotApp.Client.Services
+@using RobotApp.VDA5050.InstantAction
+@using RobotApp.VDA5050.Order
+@using RobotApp.VDA5050.Type
+@using System.ComponentModel.DataAnnotations

RobotApp.Client/Program.cs

@@ -1,5 +1,6 @@
 using Microsoft.AspNetCore.Components.WebAssembly.Hosting;
 using MudBlazor.Services;
+using RobotApp.Client.Services;
 using System.Globalization;
 
 CultureInfo.DefaultThreadCurrentCulture = new CultureInfo("en-US");
@@ -11,6 +12,8 @@ builder.Services.AddAuthenticationStateDeserialization();
 
 builder.Services.AddScoped(_ => new HttpClient() { BaseAddress = new Uri(builder.HostEnvironment.BaseAddress) });
 builder.Services.AddScoped<RobotApp.Client.Services.RobotMonitorService>();
+builder.Services.AddScoped<RobotApp.Client.Services.RobotStateClient>();
+
 builder.Services.AddMudServices(config =>
 {
     config.SnackbarConfiguration.VisibleStateDuration = 2000;

RobotApp.Client/RobotApp.Client.csproj

@@ -9,6 +9,7 @@
   </PropertyGroup>
 
   <ItemGroup>
+    <PackageReference Include="Blazored.LocalStorage" Version="4.5.0" />
     <PackageReference Include="Excubo.Blazor.Canvas" Version="3.2.91" />
     <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly" Version="9.0.1" />
     <PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Authentication" Version="9.0.1" />
@@ -21,8 +22,4 @@
     <ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
   </ItemGroup>
 
-  <ItemGroup>
-    <Folder Include="Models\" />
-  </ItemGroup>
-
 </Project>

RobotApp.Client/Services/RobotStateClient.cs

@@ -0,0 +1,197 @@
+using Microsoft.AspNetCore.Components;
+using Microsoft.AspNetCore.SignalR.Client;
+using RobotApp.Common.Shares;
+using RobotApp.VDA5050.State;
+using System.Collections.Concurrent;
+using System.Text.Json;
+
+namespace RobotApp.Client.Services;
+
+// ================= SIGNALR CONNECTION STATE =================
+public enum RobotClientState
+{
+    Disconnected,
+    Connecting,
+    Connected,
+    Reconnecting
+}
+
+// ================= ROBOT STATE CLIENT =================
+public sealed class RobotStateClient : IAsyncDisposable
+{
+    private readonly NavigationManager _nav;
+    private HubConnection? _connection;
+
+    private readonly object _lock = new();
+    private bool _started;
+
+    // ================= STATE CACHE =================
+    public ConcurrentDictionary<string, StateMsg> LatestStates { get; } = new();
+
+    // ================= ROBOT CONNECTION =================
+    private bool _isRobotConnected;
+    public bool IsRobotConnected => _isRobotConnected;
+
+    // ================= EVENTS =================
+    public event Action<string, StateMsg>? OnStateReceived;
+    public event Action<StateMsg>? OnStateReceivedAny;
+    public event Action<bool>? OnRobotConnectionChanged;
+    public event Action<RobotClientState>? OnConnectionStateChanged;
+
+    public RobotClientState ConnectionState { get; private set; } = RobotClientState.Disconnected;
+
+    // ================= CTOR =================
+    public RobotStateClient(NavigationManager nav)
+    {
+        _nav = nav;
+    }
+
+    // ================= STATE HELPER =================
+    private void SetState(RobotClientState state)
+    {
+        if (ConnectionState == state)
+            return;
+
+        ConnectionState = state;
+        OnConnectionStateChanged?.Invoke(state);
+    }
+
+    // ================= START =================
+    public async Task StartAsync(string hubPath = "/hubs/robot")
+    {
+        lock (_lock)
+        {
+            if (_started) return;
+            _started = true;
+        }
+
+        SetState(RobotClientState.Connecting);
+
+        _connection = new HubConnectionBuilder()
+            .WithUrl(_nav.ToAbsoluteUri(hubPath))
+            .WithAutomaticReconnect(new[]
+            {
+                TimeSpan.Zero,
+                TimeSpan.FromSeconds(2),
+                TimeSpan.FromSeconds(10)
+            })
+            .Build();
+
+        _connection.Reconnecting += _ =>
+        {
+            SetState(RobotClientState.Reconnecting);
+            return Task.CompletedTask;
+        };
+
+        _connection.Reconnected += _ =>
+        {
+            SetState(RobotClientState.Connected);
+            return Task.CompletedTask;
+        };
+
+        _connection.Closed += async _ =>
+        {
+            _started = false;
+            SetState(RobotClientState.Disconnected);
+
+            if (_connection != null)
+            {
+                try
+                {
+                    await StartAsync(hubPath);
+                }
+                catch { }
+            }
+        };
+
+        // ================= SIGNALR HANDLERS =================
+
+        // VDA5050 State
+        _connection.On<StateMsg>("ReceiveState", HandleState);
+
+        // Robot connection (bool only)
+        _connection.On<bool>("ReceiveRobotConnection", HandleRobotConnection);
+
+        try
+        {
+            await _connection.StartAsync();
+            SetState(RobotClientState.Connected);
+        }
+        catch
+        {
+            _started = false;
+            SetState(RobotClientState.Disconnected);
+        }
+    }
+
+    // ================= HANDLE STATE =================
+    private void HandleState(StateMsg state)
+    {
+        if (state?.SerialNumber == null)
+            return;
+
+        LatestStates[state.SerialNumber] = state;
+
+        OnStateReceived?.Invoke(state.SerialNumber, state);
+        OnStateReceivedAny?.Invoke(state);
+    }
+
+    // ================= HANDLE ROBOT CONNECTION =================
+    private void HandleRobotConnection(bool isConnected)
+    {
+        _isRobotConnected = isConnected;
+        OnRobotConnectionChanged?.Invoke(isConnected);
+    }
+
+    // ================= SUBSCRIBE =================
+    public async Task SubscribeRobotAsync(string serialNumber)
+    {
+        if (_connection?.State != HubConnectionState.Connected)
+            return;
+
+        try
+        {
+            await _connection.InvokeAsync("JoinRobot", serialNumber);
+        }
+        catch
+        {
+            // ignore – reconnect sẽ tự join lại
+        }
+    }
+
+    public async Task UnsubscribeRobotAsync(string serialNumber)
+    {
+        if (_connection?.State == HubConnectionState.Connected)
+        {
+            try
+            {
+                await _connection.InvokeAsync("LeaveRobot", serialNumber);
+            }
+            catch { }
+        }
+
+        LatestStates.TryRemove(serialNumber, out _);
+        _isRobotConnected = false;
+    }
+
+    // ================= GET CACHE =================
+    public StateMsg? GetLatestState()
+    {
+        if (!LatestStates.IsEmpty) return LatestStates.First().Value;
+        return null;
+    }
+
+    // ================= DISPOSE =================
+    public async ValueTask DisposeAsync()
+    {
+        _started = false;
+        _isRobotConnected = false;
+        SetState(RobotClientState.Disconnected);
+
+        if (_connection != null)
+        {
+            await _connection.DisposeAsync();
+            _connection = null;
+        }
+    }
+}

RobotApp.Client/Services/UiEdge.cs

@@ -0,0 +1,74 @@
+using RobotApp.VDA5050.InstantAction;
+using RobotApp.VDA5050.Order;
+using System.Text.Json.Serialization;
+
+namespace RobotApp.Client.Services;
+
+// ======================================================
+// ORDER MESSAGE
+// ======================================================
+public class OrderMessage
+{
+    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; } = [];
+    public List<Edge> Edges { get; set; } = [];
+
+    public OrderMsg ToSchemaObject()
+    {
+        return new OrderMsg
+        {
+            HeaderId = (uint)HeaderId++,
+
+            Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
+
+            Version = Version,
+            Manufacturer = Manufacturer,
+            SerialNumber = SerialNumber,
+
+            OrderId = OrderId= Guid.NewGuid().ToString(),
+            OrderUpdateId = OrderUpdateId,
+
+            ZoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
+                ? null
+                : ZoneSetId,
+
+            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];
+    }
+}
+
+// ======================================================
+// UI ACTION PARAM
+// ======================================================
+public class UiActionParameter : ActionParameter
+{
+    [JsonIgnore]
+    public string ValueString
+    {
+        get => Value?.ToString() ?? "";
+        set => Value = value;
+    }
+}

RobotApp.Client/_Imports.razor

@@ -13,3 +13,6 @@
 @using MudBlazor
 @using RobotApp.Common.Shares.Dtos
 @using RobotApp.Common.Shares.Enums
+@using Blazored.LocalStorage
+@using RobotApp.Client.Services
+@using RobotApp.VDA5050.State

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

@@ -55,6 +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.sln

@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
 # Visual Studio Version 18
-VisualStudioVersion = 18.0.11205.157 d18.0
+VisualStudioVersion = 18.0.11205.157
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp", "RobotApp\RobotApp.csproj", "{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}"
 EndProject

RobotApp/Components/Account/IdentityRedirectManager.cs

@@ -18,18 +18,22 @@ namespace RobotApp.Components.Account
         [DoesNotReturn]
         public void RedirectTo(string? uri)
         {
-            uri ??= "";
-
-            // Prevent open redirects.
-            if (!Uri.IsWellFormedUriString(uri, UriKind.Relative))
+            try
             {
-                uri = navigationManager.ToBaseRelativePath(uri);
-            }
+                uri ??= "/";
 
-            // During static rendering, NavigateTo throws a NavigationException which is handled by the framework as a redirect.
-            // So as long as this is called from a statically rendered Identity component, the InvalidOperationException is never thrown.
-            navigationManager.NavigateTo(uri);
-            throw new InvalidOperationException($"{nameof(IdentityRedirectManager)} can only be used during static rendering.");
+                // Prevent open redirects.
+                if (!Uri.IsWellFormedUriString(uri, UriKind.Relative))
+                {
+                    uri = navigationManager.ToBaseRelativePath(uri);
+                }
+
+                // During static rendering, NavigateTo throws a NavigationException which is handled by the framework as a redirect.
+                // So as long as this is called from a statically rendered Identity component, the InvalidOperationException is never thrown.
+                navigationManager.NavigateTo(uri);
+                throw new InvalidOperationException($"{nameof(IdentityRedirectManager)} can only be used during static rendering.");
+            }
+            catch (NavigationException) { }
         }
 
         [DoesNotReturn]

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/Components/Pages/Home.razor

@@ -1,7 +1,15 @@
-@page "/home"
+@page "/"
 @using Microsoft.AspNetCore.Authorization
 
 @rendermode InteractiveServer
 
-@attribute [Authorize]
-@* <h1>Welcome to RobotApp!</h1> *@
+@inject NavigationManager Nav
+
+@code
+{
+    protected override void OnAfterRender(bool firstRender)
+    {
+        base.OnAfterRender(firstRender);
+        if (firstRender) Nav.NavigateTo("/dashboard", forceLoad: true);
+    }
+}

RobotApp/Controllers/FileController.cs

@@ -6,7 +6,8 @@ namespace RobotApp.Controllers;
 
 [Route("api/[controller]")]
 [ApiController]
-[Authorize]
+//[Authorize]
+[AllowAnonymous]
 public class FileController(Services.Logger<FileController> Logger) : ControllerBase
 {
     private readonly string certificatesPath = "MqttCertificates";

RobotApp/Controllers/ImagesController.cs

@@ -5,6 +5,7 @@ namespace RobotApp.Controllers;
 
 [Route("api/[controller]")]
 [ApiController]
+//[Authorize]
 [AllowAnonymous]
 public class ImagesController(Services.Logger<ImagesController> Logger) : ControllerBase
 {

RobotApp/Controllers/LogsManagerController.cs

@@ -0,0 +1,49 @@
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+
+namespace RobotApp.Controllers;
+
+[Route("api/[controller]")]
+[ApiController]
+//[Authorize]
+[AllowAnonymous]
+public class LogsManagerController(Services.Logger<LogsManagerController> Logger) : ControllerBase
+{
+    private readonly string LoggerDirectory = "logs";
+
+    [HttpGet]
+    public async Task<IEnumerable<string>> GetLogs([FromQuery(Name = "date")] DateTime date)
+    {
+        string temp = "";
+        try
+        {
+            string fileName = $"{date:yyyy-MM-dd}.log";
+            string path = Path.Combine(LoggerDirectory, fileName);
+            if (!Path.GetFullPath(path).StartsWith(Path.GetFullPath(LoggerDirectory)))
+            {
+                Logger.Warning($"GetLogs: phát hiện đường dẫn không hợp lệ.");
+                return [];
+            }
+
+            if (!System.IO.File.Exists(path))
+            {
+                Logger.Warning($"GetLogs: không tìm thấy file log của ngày {date.ToShortDateString()} - {path}.");
+                return [];
+            }
+
+            temp = Path.Combine(LoggerDirectory, $"{Guid.NewGuid()}.log");
+            System.IO.File.Copy(path, temp);
+
+            return await System.IO.File.ReadAllLinesAsync(temp);
+        }
+        catch (Exception ex)
+        {
+            Logger.Warning($"GetLogs: Hệ thống có lỗi xảy ra - {ex.Message}");
+            return [];
+        }
+        finally
+        {
+            if (System.IO.File.Exists(temp)) System.IO.File.Delete(temp);
+        }
+    }
+}

RobotApp/Controllers/OrderController.cs

@@ -1,5 +1,6 @@
-using Microsoft.AspNetCore.Mvc;
-using RobotApp.Services.Robot;
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+using RobotApp.Interfaces;
 using RobotApp.VDA5050.Order;
 using System.Text.Json;
 
@@ -7,30 +8,30 @@ namespace RobotApp.Controllers;
 
 [ApiController]
 [Route("api/order")]
-public class OrderController : ControllerBase
+//[Authorize]
+[AllowAnonymous]
+public class OrderController(IOrder robotOrderController, IInstantActions instantActions) : ControllerBase
 {
-    private readonly RobotOrderController robotOrderController;
-
-    public OrderController(RobotOrderController robotOrderController)
-    {
-        this.robotOrderController = robotOrderController;
-    }
-
     [HttpPost]
     public IActionResult SendOrder([FromBody] OrderMsg order)
     {
-        Console.WriteLine("===== ORDER RECEIVED =====");
-        Console.WriteLine(JsonSerializer.Serialize(order, new JsonSerializerOptions
-        {
-            WriteIndented = true
-        }));
-
         robotOrderController.UpdateOrder(order);
-
         return Ok(new
         {
             success = true,
             message = "Order received"
         });
     }
+
+    [HttpPost("cancel")]
+    public IActionResult CancelOrder()
+    {
+        robotOrderController.StopOrder();
+        instantActions.StopOrderAction();
+        return Ok(new
+        {
+            success = true,
+            message = "Order and actions have been cancelled"
+        });
+    }
 }

RobotApp/Controllers/RobotConfigsController.cs

@@ -10,7 +10,8 @@ namespace RobotApp.Controllers;
 
 [Route("api/[controller]")]
 [ApiController]
-[Authorize]
+//[Authorize]
+[AllowAnonymous]
 public class RobotConfigsController(Services.Logger<RobotConfigsController> Logger, ApplicationDbContext AppDb, RobotConfiguration RobotConfiguration) : ControllerBase
 {
     [HttpGet]

RobotApp/Data/ApplicationDbExtensions.cs

@@ -125,7 +125,7 @@ public static class ApplicationDbExtensions
             {
                 ConfigName = "Default",
                 Description = "Default robot simulation configuration",
-                EnableSimulation = false,
+                EnableSimulation = true,
                 SimulationMaxVelocity = 1.5,
                 SimulationMaxAngularVelocity = 0.5,
                 SimulationAcceleration = 2,
@@ -155,6 +155,7 @@ public static class ApplicationDbExtensions
                 VDA5050EnableTls = false,
                 VDA5050UserName = "robotics",
                 VDA5050Password = "robotics",
+                VDA5050TopicPrefix = "uagv/v2",
                 IsActive = true,
                 CreatedAt = DateTime.Now,
                 UpdatedAt = DateTime.Now,

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

@@ -1,279 +0,0 @@
-// <auto-generated />
-using System;
-using Microsoft.EntityFrameworkCore;
-using Microsoft.EntityFrameworkCore.Infrastructure;
-using Microsoft.EntityFrameworkCore.Metadata;
-using Microsoft.EntityFrameworkCore.Migrations;
-using Microsoft.EntityFrameworkCore.Storage.ValueConversion;
-using RobotApp.Data;
-
-#nullable disable
-
-namespace RobotApp.Migrations
-{
-    [DbContext(typeof(ApplicationDbContext))]
-    [Migration("00000000000000_CreateIdentitySchema")]
-    partial class CreateIdentitySchema
-    {
-        /// <inheritdoc />
-        protected override void BuildTargetModel(ModelBuilder modelBuilder)
-        {
-#pragma warning disable 612, 618
-            modelBuilder
-                .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("Text");
-
-                    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("Text");
-
-                    b.Property<string>("PhoneNumber")
-                        .HasColumnType("Text");
-
-                    b.Property<bool>("PhoneNumberConfirmed")
-                        .HasColumnType("bit");
-
-                    b.Property<string>("SecurityStamp")
-                        .HasColumnType("Text");
-
-                    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("Text");
-
-                    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");
-
-                    SqlServerPropertyBuilderExtensions.UseIdentityColumn(b.Property<int>("Id"));
-
-                    b.Property<string>("ClaimType")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("ClaimValue")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("RoleId")
-                        .IsRequired()
-                        .HasColumnType("nvarchar(450)");
-
-                    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("int");
-
-                    SqlServerPropertyBuilderExtensions.UseIdentityColumn(b.Property<int>("Id"));
-
-                    b.Property<string>("ClaimType")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("ClaimValue")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("UserId")
-                        .IsRequired()
-                        .HasColumnType("nvarchar(450)");
-
-                    b.HasKey("Id");
-
-                    b.HasIndex("UserId");
-
-                    b.ToTable("AspNetUserClaims", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
-                {
-                    b.Property<string>("LoginProvider")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("ProviderKey")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("ProviderDisplayName")
-                        .HasColumnType("Text");
-
-                    b.Property<string>("UserId")
-                        .IsRequired()
-                        .HasColumnType("nvarchar(450)");
-
-                    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("nvarchar(450)");
-
-                    b.Property<string>("RoleId")
-                        .HasColumnType("nvarchar(450)");
-
-                    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("nvarchar(450)");
-
-                    b.Property<string>("LoginProvider")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("Name")
-                        .HasColumnType("nvarchar(450)");
-
-                    b.Property<string>("Value")
-                        .HasColumnType("Text");
-
-                    b.HasKey("UserId", "LoginProvider", "Name");
-
-                    b.ToTable("AspNetUserTokens", (string)null);
-                });
-
-            modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
-                {
-                    b.HasOne("Microsoft.AspNetCore.Identity.IdentityRole", 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("Microsoft.AspNetCore.Identity.IdentityRole", 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/00000000000000_CreateIdentitySchema.cs

@@ -1,224 +0,0 @@
-using System;
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Migrations
-{
-    /// <inheritdoc />
-    public partial class CreateIdentitySchema : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.CreateTable(
-                name: "AspNetRoles",
-                columns: table => new
-                {
-                    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: "Text", nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetRoles", x => x.Id);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetUsers",
-                columns: table => new
-                {
-                    Id = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    UserName = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
-                    NormalizedUserName = table.Column<string>(type: "nvarchar(256)", maxLength: 256, nullable: true),
-                    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: "Text", nullable: true),
-                    SecurityStamp = table.Column<string>(type: "Text", nullable: true),
-                    ConcurrencyStamp = table.Column<string>(type: "Text", 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),
-                    LockoutEnabled = table.Column<bool>(type: "bit", nullable: false),
-                    AccessFailedCount = table.Column<int>(type: "int", nullable: false)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetUsers", x => x.Id);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetRoleClaims",
-                columns: table => new
-                {
-                    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: "Text", nullable: true),
-                    ClaimValue = table.Column<string>(type: "Text", nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetRoleClaims", x => x.Id);
-                    table.ForeignKey(
-                        name: "FK_AspNetRoleClaims_AspNetRoles_RoleId",
-                        column: x => x.RoleId,
-                        principalTable: "AspNetRoles",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetUserClaims",
-                columns: table => new
-                {
-                    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: "Text", nullable: true),
-                    ClaimValue = table.Column<string>(type: "Text", nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetUserClaims", x => x.Id);
-                    table.ForeignKey(
-                        name: "FK_AspNetUserClaims_AspNetUsers_UserId",
-                        column: x => x.UserId,
-                        principalTable: "AspNetUsers",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetUserLogins",
-                columns: table => new
-                {
-                    LoginProvider = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    ProviderKey = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    ProviderDisplayName = table.Column<string>(type: "Text", nullable: true),
-                    UserId = table.Column<string>(type: "nvarchar(450)", nullable: false)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetUserLogins", x => new { x.LoginProvider, x.ProviderKey });
-                    table.ForeignKey(
-                        name: "FK_AspNetUserLogins_AspNetUsers_UserId",
-                        column: x => x.UserId,
-                        principalTable: "AspNetUsers",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetUserRoles",
-                columns: table => new
-                {
-                    UserId = table.Column<string>(type: "nvarchar(450)", nullable: false),
-                    RoleId = table.Column<string>(type: "nvarchar(450)", nullable: false)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetUserRoles", x => new { x.UserId, x.RoleId });
-                    table.ForeignKey(
-                        name: "FK_AspNetUserRoles_AspNetRoles_RoleId",
-                        column: x => x.RoleId,
-                        principalTable: "AspNetRoles",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                    table.ForeignKey(
-                        name: "FK_AspNetUserRoles_AspNetUsers_UserId",
-                        column: x => x.UserId,
-                        principalTable: "AspNetUsers",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "AspNetUserTokens",
-                columns: table => new
-                {
-                    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: "Text", nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_AspNetUserTokens", x => new { x.UserId, x.LoginProvider, x.Name });
-                    table.ForeignKey(
-                        name: "FK_AspNetUserTokens_AspNetUsers_UserId",
-                        column: x => x.UserId,
-                        principalTable: "AspNetUsers",
-                        principalColumn: "Id",
-                        onDelete: ReferentialAction.Cascade);
-                });
-
-            migrationBuilder.CreateIndex(
-                name: "IX_AspNetRoleClaims_RoleId",
-                table: "AspNetRoleClaims",
-                column: "RoleId");
-
-            migrationBuilder.CreateIndex(
-                name: "RoleNameIndex",
-                table: "AspNetRoles",
-                column: "NormalizedName",
-                unique: true,
-                filter: "[NormalizedName] IS NOT NULL");
-
-            migrationBuilder.CreateIndex(
-                name: "IX_AspNetUserClaims_UserId",
-                table: "AspNetUserClaims",
-                column: "UserId");
-
-            migrationBuilder.CreateIndex(
-                name: "IX_AspNetUserLogins_UserId",
-                table: "AspNetUserLogins",
-                column: "UserId");
-
-            migrationBuilder.CreateIndex(
-                name: "IX_AspNetUserRoles_RoleId",
-                table: "AspNetUserRoles",
-                column: "RoleId");
-
-            migrationBuilder.CreateIndex(
-                name: "EmailIndex",
-                table: "AspNetUsers",
-                column: "NormalizedEmail");
-
-            migrationBuilder.CreateIndex(
-                name: "UserNameIndex",
-                table: "AspNetUsers",
-                column: "NormalizedUserName",
-                unique: true,
-                filter: "[NormalizedUserName] IS NOT NULL");
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropTable(
-                name: "AspNetRoleClaims");
-
-            migrationBuilder.DropTable(
-                name: "AspNetUserClaims");
-
-            migrationBuilder.DropTable(
-                name: "AspNetUserLogins");
-
-            migrationBuilder.DropTable(
-                name: "AspNetUserRoles");
-
-            migrationBuilder.DropTable(
-                name: "AspNetUserTokens");
-
-            migrationBuilder.DropTable(
-                name: "AspNetRoles");
-
-            migrationBuilder.DropTable(
-                name: "AspNetUsers");
-        }
-    }
-}

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

@@ -1,268 +0,0 @@
-// <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

@@ -1,721 +0,0 @@
-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/20251028102815_InitConfigDb.Designer.cs

@@ -1,503 +0,0 @@
-// <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("20251028102815_InitConfigDb")]
-    partial class InitConfigDb
-    {
-        /// <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("RobotApp.Data.RobotConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<double>("Height")
-                        .HasColumnType("float")
-                        .HasColumnName("Height");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("Length")
-                        .HasColumnType("float")
-                        .HasColumnName("Length");
-
-                    b.Property<int>("NavigationType")
-                        .HasColumnType("int")
-                        .HasColumnName("NavigationType");
-
-                    b.Property<double>("RadiusWheel")
-                        .HasColumnType("float")
-                        .HasColumnName("RadiusWheel");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.Property<double>("Width")
-                        .HasColumnType("float")
-                        .HasColumnName("Width");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotPlcConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<string>("PLCAddress")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("PLCAddress");
-
-                    b.Property<int>("PLCPort")
-                        .HasColumnType("int")
-                        .HasColumnName("PLCPort");
-
-                    b.Property<byte>("PLCUnitId")
-                        .HasColumnType("tinyint")
-                        .HasColumnName("PLCUnitId");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotPlcConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotSimulationConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("EnableSimulation")
-                        .HasColumnType("bit")
-                        .HasColumnName("EnableSimulation");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("SimulationAcceleration")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationAcceleration");
-
-                    b.Property<double>("SimulationDeceleration")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationDeceleration");
-
-                    b.Property<double>("SimulationMaxAngularVelocity")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationMaxAngularVelocity");
-
-                    b.Property<double>("SimulationMaxVelocity")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationMaxVelocity");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotSimulationConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotVDA5050Config", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<string>("SerialNumber")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("SerialNumber");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.Property<bool>("VDA5050EnablePassword")
-                        .HasColumnType("bit")
-                        .HasColumnName("VDA5050_EnablePassword");
-
-                    b.Property<bool>("VDA5050EnableTls")
-                        .HasColumnType("bit")
-                        .HasColumnName("VDA5050_EnableTls");
-
-                    b.Property<string>("VDA5050HostServer")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_HostServer");
-
-                    b.Property<string>("VDA5050Manufacturer")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Manufacturer");
-
-                    b.Property<string>("VDA5050Password")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Password");
-
-                    b.Property<int>("VDA5050Port")
-                        .HasColumnType("int")
-                        .HasColumnName("VDA5050_Port");
-
-                    b.Property<int>("VDA5050PublishRepeat")
-                        .HasColumnType("int")
-                        .HasColumnName("VDA5050_PublishRepeat");
-
-                    b.Property<string>("VDA5050UserName")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_UserName");
-
-                    b.Property<string>("VDA5050Version")
-                        .HasMaxLength(20)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Version");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotVDA5050Config");
-                });
-
-            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/20251028102815_InitConfigDb.cs

@@ -1,118 +0,0 @@
-using System;
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class InitConfigDb : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.CreateTable(
-                name: "RobotConfig",
-                columns: table => new
-                {
-                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
-                    NavigationType = table.Column<int>(type: "int", nullable: false),
-                    RadiusWheel = table.Column<double>(type: "float", nullable: false),
-                    Width = table.Column<double>(type: "float", nullable: false),
-                    Length = table.Column<double>(type: "float", nullable: false),
-                    Height = table.Column<double>(type: "float", nullable: false),
-                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
-                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
-                    IsActive = table.Column<bool>(type: "bit", nullable: false),
-                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
-                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_RobotConfig", x => x.Id);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "RobotPlcConfig",
-                columns: table => new
-                {
-                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
-                    PLCAddress = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
-                    PLCPort = table.Column<int>(type: "int", nullable: false),
-                    PLCUnitId = table.Column<byte>(type: "tinyint", nullable: false),
-                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
-                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
-                    IsActive = table.Column<bool>(type: "bit", nullable: false),
-                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
-                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_RobotPlcConfig", x => x.Id);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "RobotSimulationConfig",
-                columns: table => new
-                {
-                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
-                    EnableSimulation = table.Column<bool>(type: "bit", nullable: false),
-                    SimulationMaxVelocity = table.Column<double>(type: "float", nullable: false),
-                    SimulationMaxAngularVelocity = table.Column<double>(type: "float", nullable: false),
-                    SimulationAcceleration = table.Column<double>(type: "float", nullable: false),
-                    SimulationDeceleration = table.Column<double>(type: "float", nullable: false),
-                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
-                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
-                    IsActive = table.Column<bool>(type: "bit", nullable: false),
-                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
-                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_RobotSimulationConfig", x => x.Id);
-                });
-
-            migrationBuilder.CreateTable(
-                name: "RobotVDA5050Config",
-                columns: table => new
-                {
-                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
-                    SerialNumber = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
-                    VDA5050_HostServer = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
-                    VDA5050_Port = table.Column<int>(type: "int", nullable: false),
-                    VDA5050_UserName = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
-                    VDA5050_Password = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
-                    VDA5050_Manufacturer = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
-                    VDA5050_Version = table.Column<string>(type: "nvarchar(64)", maxLength: 20, nullable: true),
-                    VDA5050_PublishRepeat = table.Column<int>(type: "int", nullable: false),
-                    VDA5050_EnablePassword = table.Column<bool>(type: "bit", nullable: false),
-                    VDA5050_EnableTls = table.Column<bool>(type: "bit", nullable: false),
-                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
-                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
-                    IsActive = table.Column<bool>(type: "bit", nullable: false),
-                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
-                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_RobotVDA5050Config", x => x.Id);
-                });
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropTable(
-                name: "RobotConfig");
-
-            migrationBuilder.DropTable(
-                name: "RobotPlcConfig");
-
-            migrationBuilder.DropTable(
-                name: "RobotSimulationConfig");
-
-            migrationBuilder.DropTable(
-                name: "RobotVDA5050Config");
-        }
-    }
-}

RobotApp/Data/Migrations/20251029064620_InitConfigSafetyDb.Designer.cs

@@ -1,565 +0,0 @@
-// <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("20251029064620_InitConfigSafetyDb")]
-    partial class InitConfigSafetyDb
-    {
-        /// <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("RobotApp.Data.RobotConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<double>("Height")
-                        .HasColumnType("float")
-                        .HasColumnName("Height");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("Length")
-                        .HasColumnType("float")
-                        .HasColumnName("Length");
-
-                    b.Property<int>("NavigationType")
-                        .HasColumnType("int")
-                        .HasColumnName("NavigationType");
-
-                    b.Property<double>("RadiusWheel")
-                        .HasColumnType("float")
-                        .HasColumnName("RadiusWheel");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.Property<double>("Width")
-                        .HasColumnType("float")
-                        .HasColumnName("Width");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotPlcConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<string>("PLCAddress")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("PLCAddress");
-
-                    b.Property<int>("PLCPort")
-                        .HasColumnType("int")
-                        .HasColumnName("PLCPort");
-
-                    b.Property<byte>("PLCUnitId")
-                        .HasColumnType("tinyint")
-                        .HasColumnName("PLCUnitId");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotPlcConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotSafetyConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("SafetySpeedFast")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedFast");
-
-                    b.Property<double>("SafetySpeedMedium")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedMedium");
-
-                    b.Property<double>("SafetySpeedNormal")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedNormal");
-
-                    b.Property<double>("SafetySpeedOptimal")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedOptimal");
-
-                    b.Property<double>("SafetySpeedSlow")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedSlow");
-
-                    b.Property<double>("SafetySpeedVeryFast")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedVeryFast");
-
-                    b.Property<double>("SafetySpeedVerySlow")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedVerySlow");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotSafetyConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotSimulationConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("EnableSimulation")
-                        .HasColumnType("bit")
-                        .HasColumnName("EnableSimulation");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("SimulationAcceleration")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationAcceleration");
-
-                    b.Property<double>("SimulationDeceleration")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationDeceleration");
-
-                    b.Property<double>("SimulationMaxAngularVelocity")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationMaxAngularVelocity");
-
-                    b.Property<double>("SimulationMaxVelocity")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationMaxVelocity");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotSimulationConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotVDA5050Config", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<string>("SerialNumber")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("SerialNumber");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.Property<bool>("VDA5050EnablePassword")
-                        .HasColumnType("bit")
-                        .HasColumnName("VDA5050_EnablePassword");
-
-                    b.Property<bool>("VDA5050EnableTls")
-                        .HasColumnType("bit")
-                        .HasColumnName("VDA5050_EnableTls");
-
-                    b.Property<string>("VDA5050HostServer")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_HostServer");
-
-                    b.Property<string>("VDA5050Manufacturer")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Manufacturer");
-
-                    b.Property<string>("VDA5050Password")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Password");
-
-                    b.Property<int>("VDA5050Port")
-                        .HasColumnType("int")
-                        .HasColumnName("VDA5050_Port");
-
-                    b.Property<int>("VDA5050PublishRepeat")
-                        .HasColumnType("int")
-                        .HasColumnName("VDA5050_PublishRepeat");
-
-                    b.Property<string>("VDA5050UserName")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_UserName");
-
-                    b.Property<string>("VDA5050Version")
-                        .HasMaxLength(20)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Version");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotVDA5050Config");
-                });
-
-            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/20251029064620_InitConfigSafetyDb.cs

@@ -1,45 +0,0 @@
-using System;
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class InitConfigSafetyDb : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.CreateTable(
-                name: "RobotSafetyConfig",
-                columns: table => new
-                {
-                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
-                    SafetySpeedVerySlow = table.Column<double>(type: "float", nullable: false),
-                    SafetySpeedSlow = table.Column<double>(type: "float", nullable: false),
-                    SafetySpeedNormal = table.Column<double>(type: "float", nullable: false),
-                    SafetySpeedMedium = table.Column<double>(type: "float", nullable: false),
-                    SafetySpeedOptimal = table.Column<double>(type: "float", nullable: false),
-                    SafetySpeedFast = table.Column<double>(type: "float", nullable: false),
-                    SafetySpeedVeryFast = table.Column<double>(type: "float", nullable: false),
-                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
-                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
-                    IsActive = table.Column<bool>(type: "bit", nullable: false),
-                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
-                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
-                },
-                constraints: table =>
-                {
-                    table.PrimaryKey("PK_RobotSafetyConfig", x => x.Id);
-                });
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropTable(
-                name: "RobotSafetyConfig");
-        }
-    }
-}

RobotApp/Data/Migrations/20251029064649_InitConfigSafety1Db.Designer.cs

@@ -1,565 +0,0 @@
-// <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("20251029064649_InitConfigSafety1Db")]
-    partial class InitConfigSafety1Db
-    {
-        /// <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("RobotApp.Data.RobotConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<double>("Height")
-                        .HasColumnType("float")
-                        .HasColumnName("Height");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("Length")
-                        .HasColumnType("float")
-                        .HasColumnName("Length");
-
-                    b.Property<int>("NavigationType")
-                        .HasColumnType("int")
-                        .HasColumnName("NavigationType");
-
-                    b.Property<double>("RadiusWheel")
-                        .HasColumnType("float")
-                        .HasColumnName("RadiusWheel");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.Property<double>("Width")
-                        .HasColumnType("float")
-                        .HasColumnName("Width");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotPlcConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<string>("PLCAddress")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("PLCAddress");
-
-                    b.Property<int>("PLCPort")
-                        .HasColumnType("int")
-                        .HasColumnName("PLCPort");
-
-                    b.Property<byte>("PLCUnitId")
-                        .HasColumnType("tinyint")
-                        .HasColumnName("PLCUnitId");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotPlcConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotSafetyConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("SafetySpeedFast")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedFast");
-
-                    b.Property<double>("SafetySpeedMedium")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedMedium");
-
-                    b.Property<double>("SafetySpeedNormal")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedNormal");
-
-                    b.Property<double>("SafetySpeedOptimal")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedOptimal");
-
-                    b.Property<double>("SafetySpeedSlow")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedSlow");
-
-                    b.Property<double>("SafetySpeedVeryFast")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedVeryFast");
-
-                    b.Property<double>("SafetySpeedVerySlow")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedVerySlow");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotSafetyConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotSimulationConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("EnableSimulation")
-                        .HasColumnType("bit")
-                        .HasColumnName("EnableSimulation");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("SimulationAcceleration")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationAcceleration");
-
-                    b.Property<double>("SimulationDeceleration")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationDeceleration");
-
-                    b.Property<double>("SimulationMaxAngularVelocity")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationMaxAngularVelocity");
-
-                    b.Property<double>("SimulationMaxVelocity")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationMaxVelocity");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotSimulationConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotVDA5050Config", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<string>("SerialNumber")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("SerialNumber");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.Property<bool>("VDA5050EnablePassword")
-                        .HasColumnType("bit")
-                        .HasColumnName("VDA5050_EnablePassword");
-
-                    b.Property<bool>("VDA5050EnableTls")
-                        .HasColumnType("bit")
-                        .HasColumnName("VDA5050_EnableTls");
-
-                    b.Property<string>("VDA5050HostServer")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_HostServer");
-
-                    b.Property<string>("VDA5050Manufacturer")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Manufacturer");
-
-                    b.Property<string>("VDA5050Password")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Password");
-
-                    b.Property<int>("VDA5050Port")
-                        .HasColumnType("int")
-                        .HasColumnName("VDA5050_Port");
-
-                    b.Property<int>("VDA5050PublishRepeat")
-                        .HasColumnType("int")
-                        .HasColumnName("VDA5050_PublishRepeat");
-
-                    b.Property<string>("VDA5050UserName")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_UserName");
-
-                    b.Property<string>("VDA5050Version")
-                        .HasMaxLength(20)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Version");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotVDA5050Config");
-                });
-
-            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/20251029064649_InitConfigSafety1Db.cs

@@ -1,22 +0,0 @@
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class InitConfigSafety1Db : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-
-        }
-    }
-}

RobotApp/Data/Migrations/20251031073231_UpdateVDA5050Config.Designer.cs

@@ -1,577 +0,0 @@
-// <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("20251031073231_UpdateVDA5050Config")]
-    partial class UpdateVDA5050Config
-    {
-        /// <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("RobotApp.Data.RobotConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<double>("Height")
-                        .HasColumnType("float")
-                        .HasColumnName("Height");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("Length")
-                        .HasColumnType("float")
-                        .HasColumnName("Length");
-
-                    b.Property<int>("NavigationType")
-                        .HasColumnType("int")
-                        .HasColumnName("NavigationType");
-
-                    b.Property<double>("RadiusWheel")
-                        .HasColumnType("float")
-                        .HasColumnName("RadiusWheel");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.Property<double>("Width")
-                        .HasColumnType("float")
-                        .HasColumnName("Width");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotPlcConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<string>("PLCAddress")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("PLCAddress");
-
-                    b.Property<int>("PLCPort")
-                        .HasColumnType("int")
-                        .HasColumnName("PLCPort");
-
-                    b.Property<byte>("PLCUnitId")
-                        .HasColumnType("tinyint")
-                        .HasColumnName("PLCUnitId");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotPlcConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotSafetyConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("SafetySpeedFast")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedFast");
-
-                    b.Property<double>("SafetySpeedMedium")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedMedium");
-
-                    b.Property<double>("SafetySpeedNormal")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedNormal");
-
-                    b.Property<double>("SafetySpeedOptimal")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedOptimal");
-
-                    b.Property<double>("SafetySpeedSlow")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedSlow");
-
-                    b.Property<double>("SafetySpeedVeryFast")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedVeryFast");
-
-                    b.Property<double>("SafetySpeedVerySlow")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedVerySlow");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotSafetyConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotSimulationConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("EnableSimulation")
-                        .HasColumnType("bit")
-                        .HasColumnName("EnableSimulation");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("SimulationAcceleration")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationAcceleration");
-
-                    b.Property<double>("SimulationDeceleration")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationDeceleration");
-
-                    b.Property<double>("SimulationMaxAngularVelocity")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationMaxAngularVelocity");
-
-                    b.Property<double>("SimulationMaxVelocity")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationMaxVelocity");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotSimulationConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotVDA5050Config", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<string>("SerialNumber")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("SerialNumber");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.Property<string>("VDA5050CA")
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_CA");
-
-                    b.Property<string>("VDA5050Cer")
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Cer");
-
-                    b.Property<bool>("VDA5050EnablePassword")
-                        .HasColumnType("bit")
-                        .HasColumnName("VDA5050_EnablePassword");
-
-                    b.Property<bool>("VDA5050EnableTls")
-                        .HasColumnType("bit")
-                        .HasColumnName("VDA5050_EnableTls");
-
-                    b.Property<string>("VDA5050HostServer")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_HostServer");
-
-                    b.Property<string>("VDA5050Manufacturer")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Manufacturer");
-
-                    b.Property<string>("VDA5050Password")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Password");
-
-                    b.Property<int>("VDA5050Port")
-                        .HasColumnType("int")
-                        .HasColumnName("VDA5050_Port");
-
-                    b.Property<int>("VDA5050PublishRepeat")
-                        .HasColumnType("int")
-                        .HasColumnName("VDA5050_PublishRepeat");
-
-                    b.Property<string>("VDA5050UserName")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_UserName");
-
-                    b.Property<string>("VDA5050Version")
-                        .HasMaxLength(20)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Version");
-
-                    b.Property<string>("VDA5050_Key")
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Key");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotVDA5050Config");
-                });
-
-            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/20251031073231_UpdateVDA5050Config.cs

@@ -1,48 +0,0 @@
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class UpdateVDA5050Config : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.AddColumn<string>(
-                name: "VDA5050_CA",
-                table: "RobotVDA5050Config",
-                type: "nvarchar(64)",
-                nullable: true);
-
-            migrationBuilder.AddColumn<string>(
-                name: "VDA5050_Cer",
-                table: "RobotVDA5050Config",
-                type: "nvarchar(64)",
-                nullable: true);
-
-            migrationBuilder.AddColumn<string>(
-                name: "VDA5050_Key",
-                table: "RobotVDA5050Config",
-                type: "nvarchar(64)",
-                nullable: true);
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropColumn(
-                name: "VDA5050_CA",
-                table: "RobotVDA5050Config");
-
-            migrationBuilder.DropColumn(
-                name: "VDA5050_Cer",
-                table: "RobotVDA5050Config");
-
-            migrationBuilder.DropColumn(
-                name: "VDA5050_Key",
-                table: "RobotVDA5050Config");
-        }
-    }
-}

RobotApp/Data/Migrations/20251031080648_UpdateVDA5050Config1.Designer.cs

@@ -1,577 +0,0 @@
-// <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("20251031080648_UpdateVDA5050Config1")]
-    partial class UpdateVDA5050Config1
-    {
-        /// <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("RobotApp.Data.RobotConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<double>("Height")
-                        .HasColumnType("float")
-                        .HasColumnName("Height");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("Length")
-                        .HasColumnType("float")
-                        .HasColumnName("Length");
-
-                    b.Property<int>("NavigationType")
-                        .HasColumnType("int")
-                        .HasColumnName("NavigationType");
-
-                    b.Property<double>("RadiusWheel")
-                        .HasColumnType("float")
-                        .HasColumnName("RadiusWheel");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.Property<double>("Width")
-                        .HasColumnType("float")
-                        .HasColumnName("Width");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotPlcConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<string>("PLCAddress")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("PLCAddress");
-
-                    b.Property<int>("PLCPort")
-                        .HasColumnType("int")
-                        .HasColumnName("PLCPort");
-
-                    b.Property<byte>("PLCUnitId")
-                        .HasColumnType("tinyint")
-                        .HasColumnName("PLCUnitId");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotPlcConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotSafetyConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("SafetySpeedFast")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedFast");
-
-                    b.Property<double>("SafetySpeedMedium")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedMedium");
-
-                    b.Property<double>("SafetySpeedNormal")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedNormal");
-
-                    b.Property<double>("SafetySpeedOptimal")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedOptimal");
-
-                    b.Property<double>("SafetySpeedSlow")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedSlow");
-
-                    b.Property<double>("SafetySpeedVeryFast")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedVeryFast");
-
-                    b.Property<double>("SafetySpeedVerySlow")
-                        .HasColumnType("float")
-                        .HasColumnName("SafetySpeedVerySlow");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotSafetyConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotSimulationConfig", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("EnableSimulation")
-                        .HasColumnType("bit")
-                        .HasColumnName("EnableSimulation");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<double>("SimulationAcceleration")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationAcceleration");
-
-                    b.Property<double>("SimulationDeceleration")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationDeceleration");
-
-                    b.Property<double>("SimulationMaxAngularVelocity")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationMaxAngularVelocity");
-
-                    b.Property<double>("SimulationMaxVelocity")
-                        .HasColumnType("float")
-                        .HasColumnName("SimulationMaxVelocity");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotSimulationConfig");
-                });
-
-            modelBuilder.Entity("RobotApp.Data.RobotVDA5050Config", b =>
-                {
-                    b.Property<Guid>("Id")
-                        .ValueGeneratedOnAdd()
-                        .HasColumnType("uniqueidentifier")
-                        .HasColumnName("Id");
-
-                    b.Property<string>("ConfigName")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("ConfigName");
-
-                    b.Property<DateTime>("CreatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("CreatedAt");
-
-                    b.Property<string>("Description")
-                        .HasMaxLength(500)
-                        .HasColumnType("ntext")
-                        .HasColumnName("Description");
-
-                    b.Property<bool>("IsActive")
-                        .HasColumnType("bit")
-                        .HasColumnName("IsActive");
-
-                    b.Property<string>("SerialNumber")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("SerialNumber");
-
-                    b.Property<DateTime>("UpdatedAt")
-                        .HasColumnType("datetime2")
-                        .HasColumnName("UpdatedAt");
-
-                    b.Property<string>("VDA5050CA")
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_CA");
-
-                    b.Property<string>("VDA5050Cer")
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Cer");
-
-                    b.Property<bool>("VDA5050EnablePassword")
-                        .HasColumnType("bit")
-                        .HasColumnName("VDA5050_EnablePassword");
-
-                    b.Property<bool>("VDA5050EnableTls")
-                        .HasColumnType("bit")
-                        .HasColumnName("VDA5050_EnableTls");
-
-                    b.Property<string>("VDA5050HostServer")
-                        .HasMaxLength(100)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_HostServer");
-
-                    b.Property<string>("VDA5050Key")
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Key");
-
-                    b.Property<string>("VDA5050Manufacturer")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Manufacturer");
-
-                    b.Property<string>("VDA5050Password")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Password");
-
-                    b.Property<int>("VDA5050Port")
-                        .HasColumnType("int")
-                        .HasColumnName("VDA5050_Port");
-
-                    b.Property<int>("VDA5050PublishRepeat")
-                        .HasColumnType("int")
-                        .HasColumnName("VDA5050_PublishRepeat");
-
-                    b.Property<string>("VDA5050UserName")
-                        .HasMaxLength(50)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_UserName");
-
-                    b.Property<string>("VDA5050Version")
-                        .HasMaxLength(20)
-                        .HasColumnType("nvarchar(64)")
-                        .HasColumnName("VDA5050_Version");
-
-                    b.HasKey("Id");
-
-                    b.ToTable("RobotVDA5050Config");
-                });
-
-            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/20251031080648_UpdateVDA5050Config1.cs

@@ -1,22 +0,0 @@
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class UpdateVDA5050Config1 : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-
-        }
-    }
-}

RobotApp/Data/Migrations/20251106025457_UpdateVDA5050St.cs

@@ -1,29 +0,0 @@
-using Microsoft.EntityFrameworkCore.Migrations;
-
-#nullable disable
-
-namespace RobotApp.Data.Migrations
-{
-    /// <inheritdoc />
-    public partial class UpdateVDA5050St : Migration
-    {
-        /// <inheritdoc />
-        protected override void Up(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.AddColumn<string>(
-                name: "VDA5050_TopicPrefix",
-                table: "RobotVDA5050Config",
-                type: "nvarchar(64)",
-                maxLength: 64,
-                nullable: true);
-        }
-
-        /// <inheritdoc />
-        protected override void Down(MigrationBuilder migrationBuilder)
-        {
-            migrationBuilder.DropColumn(
-                name: "VDA5050_TopicPrefix",
-                table: "RobotVDA5050Config");
-        }
-    }
-}

RobotApp/Data/Migrations/20251222091852_InitApplicationDb.Designer.cs

@@ -11,8 +11,8 @@ using RobotApp.Data;
 namespace RobotApp.Data.Migrations
 {
     [DbContext(typeof(ApplicationDbContext))]
-    [Migration("20251106025457_UpdateVDA5050St")]
-    partial class UpdateVDA5050St
+    [Migration("20251222091852_InitApplicationDb")]
+    partial class InitApplicationDb
     {
         /// <inheritdoc />
         protected override void BuildTargetModel(ModelBuilder modelBuilder)

RobotApp/Data/Migrations/20251222091852_InitApplicationDb.cs

@@ -0,0 +1,351 @@
+using System;
+using Microsoft.EntityFrameworkCore.Migrations;
+
+#nullable disable
+
+namespace RobotApp.Data.Migrations
+{
+    /// <inheritdoc />
+    public partial class InitApplicationDb : Migration
+    {
+        /// <inheritdoc />
+        protected override void Up(MigrationBuilder migrationBuilder)
+        {
+            migrationBuilder.CreateTable(
+                name: "AspNetRoles",
+                columns: table => new
+                {
+                    Id = table.Column<string>(type: "TEXT", nullable: false),
+                    Name = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    NormalizedName = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    ConcurrencyStamp = table.Column<string>(type: "TEXT", nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetRoles", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetUsers",
+                columns: table => new
+                {
+                    Id = table.Column<string>(type: "TEXT", nullable: false),
+                    UserName = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    NormalizedUserName = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    Email = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    NormalizedEmail = table.Column<string>(type: "TEXT", maxLength: 256, nullable: true),
+                    EmailConfirmed = table.Column<bool>(type: "INTEGER", nullable: false),
+                    PasswordHash = table.Column<string>(type: "TEXT", nullable: true),
+                    SecurityStamp = table.Column<string>(type: "TEXT", nullable: true),
+                    ConcurrencyStamp = table.Column<string>(type: "TEXT", nullable: true),
+                    PhoneNumber = table.Column<string>(type: "TEXT", nullable: true),
+                    PhoneNumberConfirmed = table.Column<bool>(type: "INTEGER", nullable: false),
+                    TwoFactorEnabled = table.Column<bool>(type: "INTEGER", nullable: false),
+                    LockoutEnd = table.Column<DateTimeOffset>(type: "TEXT", nullable: true),
+                    LockoutEnabled = table.Column<bool>(type: "INTEGER", nullable: false),
+                    AccessFailedCount = table.Column<int>(type: "INTEGER", nullable: false)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetUsers", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "RobotConfig",
+                columns: table => new
+                {
+                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
+                    NavigationType = table.Column<int>(type: "int", nullable: false),
+                    RadiusWheel = table.Column<double>(type: "float", nullable: false),
+                    Width = table.Column<double>(type: "float", nullable: false),
+                    Length = table.Column<double>(type: "float", nullable: false),
+                    Height = table.Column<double>(type: "float", nullable: false),
+                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    IsActive = table.Column<bool>(type: "bit", nullable: false),
+                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_RobotConfig", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "RobotPlcConfig",
+                columns: table => new
+                {
+                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
+                    PLCAddress = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
+                    PLCPort = table.Column<int>(type: "int", nullable: false),
+                    PLCUnitId = table.Column<byte>(type: "tinyint", nullable: false),
+                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    IsActive = table.Column<bool>(type: "bit", nullable: false),
+                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_RobotPlcConfig", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "RobotSafetyConfig",
+                columns: table => new
+                {
+                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
+                    SafetySpeedVerySlow = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedSlow = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedNormal = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedMedium = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedOptimal = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedFast = table.Column<double>(type: "float", nullable: false),
+                    SafetySpeedVeryFast = table.Column<double>(type: "float", nullable: false),
+                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    IsActive = table.Column<bool>(type: "bit", nullable: false),
+                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_RobotSafetyConfig", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "RobotSimulationConfig",
+                columns: table => new
+                {
+                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
+                    EnableSimulation = table.Column<bool>(type: "bit", nullable: false),
+                    SimulationMaxVelocity = table.Column<double>(type: "float", nullable: false),
+                    SimulationMaxAngularVelocity = table.Column<double>(type: "float", nullable: false),
+                    SimulationAcceleration = table.Column<double>(type: "float", nullable: false),
+                    SimulationDeceleration = table.Column<double>(type: "float", nullable: false),
+                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    IsActive = table.Column<bool>(type: "bit", nullable: false),
+                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_RobotSimulationConfig", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "RobotVDA5050Config",
+                columns: table => new
+                {
+                    Id = table.Column<Guid>(type: "uniqueidentifier", nullable: false),
+                    SerialNumber = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
+                    VDA5050_HostServer = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    VDA5050_Port = table.Column<int>(type: "int", nullable: false),
+                    VDA5050_UserName = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
+                    VDA5050_Password = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
+                    VDA5050_Manufacturer = table.Column<string>(type: "nvarchar(64)", maxLength: 50, nullable: true),
+                    VDA5050_Version = table.Column<string>(type: "nvarchar(64)", maxLength: 20, nullable: true),
+                    VDA5050_TopicPrefix = table.Column<string>(type: "nvarchar(64)", maxLength: 64, nullable: true),
+                    VDA5050_PublishRepeat = table.Column<int>(type: "int", nullable: false),
+                    VDA5050_EnablePassword = table.Column<bool>(type: "bit", nullable: false),
+                    VDA5050_EnableTls = table.Column<bool>(type: "bit", nullable: false),
+                    VDA5050_CA = table.Column<string>(type: "nvarchar(64)", nullable: true),
+                    VDA5050_Cer = table.Column<string>(type: "nvarchar(64)", nullable: true),
+                    VDA5050_Key = table.Column<string>(type: "nvarchar(64)", nullable: true),
+                    CreatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    UpdatedAt = table.Column<DateTime>(type: "datetime2", nullable: false),
+                    IsActive = table.Column<bool>(type: "bit", nullable: false),
+                    ConfigName = table.Column<string>(type: "nvarchar(64)", maxLength: 100, nullable: true),
+                    Description = table.Column<string>(type: "ntext", maxLength: 500, nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_RobotVDA5050Config", x => x.Id);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetRoleClaims",
+                columns: table => new
+                {
+                    Id = table.Column<int>(type: "INTEGER", nullable: false)
+                        .Annotation("Sqlite:Autoincrement", true),
+                    RoleId = table.Column<string>(type: "TEXT", nullable: false),
+                    ClaimType = table.Column<string>(type: "TEXT", nullable: true),
+                    ClaimValue = table.Column<string>(type: "TEXT", nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetRoleClaims", x => x.Id);
+                    table.ForeignKey(
+                        name: "FK_AspNetRoleClaims_AspNetRoles_RoleId",
+                        column: x => x.RoleId,
+                        principalTable: "AspNetRoles",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetUserClaims",
+                columns: table => new
+                {
+                    Id = table.Column<int>(type: "INTEGER", nullable: false)
+                        .Annotation("Sqlite:Autoincrement", true),
+                    UserId = table.Column<string>(type: "TEXT", nullable: false),
+                    ClaimType = table.Column<string>(type: "TEXT", nullable: true),
+                    ClaimValue = table.Column<string>(type: "TEXT", nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetUserClaims", x => x.Id);
+                    table.ForeignKey(
+                        name: "FK_AspNetUserClaims_AspNetUsers_UserId",
+                        column: x => x.UserId,
+                        principalTable: "AspNetUsers",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetUserLogins",
+                columns: table => new
+                {
+                    LoginProvider = table.Column<string>(type: "TEXT", nullable: false),
+                    ProviderKey = table.Column<string>(type: "TEXT", nullable: false),
+                    ProviderDisplayName = table.Column<string>(type: "TEXT", nullable: true),
+                    UserId = table.Column<string>(type: "TEXT", nullable: false)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetUserLogins", x => new { x.LoginProvider, x.ProviderKey });
+                    table.ForeignKey(
+                        name: "FK_AspNetUserLogins_AspNetUsers_UserId",
+                        column: x => x.UserId,
+                        principalTable: "AspNetUsers",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetUserRoles",
+                columns: table => new
+                {
+                    UserId = table.Column<string>(type: "TEXT", nullable: false),
+                    RoleId = table.Column<string>(type: "TEXT", nullable: false)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetUserRoles", x => new { x.UserId, x.RoleId });
+                    table.ForeignKey(
+                        name: "FK_AspNetUserRoles_AspNetRoles_RoleId",
+                        column: x => x.RoleId,
+                        principalTable: "AspNetRoles",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                    table.ForeignKey(
+                        name: "FK_AspNetUserRoles_AspNetUsers_UserId",
+                        column: x => x.UserId,
+                        principalTable: "AspNetUsers",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                });
+
+            migrationBuilder.CreateTable(
+                name: "AspNetUserTokens",
+                columns: table => new
+                {
+                    UserId = table.Column<string>(type: "TEXT", nullable: false),
+                    LoginProvider = table.Column<string>(type: "TEXT", nullable: false),
+                    Name = table.Column<string>(type: "TEXT", nullable: false),
+                    Value = table.Column<string>(type: "TEXT", nullable: true)
+                },
+                constraints: table =>
+                {
+                    table.PrimaryKey("PK_AspNetUserTokens", x => new { x.UserId, x.LoginProvider, x.Name });
+                    table.ForeignKey(
+                        name: "FK_AspNetUserTokens_AspNetUsers_UserId",
+                        column: x => x.UserId,
+                        principalTable: "AspNetUsers",
+                        principalColumn: "Id",
+                        onDelete: ReferentialAction.Cascade);
+                });
+
+            migrationBuilder.CreateIndex(
+                name: "IX_AspNetRoleClaims_RoleId",
+                table: "AspNetRoleClaims",
+                column: "RoleId");
+
+            migrationBuilder.CreateIndex(
+                name: "RoleNameIndex",
+                table: "AspNetRoles",
+                column: "NormalizedName",
+                unique: true);
+
+            migrationBuilder.CreateIndex(
+                name: "IX_AspNetUserClaims_UserId",
+                table: "AspNetUserClaims",
+                column: "UserId");
+
+            migrationBuilder.CreateIndex(
+                name: "IX_AspNetUserLogins_UserId",
+                table: "AspNetUserLogins",
+                column: "UserId");
+
+            migrationBuilder.CreateIndex(
+                name: "IX_AspNetUserRoles_RoleId",
+                table: "AspNetUserRoles",
+                column: "RoleId");
+
+            migrationBuilder.CreateIndex(
+                name: "EmailIndex",
+                table: "AspNetUsers",
+                column: "NormalizedEmail");
+
+            migrationBuilder.CreateIndex(
+                name: "UserNameIndex",
+                table: "AspNetUsers",
+                column: "NormalizedUserName",
+                unique: true);
+        }
+
+        /// <inheritdoc />
+        protected override void Down(MigrationBuilder migrationBuilder)
+        {
+            migrationBuilder.DropTable(
+                name: "AspNetRoleClaims");
+
+            migrationBuilder.DropTable(
+                name: "AspNetUserClaims");
+
+            migrationBuilder.DropTable(
+                name: "AspNetUserLogins");
+
+            migrationBuilder.DropTable(
+                name: "AspNetUserRoles");
+
+            migrationBuilder.DropTable(
+                name: "AspNetUserTokens");
+
+            migrationBuilder.DropTable(
+                name: "RobotConfig");
+
+            migrationBuilder.DropTable(
+                name: "RobotPlcConfig");
+
+            migrationBuilder.DropTable(
+                name: "RobotSafetyConfig");
+
+            migrationBuilder.DropTable(
+                name: "RobotSimulationConfig");
+
+            migrationBuilder.DropTable(
+                name: "RobotVDA5050Config");
+
+            migrationBuilder.DropTable(
+                name: "AspNetRoles");
+
+            migrationBuilder.DropTable(
+                name: "AspNetUsers");
+        }
+    }
+}

RobotApp/Data/Migrations/ApplicationDbContextModelSnapshot.cs

@@ -7,7 +7,7 @@ using RobotApp.Data;
 
 #nullable disable
 
-namespace RobotApp.Migrations
+namespace RobotApp.Data.Migrations
 {
     [DbContext(typeof(ApplicationDbContext))]
     partial class ApplicationDbContextModelSnapshot : ModelSnapshot

RobotApp/Hubs/RobotHub.cs

@@ -0,0 +1,28 @@
+using Microsoft.AspNetCore.SignalR;
+using RobotApp.Common.Shares;
+using RobotApp.VDA5050.State;
+using System.Text.Json;
+
+namespace RobotApp.Hubs
+{
+    public class RobotHub : Hub
+    {
+        // Client gọi để theo dõi robot cụ thể
+        public async Task JoinRobot(string serialNumber)
+        {
+            await Groups.AddToGroupAsync(Context.ConnectionId, serialNumber);
+        }
+
+        public async Task LeaveRobot(string serialNumber)
+        {
+            await Groups.RemoveFromGroupAsync(Context.ConnectionId, serialNumber);
+        }
+
+        // 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", state);
+        }
+    }
+}

RobotApp/Hubs/RobotMonitorHub.cs

@@ -10,3 +10,11 @@ public class RobotMonitorHub : Hub
     }
 }
 
+
+
+
+
+
+
+
+

RobotApp/Program.cs

@@ -4,11 +4,13 @@ using Microsoft.EntityFrameworkCore;
 using MudBlazor.Services;
 using NLog.Web;
 using RobotApp.Client;
+using RobotApp.Client.Services;
 using RobotApp.Components;
 using RobotApp.Components.Account;
 using RobotApp.Data;
 using RobotApp.Hubs;
 using RobotApp.Services;
+using RobotApp.Services.Robot;
 using RobotApp.Services.Robot.Simulation;
 
 var builder = WebApplication.CreateBuilder(args);
@@ -58,8 +60,11 @@ builder.Services.AddRobotSimulation();
 builder.Services.AddRobot();
 
 // Add RobotMonitorService
-builder.Services.AddSingleton<RobotMonitorService>();
-builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotMonitorService>());
+builder.Services.AddSingleton<RobotApp.Services.RobotMonitorService>();
+builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotApp.Services.RobotMonitorService>());
+
+//builder.Services.AddScoped<RobotStateClient>();
+builder.Services.AddHostedService<RobotStatePublisher>();
 
 var app = builder.Build();
 await app.Services.SeedApplicationDbAsync();
@@ -91,7 +96,7 @@ app.MapControllers();
 
 // Map SignalR Hub
 app.MapHub<RobotMonitorHub>("/hubs/robotMonitor");
-
+app.MapHub<RobotHub>("/hubs/robot");
 app.MapRazorComponents<App>()
     .AddInteractiveServerRenderMode()
     .AddInteractiveWebAssemblyRenderMode()

RobotApp/Properties/launchSettings.json

@@ -6,22 +6,22 @@
         "dotnetRunMessages": true,
         "launchBrowser": true,
         "workingDirectory": "$(TargetDir)",
-        "inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}",
+        //"inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}",
         "applicationUrl": "http://localhost:5229",
         "environmentVariables": {
           "ASPNETCORE_ENVIRONMENT": "Development"
         }
-      },
-      "https": {
-        "commandName": "Project",
-        "dotnetRunMessages": true,
-        "launchBrowser": true,
-        "workingDirectory": "$(TargetDir)",
-        "inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}",
-        "applicationUrl": "https://0.0.0.0:7150;http://localhost:5229",
-        "environmentVariables": {
-          "ASPNETCORE_ENVIRONMENT": "Development"
-        }
       }
+      //"https": {
+      //  "commandName": "Project",
+      //  "dotnetRunMessages": true,
+      //  "launchBrowser": true,
+      //  "workingDirectory": "$(TargetDir)",
+      //  //"inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}",
+      //  "applicationUrl": "https://0.0.0.0:7150;http://localhost:5229",
+      //  "environmentVariables": {
+      //    "ASPNETCORE_ENVIRONMENT": "Development"
+      //  }
+      //}
     }
   }

RobotApp/RobotApp.csproj

@@ -39,6 +39,7 @@
 	</ItemGroup>
 
 	<ItemGroup>
+		<Folder Include="Data\Migrations\" />
 		<Folder Include="Tests\" />
 	</ItemGroup>
 	

RobotApp/Services/HighPrecisionTimer.cs

@@ -116,7 +116,7 @@ public class HighPrecisionTimer<T>(int Interval, Action Callback, Logger<T>? Log
                 Thread.Start();
             }
         }
-        else throw new ObjectDisposedException(nameof(WatchTimer<T>));
+        else throw new ObjectDisposedException(nameof(HighPrecisionTimer<T>));
     }
 
     public void Stop()

RobotApp/Services/MQTTClient.cs

@@ -24,8 +24,8 @@ public class MQTTClient : IAsyncDisposable
     public event Action<string>? InstanceActionsChanged;
     public bool IsConnected => !IsDisposed && MqttClient is not null && MqttClient.IsConnected;
 
-    private string OrderTopic => $"{VDA5050Setting.TopicPrefix}/{ClientId}/{VDA5050Topic.ORDER.ToTopicString()}";
-    private string InstanceActionsTopic => $"{VDA5050Setting.TopicPrefix}/{ClientId}/{VDA5050Topic.INSTANTACTIONS.ToTopicString()}";
+    private string OrderTopic => $"{VDA5050Setting.TopicPrefix}/{VDA5050Setting.Manufacturer}/{ClientId}/{VDA5050Topic.ORDER.ToTopicString()}";
+    private string InstanceActionsTopic => $"{VDA5050Setting.TopicPrefix}/{VDA5050Setting.Manufacturer}/{ClientId}/{VDA5050Topic.INSTANTACTIONS.ToTopicString()}";
 
     public MQTTClient(string clientId, VDA5050Setting setting, Logger<MQTTClient> logger)
     {
@@ -147,11 +147,11 @@ public class MQTTClient : IAsyncDisposable
 
             MqttClient = MqttClientFactory.CreateMqttClient();
 
-            //MqttClient.ApplicationMessageReceivedAsync -= OnMessageReceived;
+            MqttClient.ApplicationMessageReceivedAsync -= OnMessageReceived;
             MqttClient.ApplicationMessageReceivedAsync += OnMessageReceived;
-            //MqttClient.DisconnectedAsync -= OnDisconnected;
+            MqttClient.DisconnectedAsync -= OnDisconnected;
             MqttClient.DisconnectedAsync += OnDisconnected;
-            while (!cancellationToken.IsCancellationRequested)
+            while (!cancellationToken.IsCancellationRequested && !IsDisposed)
             {
                 try
                 {
@@ -168,7 +168,11 @@ public class MQTTClient : IAsyncDisposable
                 {
                     Logger.Error($"Lỗi khi tạo MQTT client: {ex.Message}");
                 }
-                await Task.Delay(3000, cancellationToken);
+                try
+                {
+                    await Task.Delay(3000, cancellationToken);
+                }
+                catch { }
             }
         }
         else throw new ObjectDisposedException(nameof(MQTTClient));
@@ -195,17 +199,6 @@ public class MQTTClient : IAsyncDisposable
                         arg.Chain.ChainPolicy.VerificationFlags = X509VerificationFlags.AllowUnknownCertificateAuthority;
 
                         var isValid = arg.Chain.Build((X509Certificate2)arg.Certificate);
-
-                        if (isValid)
-                        {
-                            Console.WriteLine("Broker CERTIFICATE VALID");
-                        }
-                        else
-                        {
-                            Console.WriteLine("Broker CERTIFICATE INVALID");
-                            foreach (var status in arg.Chain.ChainStatus)
-                                Console.WriteLine($"   -> Chain error: {status.Status} - {status.StatusInformation}");
-                        }
                         return isValid;
                     }
                 }
@@ -230,10 +223,10 @@ public class MQTTClient : IAsyncDisposable
             var tlsOptions = new MqttClientTlsOptionsBuilder()
                             .UseTls(true)
                             .WithSslProtocols(System.Security.Authentication.SslProtocols.Tls12 | System.Security.Authentication.SslProtocols.Tls13)
-                            //.WithCertificateValidationHandler(ValidateCertificates)
+                            .WithCertificateValidationHandler(ValidateCertificates)
                             .WithClientCertificatesProvider(new MQTTClientCertificatesProvider(VDA5050Setting.CerFile, VDA5050Setting.KeyFile))
                             .Build();
-            builder =  builder.WithTlsOptions(tlsOptions);
+            builder = builder.WithTlsOptions(tlsOptions);
         }
         MqttClientOptions = builder.Build();
     }
@@ -262,42 +255,42 @@ public class MQTTClient : IAsyncDisposable
     {
         //if (!IsDisposed)
         //{
-            if (MqttClient is null) throw new Exception("Kết nối tới broker chưa được khởi tạo nhưng đã yêu cầu subscribe");
-            if (!MqttClient.IsConnected) throw new Exception("Kết nối tới broker chưa thành công nhưng đã yêu cầu subscribe");
+        if (MqttClient is null) throw new Exception("Kết nối tới broker chưa được khởi tạo nhưng đã yêu cầu subscribe");
+        if (!MqttClient.IsConnected) throw new Exception("Kết nối tới broker chưa thành công nhưng đã yêu cầu subscribe");
 
 
-            while (!cancellationToken.IsCancellationRequested)
+        while (!cancellationToken.IsCancellationRequested)
+        {
+            try
             {
-                try
+                var response = await MqttClient.SubscribeAsync(MqttClientSubscribeOptions, cancellationToken);
+                bool isSuccess = true;
+                foreach (var item in response.Items)
                 {
-                    var response = await MqttClient.SubscribeAsync(MqttClientSubscribeOptions, cancellationToken);
-                    bool isSuccess = true;
-                    foreach (var item in response.Items)
+                    if (item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS0 ||
+                        item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS1 ||
+                        item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS2)
                     {
-                        if (item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS0 ||
-                            item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS1 ||
-                            item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS2)
-                        {
-                            Logger.Info($"Subscribe thành công cho topic: {item.TopicFilter.Topic} với QoS: {item.ResultCode}");
-                        }
-                        else
-                        {
-                            Logger.Warning($"Subscribe thất bại cho topic: {item.TopicFilter.Topic}. Lý do: {response.ReasonString}");
-                            isSuccess = false;
-                            break;
-                        }
+                        Logger.Info($"Subscribe thành công cho topic: {item.TopicFilter.Topic} với QoS: {item.ResultCode}");
+                    }
+                    else
+                    {
+                        Logger.Warning($"Subscribe thất bại cho topic: {item.TopicFilter.Topic}. Lý do: {response.ReasonString}");
+                        isSuccess = false;
+                        break;
                     }
-                    if (isSuccess) break;
-                }
-                catch (Exception ex)
-                {
-                    Logger.Error($"Lỗi khi subscribe: {ex.Message}");
-                }
-                if (!cancellationToken.IsCancellationRequested && !IsDisposed)
-                {
-                    await Task.Delay(3000, cancellationToken);
                 }
+                if (isSuccess) break;
             }
+            catch (Exception ex)
+            {
+                Logger.Error($"Lỗi khi subscribe: {ex.Message}");
+            }
+            if (!cancellationToken.IsCancellationRequested && !IsDisposed)
+            {
+                await Task.Delay(3000, cancellationToken);
+            }
+        }
         //}
         //else throw new ObjectDisposedException(nameof(MQTTClient));
     }

RobotApp/Services/MQTTClientCertificatesProvider.cs

@@ -27,7 +27,6 @@ public class MQTTClientCertificatesProvider(string? CerFile, string? KeyFile) :
                         var cert = X509Certificate2.CreateFromPem(File.ReadAllText(certLocal), File.ReadAllText(keyLocal));
                         var pfxBytes = cert.Export(X509ContentType.Pfx);
                         var pfxCert = X509CertificateLoader.LoadPkcs12(pfxBytes, "", X509KeyStorageFlags.Exportable | X509KeyStorageFlags.PersistKeySet);
-                        Console.WriteLine($"Client cert loaded: {pfxCert.Subject}, HasPrivateKey: {pfxCert.HasPrivateKey}, PrivateKey Type: {pfxCert.GetRSAPrivateKey()?.GetType()}");
                         return [pfxCert];
                     }
                 }

RobotApp/Services/Robot/Actions/RobotAction.cs

@@ -96,7 +96,6 @@ public abstract class RobotAction(IServiceProvider serviceProvider) : IDisposabl
 
     protected virtual Task StopAction()
     {
-        Console.WriteLine($"StopAction {Type}");
         Status = ActionStatus.FAILED;
         ResultDescription = "Action bị hủy bỏ.";
         return Task.CompletedTask;

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/RobotConfiguration.cs

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

RobotApp/Services/Robot/RobotConnection.cs

@@ -3,6 +3,7 @@ using RobotApp.VDA5050;
 using RobotApp.VDA5050.InstantAction;
 using RobotApp.VDA5050.Order;
 using System.Text.Json;
+using System.Threading;
 
 namespace RobotApp.Services.Robot;
 
@@ -10,26 +11,31 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
                              Logger<RobotConnection> Logger,
                              Logger<MQTTClient> MQTTClientLogger)
 {
-    private readonly VDA5050Setting VDA5050Setting = RobotConfiguration.VDA5050Setting;
     private MQTTClient? MqttClient;
 
     public bool IsConnected => MqttClient is not null && MqttClient.IsConnected;
     public event Action<OrderMsg>? OrderUpdated;
     public event Action<InstantActionsMsg>? ActionUpdated;
+    private readonly SemaphoreSlim _connectionSemaphore = new(1, 1);
+    private CancellationTokenSource? _connectionCancel;
 
 
     private void OrderChanged(string data)
     {
         try
         {
-            Logger.Debug($"Nhận Order: {data}");
+            //Logger.Debug($"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}");
         }
     }
 
@@ -37,30 +43,54 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
     {
         try
         {
-            Logger.Debug($"Nhận InstanceActions: {data}");
+            //Logger.Debug($"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}");
         }
     }
 
     public async Task<MessageResult> Publish(string topic, string data)
     {
-        if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync($"{VDA5050Setting.TopicPrefix}/{RobotConfiguration.SerialNumber}/{topic}", data);
+        if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync($"{RobotConfiguration.VDA5050Setting.TopicPrefix}/{RobotConfiguration.VDA5050Setting.Manufacturer}/{RobotConfiguration.SerialNumber}/{topic}", data);
         return new(false, "Chưa có kết nối tới broker");
     }
-
-    public async Task StartConnection(CancellationToken cancellationToken)
+    public void StartConnection()
     {
-        MqttClient = new MQTTClient(RobotConfiguration.SerialNumber, VDA5050Setting, MQTTClientLogger);
-        MqttClient.OrderChanged += OrderChanged;
-        MqttClient.InstanceActionsChanged += InstanceActionsChanged;
-        await MqttClient.ConnectAsync(cancellationToken);
-        await MqttClient.SubscribeAsync(cancellationToken);
+        Task.Run(async () =>
+        {
+            await StartConnectionAsync(CancellationToken.None);
+            if(IsConnected)Logger.Info("Robot đã kết nối tới Fleet Manager.");
+        });
+    }
+    public async Task StartConnectionAsync(CancellationToken cancellationToken)
+    {
+        try
+        {
+            await StopConnection();
+            _connectionCancel?.Cancel();
+            if (_connectionSemaphore.Wait(1000, cancellationToken))
+            {
+                _connectionCancel = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
+                MqttClient = new MQTTClient(RobotConfiguration.SerialNumber, RobotConfiguration.VDA5050Setting, MQTTClientLogger);
+                MqttClient.OrderChanged += OrderChanged;
+                MqttClient.InstanceActionsChanged += InstanceActionsChanged;
+                await MqttClient.ConnectAsync(_connectionCancel.Token);
+                if(MqttClient is not null) await MqttClient.SubscribeAsync(_connectionCancel.Token);
+            }
+        }
+        finally
+        {
+            _connectionSemaphore.Release();
+        }
     }
 
     public async Task StopConnection()

RobotApp/Services/Robot/RobotControllerInitialize.cs

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

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

@@ -1,5 +1,4 @@
-using MudBlazor;
-using RobotApp.Common.Shares.Dtos;
+using RobotApp.Common.Shares.Dtos;
 using RobotApp.Common.Shares.Enums;
 using RobotApp.Interfaces;
 using RobotApp.Services.Exceptions;
@@ -30,7 +29,7 @@ public class RobotOrderController(INavigation NavigationManager,
     public int LastNodeSequenceId => LastNode is null ? 0 : LastNode.SequenceId;
     public (NodeState[], EdgeStateDto[]) CurrentPath => GetCurrentPath();
 
-    private const int CycleHandlerMilliseconds = 100;
+    private const int CycleHandlerMilliseconds = 200;
     private WatchTimer<RobotOrderController>? OrderTimer;
 
     private readonly Dictionary<string, Action[]> OrderActions = [];
@@ -247,11 +246,6 @@ public class RobotOrderController(INavigation NavigationManager,
         UpdateState();
     }
 
-    private bool IsNewPath()
-    {
-        return true;
-    }
-
     private void ClearLastNode()
     {
         if (LastNode is null) return;
@@ -292,6 +286,7 @@ public class RobotOrderController(INavigation NavigationManager,
 
     private void HandleOrder()
     {
+        if (Nodes.Length <= 0) return;
         if (IsCancelOrder)
         {
             NavigationManager.CancelMovement();
@@ -309,9 +304,13 @@ 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 +397,18 @@ 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 +420,7 @@ 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}");
         }
@@ -421,7 +433,7 @@ public class RobotOrderController(INavigation NavigationManager,
     private EdgeStateDto[] SplitChecking(Node lastNode, Node nearLastNode, VDA5050.Order.Edge edge)
     {
         List<EdgeStateDto> pathEdges = [];
-        var splitStartPath = RobotPathPlanner.PathSplit([lastNode, nearLastNode], [edge], 0.1);
+        var splitStartPath = RobotPathPlanner.PathSplit([lastNode, nearLastNode], [edge], 0.5);
         if (splitStartPath is not null && splitStartPath.Length > 0)
         {
             int index = 0;
@@ -436,17 +448,31 @@ public class RobotOrderController(INavigation NavigationManager,
                     index = i;
                 }
             }
-            for (int i = index; i < splitStartPath.Length - 1; i++)
+            if (edge.Trajectory is null || edge.Trajectory.Degree == 1)
             {
                 pathEdges.Add(new()
                 {
-                    StartX = splitStartPath[i].NodePosition.X,
-                    StartY = splitStartPath[i].NodePosition.Y,
-                    EndX = splitStartPath[i + 1].NodePosition.X,
-                    EndY = splitStartPath[i + 1].NodePosition.Y,
+                    StartX = splitStartPath[index].NodePosition.X,
+                    StartY = splitStartPath[index].NodePosition.Y,
+                    EndX = nearLastNode.NodePosition.X,
+                    EndY = nearLastNode.NodePosition.Y,
                     Degree = 1,
                 });
             }
+            else
+            {
+                for (int i = index; i < splitStartPath.Length - 1; i++)
+                {
+                    pathEdges.Add(new()
+                    {
+                        StartX = splitStartPath[i].NodePosition.X,
+                        StartY = splitStartPath[i].NodePosition.Y,
+                        EndX = splitStartPath[i + 1].NodePosition.X,
+                        EndY = splitStartPath[i + 1].NodePosition.Y,
+                        Degree = 1,
+                    });
+                }
+            }
         }
         return [.. pathEdges];
     }
@@ -465,17 +491,23 @@ 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

@@ -0,0 +1,35 @@
+using Microsoft.AspNetCore.SignalR;
+using RobotApp.Hubs;
+
+namespace RobotApp.Services.Robot;
+
+public class RobotStatePublisher(
+    IHubContext<RobotHub> _hubContext,
+    RobotStates _robotState,
+    RobotConnection _robotConnection) : BackgroundService
+{
+    private readonly PeriodicTimer _timer = new(TimeSpan.FromMilliseconds(1000)); // 1 giây/lần
+
+    protected override async Task ExecuteAsync(CancellationToken stoppingToken)
+    {
+        while (await _timer.WaitForNextTickAsync(stoppingToken))
+        {
+            try
+            {
+                // ===== SEND STATE =====
+                await _hubContext.Clients.All.SendAsync("ReceiveState", _robotState.GetStateMsg(), stoppingToken);
+                await _hubContext.Clients.All.SendAsync("ReceiveRobotConnection", _robotConnection.IsConnected, stoppingToken);
+            }
+            catch
+            {
+            }
+        }
+    }
+
+    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;
@@ -158,14 +158,12 @@ public class SimulationNavigation : INavigation, IDisposable
 
     public void Pause()
     {
-        Console.WriteLine($"Nav Pause");
         ResumeState = State;
         NavState = NavigationState.Paused;
     }
 
     public void Resume()
     {
-        Console.WriteLine($"Nav Resume");
         NavState = ResumeState;
     }
 

RobotApp/Services/WatchTimerAsync.cs

@@ -68,7 +68,7 @@ public class WatchTimerAsync<T>(int Interval, Func<Task> Callback, Logger<T>? Lo
                 Timer.Change(Interval, Timeout.Infinite);
             }
         }
-        else throw new ObjectDisposedException(nameof(WatchTimer<T>));
+        else throw new ObjectDisposedException(nameof(WatchTimerAsync<T>));
     }
 
     public void Stop()

docker-compose.yaml

@@ -0,0 +1,35 @@
+version: '3.8'
+
+services:
+  robotapp:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    container_name: robotapp
+    restart: unless-stopped
+    ports:
+      - "8080:8080"
+    environment:
+      - ASPNETCORE_ENVIRONMENT=Production
+      - ASPNETCORE_URLS=http://+:8080
+      - ConnectionStrings__DefaultConnection=Data Source=/app/data/robot.db
+    volumes:
+      # Persist database
+      - ./data:/app/data
+      # Persist maps
+      - ./maps:/app/maps
+      # Persist logs (if needed)
+      - ./logs:/app/logs
+    networks:
+      - robotapp-network
+    healthcheck:
+      test: ["CMD-SHELL", "wget --no-verbose --tries=1 --spider http://localhost:8080 || exit 1"]
+      interval: 30s
+      timeout: 10s
+      retries: 3
+      start_period: 40s
+
+networks:
+  robotapp-network:
+    driver: bridge
+