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"]
+

RobotApp.Client/ClientRenderMode.cs

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

RobotApp.Client/Layout/MainLayout.razor

@@ -1,23 +0,0 @@
-@inherits LayoutComponentBase
-
-<div class="page">
-    <div class="sidebar">
-        <NavMenu />
-    </div>
-
-    <main>
-        <div class="top-row px-4">
-            <a href="https://learn.microsoft.com/aspnet/core/" target="_blank">About</a>
-        </div>
-
-        <article class="content px-4">
-            @Body
-        </article>
-    </main>
-</div>
-
-<div id="blazor-error-ui" data-nosnippet>
-    An unhandled error has occurred.
-    <a href="." class="reload">Reload</a>
-    <span class="dismiss">🗙</span>
-</div>

RobotApp.Client/Layout/MainLayout.razor.css

@@ -1,98 +0,0 @@
-.page {
-    position: relative;
-    display: flex;
-    flex-direction: column;
-}
-
-main {
-    flex: 1;
-}
-
-.sidebar {
-    background-image: linear-gradient(180deg, rgb(5, 39, 103) 0%, #3a0647 70%);
-}
-
-.top-row {
-    background-color: #f7f7f7;
-    border-bottom: 1px solid #d6d5d5;
-    justify-content: flex-end;
-    height: 3.5rem;
-    display: flex;
-    align-items: center;
-}
-
-    .top-row ::deep a, .top-row ::deep .btn-link {
-        white-space: nowrap;
-        margin-left: 1.5rem;
-        text-decoration: none;
-    }
-
-    .top-row ::deep a:hover, .top-row ::deep .btn-link:hover {
-        text-decoration: underline;
-    }
-
-    .top-row ::deep a:first-child {
-        overflow: hidden;
-        text-overflow: ellipsis;
-    }
-
-@media (max-width: 640.98px) {
-    .top-row {
-        justify-content: space-between;
-    }
-
-    .top-row ::deep a, .top-row ::deep .btn-link {
-        margin-left: 0;
-    }
-}
-
-@media (min-width: 641px) {
-    .page {
-        flex-direction: row;
-    }
-
-    .sidebar {
-        width: 250px;
-        height: 100vh;
-        position: sticky;
-        top: 0;
-    }
-
-    .top-row {
-        position: sticky;
-        top: 0;
-        z-index: 1;
-    }
-
-    .top-row.auth ::deep a:first-child {
-        flex: 1;
-        text-align: right;
-        width: 0;
-    }
-
-    .top-row, article {
-        padding-left: 2rem !important;
-        padding-right: 1.5rem !important;
-    }
-}
-
-#blazor-error-ui {
-    color-scheme: light only;
-    background: lightyellow;
-    bottom: 0;
-    box-shadow: 0 -1px 2px rgba(0, 0, 0, 0.2);
-    box-sizing: border-box;
-    display: none;
-    left: 0;
-    padding: 0.6rem 1.25rem 0.7rem 1.25rem;
-    position: fixed;
-    width: 100%;
-    z-index: 1000;
-}
-
-    #blazor-error-ui .dismiss {
-        cursor: pointer;
-        position: absolute;
-        right: 0.75rem;
-        top: 0.5rem;
-    }

RobotApp.Client/Layout/NavMenu.razor

@@ -1,92 +0,0 @@
-@implements IDisposable
-
-@inject NavigationManager NavigationManager
-
-<div class="top-row ps-3 navbar navbar-dark">
-    <div class="container-fluid">
-        <a class="navbar-brand" href="">RobotApp</a>
-    </div>
-</div>
-
-<input type="checkbox" title="Navigation menu" class="navbar-toggler" />
-
-<div class="nav-scrollable" onclick="document.querySelector('.navbar-toggler').click()">
-    <nav class="nav flex-column">
-        <div class="nav-item px-3">
-            <NavLink class="nav-link" href="" Match="NavLinkMatch.All">
-                <span class="bi bi-house-door-fill-nav-menu" aria-hidden="true"></span> Home
-            </NavLink>
-        </div>
-
-        <div class="nav-item px-3">
-            <NavLink class="nav-link" href="counter">
-                <span class="bi bi-plus-square-fill-nav-menu" aria-hidden="true"></span> Counter
-            </NavLink>
-        </div>
-
-        <div class="nav-item px-3">
-            <NavLink class="nav-link" href="weather">
-                <span class="bi bi-list-nested-nav-menu" aria-hidden="true"></span> Weather
-            </NavLink>
-        </div>
-
-        <div class="nav-item px-3">
-            <NavLink class="nav-link" href="auth">
-                <span class="bi bi-lock-nav-menu" aria-hidden="true"></span> Auth Required
-            </NavLink>
-        </div>
-
-        <AuthorizeView>
-            <Authorized>
-                <div class="nav-item px-3">
-                    <NavLink class="nav-link" href="Account/Manage">
-                        <span class="bi bi-person-fill-nav-menu" aria-hidden="true"></span> @context.User.Identity?.Name
-                    </NavLink>
-                </div>
-                <div class="nav-item px-3">
-                    <form action="Account/Logout" method="post">
-                        <AntiforgeryToken />
-                        <input type="hidden" name="ReturnUrl" value="@currentUrl" />
-                        <button type="submit" class="nav-link">
-                            <span class="bi bi-arrow-bar-left-nav-menu" aria-hidden="true"></span> Logout
-                        </button>
-                    </form>
-                </div>
-            </Authorized>
-            <NotAuthorized>
-                <div class="nav-item px-3">
-                    <NavLink class="nav-link" href="Account/Register">
-                        <span class="bi bi-person-nav-menu" aria-hidden="true"></span> Register
-                    </NavLink>
-                </div>
-                <div class="nav-item px-3">
-                    <NavLink class="nav-link" href="Account/Login">
-                        <span class="bi bi-person-badge-nav-menu" aria-hidden="true"></span> Login
-                    </NavLink>
-                </div>
-            </NotAuthorized>
-        </AuthorizeView>
-    </nav>
-</div>
-
-@code {
-    private string? currentUrl;
-
-    protected override void OnInitialized()
-    {
-        currentUrl = NavigationManager.ToBaseRelativePath(NavigationManager.Uri);
-        NavigationManager.LocationChanged += OnLocationChanged;
-    }
-
-    private void OnLocationChanged(object? sender, LocationChangedEventArgs e)
-    {
-        currentUrl = NavigationManager.ToBaseRelativePath(e.Location);
-        StateHasChanged();
-    }
-
-    public void Dispose()
-    {
-        NavigationManager.LocationChanged -= OnLocationChanged;
-    }
-}
-

RobotApp.Client/Layout/NavMenu.razor.css

@@ -1,125 +0,0 @@
-.navbar-toggler {
-    appearance: none;
-    cursor: pointer;
-    width: 3.5rem;
-    height: 2.5rem;
-    color: white;
-    position: absolute;
-    top: 0.5rem;
-    right: 1rem;
-    border: 1px solid rgba(255, 255, 255, 0.1);
-    background: url("data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 30 30'%3e%3cpath stroke='rgba%28255, 255, 255, 0.55%29' stroke-linecap='round' stroke-miterlimit='10' stroke-width='2' d='M4 7h22M4 15h22M4 23h22'/%3e%3c/svg%3e") no-repeat center/1.75rem rgba(255, 255, 255, 0.1);
-}
-
-.navbar-toggler:checked {
-    background-color: rgba(255, 255, 255, 0.5);
-}
-
-.top-row {
-    min-height: 3.5rem;
-    background-color: rgba(0,0,0,0.4);
-}
-
-.navbar-brand {
-    font-size: 1.1rem;
-}
-
-.bi {
-    display: inline-block;
-    position: relative;
-    width: 1.25rem;
-    height: 1.25rem;
-    margin-right: 0.75rem;
-    top: -1px;
-    background-size: cover;
-}
-
-.bi-house-door-fill-nav-menu {
-    background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-house-door-fill' viewBox='0 0 16 16'%3E%3Cpath d='M6.5 14.5v-3.505c0-.245.25-.495.5-.495h2c.25 0 .5.25.5.5v3.5a.5.5 0 0 0 .5.5h4a.5.5 0 0 0 .5-.5v-7a.5.5 0 0 0-.146-.354L13 5.793V2.5a.5.5 0 0 0-.5-.5h-1a.5.5 0 0 0-.5.5v1.293L8.354 1.146a.5.5 0 0 0-.708 0l-6 6A.5.5 0 0 0 1.5 7.5v7a.5.5 0 0 0 .5.5h4a.5.5 0 0 0 .5-.5Z'/%3E%3C/svg%3E");
-}
-
-.bi-plus-square-fill-nav-menu {
-    background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-plus-square-fill' viewBox='0 0 16 16'%3E%3Cpath d='M2 0a2 2 0 0 0-2 2v12a2 2 0 0 0 2 2h12a2 2 0 0 0 2-2V2a2 2 0 0 0-2-2H2zm6.5 4.5v3h3a.5.5 0 0 1 0 1h-3v3a.5.5 0 0 1-1 0v-3h-3a.5.5 0 0 1 0-1h3v-3a.5.5 0 0 1 1 0z'/%3E%3C/svg%3E");
-}
-
-.bi-list-nested-nav-menu {
-    background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-list-nested' viewBox='0 0 16 16'%3E%3Cpath fill-rule='evenodd' d='M4.5 11.5A.5.5 0 0 1 5 11h10a.5.5 0 0 1 0 1H5a.5.5 0 0 1-.5-.5zm-2-4A.5.5 0 0 1 3 7h10a.5.5 0 0 1 0 1H3a.5.5 0 0 1-.5-.5zm-2-4A.5.5 0 0 1 1 3h10a.5.5 0 0 1 0 1H1a.5.5 0 0 1-.5-.5z'/%3E%3C/svg%3E");
-}
-
-.bi-lock-nav-menu {
-    background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-list-nested' viewBox='0 0 16 16'%3E%3Cpath d='M8 1a2 2 0 0 1 2 2v4H6V3a2 2 0 0 1 2-2zm3 6V3a3 3 0 0 0-6 0v4a2 2 0 0 0-2 2v5a2 2 0 0 0 2 2h6a2 2 0 0 0 2-2V9a2 2 0 0 0-2-2zM5 8h6a1 1 0 0 1 1 1v5a1 1 0 0 1-1 1H5a1 1 0 0 1-1-1V9a1 1 0 0 1 1-1z'/%3E%3C/svg%3E");
-}
-
-.bi-person-nav-menu {
-    background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person' viewBox='0 0 16 16'%3E%3Cpath d='M8 8a3 3 0 1 0 0-6 3 3 0 0 0 0 6Zm2-3a2 2 0 1 1-4 0 2 2 0 0 1 4 0Zm4 8c0 1-1 1-1 1H3s-1 0-1-1 1-4 6-4 6 3 6 4Zm-1-.004c-.001-.246-.154-.986-.832-1.664C11.516 10.68 10.289 10 8 10c-2.29 0-3.516.68-4.168 1.332-.678.678-.83 1.418-.832 1.664h10Z'/%3E%3C/svg%3E");
-}
-
-.bi-person-badge-nav-menu {
-    background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person-badge' viewBox='0 0 16 16'%3E%3Cpath d='M6.5 2a.5.5 0 0 0 0 1h3a.5.5 0 0 0 0-1h-3zM11 8a3 3 0 1 1-6 0 3 3 0 0 1 6 0z'/%3E%3Cpath d='M4.5 0A2.5 2.5 0 0 0 2 2.5V14a2 2 0 0 0 2 2h8a2 2 0 0 0 2-2V2.5A2.5 2.5 0 0 0 11.5 0h-7zM3 2.5A1.5 1.5 0 0 1 4.5 1h7A1.5 1.5 0 0 1 13 2.5v10.795a4.2 4.2 0 0 0-.776-.492C11.392 12.387 10.063 12 8 12s-3.392.387-4.224.803a4.2 4.2 0 0 0-.776.492V2.5z'/%3E%3C/svg%3E");
-}
-
-.bi-person-fill-nav-menu {
-    background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person-fill' viewBox='0 0 16 16'%3E%3Cpath d='M3 14s-1 0-1-1 1-4 6-4 6 3 6 4-1 1-1 1H3Zm5-6a3 3 0 1 0 0-6 3 3 0 0 0 0 6Z'/%3E%3C/svg%3E");
-}
-
-.bi-arrow-bar-left-nav-menu {
-    background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-arrow-bar-left' viewBox='0 0 16 16'%3E%3Cpath d='M12.5 15a.5.5 0 0 1-.5-.5v-13a.5.5 0 0 1 1 0v13a.5.5 0 0 1-.5.5ZM10 8a.5.5 0 0 1-.5.5H3.707l2.147 2.146a.5.5 0 0 1-.708.708l-3-3a.5.5 0 0 1 0-.708l3-3a.5.5 0 1 1 .708.708L3.707 7.5H9.5a.5.5 0 0 1 .5.5Z'/%3E%3C/svg%3E");
-}
-
-.nav-item {
-    font-size: 0.9rem;
-    padding-bottom: 0.5rem;
-}
-
-    .nav-item:first-of-type {
-        padding-top: 1rem;
-    }
-
-    .nav-item:last-of-type {
-        padding-bottom: 1rem;
-    }
-
-    .nav-item ::deep .nav-link {
-        color: #d7d7d7;
-        background: none;
-        border: none;
-        border-radius: 4px;
-        height: 3rem;
-        display: flex;
-        align-items: center;
-        line-height: 3rem;
-        width: 100%;
-    }
-
-.nav-item ::deep a.active {
-    background-color: rgba(255,255,255,0.37);
-    color: white;
-}
-
-.nav-item ::deep .nav-link:hover {
-    background-color: rgba(255,255,255,0.1);
-    color: white;
-}
-
-.nav-scrollable {
-    display: none;
-}
-
-.navbar-toggler:checked ~ .nav-scrollable {
-    display: block;
-}
-
-@media (min-width: 641px) {
-    .navbar-toggler {
-        display: none;
-    }
-
-    .nav-scrollable {
-        /* Never collapse the sidebar for wide screens */
-        display: block;
-
-        /* Allow sidebar to scroll for tall menus */
-        height: calc(100vh - 3.5rem);
-        overflow-y: auto;
-    }
-}

RobotApp.Client/MainLayout.razor

@@ -0,0 +1,89 @@
+@inherits LayoutComponentBase
+
+<script>
+    function toggleSidebar() {
+        let sidebar = document.querySelector(".sidebar");
+        sidebar.classList.toggle("collapsed");
+    }
+</script>
+
+<div class="app-shell">
+    <div class="sidebar collapsed">
+        <div class="flex-grow-1 d-flex flex-column">
+            <div class="title">
+                <img src="images/logoLight.svg" alt="PhenikaaX" style="height: 35px;" onclick="toggleSidebar()" />
+                <button class="btn button" onclick="toggleSidebar()">
+                    <i class="mdi mdi-menu" style="color: white; font-size: 35px"></i>
+                </button>
+            </div>
+            <hr />
+            @foreach (var nav in Navs)
+            {
+                <div class="nav-item px-3">
+                    <NavLink class="nav-link" href="@nav.Path" Match="@nav.Match">
+                        <div class="d-flex align-items-center">
+                            <div class="nav-icon">
+                                <span class="mdi @nav.Icon mdi-36px" aria-hidden="true"></span>
+                            </div>
+                            <span class="nav-label">@nav.Label</span>
+                        </div>
+                    </NavLink>
+                </div>
+            }
+        </div>
+        <div class="user">
+            <div>
+                <span class="mdi mdi-account mdi-36px text-white "></span>
+            </div>
+            <AuthorizeView>
+                <Authorized>
+                    <div class="nav-label">
+                        <MudText Class="text-white" Typo="Typo.subtitle1">@context.User.Identity?.Name</MudText>
+                    </div>
+                </Authorized>
+            </AuthorizeView>
+            <MudSpacer />
+            <form action="Account/Logout" method="post">
+                <AntiforgeryToken />
+                <input type="hidden" name="ReturnUrl" value="" />
+                <button class="btn button">
+                    <i class="mdi mdi-logout" style="color: white; font-size: 35px"></i>
+                </button>
+                @* <MudIconButton Class="text-white" ButtonType="@ButtonType.Submit" Icon="@Icons.Material.Filled.Logout" /> *@
+            </form>
+        </div>
+    </div>
+
+    <main class="page">
+        @Body
+    </main>
+</div>
+
+@code {
+    public class NavModel
+    {
+        public string Icon { get; set; } = "";
+        public string Path { get; set; } = "";
+        public string Label { get; set; } = "";
+        public NavLinkMatch Match { get; set; }
+    }
+
+    public NavModel[] Navs = [
+        new(){Icon = "mdi-view-dashboard", Path="/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-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;
+
+    private string? NavMenuCssClass => collapseNavMenu ? "collapse" : null;
+
+    private void ToggleNavMenu()
+    {
+        collapseNavMenu = !collapseNavMenu;
+    }
+}
+

RobotApp.Client/MainLayout.razor.css

@@ -0,0 +1,134 @@
+.app-shell {
+    display: flex;
+    min-height: 100vh;
+    min-width: 100vw;
+    width: 100vw;
+    height: 100vh;
+    overflow: hidden;
+    flex-direction: row;
+}
+
+.page {
+    flex: 1 1 auto;
+    min-width: 0;
+    display: flex;
+    overflow: hidden;
+}
+
+
+
+.sidebar {
+    background-image: linear-gradient(180deg, rgb(5, 39, 103) 0%, #3a0647 70%);
+    height: 100vh;
+    width: 250px;
+    display: flex;
+    flex-direction: column;
+    transition: width 0.3s;
+}
+
+    .sidebar.hidden {
+        display: none;
+    }
+
+    .sidebar .title {
+        margin: 8px 4px 0 4px;
+        flex-direction: row;
+        justify-content: center;
+        align-items: center;
+        display: flex;
+    }
+
+        .sidebar .title button {
+            height: 35px;
+            width: 35px;
+            justify-content: center;
+            align-items: center;
+            overflow: hidden;
+        }
+
+    .sidebar:not(.collapsed) .title button {
+        display: none;
+    }
+
+    .sidebar.collapsed {
+        width: 74px;
+    }
+
+        .sidebar.collapsed .title {
+            justify-content: center;
+        }
+
+            .sidebar.collapsed .title img {
+                display: none;
+            }
+
+            .sidebar.collapsed .title button {
+                display: flex;
+            }
+
+        .sidebar.collapsed .nav-label {
+            display: none;
+        }
+
+    .sidebar .title .button:hover {
+        background-color: rgb(5, 39, 80);
+    }
+
+    .sidebar .user {
+        display: flex;
+        flex-direction: row;
+        align-items: center;
+    }
+
+    .sidebar.collapsed .user > div {
+        display: none !important;
+    }
+
+    .sidebar.collapsed .user .nav-label {
+        display: none !important;
+    }
+
+.nav-item {
+    font-size: 0.9rem;
+    padding-bottom: 0.5rem;
+    overflow: hidden;
+}
+
+    .nav-item .nav-label {
+        font-size: 18px;
+        text-wrap: nowrap;
+    }
+
+    .nav-item .nav-icon {
+        height: 48px;
+        width: 48px;
+        display: flex;
+        align-items: center;
+        justify-content: center;
+        overflow: hidden;
+    }
+
+    .nav-item:first-of-type {
+        padding-top: 1rem;
+    }
+
+    .nav-item:last-of-type {
+        padding-bottom: 1rem;
+    }
+
+    .nav-item ::deep a {
+        color: #d7d7d7;
+        border-radius: 4px;
+        height: 48px;
+        align-items: center;
+    }
+
+        .nav-item ::deep a.active {
+            background-color: rgba(255,255,255,0.37);
+            color: white;
+        }
+
+        .nav-item ::deep a:hover {
+            background-color: rgba(255,255,255,0.1);
+            color: white;
+        }

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/AssemblyLayout.razor

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

RobotApp.Client/Pages/Auth.razor

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

RobotApp.Client/Pages/Components/Config/RobotConfig.razor

@@ -0,0 +1,92 @@
+@implements IDisposable
+
+<div class ="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
+        <DataAnnotationsValidator />
+
+        <div class="mb-2">
+            <label class="form-label">Navigation Type</label>
+            <InputSelect class="form-select" @bind-Value="Model.NavigationType" TValue="NavigationType">
+                @foreach (var t in NavigationTypes)
+                {
+                    <option value="@t">@t</option>
+                }
+            </InputSelect>
+            <ValidationMessage For="@(() => Model.NavigationType)" />
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col">
+                <label class="form-label">Radius (wheel)</label>
+                <InputNumber class="form-control" @bind-Value="Model.RadiusWheel" />
+                <ValidationMessage For="@(() => Model.RadiusWheel)" />
+            </div>
+            <div class="col">
+                <label class="form-label">Width (m)</label>
+                <InputNumber class="form-control" @bind-Value="Model.Width" />
+                <ValidationMessage For="@(() => Model.Width)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col">
+                <label class="form-label">Length (m)</label>
+                <InputNumber class="form-control" @bind-Value="Model.Length" />
+                <ValidationMessage For="@(() => Model.Length)" />
+            </div>
+            <div class="col">
+                <label class="form-label">Height (m)</label>
+                <InputNumber class="form-control" @bind-Value="Model.Height" />
+                <ValidationMessage For="@(() => Model.Height)" />
+            </div>
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label">Description</label>
+            <InputTextArea class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
+        </div>
+    </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
+
+
+@code {
+    [Parameter]
+    public RobotConfigDto Model { get; set; } = new();
+
+    [Parameter]
+    public EventCallback<RobotConfigDto> ModelChanged { get; set; }
+
+    private EditContext? EditContext; 
+    private IEnumerable<NavigationType> NavigationTypes => Enum.GetValues(typeof(NavigationType)).Cast<NavigationType>();
+
+    protected override void OnParametersSet()
+    {
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+        }
+    }
+
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
+    {
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+    }
+}

RobotApp.Client/Pages/Components/Config/RobotPLCConfig.razor

@@ -0,0 +1,74 @@
+@implements IDisposable
+<div class="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
+        <DataAnnotationsValidator />
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-8">
+                <label class="form-label">PLC Address</label>
+                <InputText class="form-control" @bind-Value="Model.PLCAddress" />
+                <ValidationMessage For="@(() => Model.PLCAddress)" />
+            </div>
+            <div class="col-md-4">
+                <label class="form-label">Port</label>
+                <InputNumber class="form-control" @bind-Value="Model.PLCPort" />
+                <ValidationMessage For="@(() => Model.PLCPort)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-4">
+                <label class="form-label">Unit Id</label>
+                <InputNumber class="form-control" @bind-Value="Model.PLCUnitId" />
+                <ValidationMessage For="@(() => Model.PLCUnitId)" />
+            </div>
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label">Description</label>
+            <InputTextArea class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
+        </div>
+
+    </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
+
+@code {
+    [Parameter]
+    public RobotPlcConfigDto Model { get; set; } = new();
+
+    [Parameter]
+    public EventCallback<RobotPlcConfigDto> ModelChanged { get; set; }
+
+    private EditContext? EditContext;
+
+    protected override void OnParametersSet()
+    {
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+        }
+    }
+
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
+    {
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+    }
+}

RobotApp.Client/Pages/Components/Config/RobotSafetyConfig.razor

@@ -0,0 +1,97 @@
+@implements IDisposable
+<div class="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
+        <DataAnnotationsValidator />
+        <div class="row g-2 mb-2">
+            <div class="col-6">
+                <label class="form-label">Very Slow (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedVerySlow" />
+                <ValidationMessage For="@(() => Model.SafetySpeedVerySlow)" />
+            </div>
+            <div class="col-6">
+                <label class="form-label">Slow (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedSlow" />
+                <ValidationMessage For="@(() => Model.SafetySpeedSlow)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-6">
+                <label class="form-label">Normal (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedNormal" />
+                <ValidationMessage For="@(() => Model.SafetySpeedNormal)" />
+            </div>
+            <div class="col-6">
+                <label class="form-label">Medium (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedMedium" />
+                <ValidationMessage For="@(() => Model.SafetySpeedMedium)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-6">
+                <label class="form-label">Optimal (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedOptimal" />
+                <ValidationMessage For="@(() => Model.SafetySpeedOptimal)" />
+            </div>
+            <div class="col-6">
+                <label class="form-label">Fast (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SafetySpeedFast" />
+                <ValidationMessage For="@(() => Model.SafetySpeedFast)" />
+            </div>
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label">Very Fast (m/s)</label>
+            <InputNumber class="form-control" @bind-Value="Model.SafetySpeedVeryFast" />
+            <ValidationMessage For="@(() => Model.SafetySpeedVeryFast)" />
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label">Description</label>
+            <InputTextArea class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
+        </div>
+    </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
+
+
+@code {
+    [Parameter]
+    public RobotSafetyConfigDto Model { get; set; } = new();
+
+    [Parameter]
+    public EventCallback<RobotSafetyConfigDto> ModelChanged { get; set; }
+
+    private EditContext? EditContext;
+
+    protected override void OnParametersSet()
+    {
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+        }
+    }
+
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
+    {
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+    }
+}

RobotApp.Client/Pages/Components/Config/RobotSimulationConfig.razor

@@ -0,0 +1,85 @@
+@implements IDisposable
+
+<div class="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
+        <DataAnnotationsValidator />
+
+        <div class="form-check mb-2">
+            <InputCheckbox class="form-check-input" Value="Model.EnableSimulation" />
+            <label class="form-check-label">Enable Simulation</label>
+            <ValidationMessage For="@(() => Model.EnableSimulation)" />
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label">Max Velocity (m/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SimulationMaxVelocity" />
+                <ValidationMessage For="@(() => Model.SimulationMaxVelocity)" />
+            </div>
+            <div class="col-md-6">
+                <label class="form-label">Max Angular Velocity (rad/s)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SimulationMaxAngularVelocity" />
+                <ValidationMessage For="@(() => Model.SimulationMaxAngularVelocity)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label">Acceleration (m/s²)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SimulationAcceleration" />
+                <ValidationMessage For="@(() => Model.SimulationAcceleration)" />
+            </div>
+            <div class="col-md-6">
+                <label class="form-label">Deceleration (m/s²)</label>
+                <InputNumber class="form-control" @bind-Value="Model.SimulationDeceleration" />
+                <ValidationMessage For="@(() => Model.SimulationDeceleration)" />
+            </div>
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label">Description</label>
+            <InputTextArea class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
+        </div>
+    </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
+
+@code {
+    [Parameter]
+    public RobotSimulationConfigDto Model { get; set; } = new();
+
+    [Parameter]
+    public EventCallback<RobotSimulationConfigDto> ModelChanged { get; set; }
+
+    private EditContext? EditContext;
+
+    protected override void OnParametersSet()
+    {
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+        }
+    }
+
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
+    {
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+    }
+}

RobotApp.Client/Pages/Components/Config/RobotVDA5050Config.razor

@@ -0,0 +1,329 @@
+@implements IDisposable
+
+<div class="d-flex w-100 h-100 flex-column">
+    <EditForm EditContext="EditContext">
+        <DataAnnotationsValidator />
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label" for="serialNumber">Serial Number</label>
+                <InputText id="serialNumber" class="form-control" @bind-Value="Model.SerialNumber" />
+                <ValidationMessage For="@(() => Model.SerialNumber)" />
+            </div>
+            <div class="col-md-6">
+                <label class="form-label" for="prefix">Topic Prefix</label>
+                <InputText id="prefix" class="form-control" @bind-Value="Model.VDA5050TopicPrefix"/>
+                <ValidationMessage For="@(() => Model.VDA5050TopicPrefix)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label" for="manufacturer">Manufacturer</label>
+                <InputText id="manufacturer" class="form-control" @bind-Value="Model.VDA5050Manufacturer" disabled="true" />
+                <ValidationMessage For="@(() => Model.VDA5050Manufacturer)" />
+            </div>
+            <div class="col-md-6">
+                <label class="form-label" for="version">Version</label>
+                <InputText id="version" class="form-control" @bind-Value="Model.VDA5050Version" disabled="true" />
+                <ValidationMessage For="@(() => Model.VDA5050Version)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label" for="host">Host</label>
+                <InputText id="host" class="form-control" @bind-Value="Model.VDA5050HostServer" />
+                <ValidationMessage For="@(() => Model.VDA5050HostServer)" />
+            </div>
+            <div class="col-md-3">
+                <label class="form-label" for="port">Port</label>
+                <InputNumber id="port" class="form-control" @bind-Value="Model.VDA5050Port" />
+                <ValidationMessage For="@(() => Model.VDA5050Port)" />
+            </div>
+            <div class="col-md-3">
+                <label class="form-label" for="publishRepeat">Publish Repeat</label>
+                <InputNumber id="publishRepeat" class="form-control" @bind-Value="Model.VDA5050PublishRepeat" />
+                <ValidationMessage For="@(() => Model.VDA5050PublishRepeat)" />
+            </div>
+        </div>
+
+        <div class="row g-2 mb-2">
+            <div class="col-md-6">
+                <label class="form-label" for="username">Username</label>
+                <InputText id="username" class="form-control" @bind-Value="Model.VDA5050UserName" />
+                <ValidationMessage For="@(() => Model.VDA5050UserName)" />
+            </div>
+            <div class="col-md-6">
+                <label class="form-label" for="password">Password</label>
+                <div class="password-input-wrapper">
+                    <InputText id="password" class="form-control password-input" @bind-Value="Model.VDA5050Password" inputmode="text" type="@PasswordInputType" autocomplete="new-password" spellcheck="false" />
+                    <button class="password-toggle-btn" type="button" @onclick="TogglePasswordVisibility" aria-label="Toggle password visibility">
+                        <i class="@PasswordIconClass" aria-hidden="true"></i>
+                    </button>
+                </div>
+                <ValidationMessage For="@(() => Model.VDA5050Password)" />
+            </div>
+        </div>
+
+        <div class="form-check mb-2">
+            <InputCheckbox id="enablePassword" class="form-check-input" @bind-Value="Model.VDA5050EnablePassword" />
+            <label class="form-check-label" for="enablePassword">Enable Password</label>
+            <ValidationMessage For="@(() => Model.VDA5050EnablePassword)" />
+        </div>
+
+        <div class="form-check mb-2">
+            <InputCheckbox id="enableTls" class="form-check-input" @bind-Value="Model.VDA5050EnableTls" />
+            <label class="form-check-label" for="enableTls">Enable TLS</label>
+            <ValidationMessage For="@(() => Model.VDA5050EnableTls)" />
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label" for="caFile">CA File</label>
+            <div class="custom-file-input-wrapper position-relative">
+                <InputFile class="d-none" id="caFile" OnChange="e => OnFileSelected(e, FileSlot.Ca)" accept=".crt,.pem,.cer,.pfx,.key,.jks" />
+                <div class="form-control d-flex align-items-center gap-2 ps-0">
+                    <label for="caFile" class="upload-btn d-flex align-items-center gap-1">
+                        <i class="mdi mdi-attachment"></i>
+                    </label>
+
+                    <span id="fileNameDisplay" class="text-muted flex-grow-1 text-truncate" style="max-width: 200px;">
+                        @Model.VDA5050CA
+                    </span>
+
+                    <button class="password-toggle-btn position-absolute rounded-end-2 top-50 translate-middle-y" type="button" @onclick="() => RemoveFile(FileSlot.Ca)" aria-label="Remove client certificate file">
+                        <i class="mdi mdi-close" aria-hidden="true"></i>
+                    </button>
+                </div>
+            </div>
+            @if (!string.IsNullOrEmpty(CaFileInfo))
+            {
+                <div class="small text-muted mt-1 mb-1">@CaFileInfo</div>
+            }
+            @if (!string.IsNullOrEmpty(CaFileError))
+            {
+                <div class="text-danger small mt-1 mb-1">@CaFileError</div>
+            }
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label" for="clientCertFile">Client Certificate File</label>
+            <div class="custom-file-input-wrapper position-relative">
+                <InputFile class="d-none" id="clientCertFile" OnChange="e => OnFileSelected(e, FileSlot.Cert)" accept=".crt,.pem,.cer,.pfx,.key,.jks" />
+                <div class="form-control d-flex align-items-center gap-2 ps-0">
+                    <label for="clientCertFile" class="upload-btn d-flex align-items-center gap-1">
+                        <i class="mdi mdi-attachment"></i>
+                    </label>
+
+                    <span id="fileNameDisplay" class="text-muted flex-grow-1 text-truncate" style="max-width: 200px;">
+                        @Model.VDA5050Cer
+                    </span>
+
+                    <button class="password-toggle-btn position-absolute rounded-end-2 top-50 translate-middle-y" type="button" @onclick="() => RemoveFile(FileSlot.Cert)" aria-label="Remove client certificate file">
+                        <i class="mdi mdi-close" aria-hidden="true"></i>
+                    </button>
+                </div>
+            </div>
+            @if (!string.IsNullOrEmpty(CertFileInfo))
+            {
+                <div class="small text-muted mt-1 mb-1">@CertFileInfo</div>
+            }
+            @if (!string.IsNullOrEmpty(CertFileError))
+            {
+                <div class="text-danger small mt-1 mb-1">@CertFileError</div>
+            }
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label" for="clientKeyFile">Client Key File</label>
+            <div class="custom-file-input-wrapper position-relative">
+                <InputFile class="d-none" id="clientKeyFile" OnChange="e => OnFileSelected(e, FileSlot.Key)" accept=".crt,.pem,.cer,.pfx,.key,.jks" />
+                <div class="form-control d-flex align-items-center gap-2 ps-0">
+                    <label for="clientKeyFile" class="upload-btn d-flex align-items-center gap-1">
+                        <i class="mdi mdi-attachment"></i>
+                    </label>
+
+                    <span id="fileNameDisplay" class="text-muted flex-grow-1 text-truncate" style="max-width: 200px;">
+                        @Model.VDA5050Key
+                    </span>
+
+                    <button class="password-toggle-btn position-absolute rounded-end-2 top-50 translate-middle-y" type="button" @onclick="() => RemoveFile(FileSlot.Key)" aria-label="Remove client key file">
+                        <i class="mdi mdi-close" aria-hidden="true"></i>
+                    </button>
+                </div>
+            </div>
+            @if (!string.IsNullOrEmpty(KeyFileInfo))
+            {
+                <div class="small text-muted mt-1 mb-1">@KeyFileInfo</div>
+            }
+            @if (!string.IsNullOrEmpty(KeyFileError))
+            {
+                <div class="text-danger small mt-1 mb-1">@KeyFileError</div>
+            }
+        </div>
+
+        <div class="mb-2">
+            <label class="form-label" for="description">Description</label>
+            <InputTextArea id="description m-1" class="form-control" @bind-Value="Model.Description" />
+            <ValidationMessage For="@(() => Model.Description)" />
+        </div>
+    </EditForm>
+    <div class="flex-grow-1" />
+    <div>
+        @if (Model.CreatedAt != default || Model.UpdatedAt != default)
+        {
+            <div class="d-flex justify-content-end mt-2">
+                <small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+                <small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
+            </div>
+        }
+    </div>
+</div>
+
+@code {
+    [Parameter]
+    public RobotVDA5050ConfigDto Model { get; set; } = new();
+
+    [Parameter]
+    public EventCallback<RobotVDA5050ConfigDto> ModelChanged { get; set; }
+
+    public IBrowserFile? CaFile { get; set; }
+    public IBrowserFile? CertFile { get; set; }
+    public IBrowserFile? KeyFile { get; set; }
+    public long MaxFileSize { get; set; } = 10 * 1024 * 1024;
+
+    private EditContext? EditContext;
+    private bool showPassword;
+    private string PasswordInputType => showPassword ? "text" : "password";
+    private string PasswordIconClass => showPassword ? "mdi mdi-eye-off" : "mdi mdi-eye";
+
+    private enum FileSlot { Ca, Cert, Key }
+
+    private string? CaFileInfo;
+    private string? CaFileError;
+
+    private string? CertFileInfo;
+    private string? CertFileError;
+
+    private string? KeyFileInfo;
+    private string? KeyFileError;
+
+    private async Task OnFileSelected(InputFileChangeEventArgs e, FileSlot slot)
+    {
+        var file = e.File;
+        if (file is null)
+            return;
+
+        if (file.Size > MaxFileSize)
+        {
+            SetFileError(slot, $"File too large (max {FormatSize(MaxFileSize)})");
+            SetFileInfo(slot, string.Empty, 0);
+            return;
+        }
+
+        try
+        {
+            using var stream = file.OpenReadStream(MaxFileSize);
+            using var ms = new MemoryStream();
+            await stream.CopyToAsync(ms);
+            var data = ms.ToArray();
+
+            SetFileError(slot, null);
+            SetFileInfo(slot, file.Name, file.Size);
+            SetFileName(slot, file.Name);
+            SetBrowserFile(slot, file);
+            _ = ModelChanged.InvokeAsync(Model);
+        }
+        catch
+        {
+            SetFileError(slot, "Failed to read file");
+        }
+    }
+
+    private void RemoveFile(FileSlot slot)
+    {
+        SetFileInfo(slot, string.Empty, 0);
+        SetFileError(slot, null);
+        SetFileName(slot, string.Empty);
+
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    private void SetFileError(FileSlot slot, string? error)
+    {
+        switch (slot)
+        {
+            case FileSlot.Ca: CaFileError = error; break;
+            case FileSlot.Cert: CertFileError = error; break;
+            case FileSlot.Key: KeyFileError = error; break;
+        }
+    }
+
+    private void SetFileInfo(FileSlot slot, string? name, long size)
+    {
+        switch (slot)
+        {
+            case FileSlot.Ca: CaFileInfo = string.IsNullOrEmpty(name) ? "" : $"{name} {FormatSize(size)}"; break;
+            case FileSlot.Cert: CertFileInfo = string.IsNullOrEmpty(name) ? "" : $"{name} {FormatSize(size)}"; break;
+            case FileSlot.Key: KeyFileInfo = string.IsNullOrEmpty(name) ? "" : $"{name} {FormatSize(size)}"; break;
+        }
+    }
+
+    private void SetFileName(FileSlot slot, string? name)
+    {
+        switch (slot)
+        {
+            case FileSlot.Ca: Model.VDA5050CA = name; break;
+            case FileSlot.Cert: Model.VDA5050Cer = name; break;
+            case FileSlot.Key: Model.VDA5050Key = name; break;
+        }
+    }
+
+    private void SetBrowserFile(FileSlot slot, IBrowserFile file)
+    {
+        switch (slot)
+        {
+            case FileSlot.Ca: CaFile = file; break;
+            case FileSlot.Cert: CertFile = file; break;
+            case FileSlot.Key: KeyFile = file; break;
+        }
+    }
+
+    private static string FormatSize(long size)
+    {
+        if (size <= 0) return "0 B";
+        if (size < 1024) return $"{size} B";
+        double kb = size / 1024.0;
+        if (kb < 1024) return $"{kb:F1} KB";
+        double mb = kb / 1024.0;
+        return $"{mb:F2} MB";
+    }
+
+    protected override void OnParametersSet()
+    {
+        if (EditContext is null || !EditContext.Model!.Equals(Model))
+        {
+            if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+            EditContext = new EditContext(Model);
+            EditContext.OnFieldChanged += EditContext_OnFieldChanged;
+            CaFileInfo = string.Empty;
+            CertFileInfo = string.Empty;
+            KeyFileInfo = string.Empty;
+        }
+    }
+
+    private void TogglePasswordVisibility()
+    {
+        showPassword = !showPassword;
+    }
+
+    private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
+    {
+        _ = ModelChanged.InvokeAsync(Model);
+    }
+
+    public void Dispose()
+    {
+        if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
+    }
+}

RobotApp.Client/Pages/Components/Config/RobotVDA5050Config.razor.css

@@ -0,0 +1,93 @@
+/* wrapper positions the toggle inside the input */
+.password-input-wrapper {
+    position: relative;
+    display: block;
+}
+
+/* add right padding so text doesn't overlap the icon */
+.password-input {
+    padding-right: 2.25rem; /* adjust as needed for icon size */
+}
+
+/* icon button sits absolutely inside the input at the right */
+.password-toggle-btn {
+    position: absolute;
+    right: 0.5rem;
+    top: 50%;
+    transform: translateY(-50%);
+    border: none;
+    background: transparent;
+    padding: 0;
+    display: inline-flex;
+    align-items: center;
+    justify-content: center;
+    cursor: pointer;
+    color: inherit;
+    line-height: 1;
+}
+
+/* keep the native focus behavior but provide visible ring for keyboard users */
+.password-toggle-btn:focus {
+    outline: none;
+}
+
+.password-toggle-btn:focus-visible {
+    box-shadow: 0 0 0 3px rgba(13, 110, 253, 0.15);
+    border-radius: 0.25rem;
+}
+
+/* tune icon size */
+.password-toggle-btn .mdi {
+    font-size: 1.15rem;
+    pointer-events: none; /* let clicks hit the button, not the icon */
+}
+
+.file-input-wrapper {
+    max-width: 100%;
+}
+
+.custom-file-input-wrapper {
+    max-width: 100%;
+}
+
+    .custom-file-input-wrapper .form-control {
+        height: 38px;
+        padding-right: 50px;
+        background-color: #f8f9fa;
+        border: 1px solid #ced4da;
+    }
+
+.text-truncate {
+    overflow: hidden;
+    text-overflow: ellipsis;
+    white-space: nowrap;
+}
+
+/* === NÚT LABEL GIỐNG BUTTON THẬT === */
+.upload-btn {
+    cursor: pointer;
+    transition: all 0.2s ease;
+    user-select: none;
+    min-width: 50px;
+    font-size: 23px;
+    justify-content: center;
+    border-right: 1px solid silver;
+    border-radius: 0.25rem;
+}
+
+    /* HOVER: đổi màu nền + viền */
+    .upload-btn:hover {
+        background-color: #e7f3ff !important;
+    }
+
+    /* FOCUS: khi tab đến (accessibility) */
+    .upload-btn:focus {
+        outline: 2px solid transparent;
+        box-shadow: 0 0 0 0.2rem rgba(13, 110, 253, 0.5) !important;
+    }
+
+    /* ACTIVE: khi nhấn */
+    .upload-btn:active {
+        transform: translateY(0);
+        background-color: #d0e8ff !important;
+    }

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

@@ -0,0 +1,136 @@
+@inject HttpClient Http
+@inject IJSRuntime JS
+
+<div @ref="ViewContainerRef" class="w-100 h-100">
+    <MudTable Class="h-100 w-100" @ref="Table" Items="@MapsShow" T="MapDto" Dense Hover ReadOnly FixedHeader RowClass="cursor-pointer" Striped Elevation="10"
+              ServerData="ReloadData" Loading=@IsLoading Height="@($"{TableHeight}px")" HorizontalScrollbar=true>
+        <ToolBarContent>
+            <h4>Maps</h4>
+        </ToolBarContent>
+        <HeaderContent>
+            <MudTh>Nr</MudTh>
+            <MudTh>Name</MudTh>
+            <MudTh>Width (m)</MudTh>
+            <MudTh>Height (m)</MudTh>
+            <MudTh>Resolution (m/px)</MudTh>
+            <MudTh>OriginX</MudTh>
+            <MudTh>OriginY</MudTh>
+            <MudTh></MudTh>
+        </HeaderContent>
+        <RowTemplate>
+            <MudTd DataLabel="Nr">
+                @(Table?.CurrentPage * Table?.RowsPerPage + MapsShow.IndexOf(context) + 1)
+            </MudTd>
+            <MudTd DataLabel="Name">
+                @context.Name
+            </MudTd>
+            <MudTd DataLabel="Width">
+                @context.Width
+            </MudTd>
+            <MudTd DataLabel="Height">
+                @context.Height
+            </MudTd>
+            <MudTd DataLabel="Resolution">
+                @context.Resolution
+            </MudTd>
+            <MudTd DataLabel="OriginX">
+                @context.OriginX
+            </MudTd>
+            <MudTd DataLabel="OriginY">
+                @context.OriginY
+            </MudTd>
+            <MudTd>
+                <MudMenuItem Icon="@Icons.Material.Filled.Edit" IconColor="Color.Info">Active</MudMenuItem>
+                <MudMenuItem Icon="@Icons.Material.Filled.Delete" IconColor="Color.Error">Delete</MudMenuItem>
+            </MudTd>
+        </RowTemplate>
+        <PagerContent>
+            <div class="d-flex w-100 flex-row-reverse">
+                <MudTablePager Style="width: 100%;" PageSizeOptions="new[] { 25, 100, 200 }" />
+            </div>
+        </PagerContent>
+    </MudTable>
+</div>
+
+
+@code {
+    private string txtSearch = "";
+    private bool IsLoading = false;
+
+    private List<MapDto> Maps = [];
+    private List<MapDto> MapsShow = [];
+
+    private MapDto MapSelected = new();
+
+    private MudTable<MapDto>? Table;
+    private ElementReference ViewContainerRef;
+
+    private double TableHeight = 105;
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
+
+        var containerSize = await JS.InvokeAsync<DomRect>("getElementSize", ViewContainerRef);
+        TableHeight = containerSize.Height - 105;
+        // await LoadMaps();
+        StateHasChanged();
+    }
+
+    private async Task LoadMaps()
+    {
+        try
+        {
+            IsLoading = true;
+            Maps.Clear();
+            StateHasChanged();
+
+            var maps = await Http.GetFromJsonAsync<IEnumerable<MapDto>>($"api/MapsManager?txtSearch={txtSearch}");
+            Maps.AddRange(maps ?? []);
+
+            Table?.ReloadServerData();
+            IsLoading = false;
+            StateHasChanged();
+        }
+        catch
+        {
+            return;
+        }
+    }
+
+    private void TextSearchChanged(string text)
+    {
+        txtSearch = text;
+        Table?.ReloadServerData();
+    }
+
+    private bool FilterFunc(MapDto map)
+    {
+        if (string.IsNullOrWhiteSpace(txtSearch))
+            return true;
+        if (map.Name is not null && map.Name.Contains(txtSearch, StringComparison.OrdinalIgnoreCase))
+            return true;
+        if ($"{map.Name}".Contains(txtSearch))
+            return true;
+        return false;
+    }
+
+    private Task<TableData<MapDto>> ReloadData(TableState state, CancellationToken _)
+    {
+        MapsShow.Clear();
+        var tasks = new List<MapDto>();
+        Maps.ForEach(map =>
+        {
+            if (FilterFunc(map)) tasks.Add(map);
+        });
+        MapsShow = tasks.Skip(state.Page * state.PageSize).Take(state.PageSize).ToList();
+        return Task.FromResult(new TableData<MapDto>() { TotalItems = tasks.Count, Items = MapsShow });
+    }
+
+    public class DomRect
+    {
+        public double Width { get; set; }
+        public double Height { get; set; }
+    }
+}

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,60 @@
+<div class="view">
+    <h4 class="info-title">Informations</h4>
+
+    <div class="info-grid">
+        <div class="info-col">
+            <dl class="info-list">
+                <dt class="info-term">X (m)</dt>
+                <dd class="info-desc">@Localization.X.ToString("F3")</dd>
+
+                <dt class="info-term">Y (m)</dt>
+                <dd class="info-desc">@Localization.Y.ToString("F3")</dd>
+
+                <dt class="info-term">Theta (rad)</dt>
+                <dd class="info-desc">@Localization.Theta.ToString("F4")</dd>
+
+                <dt class="info-term">Theta (deg)</dt>
+                <dd class="info-desc">@($"{Localization.Theta * 180.0 / Math.PI:F2}°")</dd>
+
+                <dt class="info-term">Ready</dt>
+                <dd class="info-desc">@((Localization.IsReady) ? "Yes" : "No")</dd>
+            </dl>
+        </div>
+
+        <div class="info-col">
+            <dl class="info-list">
+                <dt class="info-term">SlamState</dt>
+                <dd class="info-desc">@Localization.SlamState</dd>
+
+                <dt class="info-term">SlamDetail</dt>
+                <dd class="info-desc text-truncate" title="@Localization.SlamStateDetail">@Localization.SlamStateDetail</dd>
+
+                <dt class="info-term">Active Map</dt>
+                <dd class="info-desc text-truncate" title="@Localization.CurrentActiveMap">@Localization.CurrentActiveMap</dd>
+
+                <dt class="info-term">Reliability</dt>
+                <dd class="info-desc">@($"{Localization.Reliability:F1}%")</dd>
+
+                <dt class="info-term">MatchingScore</dt>
+                <dd class="info-desc">@($"{Localization.MatchingScore:F1}%")</dd>
+            </dl>
+        </div>
+    </div>
+</div>
+
+@code {
+    private class LocalizationDto
+    {
+        public bool IsReady { get; set; }
+        public double X { get; set; }
+        public double Y { get; set; }
+        public double Theta { get; set; }
+        public string SlamState { get; set; } = "Localization";
+        public string SlamStateDetail { get; set; } = "/r/n";
+        public string CurrentActiveMap { get; set; } = "Localization";
+        public double Reliability { get; set; }
+        public double MatchingScore { get; set; }
+    }
+
+    private LocalizationDto Localization = new();
+}

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

@@ -0,0 +1,121 @@
+.view {
+    height: 100%;
+    width: 100%;
+    overflow: hidden;
+    display: flex;
+    flex-direction: column;
+    position: relative;
+    background-color: var(--mud-palette-surface, #ffffff);
+    border-radius: var(--mud-default-borderradius, 8px);
+    transition: box-shadow 300ms cubic-bezier(0.4, 0, 0.2, 1) 0ms;
+    box-shadow: var(--mud-elevation-10, 0 4px 12px rgba(0,0,0,0.08));
+    padding: 12px;
+    box-sizing: border-box;
+    border: 1px solid rgba(0,0,0,0.04);
+}
+
+    .view::before {
+        content: "";
+        position: absolute;
+        left: 0;
+        top: 0;
+        bottom: 0;
+        width: 6px;
+        border-top-left-radius: inherit;
+        border-bottom-left-radius: inherit;
+        background: linear-gradient(180deg, var(--mud-palette-primary, #1976d2), rgba(25,118,210,0.7));
+    }
+
+.info-title {
+    margin: 0 0 10px 12px;
+    font-weight: 600;
+    font-size: 1rem;
+    color: var(--mud-palette-primary, #1976d2);
+}
+
+.info-grid {
+    display: flex;
+    gap: 14px;
+    align-items: flex-start;
+    flex: 1 1 auto;
+    overflow: hidden;
+    padding: 1.5em;
+}
+
+.info-col {
+    flex: 1 1 50%;
+    min-width: 0; 
+    overflow: hidden;
+}
+
+.info-list {
+    margin: 0;
+    padding: 0;
+}
+
+    .info-list dt,
+    .info-list dd {
+        display: flex;
+        align-items: center;
+        padding: 6px 0;
+        font-size: 0.95rem;
+        line-height: 1.2;
+    }
+
+.info-term {
+    width: 42%;
+    text-align: right;
+    padding-right: 12px;
+    color: var(--mud-palette-text-secondary, rgba(0,0,0,0.6));
+    font-weight: 600;
+    box-sizing: border-box;
+    white-space: nowrap;
+}
+
+.info-desc {
+    width: 58%;
+    text-align: left;
+    font-weight: 700;
+    color: var(--mud-palette-text-primary, rgba(0,0,0,0.85));
+    overflow: hidden;
+    text-overflow: ellipsis;
+    white-space: nowrap;
+    font-variant-numeric: tabular-nums;
+}
+
+.text-truncate {
+    white-space: nowrap;
+    overflow: hidden;
+    text-overflow: ellipsis;
+}
+
+.info-list dt + dd {
+    border-bottom: 1px dashed rgba(0,0,0,0.03);
+}
+
+.ready-yes {
+    color: var(--mud-palette-success, #2e7d32);
+}
+
+.ready-no {
+    color: var(--mud-palette-error, #d32f2f);
+}
+
+.percent {
+    color: var(--mud-palette-primary, #1976d2);
+}
+
+@media (max-width: 640px) {
+    .info-grid {
+        flex-direction: column;
+        gap: 8px;
+    }
+
+    .info-term {
+        width: 45%;
+    }
+
+    .info-desc {
+        width: 55%;
+    }
+}

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

@@ -0,0 +1,342 @@
+@inject IJSRuntime JS
+
+<div class="robot-monitor-container">
+    <div class="toolbar">
+        <MudTooltip Text="Zoom In" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ZoomIn">
+                <i class="mdi mdi-magnify-plus-outline icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudTooltip Text="Zoom Out" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ZoomOut">
+                <i class="mdi mdi-magnify-minus-outline icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudTooltip Text="Reset View" role="button" Placement="Placement.Bottom" Color="Color.Info">
+            <button type="button" class="btn btn-secondary action-button" @onclick="ResetView">
+                <i class="mdi mdi-fit-to-screen-outline icon-button"></i>
+            </button>
+        </MudTooltip>
+        <MudSpacer />
+        @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>
+            </div>
+        }
+       @*  <MudChip T="string" Color="@(IsConnected? Color.Success: Color.Error)" Size="Size.Small">
+            @(IsConnected ? "Connected" : "Disconnected")
+        </MudChip> *@
+    </div>
+    <div @ref="SvgContainerRef" class="svg-container">
+        <svg @ref="SvgRef"
+             @onwheel="HandleWheel"
+             @onmousedown="HandleMouseDown"
+             @onmousemove="HandleMouseMove"
+             @onmouseup="HandleMouseUp"
+             @onmouseleave="HandleMouseLeave">
+            <g transform="@GetTransform()">
+                @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"
+                          stroke-width="0.08"
+                          visibility="@PathIsNot" />
+
+                    @foreach (var node in MonitorData.NodeStates)
+                    {
+                        <circle cx="@WorldToSvgX(node.NodePosition.X)"
+                                cy="@WorldToSvgY(node.NodePosition.Y)"
+                                r="@GetNodeRadius()"
+                                fill="#66BB6A"
+                                stroke="#555"
+                                stroke-width="@GetNodeStrokeWidth()" />
+                    }
+                }
+
+                @* Render Robot *@
+                @if (MonitorData?.RobotPosition != null)
+                {
+                    <g transform="@GetRobotTransform()">
+                        @{
+                            var (robotX, robotY, robotWidth, robotHeight) = GetRobotSize();
+                        }
+                        <image href="images/AMR-250.png"
+                               x="@robotX"
+                               y="@robotY"
+                               width="@robotWidth"
+                               height="@robotHeight"
+                               preserveAspectRatio="xMidYMid meet" />
+                    </g>
+                }
+            </g>
+        </svg>
+    </div>
+</div>
+
+@code {
+    [Parameter] public RobotMonitorDto? MonitorData { get; set; }
+    [Parameter] public bool IsConnected { get; set; }
+
+    public class ElementSize
+    {
+        public double Width { get; set; }
+        public double Height { get; set; }
+    }
+
+    public class ElementBoundingRect
+    {
+        public double X { get; set; }
+        public double Y { get; set; }
+        public double Width { get; set; }
+        public double Height { get; set; }
+    }
+
+    private ElementReference SvgRef;
+    private ElementReference SvgContainerRef;
+
+    private double ZoomScale = 2.0; // 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;
+
+    private double TranslateX = 0;
+    private double TranslateY = 0;
+
+    private bool IsPanning = false;
+    private double PanStartX = 0;
+    private double PanStartY = 0;
+
+    private double SvgWidth = 800;
+    private double SvgHeight = 600;
+
+    private string PathView = "";
+    private string PathIsNot = "hidden";
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        if (firstRender)
+        {
+            var containerSize = await JS.InvokeAsync<ElementSize>("getElementSize", SvgContainerRef);
+            SvgWidth = containerSize.Width;
+            SvgHeight = containerSize.Height;
+
+            // Center view on robot if available with initial zoom
+            if (MonitorData?.RobotPosition != null)
+            {
+                // Zoom vào robot hơn một chút
+                ZoomScale = 2.5;
+                TranslateX = SvgWidth / 2 - MonitorData.RobotPosition.X * BASE_PIXELS_PER_METER * ZoomScale;
+                TranslateY = SvgHeight / 2 + MonitorData.RobotPosition.Y * BASE_PIXELS_PER_METER * ZoomScale;
+            }
+            else
+            {
+                TranslateX = SvgWidth / 2;
+                TranslateY = SvgHeight / 2;
+            }
+
+            StateHasChanged();
+        }
+    }
+
+    private string GetTransform()
+    {
+        return $"translate({TranslateX}, {TranslateY}) scale({ZoomScale * BASE_PIXELS_PER_METER})";
+    }
+
+    private string GetRobotTransform()
+    {
+        if (MonitorData?.RobotPosition == null) return "";
+        var x = WorldToSvgX(MonitorData.RobotPosition.X);
+        var y = WorldToSvgY(MonitorData.RobotPosition.Y);
+        // Theta là radian, convert sang độ
+        // SVG rotate quay theo chiều kim đồng hồ, cần đảo dấu
+        var angleDegrees = -MonitorData.RobotPosition.Theta * 180 / Math.PI;
+        return $"translate({x}, {y}) rotate({angleDegrees})";
+    }
+
+    private (double x, double y, double width, double height) GetRobotSize()
+    {
+        // Kích thước robot trong world coordinates (mét)
+        const double RobotWidthMeters = 0.606;
+        const double RobotLengthMeters = 1.106;
+        
+        // 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 width = RobotWidthMeters * scaleFactor;
+        double height = RobotLengthMeters * scaleFactor;
+        double x = -width / 2;
+        double y = -height / 2;
+        
+        return (x, y, width, height);
+    }
+
+    private double GetNodeRadius()
+    {
+        // Kích thước node cơ bản trong world coordinates - tăng lên 1.5x
+        const double BaseNodeRadius = 0.15;
+        
+        // Điều chỉnh theo ZoomScale tương tự robot
+        double scaleFactor = 1.5 / ZoomScale; // Tăng kích thước hiển thị
+        
+        return BaseNodeRadius * scaleFactor;
+    }
+
+    private double GetNodeStrokeWidth()
+    {
+        // Stroke width cơ bản - tăng lên một chút
+        const double BaseStrokeWidth = 0.03;
+        
+        // Điều chỉnh theo ZoomScale
+        double scaleFactor = 1.5 / ZoomScale;
+        
+        return BaseStrokeWidth * scaleFactor;
+    }
+
+    private double WorldToSvgX(double worldX)
+    {
+        return worldX;
+    }
+
+    private double WorldToSvgY(double worldY)
+    {
+        // Flip Y axis: World Y↑ → SVG Y↓
+        return -worldY;
+    }
+
+    public void UpdatePath()
+    {
+        if (MonitorData is not null && MonitorData.EdgeStates.Length > 0)
+        {
+            var path = MonitorData.EdgeStates.Select(e => new EdgeStateDto
+            {
+                Degree = e.Degree,
+                StartX = WorldToSvgX(e.StartX),
+                StartY = WorldToSvgY(e.StartY),
+                EndX = WorldToSvgX(e.EndX),
+                EndY = WorldToSvgY(e.EndY),
+                ControlPoint1X = WorldToSvgX(e.ControlPoint1X),
+                ControlPoint1Y = WorldToSvgY(e.ControlPoint1Y),
+                ControlPoint2X = WorldToSvgX(e.ControlPoint2X),
+                ControlPoint2Y = WorldToSvgY(e.ControlPoint2Y),
+            }).ToList();
+            var inPath = $"M {path[0].StartX} {path[0].StartY}";
+            for (int i = 0; i < path.Count; i++)
+            {
+                if (path[i].Degree == 1) inPath = $"{inPath} L {path[i].EndX} {path[i].EndY}";
+                else if (path[i].Degree == 2) inPath = $"{inPath} Q {path[i].ControlPoint1X} {path[i].ControlPoint1Y} {path[i].EndX} {path[i].EndY}";
+                else inPath = $"{inPath} C {path[i].ControlPoint1X} {path[i].ControlPoint1Y}, {path[i].ControlPoint2X} {path[i].ControlPoint2Y}, {path[i].EndX} {path[i].EndY}";
+            }
+            PathView = inPath;
+            PathIsNot = "visible";
+        }
+        else
+        {
+            PathView = "";
+            PathIsNot = "hidden";
+        }
+        StateHasChanged();
+    }
+
+    private async Task ZoomIn()
+    {
+        ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * 1.15);
+        await Task.CompletedTask;
+        StateHasChanged();
+    }
+
+    private async Task ZoomOut()
+    {
+        ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * 0.85);
+        await Task.CompletedTask;
+        StateHasChanged();
+    }
+
+    private async Task ResetView()
+    {
+        // Reset về zoom ban đầu (2.5x) khi có robot position
+        if (MonitorData?.RobotPosition != null)
+        {
+            ZoomScale = 2.5;
+            TranslateX = SvgWidth / 2 - MonitorData.RobotPosition.X * BASE_PIXELS_PER_METER * ZoomScale;
+            TranslateY = SvgHeight / 2 + MonitorData.RobotPosition.Y * BASE_PIXELS_PER_METER * ZoomScale;
+        }
+        else
+        {
+            ZoomScale = 1.0;
+            TranslateX = SvgWidth / 2;
+            TranslateY = SvgHeight / 2;
+        }
+        await Task.CompletedTask;
+        StateHasChanged();
+    }
+
+    private void HandleMouseDown(MouseEventArgs e)
+    {
+        IsPanning = true;
+        PanStartX = e.ClientX - TranslateX;
+        PanStartY = e.ClientY - TranslateY;
+    }
+
+    private void HandleMouseMove(MouseEventArgs e)
+    {
+        if (IsPanning)
+        {
+            TranslateX = e.ClientX - PanStartX;
+            TranslateY = e.ClientY - PanStartY;
+            StateHasChanged();
+        }
+    }
+
+    private void HandleMouseUp(MouseEventArgs e)
+    {
+        IsPanning = false;
+    }
+
+    private void HandleMouseLeave(MouseEventArgs e)
+    {
+        IsPanning = false;
+    }
+
+    private async Task HandleWheel(WheelEventArgs e)
+    {
+        const double zoomFactor = 0.1;
+        double oldZoom = ZoomScale;
+
+        if (e.DeltaY < 0)
+            ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * (1 + zoomFactor));
+        else
+            ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * (1 - zoomFactor));
+
+        if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
+
+        // Zoom at mouse position
+        var svgRect = await JS.InvokeAsync<ElementBoundingRect>("getElementBoundingRect", SvgRef);
+        double mouseX = e.ClientX - svgRect.X;
+        double mouseY = e.ClientY - svgRect.Y;
+
+        // Calculate world coordinates at mouse position
+        double worldX = (mouseX - TranslateX) / (oldZoom * BASE_PIXELS_PER_METER);
+        double worldY = -(mouseY - TranslateY) / (oldZoom * BASE_PIXELS_PER_METER);
+
+        // Adjust translate to keep world point under mouse
+        TranslateX = mouseX - worldX * ZoomScale * BASE_PIXELS_PER_METER;
+        TranslateY = mouseY + worldY * ZoomScale * BASE_PIXELS_PER_METER;
+
+        StateHasChanged();
+    }
+}
+

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

@@ -0,0 +1,74 @@
+.robot-monitor-container {
+    display: flex;
+    flex-direction: column;
+    width: 100%;
+    height: 100%;
+    overflow: hidden;
+}
+
+.toolbar {
+    display: flex;
+    align-items: center;
+    padding: 8px 16px;
+    background-color: #2d2d2d;
+    border-bottom: 1px solid #444;
+    gap: 8px;
+    min-height: 48px;
+}
+
+.action-button {
+    padding: 8px;
+    border: none;
+    background: #3d3d3d;
+    border-radius: 4px;
+    cursor: pointer;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    color: #fff;
+    transition: background-color 0.2s;
+}
+
+.action-button:hover {
+    background: #4d4d4d;
+}
+
+.action-button:active {
+    background: #5d5d5d;
+}
+
+.icon-button {
+    font-size: 20px;
+    color: #fff;
+}
+
+.robot-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;
+}
+
+.svg-container {
+    flex: 1;
+    overflow: hidden;
+    position: relative;
+    background-color: #fafafa;
+}
+
+.svg-container svg {
+    width: 100%;
+    height: 100%;
+    cursor: grab;
+    background-color: dimgray;
+}
+
+.svg-container svg:active {
+    cursor: grabbing;
+}
+

RobotApp.Client/Pages/Counter.razor

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

RobotApp.Client/Pages/Dashboard.razor

@@ -0,0 +1,443 @@
+@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;" Title="@context.Description">
+                                    @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" Title="@context.ActionType">@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 readonly string RobotSerial = "T800-002";
+    private List<MessageRow> MessageRows = new();
+
+    protected override async Task OnInitializedAsync()
+    {
+        RobotStateClient.OnStateReceived += OnRobotStateReceived;
+        RobotStateClient.OnRobotConnectionChanged += OnRobotConnectionChanged;
+
+        if (RobotStateClient.ConnectionState == RobotClientState.Disconnected)
+        {
+            await RobotStateClient.StartAsync();
+        }
+
+        await RobotStateClient.SubscribeRobotAsync(RobotSerial);
+
+        CurrentState = RobotStateClient.GetLatestState(RobotSerial);
+        IsConnected = RobotStateClient.IsRobotConnected;
+
+        UpdateMessageRows();
+    }
+    private void OnRobotConnectionChanged(bool connected)
+    {
+        InvokeAsync(() =>
+        {
+            IsConnected = connected;
+            StateHasChanged();
+        });
+    }
+
+
+    private void OnRobotStateReceived(string serialNumber, StateMsg state)
+    {
+        if (serialNumber != RobotSerial) return;
+        InvokeAsync(() =>
+        {
+            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

@@ -1,7 +0,0 @@
-@page "/"
-
-<PageTitle>Home</PageTitle>
-
-<h1>Hello, world!</h1>
-
-Welcome to your new app.

RobotApp.Client/Pages/Logs.razor

@@ -0,0 +1,175 @@
+@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>
+
+
+@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: 46px;
+}
+
+.log-head {
+    border-radius: 3px;
+    padding: 2px 5px;
+}
+
+.log-exception {
+    line-height: 16px;
+    margin-left: 30px;
+    color: crimson;
+}

RobotApp.Client/Pages/MapsManager.razor

@@ -0,0 +1,23 @@
+@page "/maps-manager"
+
+@rendermode InteractiveWebAssemblyNoPrerender
+
+<PageTitle>Map Manager</PageTitle>
+
+<div class="d-flex w-100 h-100 p-2  overflow-hidden flex-row">
+    <div class="me-4 d-flex flex-column" style="height: 100%; width: 40%">
+        <div class="mb-4" style="height: 50%; width: 100%">
+            <RobotApp.Client.Pages.Components.Mapping.MapTable />
+        </div>
+        <div class="flex-grow-1" style="height: 50%; width: 100%">
+            <RobotApp.Client.Pages.Components.Mapping.RobotInfomation />
+        </div>
+    </div>
+    <div class="flex-grow-1 h-100" style="width: 60%">
+        <RobotApp.Client.Pages.Components.Mapping.MapView />
+    </div>
+</div>
+
+@code {
+    private List<MapDto> MapsShow = [];
+}

RobotApp.Client/Pages/Order/EdgesPanel.razor

@@ -0,0 +1,172 @@
+<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))"
+                                           StopPropagation="true" />
+                        </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>
+
+                          @*   <!-- Radius -->
+                            <MudItem xs="6">
+                                <MudNumericField T="double"
+                                                 Value="@edge.Radius"
+                                                 ValueChanged="@((double v) => SetValue(() => edge.Radius = v))"
+                                                 Immediate="true"
+                                                 Min="0"
+                                                 Step="0.1"
+                                                 Label="Radius (0 = straight line)" />
+                            </MudItem>
+
+                            <!-- Quadrant -->
+                            @if (edge.Radius > 0)
+                            {
+                                <MudItem xs="6">
+                                    <MudSelect T="Quadrant"
+                                               Value="@edge.Quadrant"
+                                               ValueChanged="@((Quadrant v) => SetValue(() => edge.Quadrant = v))"
+                                               Label="Quadrant">
+                                        <MudSelectItem Value="Quadrant.I">I</MudSelectItem>
+                                        <MudSelectItem Value="Quadrant.II">II</MudSelectItem>
+                                        <MudSelectItem Value="Quadrant.III">III</MudSelectItem>
+                                        <MudSelectItem Value="Quadrant.IV">IV</MudSelectItem>
+                                    </MudSelect>
+                                </MudItem>
+                            }
+
+                            <!-- Apply Curve -->
+                            @if (!edge.HasTrajectory && edge.Radius > 0 && !edge.Expanded)
+                            {
+                                <MudItem xs="12">
+                                    <MudButton Color="Color.Primary"
+                                               Variant="Variant.Outlined"
+                                               StartIcon="@Icons.Material.Filled.Merge"
+                                               OnClick="@(() => ApplyCurveAsync(edge))">
+                                        Apply Curve (generate node)
+                                    </MudButton>
+                                </MudItem>
+                            } *@
+
+                        </MudGrid>
+                    </ChildContent>
+                </MudExpansionPanel>
+            }
+        </MudExpansionPanels>
+    </div>
+</MudPaper>
+
+@code {
+    [Parameter] public OrderMessage Order { get; set; } = default!;
+
+    [Parameter] public EventCallback OnAddEdge { get; set; }
+    [Parameter] public EventCallback<UiEdge> OnRemoveEdge { get; set; }
+    [Parameter] public EventCallback<UiEdge> OnApplyCurve { get; set; }
+
+    [Parameter] public EventCallback 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(UiEdge edge)
+    {
+        await OnRemoveEdge.InvokeAsync(edge);
+        await OnOrderChanged.InvokeAsync();
+    }
+
+    private async Task ApplyCurveAsync(UiEdge edge)
+    {
+        await OnApplyCurve.InvokeAsync(edge);
+        await OnOrderChanged.InvokeAsync();
+    }
+}

RobotApp.Client/Pages/Order/EditNodeDialog.razor

@@ -0,0 +1,201 @@
+@inherits MudComponentBase
+
+<MudDialog>
+    <TitleContent>
+        <MudText Typo="Typo.h6">Edit Node: @Node.NodeId</MudText>
+    </TitleContent>
+
+    <DialogContent>
+        <MudGrid Spacing="3">
+            <MudItem xs="12">
+                <MudTextField @bind-Value="Node.NodeId" Label="Node ID" Required="true" />
+            </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="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">
+                <MudTextField @bind-Value="Node.NodePosition.MapId" Label="Map ID" />
+            </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="true">
+                        <MudGrid Spacing="3">
+                            <MudItem xs="10">
+                                <MudItem xs="12">
+                                    <MudSelect T="string"
+                                               Label="Action Type"
+                                               Dense="true"
+                                               Required="true"
+                                               @bind-Value="act.ActionType">
+
+                                        @foreach (var at in Enum.GetValues<ActionType>())
+                                        {
+                                            <MudSelectItem Value="@at.ToString()">
+                                                @at
+                                            </MudSelectItem>
+                                        }
+                                    </MudSelect>
+                                </MudItem>
+                            </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>
+
+                        @{
+                            var parameters = act.ActionParameters ?? Array.Empty<ActionParameter>();
+                        }
+                        @foreach (var p in parameters.Cast<UiActionParameter>().ToList())
+                        {
+                            var param = p; // capture cho lambda
+                                           <MudGrid Class="mt-1">
+                                               <MudItem xs="5">
+                                                   <MudTextField @bind-Value="param.Key" Label="Key" />
+                                               </MudItem>
+                                               <MudItem xs="5">
+                                                   <MudTextField @bind-Value="param.ValueString" Label="Value" />
+                                               </MudItem>
+                                               <MudItem xs="2">
+                                                   <MudIconButton Icon="@Icons.Material.Filled.Delete"
+                                                                  Color="Color.Error"
+                                                                  Size="Size.Small"
+                                                                  OnClick="@(() => RemoveParameter(act, param))" />
+                                               </MudItem>
+                                           </MudGrid>
+                        }
+
+                        <MudButton Size="Size.Small"
+                                   StartIcon="@Icons.Material.Filled.Add"
+                                   Class="mt-3"
+                                   OnClick="@(() => AddParameter(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(act))">
+                            Remove Action
+                        </MudButton>
+                    </MudPaper>
+                }
+
+                <MudButton Size="Size.Small"
+                           StartIcon="@Icons.Material.Filled.Add"
+                           OnClick="AddNewAction">
+                    Add Action
+                </MudButton>
+            </MudItem>
+        </MudGrid>
+    </DialogContent>
+
+    <DialogActions>
+        <MudButton OnClick="Cancel">Cancel</MudButton>
+        <MudButton Color="Color.Primary" Variant="Variant.Filled" OnClick="Submit">Save</MudButton>
+    </DialogActions>
+</MudDialog>
+
+@code {
+    [CascadingParameter] public IMudDialogInstance MudDialog { get; set; } = default!;
+    [Parameter] public Node Node { get; set; } = default!;
+
+    private void Cancel() => MudDialog.Cancel();
+    private void Submit() => MudDialog.Close(DialogResult.Ok(true));
+
+    private void RemoveAction(VDA5050.InstantAction.Action actToRemove)
+    {
+        Node.Actions = Node.Actions
+            .Where(a => a != actToRemove)
+            .ToArray();
+    }
+
+
+    private void AddNewAction()
+    {
+        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 AddParameter(VDA5050.InstantAction.Action act)
+    {
+        var newParam = new UiActionParameter();
+
+        if (act.ActionParameters == null || act.ActionParameters.Length == 0)
+        {
+            act.ActionParameters = new[] { newParam };
+        }
+        else
+        {
+            var list = act.ActionParameters.ToList();
+            list.Add(newParam);
+            act.ActionParameters = list.ToArray();
+        }
+    }
+
+    private void RemoveParameter(VDA5050.InstantAction.Action act, UiActionParameter paramToRemove)
+    {
+        if (act.ActionParameters == null || act.ActionParameters.Length == 0)
+            return;
+
+        act.ActionParameters = act.ActionParameters
+            .Where(p => p != paramToRemove) // so sánh reference
+            .ToArray();
+    }
+
+    // UiActionParameter vẫn giữ như cũ trong trang chính
+    public class UiActionParameter : ActionParameter
+    {
+        [JsonIgnore]
+        public string ValueString
+        {
+            get => Value?.ToString() ?? "";
+            set => Value = value;
+        }
+    }
+}

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
+        {
+            using var doc = JsonDocument.Parse(JsonText);
+            var root = doc.RootElement;
+
+            // ===== BASIC STRUCTURE CHECK =====
+            if (!root.TryGetProperty("nodes", out _) ||
+                !root.TryGetProperty("edges", out _))
+            {
+                throw new Exception("Missing 'nodes' or 'edges' field.");
+            }
+
+            var order = OrderMessage.FromSchemaObject(root);
+            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(OrderMessage order)
+    {
+        if (order.Nodes.Count == 0)
+            throw new Exception("Order must contain at least one node.");
+
+        if (order.Nodes.Count != order.Edges.Count + 1)
+            throw new Exception(
+                $"Invalid path structure: Nodes count ({order.Nodes.Count}) " +
+                $"must equal Edges count + 1 ({order.Edges.Count + 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">📄 JSON 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 +1,276 @@
+<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))"
+                                               StopPropagation />
+                                <MudIconButton Icon="@Icons.Material.Filled.Delete"
+                                               Color="Color.Error"
+                                               Size="Size.Small"
+                                               OnClick="@(() => RemoveNodeAsync(node))"
+                                               StopPropagation />
+                            </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 +1,314 @@
+@page "/robot-order"
+
+@rendermode InteractiveWebAssemblyNoPrerender
+
+@using System.Text.Json
+@using System.Text.Json.Serialization
+
+@inject IJSRuntime JS
+@inject IDialogService DialogService
+@inject HttpClient Http
+
+<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"
+                                        OnApplyCurve="ApplyCurve"
+                                        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,
+                DefaultIgnoreCondition = JsonIgnoreCondition.WhenWritingNull
+            });
+    }
+    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.Canceled && result.Data is OrderMessage imported)
+        {
+            Order = 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 UiEdge
+        {
+            EdgeId = $"EDGE_{Order.Edges.Count + 1}",
+            StartNodeId = start,
+            EndNodeId = end
+        });
+    }
+
+
+    void RemoveEdge(UiEdge edge)
+    {
+        Order.Edges.Remove(edge);
+    }
+
+    void ApplyCurve(UiEdge edge)
+    {
+        if (edge.Radius <= 0 || edge.Expanded) return;
+
+        var startNode = Order.Nodes.First(n => n.NodeId == edge.StartNodeId);
+        var newNode = OrderMessage.CreateCurveNode(startNode, edge);
+
+        Order.Nodes.Add(newNode);
+        edge.EndNodeId = newNode.NodeId;
+        edge.MarkExpanded(); // ✅
+
+        ResequenceNodes();
+    }
+
+    // ================= ACTION =================
+    void AddAction(Node node)
+    {
+        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()
+                       ?? Array.Empty<VDA5050.InstantAction.Action>();
+    }
+
+    void AddActionParameter(VDA5050.InstantAction.Action act)
+    {
+        var list = (act.ActionParameters ?? Array.Empty<ActionParameter>()).ToList();
+        list.Add(new UiActionParameter());
+        act.ActionParameters = list.ToArray();
+    }
+
+    void RemoveActionParameter(VDA5050.InstantAction.Action act, ActionParameter param)
+    {
+        act.ActionParameters =
+            act.ActionParameters?.Where(p => p != param).ToArray()
+            ?? Array.Empty<ActionParameter>();
+    }
+
+    // ================= SEND / COPY =================
+    async Task SendOrderToServer()
+    {
+        // reset trạng thái trước khi gửi
+        sendSuccess = null;
+        StateHasChanged();
+
+        try
+        {
+            var response = await Http.PostAsJsonAsync(
+                "/api/order",
+                JsonSerializer.Deserialize<JsonElement>(OrderJson)
+            );
+
+            sendSuccess = response.IsSuccessStatusCode;
+
+        }
+        catch
+        {
+            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("navigator.clipboard.writeText", 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

@@ -0,0 +1,436 @@
+@page "/robot-config"
+@rendermode InteractiveWebAssemblyNoPrerender
+
+@inject HttpClient Http
+@inject ISnackbar Snackbar
+
+@using System.Net.Http.Json
+@using RobotApp.Common.Shares.Dtos
+
+<PageTitle>Robot Configuration</PageTitle>
+
+<div class="d-flex w-100 h-100 p-2 overflow-hidden flex-column position-relative">
+    <div class="rcm-toolbar">
+        <div class="rcm-toolbar-left">
+            <label class="rcm-label" for="configType">Config Type</label>
+            <div class="rcm-select-wrapper">
+                <select id="configType" class="form-select rcm-select" value="@SelectedType" @onchange="OnTypeChanged">
+                    @foreach (var type in GetConfigType)
+                    {
+                        <option value="@type">@type</option>
+                    }
+                </select>
+                <span class="rcm-select-icon" aria-hidden="true">
+                    <svg width="16" height="16" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg" aria-hidden="true">
+                        <path d="M7 10l5 5 5-5" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" />
+                    </svg>
+                </span>
+            </div>
+        </div>
+
+        <div class="rcm-toolbar-right">
+            <div class="rcm-action-group">
+                @* <button type="button" class="btn rcm-icon-btn" data-tooltip="Add config" aria-label="Add" @onclick="OpenAddConfig">
+                    <i class="mdi mdi-plus" aria-hidden="true"></i>
+                </button> *@
+
+                <button type="button" class="btn rcm-icon-btn" data-tooltip="Update config" aria-label="Update" @onclick="SaveConfig">
+                    <i class="mdi mdi-content-save" aria-hidden="true"></i>
+                </button>
+
+                <button type="button" class="btn rcm-icon-btn" data-tooltip="Load config" aria-label="Update" @onclick="LoadConfig">
+                    <i class="mdi mdi-file-download" aria-hidden="true"></i>
+                </button>
+
+                @* <button type="button" class="btn rcm-icon-btn rcm-danger" data-tooltip="Delete config" aria-label="Delete" @onclick="DeleteConfig">
+                    <i class="mdi mdi-delete" aria-hidden="true"></i>
+                </button> *@
+            </div>
+        </div>
+    </div>
+    <div class="content rcm-content flex-grow-1 d-flex gap-3 mt-3">
+        <div class="card p-2 config-list rcm-config-list">
+            <div class="card-body list-body p-0">
+                @switch (SelectedType)
+                {
+                    case RobotConfigType.VDA5050:
+                        @RenderList(VdaConfigs, SelectVda, v => v.ConfigName, v => v.IsActive)
+                        break;
+                    case RobotConfigType.Safety:
+                        @RenderList(SafetyConfigs, SelectSafety, s => s.ConfigName, s => s.IsActive)
+                        break;
+                    case RobotConfigType.Simulation:
+                        @RenderList(SimulationConfigs, SelectSimulation, s => s.ConfigName, s => s.IsActive)
+                        break;
+                    case RobotConfigType.PLC:
+                        @RenderList(PlcConfigs, SelectPlc, p => p.ConfigName, p => p.IsActive)
+                        break;
+                    case RobotConfigType.Core:
+                        @RenderList(CoreConfigs, SelectCore, c => c.ConfigName, c => c.IsActive)
+                        break;
+                    default:
+                        <div class="p-2">No configs.</div>
+                        break;
+                }
+            </div>
+        </div>
+
+        <div class="card p-2 config-content rcm-config-content">
+            <div class="card-body">
+                @if (!HasSelection)
+                {
+                    <div class="text-muted">Select a config from the list or click Add to create one.</div>
+                }
+                else
+                {
+                    @switch (SelectedType)
+                    {
+                        case RobotConfigType.VDA5050:
+                            <RobotApp.Client.Pages.Components.Config.RobotVDA5050Config @ref="@RobotVDA5050ConfigRef" @bind-Model="SelectedVda" />
+                            break;
+                        case RobotConfigType.Safety:
+                            <RobotApp.Client.Pages.Components.Config.RobotSafetyConfig @bind-Model="SelectedSafety" />
+                            break;
+                        case RobotConfigType.Simulation:
+                            <RobotApp.Client.Pages.Components.Config.RobotSimulationConfig @bind-Model="SelectedSimulation" />
+                            break;
+                        case RobotConfigType.PLC:
+                            <RobotApp.Client.Pages.Components.Config.RobotPLCConfig @bind-Model="SelectedPlc" />
+                            break;
+                        case RobotConfigType.Core:
+                            <RobotApp.Client.Pages.Components.Config.RobotConfig @bind-Model="SelectedCore" />
+                            break;
+                    }
+                }
+            </div>
+        </div>
+    </div>
+
+    @if (IsLoading)
+    {
+        <div class="rcm-overlay" role="status" aria-live="polite" aria-busy="true">
+            <div class="rcm-overlay-content" aria-hidden="false">
+                <div class="spinner-border text-light" role="status" aria-hidden="true"></div>
+                <div class="rcm-overlay-message ms-2">Loading…</div>
+            </div>
+        </div>
+    }
+
+    @if (IsAddingNew)
+    {
+        <div class="rcm-modal-overlay" role="dialog" aria-modal="true">
+            <div class="rcm-modal">
+                <div class="card">
+                    <div class="card-header d-flex justify-content-between align-items-center">
+                        <strong>Create @SelectedType Config</strong>
+                        <button class="btn btn-sm btn-link text-muted" @onclick="CloseAddDialog" aria-label="Close">✕</button>
+                    </div>
+
+                    <div class="card-body">
+                        <EditForm Model="addForm" OnValidSubmit="SaveNewConfigAsync">
+                            <DataAnnotationsValidator />
+                            <ValidationSummary />
+
+                            <div class="mb-2">
+                                <label class="form-label">Config name</label>
+                                <InputText class="form-control" @bind-Value="addForm.ConfigName" />
+                            </div>
+
+                            <div class="mb-2">
+                                <label class="form-label">Description</label>
+                                <InputText class="form-control" @bind-Value="addForm.Description" />
+                            </div>
+
+                            <div class="mb-2">
+                                <label class="form-label">Copy parameters from existing (@SelectedType)</label>
+                                <select class="form-select" @bind="SelectedTemplateIdString">
+                                    @foreach (var t in GetTemplatesForSelectedType())
+                                    {
+                                        <option value="@t.Id">@t.Name</option>
+                                    }
+                                </select>
+                                <div class="form-text">If you choose an existing config, its parameter fields will be copied into the new config; you can still change name/description.</div>
+                            </div>
+
+                            <div class="d-flex justify-content-end gap-2 mt-3">
+                                <button type="button" class="btn btn-outline-secondary" @onclick="CloseAddDialog">Cancel</button>
+                                <button type="submit" class="btn btn-primary">Create</button>
+                            </div>
+                        </EditForm>
+                    </div>
+                </div>
+            </div>
+        </div>
+    }
+
+    @if (ShowDeleteConfirm)
+    {
+        <div class="rcm-modal-overlay" role="dialog" aria-modal="true">
+            <div class="rcm-modal">
+                <div class="card">
+                    <div class="card-header d-flex justify-content-between align-items-center">
+                        <strong>Confirm Delete</strong>
+                        <button class="btn btn-sm btn-link text-muted" @onclick="CancelDelete" aria-label="Close">✕</button>
+                    </div>
+                    <div class="card-body">
+                        <p>Are you sure you want to delete configuration "<strong>@DeletePendingName</strong>"?</p>
+                        <div class="d-flex justify-content-end gap-2 mt-3">
+                            <button class="btn btn-outline-secondary" @onclick="CancelDelete">Cancel</button>
+                            <button class="btn btn-danger" @onclick="ConfirmDeleteAsync">Delete</button>
+                        </div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    }
+
+</div>
+
+@code {
+    private List<RobotVDA5050ConfigDto> VdaConfigs { get; set; } = new();
+    private List<RobotSafetyConfigDto> SafetyConfigs { get; set; } = new();
+    private List<RobotSimulationConfigDto> SimulationConfigs { get; set; } = new();
+    private List<RobotPlcConfigDto> PlcConfigs { get; set; } = new();
+    private List<RobotConfigDto> CoreConfigs { get; set; } = new();
+
+    private RobotVDA5050ConfigDto? SelectedVda { get; set; }
+    private RobotSafetyConfigDto? SelectedSafety { get; set; }
+    private RobotSimulationConfigDto? SelectedSimulation { get; set; }
+    private RobotPlcConfigDto? SelectedPlc { get; set; }
+    private RobotConfigDto? SelectedCore { get; set; }
+
+    private CreateRobotVDA5050ConfigDto CreateVda = new();
+    private CreateRobotConfigDto CreateSafety = new();
+    private CreateRobotSafetyConfigDto CreateSimulation = new();
+    private CreateRobotSimulationConfigDto CreatePlc = new();
+    private CreateRobotPlcConfigDto CreateCore = new();
+
+    private RobotConfigType SelectedType = RobotConfigType.VDA5050;
+
+    private RobotApp.Client.Pages.Components.Config.RobotVDA5050Config RobotVDA5050ConfigRef = default!;
+
+    private int SelectedIndex = -1;
+    private bool HasSelection => SelectedIndex >= 0;
+    private bool IsLoading = false;
+    private bool IsAddingNew = false;
+
+    private bool ShowDeleteConfirm = false;
+    private Guid? DeletePendingId;
+    private string DeletePendingName = string.Empty;
+
+    private class AddFormModel
+    {
+        public string ConfigName { get; set; } = string.Empty;
+        public string Description { get; set; } = string.Empty;
+    }
+    private AddFormModel addForm = new();
+
+    private string SelectedTemplateIdString = string.Empty;
+    private IEnumerable<RobotConfigType> GetConfigType = [RobotConfigType.VDA5050, RobotConfigType.Simulation];
+
+    private IEnumerable<(Guid Id, string Name, bool Active)> GetTemplatesForSelectedType()
+    {
+        return SelectedType switch
+        {
+            RobotConfigType.VDA5050 => VdaConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
+            RobotConfigType.Safety => SafetyConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
+            RobotConfigType.Simulation => SimulationConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
+            RobotConfigType.PLC => PlcConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
+            RobotConfigType.Core => CoreConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
+            _ => [],
+        };
+    }
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        await base.OnAfterRenderAsync(firstRender);
+        if (!firstRender) return;
+        await LoadForTypeAsync(SelectedType);
+    }
+
+    private async Task OnTypeChanged(ChangeEventArgs e)
+    {
+        if (e?.Value is null) return;
+        if (!Enum.TryParse<RobotConfigType>(e.Value.ToString(), out var newType)) return;
+        if (newType == SelectedType) return;
+
+        SelectedType = newType;
+        await LoadForTypeAsync(newType);
+    }
+
+    private async Task LoadForTypeAsync(RobotConfigType type)
+    {
+        IsLoading = true;
+        StateHasChanged();
+
+        try
+        {
+            switch (type)
+            {
+                case RobotConfigType.VDA5050:
+                    await LoadVDA5050Configs();
+                    break;
+                case RobotConfigType.Safety:
+                    await LoadRobotSafetyConfigs();
+                    break;
+                case RobotConfigType.Simulation:
+                    await LoadRobotSimulationConfigs();
+                    break;
+                case RobotConfigType.PLC:
+                    await LoadRobotPlcConfigs();
+                    break;
+                case RobotConfigType.Core:
+                    await LoadRobotConfigs();
+                    break;
+            }
+        }
+        finally
+        {
+            IsLoading = false;
+            StateHasChanged();
+        }
+    }
+
+    RenderFragment RenderList<T>(List<T> list, Action<int> onSelect, Func<T, string> nameSelector, Func<T, bool>? isActiveSelector = null) where T : class
+    {
+        return builder =>
+        {
+            if (list is null || !list.Any())
+            {
+                builder.OpenElement(0, "div");
+                builder.AddAttribute(1, "class", "p-2 text-muted");
+                builder.AddContent(2, "No configs found.");
+                builder.CloseElement();
+                return;
+            }
+
+            builder.OpenElement(3, "ul");
+            builder.AddAttribute(4, "class", "list-group list-group-flush");
+
+            for (int i = 0; i < list.Count; i++)
+            {
+                var item = list[i];
+                var idx = i;
+                builder.OpenElement(10 + i * 6, "li");
+                builder.AddAttribute(11 + i * 6, "class", $"list-group-item {(SelectedIndex == idx ? "active" : "")}");
+                builder.AddAttribute(12 + i * 6, "style", "cursor:pointer;padding:0.75rem 1rem;");
+                builder.AddAttribute(13 + i * 6, "onclick", EventCallback.Factory.Create(this, () => onSelect(idx)));
+
+                string name;
+                try
+                {
+                    name = nameSelector(item) ?? "Unnamed";
+                }
+                catch
+                {
+                    name = "Unnamed";
+                }
+                builder.AddContent(14 + i * 6, name);
+
+                bool isActive = false;
+                if (isActiveSelector is not null)
+                {
+                    try
+                    {
+                        isActive = isActiveSelector(item);
+                    }
+                    catch
+                    {
+                        isActive = false;
+                    }
+                }
+
+                if (isActive)
+                {
+                    builder.OpenElement(15 + i * 6, "span");
+                    builder.AddAttribute(16 + i * 6, "class", "badge bg-success ms-2 float-end");
+                    builder.AddContent(17 + i * 6, "Active");
+                    builder.CloseElement();
+                }
+
+                builder.CloseElement();
+            }
+
+            builder.CloseElement();
+        };
+    }
+
+    private Action<int> SelectVda => idx =>
+    {
+        SelectedIndex = idx;
+        SelectedVda = idx >= 0 && idx < VdaConfigs.Count ? VdaConfigs[idx] with { } : null;
+        StateHasChanged();
+    };
+
+    private Action<int> SelectSafety => idx =>
+    {
+        SelectedIndex = idx;
+        SelectedSafety = idx >= 0 && idx < SafetyConfigs.Count ? SafetyConfigs[idx] with { } : null;
+        StateHasChanged();
+    };
+
+    private Action<int> SelectSimulation => idx =>
+    {
+        SelectedIndex = idx;
+        SelectedSimulation = idx >= 0 && idx < SimulationConfigs.Count ? SimulationConfigs[idx] with { } : null;
+        StateHasChanged();
+    };
+
+    private Action<int> SelectPlc => idx =>
+    {
+        SelectedIndex = idx;
+        SelectedPlc = idx >= 0 && idx < PlcConfigs.Count ? PlcConfigs[idx] with { } : null;
+        StateHasChanged();
+    };
+
+    private Action<int> SelectCore => idx =>
+    {
+        SelectedIndex = idx;
+        SelectedCore = idx >= 0 && idx < CoreConfigs.Count ? CoreConfigs[idx] with { } : null;
+        StateHasChanged();
+    };
+
+    private void OpenAddConfig()
+    {
+        addForm = new AddFormModel();
+        var model = GetTemplatesForSelectedType();
+        var modelActive = model.Where(x => x.Active).ToList();
+        SelectedTemplateIdString = modelActive.Count > 0 ? modelActive.First().Id.ToString() : model.Any() ? model.First().Id.ToString() : string.Empty;
+        IsAddingNew = true;
+    }
+
+    private void CloseAddDialog()
+    {
+        IsAddingNew = false;
+    }
+
+    private void DeleteConfig()
+    {
+        var tuple = SelectedType switch
+        {
+            RobotConfigType.VDA5050 => (Id: SelectedVda?.Id, Name: SelectedVda?.ConfigName),
+            RobotConfigType.Safety => (Id: SelectedSafety?.Id, Name: SelectedSafety?.ConfigName),
+            RobotConfigType.Simulation => (Id: SelectedSimulation?.Id, Name: SelectedSimulation?.ConfigName),
+            RobotConfigType.PLC => (Id: SelectedPlc?.Id, Name: SelectedPlc?.ConfigName),
+            RobotConfigType.Core => (Id: SelectedCore?.Id, Name: SelectedCore?.ConfigName),
+            _ => (Id: (Guid?)null, Name: (string?)null)
+        };
+
+        if (tuple.Id is null || tuple.Id == Guid.Empty)
+        {
+            Snackbar.Add("No config selected to delete.", Severity.Warning);
+            return;
+        }
+
+        DeletePendingId = tuple.Id;
+        DeletePendingName = tuple.Name ?? string.Empty;
+        ShowDeleteConfirm = true;
+    }
+
+    private void CancelDelete()
+    {
+        ShowDeleteConfirm = false;
+        DeletePendingId = null;
+        DeletePendingName = string.Empty;
+    }
+}

RobotApp.Client/Pages/RobotConfigManager.razor.cs

@@ -0,0 +1,569 @@
+using MudBlazor;
+using RobotApp.Common.Shares;
+using RobotApp.Common.Shares.Dtos;
+using RobotApp.Common.Shares.Enums;
+using System.Net.Http.Headers;
+using System.Net.Http.Json;
+using System.Xml.Schema;
+
+namespace RobotApp.Client.Pages;
+
+public partial class RobotConfigManager
+{
+    private async Task LoadVDA5050Configs()
+    {
+        try
+        {
+            var res = await Http.GetFromJsonAsync<MessageResult<RobotVDA5050ConfigDto[]>>("api/RobotConfigs/vda5050");
+            if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
+            else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
+            else if (res.Data is not null)
+            {
+                VdaConfigs.Clear();
+                VdaConfigs.AddRange(res.Data);
+
+                var activeIdx = VdaConfigs.FindIndex(x => x.IsActive);
+                if (activeIdx >= 0)
+                {
+                    SelectedIndex = activeIdx;
+                    SelectedVda = VdaConfigs[activeIdx] with { };
+                }
+                else
+                {
+                    SelectedIndex = -1;
+                    SelectedVda = null;
+                }
+
+                StateHasChanged();
+            }
+            else
+            {
+                Snackbar.Add("No VDA5050 configs found", Severity.Info);
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
+        }
+    }
+
+    private async Task LoadRobotConfigs()
+    {
+        try
+        {
+            var res = await Http.GetFromJsonAsync<MessageResult<RobotConfigDto[]>>("api/RobotConfigs/robot");
+            if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
+            else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
+            else if (res.Data is not null)
+            {
+                CoreConfigs.Clear();
+                CoreConfigs.AddRange(res.Data);
+
+                var activeIdx = CoreConfigs.FindIndex(x => x.IsActive);
+                if (activeIdx >= 0)
+                {
+                    SelectedIndex = activeIdx;
+                    SelectedCore = CoreConfigs[activeIdx] with { };
+                }
+                else
+                {
+                    SelectedIndex = -1;
+                    SelectedCore = null;
+                }
+
+                StateHasChanged();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
+        }
+    }
+
+    private async Task LoadRobotSafetyConfigs()
+    {
+        try
+        {
+            var res = await Http.GetFromJsonAsync<MessageResult<RobotSafetyConfigDto[]>>("api/RobotConfigs/safety");
+            if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
+            else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
+            else if (res.Data is not null)
+            {
+                SafetyConfigs.Clear();
+                SafetyConfigs.AddRange(res.Data);
+
+                var activeIdx = SafetyConfigs.FindIndex(x => x.IsActive);
+                if (activeIdx >= 0)
+                {
+                    SelectedIndex = activeIdx;
+                    SelectedSafety = SafetyConfigs[activeIdx] with { };
+                }
+                else
+                {
+                    SelectedIndex = -1;
+                    SelectedSafety = null;
+                }
+
+                StateHasChanged();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
+        }
+    }
+
+    private async Task LoadRobotSimulationConfigs()
+    {
+        try
+        {
+            var res = await Http.GetFromJsonAsync<MessageResult<RobotSimulationConfigDto[]>>("api/RobotConfigs/simulation");
+            if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
+            else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
+            else if (res.Data is not null)
+            {
+                SimulationConfigs.Clear();
+                SimulationConfigs.AddRange(res.Data);
+
+                var activeIdx = SimulationConfigs.FindIndex(x => x.IsActive);
+                if (activeIdx >= 0)
+                {
+                    SelectedIndex = activeIdx;
+                    SelectedSimulation = SimulationConfigs[activeIdx] with { };
+                }
+                else
+                {
+                    SelectedIndex = -1;
+                    SelectedSimulation = null;
+                }
+
+                StateHasChanged();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
+        }
+    }
+
+    private async Task LoadRobotPlcConfigs()
+    {
+        try
+        {
+            var res = await Http.GetFromJsonAsync<MessageResult<RobotPlcConfigDto[]>>("api/RobotConfigs/plc");
+            if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
+            else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
+            else if (res.Data is not null)
+            {
+                PlcConfigs.Clear();
+                PlcConfigs.AddRange(res.Data);
+                var activeIdx = PlcConfigs.FindIndex(x => x.IsActive);
+                if (activeIdx >= 0)
+                {
+                    SelectedIndex = activeIdx;
+                    SelectedPlc = PlcConfigs[activeIdx] with { };
+                }
+                else
+                {
+                    SelectedIndex = -1;
+                    SelectedPlc = null;
+                }
+                StateHasChanged();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
+        }
+    }
+
+    private async Task SaveNewConfigAsync()
+    {
+        try
+        {
+            HttpResponseMessage? res = null;
+            _ = Guid.TryParse(SelectedTemplateIdString, out Guid templateId);
+
+            switch (SelectedType)
+            {
+                case RobotConfigType.VDA5050:
+                    {
+                        var template = VdaConfigs.FirstOrDefault(x => x.Id == templateId);
+                        if (template is null) return;
+                        var payload = new
+                        {
+                            addForm.ConfigName,
+                            addForm.Description,
+                            template.SerialNumber,
+                            template.VDA5050HostServer,
+                            template.VDA5050Port,
+                            template.VDA5050UserName,
+                            template.VDA5050Password,
+                            template.VDA5050Manufacturer,
+                            template.VDA5050Version,
+                            template.VDA5050TopicPrefix,
+                            template.VDA5050PublishRepeat,
+                            template.VDA5050EnablePassword,
+                            template.VDA5050EnableTls
+                        };
+
+                        res = await Http.PostAsJsonAsync("api/RobotConfigs/vda5050", payload);
+                        break;
+                    }
+
+                case RobotConfigType.PLC:
+                    {
+                        var template = PlcConfigs.FirstOrDefault(x => x.Id == templateId);
+                        if (template is null) return;
+                        var payload = new
+                        {
+                            addForm.ConfigName,
+                            addForm.Description,
+                            template.PLCAddress,
+                            template.PLCPort,
+                            template.PLCUnitId
+                        };
+
+                        res = await Http.PostAsJsonAsync("api/RobotConfigs/plc", payload);
+                        break;
+                    }
+
+                case RobotConfigType.Safety:
+                    {
+                        var template = SafetyConfigs.FirstOrDefault(x => x.Id == templateId);
+                        if (template is null) return;
+                        var payload = new
+                        {
+                            addForm.ConfigName,
+                            addForm.Description,
+                            template.SafetySpeedVerySlow,
+                            template.SafetySpeedSlow,
+                            template.SafetySpeedNormal,
+                            template.SafetySpeedMedium,
+                            template.SafetySpeedOptimal,
+                            template.SafetySpeedFast,
+                            template.SafetySpeedVeryFast
+                        };
+
+                        res = await Http.PostAsJsonAsync("api/RobotConfigs/safety", payload);
+                        break;
+                    }
+
+                case RobotConfigType.Simulation:
+                    {
+                        var template = SimulationConfigs.FirstOrDefault(x => x.Id == templateId);
+                        if (template is null) return;
+                        var payload = new
+                        {
+                            addForm.ConfigName,
+                            addForm.Description,
+                            template.EnableSimulation,
+                            template.SimulationMaxVelocity,
+                            template.SimulationMaxAngularVelocity,
+                            template.SimulationAcceleration,
+                            template.SimulationDeceleration
+                        };
+
+                        res = await Http.PostAsJsonAsync("api/RobotConfigs/simulation", payload);
+                        break;
+                    }
+
+                case RobotConfigType.Core:
+                default:
+                    {
+                        var template = CoreConfigs.FirstOrDefault(x => x.Id == templateId);
+                        if (template is null) return;
+                        var payload = new
+                        {
+                            addForm.ConfigName,
+                            addForm.Description,
+                            template.NavigationType,
+                            template.RadiusWheel,
+                            template.Width,
+                            template.Length,
+                            template.Height
+                        };
+
+                        res = await Http.PostAsJsonAsync("api/RobotConfigs/robot", payload);
+                        break;
+                    }
+            }
+
+            if (res is not null && res.IsSuccessStatusCode)
+            {
+                Snackbar.Add("Config created", Severity.Success);
+                IsAddingNew = false;
+                await LoadForTypeAsync(SelectedType);
+            }
+            else
+            {
+                var message = res is null ? "No response" : await res.Content.ReadAsStringAsync();
+                Snackbar.Add($"Create failed: {message}", Severity.Error);
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error creating config: {ex.Message}", Severity.Error);
+        }
+    }
+
+    private async Task<bool> SaveCertificates()
+    {
+        using var content = new MultipartFormDataContent();
+
+        if (RobotVDA5050ConfigRef.CaFile is not null)
+        {
+            var fileContent = new StreamContent(RobotVDA5050ConfigRef.CaFile.OpenReadStream(maxAllowedSize: RobotVDA5050ConfigRef.MaxFileSize));
+            content.Add(fileContent, "CaFile", RobotVDA5050ConfigRef.CaFile.Name);
+        }
+        if (RobotVDA5050ConfigRef.CertFile is not null)
+        {
+            var fileContent = new StreamContent(RobotVDA5050ConfigRef.CertFile.OpenReadStream(maxAllowedSize: RobotVDA5050ConfigRef.MaxFileSize));
+            content.Add(fileContent, "CertFile", RobotVDA5050ConfigRef.CertFile.Name);
+        }
+        if (RobotVDA5050ConfigRef.KeyFile is not null)
+        {
+            var fileContent = new StreamContent(RobotVDA5050ConfigRef.KeyFile.OpenReadStream(maxAllowedSize: RobotVDA5050ConfigRef.MaxFileSize));
+            content.Add(fileContent, "KeyFile", RobotVDA5050ConfigRef.KeyFile.Name);
+        }
+        if (content.Any())
+        {
+            var response = await (await Http.PostAsync($"api/File/certificates", content)).Content.ReadFromJsonAsync<MessageResult>();
+            if (response is null) Snackbar.Add("Failed to update certificates", Severity.Warning);
+            else if (!response.IsSuccess) Snackbar.Add(response.Message ?? "Failed to update certificates", Severity.Warning);
+            else return true;
+            StateHasChanged();
+            return false;
+        }
+        return true;
+    }
+
+    private async Task SaveConfig()
+    {
+        try
+        {
+            Guid? id = SelectedType switch
+            {
+                RobotConfigType.VDA5050 => SelectedVda?.Id,
+                RobotConfigType.Safety => SelectedSafety?.Id,
+                RobotConfigType.Simulation => SelectedSimulation?.Id,
+                RobotConfigType.PLC => SelectedPlc?.Id,
+                RobotConfigType.Core => SelectedCore?.Id,
+                _ => null
+            };
+
+            if (id == null || id == Guid.Empty)
+            {
+                Snackbar.Add("No config selected to save.", Severity.Warning);
+                return;
+            }
+
+            MessageResult? result = null;
+
+            switch (SelectedType)
+            {
+                case RobotConfigType.VDA5050:
+                    {
+                        if (SelectedVda is null) { Snackbar.Add("No VDA5050 config selected.", Severity.Warning); return; }
+                        var updateDto = new
+                        {
+                            SelectedVda.SerialNumber,
+                            SelectedVda.VDA5050HostServer,
+                            SelectedVda.VDA5050Port,
+                            SelectedVda.VDA5050UserName,
+                            SelectedVda.VDA5050Password,
+                            SelectedVda.VDA5050Manufacturer,
+                            SelectedVda.VDA5050Version,
+                            SelectedVda.VDA5050TopicPrefix,
+                            SelectedVda.VDA5050PublishRepeat,
+                            SelectedVda.VDA5050EnablePassword,
+                            SelectedVda.VDA5050EnableTls,
+                            SelectedVda.VDA5050CA,
+                            SelectedVda.VDA5050Cer,
+                            SelectedVda.VDA5050Key,
+                            SelectedVda.Description
+                        };
+                        var saveCer = await SaveCertificates();
+                        if (saveCer) result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/vda5050/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
+                        else return;
+                        break;
+                    }
+
+                case RobotConfigType.PLC:
+                    {
+                        if (SelectedPlc is null) { Snackbar.Add("No PLC config selected.", Severity.Warning); return; }
+                        var updateDto = new
+                        {
+                            SelectedPlc.Description,
+                            SelectedPlc.PLCAddress,
+                            SelectedPlc.PLCPort,
+                            SelectedPlc.PLCUnitId
+                        };
+
+                        result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/plc/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
+                        break;
+                    }
+
+                case RobotConfigType.Safety:
+                    {
+                        if (SelectedSafety is null) { Snackbar.Add("No Safety config selected.", Severity.Warning); return; }
+                        var updateDto = new
+                        {
+                            SelectedSafety.SafetySpeedVerySlow,
+                            SelectedSafety.SafetySpeedSlow,
+                            SelectedSafety.SafetySpeedNormal,
+                            SelectedSafety.SafetySpeedMedium,
+                            SelectedSafety.SafetySpeedOptimal,
+                            SelectedSafety.SafetySpeedFast,
+                            SelectedSafety.SafetySpeedVeryFast,
+                            SelectedSafety.Description
+                        };
+
+                        result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/safety/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
+                        break;
+                    }
+
+                case RobotConfigType.Simulation:
+                    {
+                        if (SelectedSimulation is null) { Snackbar.Add("No Simulation config selected.", Severity.Warning); return; }
+                        var updateDto = new
+                        {
+                            SelectedSimulation.EnableSimulation,
+                            SelectedSimulation.SimulationMaxVelocity,
+                            SelectedSimulation.SimulationMaxAngularVelocity,
+                            SelectedSimulation.SimulationAcceleration,
+                            SelectedSimulation.SimulationDeceleration,
+                            SelectedSimulation.Description
+                        };
+
+                        result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/simulation/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
+                        break;
+                    }
+
+                case RobotConfigType.Core:
+                default:
+                    {
+                        if (SelectedCore is null) { Snackbar.Add("No Core config selected.", Severity.Warning); return; }
+                        var updateDto = new
+                        {
+                            SelectedCore.NavigationType,
+                            SelectedCore.RadiusWheel,
+                            SelectedCore.Width,
+                            SelectedCore.Length,
+                            SelectedCore.Height,
+                            SelectedCore.Description
+                        };
+
+                        result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/robot/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
+                        break;
+                    }
+            }
+
+            if (result is null) Snackbar.Add("Failed to update config", Severity.Warning);
+            else if (!result.IsSuccess) Snackbar.Add(result.Message ?? "Failed to update config", Severity.Warning);
+            else
+            {
+                Snackbar.Add("Config saved", Severity.Success);
+
+                await LoadForTypeAsync(SelectedType);
+
+                switch (SelectedType)
+                {
+                    case RobotConfigType.VDA5050:
+                        var vIdx = VdaConfigs.FindIndex(x => x.Id == id);
+                        if (vIdx >= 0) { SelectedIndex = vIdx; SelectedVda = VdaConfigs[vIdx] with { }; }
+                        break;
+                    case RobotConfigType.Safety:
+                        var sIdx = SafetyConfigs.FindIndex(x => x.Id == id);
+                        if (sIdx >= 0) { SelectedIndex = sIdx; SelectedSafety = SafetyConfigs[sIdx] with { }; }
+                        break;
+                    case RobotConfigType.Simulation:
+                        var simIdx = SimulationConfigs.FindIndex(x => x.Id == id);
+                        if (simIdx >= 0) { SelectedIndex = simIdx; SelectedSimulation = SimulationConfigs[simIdx] with { }; }
+                        break;
+                    case RobotConfigType.PLC:
+                        var pIdx = PlcConfigs.FindIndex(x => x.Id == id);
+                        if (pIdx >= 0) { SelectedIndex = pIdx; SelectedPlc = PlcConfigs[pIdx] with { }; }
+                        break;
+                    case RobotConfigType.Core:
+                        var cIdx = CoreConfigs.FindIndex(x => x.Id == id);
+                        if (cIdx >= 0) { SelectedIndex = cIdx; SelectedCore = CoreConfigs[cIdx] with { }; }
+                        break;
+                }
+
+                StateHasChanged();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error saving config: {ex.Message}", Severity.Error);
+        }
+    }
+
+    private async Task ConfirmDeleteAsync()
+    {
+        try
+        {
+            if (DeletePendingId is null || DeletePendingId == Guid.Empty)
+            {
+                Snackbar.Add("No config selected to delete.", Severity.Warning);
+                CancelDelete();
+                return;
+            }
+
+            var id = DeletePendingId.Value;
+            string path = SelectedType switch
+            {
+                RobotConfigType.VDA5050 => $"api/RobotConfigs/vda5050/{id}",
+                RobotConfigType.Safety => $"api/RobotConfigs/safety/{id}",
+                RobotConfigType.Simulation => $"api/RobotConfigs/simulation/{id}",
+                RobotConfigType.PLC => $"api/RobotConfigs/plc/{id}",
+                RobotConfigType.Core => $"api/RobotConfigs/robot/{id}",
+                _ => throw new InvalidOperationException("Unsupported config type")
+            };
+
+            IsLoading = true;
+            StateHasChanged();
+
+            var httpRes = await Http.DeleteFromJsonAsync<MessageResult>(path);
+
+            if (httpRes is null) Snackbar.Add("Failed to delete config", Severity.Warning);
+            else if (!httpRes.IsSuccess) Snackbar.Add(httpRes.Message ?? "Failed to delete config", Severity.Warning);
+            else
+            {
+                Snackbar.Add("Config deleted", Severity.Success);
+
+                SelectedIndex = -1;
+                switch (SelectedType)
+                {
+                    case RobotConfigType.VDA5050: SelectedVda = null; break;
+                    case RobotConfigType.Safety: SelectedSafety = null; break;
+                    case RobotConfigType.Simulation: SelectedSimulation = null; break;
+                    case RobotConfigType.PLC: SelectedPlc = null; break;
+                    case RobotConfigType.Core: SelectedCore = null; break;
+                }
+
+                await LoadForTypeAsync(SelectedType);
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error deleting config: {ex.Message}", Severity.Error);
+        }
+        finally
+        {
+            IsLoading = false;
+            CancelDelete();
+            StateHasChanged();
+        }
+    }
+
+    private async Task LoadConfig()
+    {
+        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);
+        StateHasChanged();
+    }
+}

RobotApp.Client/Pages/RobotConfigManager.razor.css

@@ -0,0 +1,520 @@
+/* Toolbar layout */
+.rcm-toolbar {
+    display: flex;
+    gap: 1rem;
+    align-items: center;
+    justify-content: space-between;
+    background: var(--mud-palette-surface, #ffffff);
+    color: #e6e6e6;
+    padding: 0.75rem 1rem;
+    border-radius: 0.375rem;
+    box-shadow: 0 2px 6px rgba(0,0,0,0.6);
+    border: 1px solid rgba(255,255,255,0.04);
+}
+
+/* Content layout: take remaining height */
+.rcm-content {
+    height: calc(100vh - 90px); /* approximate toolbar + padding height; adjust if needed */
+    min-height: 0; /* allow flex children to shrink properly */
+}
+
+/* Config list uses flexible basis and can shrink instead of forcing overflow */
+.rcm-config-list {
+    /* replace fixed width with flex basis + shrink */
+    flex: 0 1 35%; /* flex-grow:0, flex-shrink:1, flex-basis:35% */
+    min-width: 240px; /* allow smaller than before but keep readable */
+    display: flex;
+    flex-direction: column;
+    min-height: 0;
+}
+
+/* Config content uses remaining space and can shrink/grow */
+.rcm-config-content {
+    flex: 1 1 65%; /* flex-grow:1 to take remaining, flex-shrink:1 */
+    min-width: 220px;
+    display: flex;
+    flex-direction: column;
+}
+
+/* Make card body scrollable if content overflows */
+.config-list .list-body,
+.rcm-config-content .card-body,
+.config-list .list-body ul {
+    overflow: auto;
+}
+
+/* Ensure list-body and editor body expand to fill container */
+.config-list .list-body {
+    height: 100%;
+}
+
+.rcm-config-content .card-body {
+    height: 100%;
+}
+
+/* Make config list body fill available height and scroll when content overflows */
+.rcm-config-list .card-body.list-body {
+  flex: 1 1 auto; /* expand to fill container */
+  min-height: 0;   /* allow flex children to shrink in many browsers */
+  overflow: auto;  /* enable scrolling when content overflows */
+  padding: 0.25rem 0.5rem; /* keep slight padding for list */
+}
+
+/* Ensure the list itself doesn't add extra margins that affect scrolling */
+.rcm-config-list .list-group {
+  margin: 0;
+  padding: 0;
+}
+
+/* Each list item keeps its padding but stays in flow */
+.rcm-config-list .list-group-item {
+  padding: 0.75rem 1rem;
+}
+
+/* List items spacing */
+.list-group-item {
+    cursor: pointer;
+}
+
+/* Left side controls (robot id + select) */
+.rcm-toolbar-left {
+    display: flex;
+    gap: 0.5rem;
+    align-items: center;
+    flex-wrap: wrap;
+}
+
+/* Right side action buttons */
+.rcm-toolbar-right {
+    display: flex;
+    align-items: center;
+}
+
+/* Group buttons with small spacing */
+.rcm-action-group {
+    display: flex;
+    gap: 0.5rem;
+}
+
+/* Inputs sizing */
+.rcm-input {
+    width: 160px;
+    background: #1a1a1a;
+    border: 1px solid rgba(255,255,255,0.06);
+    color: #e6e6e6;
+}
+
+.rcm-select-wrapper {
+    position: relative;
+    display: inline-flex;
+    align-items: center;
+}
+
+/* Make select background brighter and match button gradients (blue tone similar to Update) */
+.rcm-select {
+    width: 180px;
+    margin-left: 6px; /* bring select closer to left controls */
+    background: linear-gradient(180deg, #4aa0db, #2b87c9);
+    border: 1px solid rgba(0,0,0,0.12);
+    color: #fff;
+    appearance: none;
+    padding-right: 28px; /* space for icon */
+    box-shadow: 0 1px 0 rgba(255,255,255,0.04) inset;
+}
+
+/* Hover effect: slightly brighter */
+.rcm-select-wrapper:hover .rcm-select {
+    background: linear-gradient(180deg, #5bb6ee, #399ad6);
+    border-color: rgba(58,123,184,0.22);
+    transform: translateY(-1px);
+}
+
+/* Select icon color to contrast with brighter select */
+.rcm-select-icon {
+    position: absolute;
+    right: 6px;
+    pointer-events: none;
+    color: rgba(255,255,255,0.9);
+    display: inline-flex;
+    align-items: center;
+}
+
+/* Toolbar labels */
+.rcm-label {
+    font-size: 0.9rem;
+    margin-right: 6px;
+    color: #cfcfcf;
+}
+
+/* Minor button styling to match toolbar */
+.rcm-btn {
+    min-width: 84px;
+}
+
+/* Icon button styles */
+.rcm-icon-btn {
+    display: inline-flex;
+    align-items: center;
+    justify-content: center;
+    width: 38px;
+    height: 34px;
+    padding: 0.25rem;
+    border-radius: 6px;
+    background: transparent;
+    color: #e6e6e6;
+    border: 1px solid rgba(255,255,255,0.04);
+}
+
+.rcm-icon-btn svg { 
+    display: block;
+}
+
+/* Icon button hover and focus states */
+.rcm-icon-btn:hover, .rcm-icon-btn:focus {
+    background: rgba(255,255,255,0.03);
+    color: #fff;
+    border-color: rgba(255,255,255,0.08);
+}
+
+.rcm-danger {
+    color: #ffb3b3;
+    border-color: rgba(255,100,100,0.18);
+}
+
+/* Adjust bootstrap button colors for dark toolbar when using outline variants */
+.rcm-toolbar .btn-outline-primary {
+    color: #cfe2ff;
+    border-color: rgba(95,160,255,0.2);
+}
+
+.rcm-toolbar .btn-outline-success {
+    color: #d4f5d4;
+    border-color: rgba(60,200,120,0.18);
+}
+
+.rcm-toolbar .btn-outline-danger {
+    color: #ffcfcf;
+    border-color: rgba(255,100,100,0.18);
+}
+
+/* Specific styles for action buttons (Add, Update, Delete) */
+.rcm-action-group button[aria-label="Add"] {
+  background: linear-gradient(180deg, #4bb24b, #2f9a2f); /* bright green */
+  color: #fff;
+  border: 1px solid rgba(0,0,0,0.08);
+  box-shadow: 0 1px 0 rgba(255,255,255,0.06) inset;
+}
+
+.rcm-action-group button[aria-label="Add"]:hover {
+  background: linear-gradient(180deg, #66d166, #3fb83f);
+  transform: translateY(-1px);
+}
+
+.rcm-action-group button[aria-label="Add"]:focus {
+  outline: none;
+  box-shadow: 0 0 0 3px rgba(56,160,56,0.18);
+}
+
+.rcm-action-group button[aria-label="Update"] {
+  background: linear-gradient(180deg, #4aa0db, #2b87c9); /* bright blue */
+  color: #fff;
+  border: 1px solid rgba(0,0,0,0.08);
+  box-shadow: 0 1px 0 rgba(255,255,255,0.08) inset;
+}
+
+.rcm-action-group button[aria-label="Update"]:hover {
+  background: linear-gradient(180deg, #5bb6ee, #399ad6);
+  transform: translateY(-1px);
+}
+
+.rcm-action-group button[aria-label="Update"]:focus {
+  outline: none;
+  box-shadow: 0 0 0 3px rgba(58,123,184,0.18);
+}
+
+.rcm-action-group button[aria-label="Delete"] {
+  background: linear-gradient(180deg, #ff6b6b, #e04848); /* bright red */
+  color: #fff;
+  border: 1px solid rgba(0,0,0,0.08);
+  box-shadow: 0 1px 0 rgba(255,255,255,0.06) inset;
+}
+
+.rcm-action-group button[aria-label="Delete"]:hover {
+  background: linear-gradient(180deg, #ff8282, #ec5b5b);
+  transform: translateY(-1px);
+}
+
+.rcm-action-group button[aria-label="Delete"]:focus {
+  outline: none;
+  box-shadow: 0 0 0 3px rgba(224,72,72,0.18);
+}
+
+/* Ensure icons inside the action buttons remain visible */
+.rcm-action-group button[aria-label="Add"] .mdi,
+.rcm-action-group button[aria-label="Update"] .mdi,
+.rcm-action-group button[aria-label="Delete"] .mdi {
+  color: #fff;
+}
+
+/* Ensure dropdown options use dark theme matching select */
+.rcm-select option {
+  background-color: #141414 !important;
+  color: #e6e6e6 !important;
+}
+
+/* Hover/active state inside dropdown */
+.rcm-select option:hover,
+.rcm-select option:checked {
+  background-color: #2b87c9 !important; /* match update button blue */
+  color: #fff !important;
+}
+
+/* Optgroup styling (if used) */
+.rcm-select optgroup {
+  color: #e6e6e6;
+  background: #141414;
+}
+
+/* Tooltip for action buttons using data-tooltip attribute */
+.rcm-action-group button[data-tooltip] {
+  position: relative;
+}
+
+.rcm-action-group button[data-tooltip]::after {
+  content: attr(data-tooltip);
+  position: absolute;
+  left: 50%;
+  transform: translateX(-50%) translateY(8px);
+  bottom: -9999px; /* hidden by default below flow */
+  background: rgba(20,20,20,0.98);
+  color: #fff;
+  padding: 6px 10px;
+  border-radius: 6px;
+  font-size: 0.85rem;
+  white-space: nowrap;
+  box-shadow: 0 2px 6px rgba(0,0,0,0.5);
+  opacity: 0;
+  pointer-events: none;
+  transition: opacity 0.12s ease, transform 0.12s ease;
+  z-index: 50;
+}
+
+/* Arrow below tooltip */
+.rcm-action-group button[data-tooltip]::before {
+  content: "";
+  position: absolute;
+  left: 50%;
+  transform: translateX(-50%);
+  bottom: -9999px;
+  width: 8px;
+  height: 8px;
+  background: rgba(20,20,20,0.98);
+  transform-origin: center;
+  rotate: 45deg;
+  z-index: 49;
+}
+
+/* Show tooltip on hover */
+.rcm-action-group button[data-tooltip]:hover::after,
+.rcm-action-group button[data-tooltip]:hover::before {
+  bottom: -45px; /* reduced gap: place tooltip closer to the button */
+  opacity: 1;
+  transform: translateX(-50%) translateY(0);
+}
+
+/* Adjust for danger button (slightly different color) */
+.rcm-action-group button[data-tooltip].rcm-danger::after {
+  background: rgba(224,72,72,0.95);
+}
+
+/* Slightly lift the button on hover to match tooltip */
+.rcm-action-group button[data-tooltip]:hover {
+  transform: translateY(-2px);
+}
+
+/* Tooltip backgrounds matching their buttons */
+.rcm-action-group button[aria-label="Add"][data-tooltip]::after {
+  background: linear-gradient(180deg, #4bb24b, #2f9a2f);
+}
+.rcm-action-group button[aria-label="Add"][data-tooltip]::before {
+  background: #2f9a2f;
+}
+
+.rcm-action-group button[aria-label="Update"][data-tooltip]::after {
+  background: linear-gradient(180deg, #4aa0db, #2b87c9);
+}
+.rcm-action-group button[aria-label="Update"][data-tooltip]::before {
+  background: #2b87c9;
+}
+
+/* Delete already had a red variant, update the arrow to match precisely */
+.rcm-action-group button[aria-label="Delete"][data-tooltip]::after,
+.rcm-action-group button[data-tooltip].rcm-danger::after {
+  background: linear-gradient(180deg, #ff6b6b, #e04848);
+}
+.rcm-action-group button[aria-label="Delete"][data-tooltip]::before,
+.rcm-action-group button[data-tooltip].rcm-danger::before {
+  background: #e04848;
+}
+
+/* Ensure tooltip text stays readable on gradients */
+.rcm-action-group button[data-tooltip]::after {
+  color: #fff;
+}
+
+/* Active badge in config list: make slightly larger and more visible */
+.rcm-config-list .list-group-item .badge {
+  font-size: 1.05rem; /* slightly larger */
+  padding: 0.45rem 0.8rem;
+  border-radius: 0.5rem;
+  line-height: 1;
+  margin-left: 0.6rem;
+  opacity: 0.98;
+  display: inline-block;
+  vertical-align: middle;
+}
+
+/* Overlay that blocks the whole viewport while loading */
+.rcm-overlay {
+    position: absolute;
+    inset: 0; /* top:0; right:0; bottom:0; left:0; */
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    background: rgba(7, 10, 13, 0.55);
+    z-index: 1050; /* above most UI layers */
+    pointer-events: auto; /* capture mouse interactions */
+}
+
+/* inner content: spinner + optional message */
+.rcm-overlay-content {
+    display: inline-flex;
+    align-items: center;
+    gap: 0.6rem;
+    background: rgba(20, 20, 20, 0.85);
+    padding: 0.75rem 1rem;
+    border-radius: 8px;
+    box-shadow: 0 8px 24px rgba(0,0,0,0.45);
+    color: #fff;
+    font-weight: 500;
+    transform: translateY(-6px);
+}
+
+/* message text */
+.rcm-overlay-message {
+    font-size: 0.95rem;
+    color: #eef3ff;
+}
+
+/* ensure spinner is visible on dark overlay */
+.rcm-overlay .spinner-border {
+    width: 1.25rem;
+    height: 1.25rem;
+    border-width: 0.18rem;
+    color: #ffffff;
+}
+
+/* Modal overlay (create dialog) */
+.rcm-modal-overlay {
+    position: absolute;
+    inset: 0;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    background: rgba(7, 10, 13, 0.45);
+    z-index: 1065;
+    pointer-events: auto;
+}
+
+/* Modal container */
+.rcm-modal {
+    width: 820px;
+    max-width: calc(100% - 40px);
+    border-radius: 8px;
+    box-shadow: 0 12px 40px rgba(0,0,0,0.5);
+    background: var(--mud-palette-surface, #0f1720);
+    color: #e6e6e6;
+}
+
+    /* Ensure card inside modal uses default spacing already present */
+    .rcm-modal .card {
+        background: #0f1720;
+        border: 1px solid rgba(255,255,255,0.04);
+    }
+
+    /* Header styling */
+    .rcm-modal .card-header {
+        padding: 0.6rem 0.9rem;
+        background: rgba(255,255,255,0.02);
+        border-bottom: 1px solid rgba(255,255,255,0.03);
+    }
+
+/* Modal message / spinner adjustments (already defined for overlay) */
+.rcm-overlay .spinner-border {
+    width: 1.25rem;
+    height: 1.25rem;
+    border-width: 0.18rem;
+    color: #ffffff;
+}
+
+/* Keep responsive layout for modal form inputs */
+.rcm-modal .card-body {
+    padding: 0.8rem;
+    color: #e6e6e6;
+}
+
+/* --- Contrast adjustments for modal form elements --- */
+/* Improve readability by increasing text contrast and adjusting input backgrounds */
+.rcm-modal {
+    color: #eaf4ff; /* default text inside modal */
+}
+
+    /* labels, headers and small notes */
+    .rcm-modal .form-label,
+    .rcm-modal label,
+    .rcm-modal .card-header strong,
+    .rcm-modal .card-header,
+    .rcm-modal .form-text,
+    .rcm-modal .validation-message,
+    .rcm-modal .text-muted {
+        color: #cfe6ff;
+    }
+
+    /* form controls */
+    .rcm-modal .form-control,
+    .rcm-modal .form-select,
+    .rcm-modal input[type="text"],
+    .rcm-modal input[type="number"],
+    .rcm-modal textarea {
+        /*background: rgba(255,255,255,0.03);*/ /* subtle contrast with modal bg */
+        /*color: #ffffff;*/
+        border: 1px solid rgba(255,255,255,0.08);
+        box-shadow: none;
+        caret-color: #ffffff;
+    }
+
+        /* placeholder text */
+        .rcm-modal .form-control::placeholder,
+        .rcm-modal input::placeholder,
+        .rcm-modal textarea::placeholder {
+            color: rgba(255,255,255,0.55);
+        }
+
+    /* validation / summary messages */
+    .rcm-modal .validation-message,
+    .rcm-modal .validation-summary-valid,
+    .rcm-modal .validation-summary-errors,
+    .rcm-modal .field-validation-error {
+        color: #ffd2d2;
+    }
+
+    /* modal buttons */
+    .rcm-modal .btn-link {
+        color: #cfcfcf;
+    }
+
+    /* keep modal small text readable */
+    .rcm-modal .card-body {
+        font-size: 0.95rem;
+        line-height: 1.4;
+    }

RobotApp.Client/Pages/RobotMonitor.razor

@@ -0,0 +1,43 @@
+@page "/robot-monitor"
+@rendermode InteractiveWebAssemblyNoPrerender
+@inject RobotApp.Client.Services.RobotMonitorService MonitorService
+@implements IAsyncDisposable
+
+<PageTitle>Robot Monitor</PageTitle>
+
+<div class="d-flex w-100 h-100 overflow-hidden">
+    <RobotApp.Client.Pages.Components.Monitor.RobotMonitorView @ref="@RobotMonitorViewRef"
+        MonitorData="@_monitorData" 
+        IsConnected="@MonitorService.IsConnected" />
+</div>
+
+@code {
+    private RobotMonitorDto? _monitorData;
+    private RobotApp.Client.Pages.Components.Monitor.RobotMonitorView? RobotMonitorViewRef;
+
+    protected override async Task OnAfterRenderAsync(bool firstRender)
+    {
+        if (firstRender)
+        {
+            MonitorService.OnDataReceived += OnMonitorDataReceived;
+            await MonitorService.StartAsync();
+        }
+    }
+
+    private void OnMonitorDataReceived(RobotMonitorDto data)
+    {
+        _monitorData = data;
+        RobotMonitorViewRef?.UpdatePath();
+        InvokeAsync(StateHasChanged);
+    }
+
+    public async ValueTask DisposeAsync()
+    {
+        MonitorService.OnDataReceived -= OnMonitorDataReceived;
+        await MonitorService.StopAsync();
+    }
+}
+
+
+
+

RobotApp.Client/Pages/Weather.razor

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

RobotApp.Client/Pages/_Imports.razor

@@ -0,0 +1,26 @@
+@layout RobotApp.Client.Pages.AssemblyLayout
+@using System.Net.Http
+@using System.Net.Http.Json
+@using Microsoft.AspNetCore.Components.Authorization
+@using Microsoft.AspNetCore.Components.Forms
+@using Microsoft.AspNetCore.Components.Routing
+@using Microsoft.AspNetCore.Components.Web
+@using static Microsoft.AspNetCore.Components.Web.RenderMode
+@using static RobotApp.Client.ClientRenderMode
+@using Microsoft.AspNetCore.Components.Web.Virtualization
+@using Microsoft.JSInterop
+@using RobotApp.Client
+@using Microsoft.AspNetCore.Authorization
+@using MudBlazor
+@using RobotApp.Common.Shares
+@using RobotApp.Common.Shares.Dtos
+@using Excubo.Blazor.Canvas
+@using Excubo.Blazor.Canvas.Contexts
+@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

@@ -1,9 +1,24 @@
 using Microsoft.AspNetCore.Components.WebAssembly.Hosting;
+using MudBlazor.Services;
+using RobotApp.Client.Services;
+using System.Globalization;
 
+CultureInfo.DefaultThreadCurrentCulture = new CultureInfo("en-US");
 var builder = WebAssemblyHostBuilder.CreateDefault(args);
 
 builder.Services.AddAuthorizationCore();
 builder.Services.AddCascadingAuthenticationState();
 builder.Services.AddAuthenticationStateDeserialization();
 
+builder.Services.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;
+    config.SnackbarConfiguration.HideTransitionDuration = 500;
+    config.SnackbarConfiguration.ShowTransitionDuration = 500;
+});
+
 await builder.Build().RunAsync();

RobotApp.Client/RobotApp.Client.csproj

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk.BlazorWebAssembly">
 
   <PropertyGroup>
-    <TargetFramework>net9.0</TargetFramework>
+    <TargetFramework>net10.0</TargetFramework>
     <ImplicitUsings>enable</ImplicitUsings>
     <Nullable>enable</Nullable>
     <NoDefaultLaunchSettingsFile>true</NoDefaultLaunchSettingsFile>
@@ -9,8 +9,17 @@
   </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" />
+    <PackageReference Include="Microsoft.AspNetCore.SignalR.Client" Version="10.0.1" />
+    <PackageReference Include="MudBlazor" Version="8.15.0" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\RobotApp.Common.Shares\RobotApp.Common.Shares.csproj" />
+    <ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
   </ItemGroup>
 
 </Project>

RobotApp.Client/Routes.razor

@@ -1,10 +0,0 @@
-<Router AppAssembly="typeof(Program).Assembly">
-    <Found Context="routeData">
-        <AuthorizeRouteView RouteData="routeData" DefaultLayout="typeof(Layout.MainLayout)">
-            <NotAuthorized>
-                <RedirectToLogin />
-            </NotAuthorized>
-        </AuthorizeRouteView>
-        <FocusOnNavigate RouteData="routeData" Selector="h1" />
-    </Found>
-</Router>

RobotApp.Client/Services/RobotMonitorService.cs

@@ -0,0 +1,52 @@
+using Microsoft.AspNetCore.Components;
+using Microsoft.AspNetCore.SignalR.Client;
+using RobotApp.Common.Shares.Dtos;
+
+namespace RobotApp.Client.Services;
+
+public class RobotMonitorService : IAsyncDisposable
+{
+    private HubConnection? _hubConnection;
+    private readonly string _hubUrl;
+
+    public event Action<RobotMonitorDto>? OnDataReceived;
+    public bool IsConnected => _hubConnection?.State == HubConnectionState.Connected;
+
+    public RobotMonitorService(NavigationManager navigationManager)
+    {
+        var baseUrl = navigationManager.BaseUri.TrimEnd('/');
+        _hubUrl = $"{baseUrl}/hubs/robotMonitor";
+    }
+
+    public async Task StartAsync()
+    {
+        if (_hubConnection is not null) return;
+
+        _hubConnection = new HubConnectionBuilder()
+            .WithUrl(_hubUrl)
+            .WithAutomaticReconnect()
+            .Build();
+
+        _hubConnection.On<RobotMonitorDto>("ReceiveRobotMonitorData", data =>
+        {
+            OnDataReceived?.Invoke(data);
+        });
+
+        await _hubConnection.StartAsync();
+    }
+
+    public async Task StopAsync()
+    {
+        if (_hubConnection is null) return;
+
+        await _hubConnection.StopAsync();
+        await _hubConnection.DisposeAsync();
+        _hubConnection = null;
+    }
+
+    public async ValueTask DisposeAsync()
+    {
+        await StopAsync();
+    }
+}
+

RobotApp.Client/Services/RobotStateClient.cs

@@ -0,0 +1,211 @@
+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<string>("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(string stateJson)
+    {
+        StateMsg? state;
+
+        try
+        {
+            state = JsonSerializer.Deserialize<StateMsg>(
+                stateJson,
+                JsonOptionExtends.Read
+            );
+        }
+        catch
+        {
+            return;
+        }
+
+        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(string serialNumber)
+    {
+        LatestStates.TryGetValue(serialNumber, out var state);
+        return state;
+    }
+
+    // ================= 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 +1,446 @@
+using RobotApp.VDA5050.InstantAction;
+using RobotApp.VDA5050.Order;
+using System.Text.Json;
+using System.Text.Json.Serialization;
+
+namespace RobotApp.Client.Services;
+
+// ======================================================
+// EDGE UI
+// ======================================================
+public class UiEdge
+{
+    public string EdgeId { get; set; } = "";
+    public int SequenceId { get; set; }
+    public bool Released { get; set; } = true;
+
+    public string StartNodeId { get; set; } = "";
+    public string EndNodeId { get; set; } = "";
+
+    // ===== CURVE (EDITOR GENERATED) =====
+    public double Radius { get; set; } = 0;
+    public Quadrant Quadrant { get; set; }
+
+    // ===== IMPORTED TRAJECTORY =====
+    public bool HasTrajectory { get; set; } = false;
+    public UiTrajectory? Trajectory { get; set; }
+
+    // ===== UI STATE =====
+    public bool Expanded { get; private set; } = false;
+
+    public void MarkExpanded()
+    {
+        Expanded = true;
+    }
+}
+
+public class UiTrajectory
+{
+    public int Degree { get; set; }
+    public double[] KnotVector { get; set; } = Array.Empty<double>();
+    public List<Point> ControlPoints { get; set; } = new();
+}
+
+public enum Quadrant
+{
+    I,
+    II,
+    III,
+    IV
+}
+
+// ======================================================
+// GEOMETRY MODELS
+// ======================================================
+public record Point(double X, double Y);
+
+public record QuarterResult(
+    Point EndPoint,
+    object Trajectory
+);
+
+// ======================================================
+// GEOMETRY HELPER (QUARTER CIRCLE)
+// ======================================================
+public static class QuarterGeometry
+{
+    private const double K = 0.5522847498307936;
+
+    public static QuarterResult BuildQuarterTrajectory(
+        Point A,
+        double r,
+        Quadrant q
+    )
+    {
+        Point P1, P2, C;
+
+        switch (q)
+        {
+            case Quadrant.I:
+                P1 = new(A.X, A.Y + K * r);
+                P2 = new(A.X + K * r, A.Y + r);
+                C = new(A.X + r, A.Y + r);
+                break;
+
+            case Quadrant.II:
+                P1 = new(A.X - K * r, A.Y);
+                P2 = new(A.X - r, A.Y + K * r);
+                C = new(A.X - r, A.Y + r);
+                break;
+
+            case Quadrant.III:
+                P1 = new(A.X, A.Y - K * r);
+                P2 = new(A.X - K * r, A.Y - r);
+                C = new(A.X - r, A.Y - r);
+                break;
+
+            case Quadrant.IV:
+                P1 = new(A.X + K * r, A.Y);
+                P2 = new(A.X + r, A.Y - K * r);
+                C = new(A.X + r, A.Y - r);
+                break;
+
+            default:
+                throw new ArgumentOutOfRangeException(nameof(q));
+        }
+
+        return new QuarterResult(
+            C,
+            new
+            {
+                degree = 3,
+                knotVector = new[] { 0, 0, 0, 0, 1, 1, 1, 1 },
+                controlPoints = new[]
+                {
+                    new { x = A.X,  y = A.Y  },  // P0
+                    new { x = P1.X, y = P1.Y },  // P1
+                    new { x = P2.X, y = P2.Y },  // P2
+                    new { x = C.X,  y = C.Y  }   // P3
+                }
+            }
+        );
+    }
+}
+// ======================================================
+// ORDER MESSAGE
+// ======================================================
+public class OrderMessage
+{
+    public int HeaderId { get; set; }
+    public string Timestamp { get; set; } = "";
+    public string Version { get; set; } = "v1";
+    public string Manufacturer { get; set; } = "PNKX";
+    public string SerialNumber { get; set; } = "T800-002";
+    public string OrderId { get; set; } 
+    public int OrderUpdateId { get; set; }
+    public string? ZoneSetId { get; set; }
+
+    public List<Node> Nodes { get; set; } = new();
+    public List<UiEdge> Edges { get; set; } = new();
+    public static Node CreateCurveNode(Node startNode, UiEdge edge)
+    {
+        var A = new Point(
+            startNode.NodePosition.X,
+            startNode.NodePosition.Y
+        );
+
+        var result = QuarterGeometry.BuildQuarterTrajectory(
+            A,
+            edge.Radius,
+            edge.Quadrant
+        );
+
+        return new Node
+        {
+            NodeId = $"NODE_C{Guid.NewGuid():N}".Substring(0, 12),
+            Released = true,
+            NodePosition = new NodePosition
+            {
+                X = result.EndPoint.X,
+                Y = result.EndPoint.Y,
+                Theta = startNode.NodePosition.Theta,
+                MapId = startNode.NodePosition.MapId
+            }
+        };
+    }
+    public static OrderMessage FromSchemaObject(JsonElement root)
+    {
+        var order = new OrderMessage
+        {
+            HeaderId = root.GetProperty("headerId").GetInt32(),
+            Timestamp = root.GetProperty("timestamp").GetString(),
+            Version = root.GetProperty("version").GetString(),
+            Manufacturer = root.GetProperty("manufacturer").GetString(),
+            SerialNumber = root.GetProperty("serialNumber").GetString(),
+            OrderId = root.GetProperty("orderId").GetString(),
+            OrderUpdateId = root.GetProperty("orderUpdateId").GetInt32()
+        };
+
+        // ================= NODES =================
+        foreach (var n in root.GetProperty("nodes").EnumerateArray())
+        {
+            var node = new Node
+            {
+                NodeId = n.GetProperty("nodeId").GetString()!,
+                SequenceId = n.GetProperty("sequenceId").GetInt32(),
+                Released = n.GetProperty("released").GetBoolean(),
+
+                NodePosition = new NodePosition
+                {
+                    X = n.GetProperty("nodePosition").GetProperty("x").GetDouble(),
+                    Y = n.GetProperty("nodePosition").GetProperty("y").GetDouble(),
+                    Theta = n.GetProperty("nodePosition").GetProperty("theta").GetDouble(),
+                    AllowedDeviationXY = n.GetProperty("nodePosition").GetProperty("allowedDeviationXY").GetDouble(),
+                    AllowedDeviationTheta = n.GetProperty("nodePosition").GetProperty("allowedDeviationTheta").GetDouble(),
+                    MapId = n.GetProperty("nodePosition").GetProperty("mapId").GetString()
+                },
+
+                Actions = ParseActions(n)
+            };
+
+            order.Nodes.Add(node);
+        }
+
+        foreach (var e in root.GetProperty("edges").EnumerateArray())
+        {
+            var edge = new UiEdge
+            {
+                EdgeId = e.GetProperty("edgeId").GetString()!,
+                SequenceId = e.GetProperty("sequenceId").GetInt32(),
+                Released = e.GetProperty("released").GetBoolean(),
+                StartNodeId = e.GetProperty("startNodeId").GetString()!,
+                EndNodeId = e.GetProperty("endNodeId").GetString()!,
+            };
+
+            // ===== IMPORT TRAJECTORY =====
+            if (e.TryGetProperty("trajectory", out var traj))
+            {
+                edge.HasTrajectory = true;
+                edge.Trajectory = new UiTrajectory
+                {
+                    Degree = traj.GetProperty("degree").GetInt32(),
+                    KnotVector = traj.GetProperty("knotVector")
+                        .EnumerateArray()
+                        .Select(x => x.GetDouble())
+                        .ToArray(),
+
+                    ControlPoints = traj.GetProperty("controlPoints")
+                        .EnumerateArray()
+                        .Select(p => new Point(
+                            p.GetProperty("x").GetDouble(),
+                            p.GetProperty("y").GetDouble()
+                        ))
+                        .ToList()
+                };
+
+                // 🔥 IMPORTED CURVE → LOCK APPLY
+                edge.MarkExpanded();
+            }
+
+            order.Edges.Add(edge);
+        }
+
+        return order;
+    }
+
+    // ================= ACTION PARSER =================
+    private static VDA5050.InstantAction.Action[] ParseActions(JsonElement parent)
+    {
+        if (!parent.TryGetProperty("actions", out var acts))
+            return Array.Empty<VDA5050.InstantAction.Action>();
+
+        return acts.EnumerateArray().Select(a =>
+            new VDA5050.InstantAction.Action
+            {
+                ActionId = a.GetProperty("actionId").GetString(),
+                ActionType = a.GetProperty("actionType").GetString(),
+                BlockingType = a.GetProperty("blockingType").GetString(),
+
+                ActionParameters = a.TryGetProperty("actionParameters", out var ps)
+                    ? ps.EnumerateArray()
+                        .Select(p => new ActionParameter
+                        {
+                            Key = p.GetProperty("key").GetString(),
+                            Value = p.GetProperty("value").GetString()
+                        })
+                        .ToArray()
+                    : Array.Empty<ActionParameter>()
+            }
+        ).ToArray();
+    }
+    public object ToSchemaObject()
+    {
+        // ================= SORT NODES BY UI SEQUENCE =================
+        var orderedNodes = Nodes
+            .OrderBy(n => n.SequenceId)
+            .ToList();
+
+        // ================= BUILD NODE OBJECTS =================
+        var nodeObjects = orderedNodes
+            .Select((n, index) => new
+            {
+                nodeId = n.NodeId,
+                sequenceId = index * 2,               // ✅ NODE = EVEN
+                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?
+                            .Select(p => new
+                            {
+                                key = p.Key,
+                                value = p.Value
+                            })
+                            .ToArray()
+                            ?? Array.Empty<object>()
+                    })
+                    .ToArray()
+                    ?? Array.Empty<object>()
+            })
+            .ToArray();
+
+        // ================= BUILD EDGE OBJECTS =================
+        var edgeObjects = Edges
+            .Select<UiEdge, object>((e, index) =>
+            {
+                int sequenceId = index * 2 + 1;        // ✅ EDGE = ODD
+
+                // ---------- BASE ----------
+                var baseEdge = new
+                {
+                    edgeId = e.EdgeId,
+                    sequenceId,
+                    released = true,
+                    startNodeId = e.StartNodeId,
+                    endNodeId = e.EndNodeId
+                };
+
+                // =================================================
+                // 1️⃣ IMPORTED TRAJECTORY
+                // =================================================
+                if (e.HasTrajectory && e.Trajectory != null)
+                {
+                    return new
+                    {
+                        baseEdge.edgeId,
+                        baseEdge.sequenceId,
+                        baseEdge.released,
+                        baseEdge.startNodeId,
+                        baseEdge.endNodeId,
+
+                        trajectory = new
+                        {
+                            degree = e.Trajectory.Degree,
+                            knotVector = e.Trajectory.KnotVector,
+                            controlPoints = e.Trajectory.ControlPoints
+                                .Select(p => new { x = p.X, y = p.Y })
+                                .ToArray()
+                        },
+
+                        actions = Array.Empty<object>()
+                    };
+                }
+
+                // =================================================
+                // 2️⃣ STRAIGHT EDGE
+                // =================================================
+                if (e.Radius <= 0)
+                {
+                    return new
+                    {
+                        baseEdge.edgeId,
+                        baseEdge.sequenceId,
+                        baseEdge.released,
+                        baseEdge.startNodeId,
+                        baseEdge.endNodeId,
+                        actions = Array.Empty<object>()
+                    };
+                }
+
+                // =================================================
+                // 3️⃣ GENERATED CURVE (EDITOR)
+                // =================================================
+                var startNode = orderedNodes.First(n => n.NodeId == e.StartNodeId);
+
+                var A = new Point(
+                    startNode.NodePosition.X,
+                    startNode.NodePosition.Y
+                );
+
+                var result = QuarterGeometry.BuildQuarterTrajectory(
+                    A,
+                    e.Radius,
+                    e.Quadrant
+                );
+
+                return new
+                {
+                    baseEdge.edgeId,
+                    baseEdge.sequenceId,
+                    baseEdge.released,
+                    baseEdge.startNodeId,
+                    baseEdge.endNodeId,
+
+                    trajectory = result.Trajectory,
+                    actions = Array.Empty<object>()
+                };
+            })
+            .ToArray();
+
+        // ================= FINAL SCHEMA OBJECT =================
+        return new
+        {
+            headerId = HeaderId++,
+
+            timestamp = string.IsNullOrWhiteSpace(Timestamp)
+                ? DateTime.UtcNow.ToString("O")
+                : Timestamp,
+
+            version = Version,
+            manufacturer = Manufacturer,
+            serialNumber = SerialNumber,
+
+            orderId = OrderId= Guid.NewGuid().ToString(),
+            orderUpdateId = OrderUpdateId,
+
+            zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
+                ? null
+                : ZoneSetId,
+
+            nodes = nodeObjects,
+            edges = edgeObjects
+        };
+    }
+}
+
+// ======================================================
+// UI ACTION PARAM
+// ======================================================
+public class UiActionParameter : ActionParameter
+{
+    [JsonIgnore]
+    public string ValueString
+    {
+        get => Value?.ToString() ?? "";
+        set => Value = value;
+    }
+}

RobotApp.Client/_Imports.razor

@@ -5,6 +5,14 @@
 @using Microsoft.AspNetCore.Components.Routing
 @using Microsoft.AspNetCore.Components.Web
 @using static Microsoft.AspNetCore.Components.Web.RenderMode
+@using static RobotApp.Client.ClientRenderMode
 @using Microsoft.AspNetCore.Components.Web.Virtualization
 @using Microsoft.JSInterop
 @using RobotApp.Client
+@using Microsoft.AspNetCore.Authorization
+@using MudBlazor
+@using RobotApp.Common.Shares.Dtos
+@using RobotApp.Common.Shares.Enums
+@using Blazored.LocalStorage
+@using RobotApp.Client.Services
+@using RobotApp.VDA5050.State

RobotApp.Client/wwwroot/images/logoDark.svg

@@ -0,0 +1,10 @@
+<svg
+  id="Layer_1"
+  data-name="Layer 1"
+  xmlns="http://www.w3.org/2000/svg"
+  viewBox="0 0 32 32"
+>
+	<path d="M31.81,1.79,21.29,14.32l-2.48-3a2.6,2.6,0,0,1,0-3.34l4.45-5.31a2.64,2.64,0,0,1,2-.93Z" fill="#e06e2e"/>
+	<path d="M.19,1.8,10.71,14.34l2.48-2.95a2.6,2.6,0,0,0,0-3.34L8.75,2.74a2.66,2.66,0,0,0-2-.94Z" fill="#e06e2e"/>
+	<path d="M32,30.21H25.36a2.61,2.61,0,0,1-2-.92L16.5,21.1a.65.65,0,0,0-1,0L8.63,29.29a2.58,2.58,0,0,1-2,.92H0L12.07,15.83,14,13.57a2.67,2.67,0,0,1,4.08,0l1.89,2.26Z" fill="#233871"/>
+  </svg>

RobotApp.Client/wwwroot/images/logoLight.svg

@@ -0,0 +1,48 @@
+<svg
+  id="Layer_1"
+  data-name="Layer 1"
+  xmlns="http://www.w3.org/2000/svg"
+  viewBox="0 0 370.84 59.64"
+>
+    <path
+      d="M66.68,0,44.62,26.28,39.43,20.1a5.45,5.45,0,0,1,0-7L48.75,2A5.53,5.53,0,0,1,53,0Z"
+      fill="#e06e2e"
+    />
+    <path
+      d="M.4,0,22.46,26.31l5.19-6.18a5.45,5.45,0,0,0,0-7L18.33,2a5.53,5.53,0,0,0-4.22-2Z"
+      fill="#e06e2e"
+    />
+    <path
+      d="M67.08,59.59H53.15A5.44,5.44,0,0,1,49,57.65L34.58,40.49a1.36,1.36,0,0,0-2.09,0L18.09,57.65a5.46,5.46,0,0,1-4.17,1.94H0L25.31,29.43l4-4.72a5.57,5.57,0,0,1,8.54,0l4,4.72Z"
+      fill="#ffffff"
+    />
+    <path
+      d="M98.34,24.3A12.87,12.87,0,0,1,104,42.84a12.29,12.29,0,0,1-5.61,4.56A21.47,21.47,0,0,1,89.74,49H81.17v7.93a2.72,2.72,0,0,1-2.72,2.73H74.13V22.72H89.74a21.64,21.64,0,0,1,8.6,1.58m-1.93,17a6.52,6.52,0,0,0,2.39-5.43,6.54,6.54,0,0,0-2.39-5.43q-2.39-1.91-7-1.9H81.17V43.18h8.25q4.6,0,7-1.9"
+      fill="#ffffff"
+    />
+    <path
+      d="M145.86,25.44V56.91a2.72,2.72,0,0,1-2.72,2.73h-4.33V43.81H119.18V59.64h-4.32a2.73,2.73,0,0,1-2.73-2.73V25.44a2.72,2.72,0,0,1,2.73-2.72h4.32V38h19.63V22.72h4.33a2.72,2.72,0,0,1,2.72,2.72"
+      fill="#ffffff"
+    />
+    <path
+      d="M183,56.58v3h-24.8a3.6,3.6,0,0,1-3.6-3.6V26.36a3.6,3.6,0,0,1,3.6-3.6h24.05v3a2.73,2.73,0,0,1-2.73,2.73H161.62v9.57h18.29V43.7H161.62V53.86h18.65A2.72,2.72,0,0,1,183,56.58"
+      fill="#ffffff"
+    />
+    <path
+      d="M222.73,22.76V59.59h-4.52a2.71,2.71,0,0,1-2.09-1l-20.06-24V59.59h-7V22.76h4.51a2.72,2.72,0,0,1,2.09,1l20.07,24V22.76Z"
+      fill="#ffffff"
+    />
+    <rect x="231.85" y="22.76" width="7.03" height="36.83" fill="#ffffff" />
+    <path
+      d="M261,44.18l-6,6v9.42h-7V22.76h7V41.65L273,23.57a2.71,2.71,0,0,1,1.93-.81h6.77L265.75,39.23l16.88,20.36h-7a2.72,2.72,0,0,1-2.06-.94Z"
+      fill="#ffffff"
+    />
+    <path
+      d="M315.59,51.07H296.65l-3,6.89a2.74,2.74,0,0,1-2.5,1.63h-5.47l16.08-34.74A3.6,3.6,0,0,1,305,22.76h2.32a3.61,3.61,0,0,1,3.27,2.08l16.13,34.75h-5.59A2.72,2.72,0,0,1,318.66,58Zm-2.33-5.37-7.14-16.1L299,45.7Z"
+      fill="#ffffff"
+    />
+    <path
+      d="M359.69,51.07H340.76l-3,6.89a2.71,2.71,0,0,1-2.49,1.63h-5.47l16.07-34.74a3.62,3.62,0,0,1,3.27-2.09h2.33a3.59,3.59,0,0,1,3.26,2.08l16.13,34.75h-5.59A2.7,2.7,0,0,1,362.77,58Zm-2.32-5.37-7.14-16.1-7.09,16.1Z"
+      fill="#ffffff"
+    />
+  </svg>

RobotApp.Client/wwwroot/js/app.js

@@ -0,0 +1 @@
+

RobotApp.Client/wwwroot/js/canvas.js

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

RobotApp.Client/wwwroot/js/robotMonitor.js

@@ -0,0 +1,62 @@
+// Helper functions for Robot Monitor
+
+window.robotMonitor = {
+    // Get element size
+    getElementSize: function (element) {
+        const rect = element.getBoundingClientRect();
+        return {
+            Width: rect.width,
+            Height: rect.height
+        };
+    },
+
+    // Get element bounding rect
+    getElementBoundingRect: function (element) {
+        const rect = element.getBoundingClientRect();
+        return {
+            X: rect.x,
+            Y: rect.y,
+            Width: rect.width,
+            Height: rect.height
+        };
+    },
+
+    // Convert trajectory to SVG path
+    trajectoryToPath: function (trajectory, startX, startY, endX, endY) {
+        if (!trajectory || !trajectory.ControlPoints || trajectory.ControlPoints.length === 0) {
+            // Linear path
+            return `M ${startX} ${startY} L ${endX} ${endY}`;
+        }
+
+        const degree = trajectory.Degree || 1;
+        const controlPoints = trajectory.ControlPoints;
+
+        if (degree === 1) {
+            // Linear
+            return `M ${startX} ${startY} L ${endX} ${endY}`;
+        } else if (degree === 2) {
+            // Quadratic bezier
+            if (controlPoints.length > 0) {
+                const cp1 = controlPoints[0];
+                return `M ${startX} ${startY} Q ${cp1.X} ${cp1.Y} ${endX} ${endY}`;
+            }
+            return `M ${startX} ${startY} L ${endX} ${endY}`;
+        } else if (degree === 3) {
+            // Cubic bezier
+            if (controlPoints.length >= 2) {
+                const cp1 = controlPoints[0];
+                const cp2 = controlPoints[1];
+                return `M ${startX} ${startY} C ${cp1.X} ${cp1.Y}, ${cp2.X} ${cp2.Y}, ${endX} ${endY}`;
+            } else if (controlPoints.length === 1) {
+                const cp1 = controlPoints[0];
+                return `M ${startX} ${startY} Q ${cp1.X} ${cp1.Y} ${endX} ${endY}`;
+            }
+            return `M ${startX} ${startY} L ${endX} ${endY}`;
+        }
+
+        return `M ${startX} ${startY} L ${endX} ${endY}`;
+    }
+};
+
+
+

RobotApp.Common.Shares/Dtos/MapDto.cs

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

RobotApp.Common.Shares/Dtos/RobotConfigDto.cs

@@ -0,0 +1,47 @@
+using RobotApp.Common.Shares.Enums;
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+#nullable disable
+
+public record RobotConfigDto
+{
+    public Guid Id { get; set; }
+    public NavigationType NavigationType { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double RadiusWheel { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double Width { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double Length { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double Height { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    [Required]
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}
+
+public record UpdateRobotConfigDto
+{
+    public NavigationType NavigationType { get; set; }
+    public double RadiusWheel { get; set; }
+    public double Width { get; set; }
+    public double Length { get; set; }
+    public double Height { get; set; }
+    public string Description { get; set; }
+}
+
+public record CreateRobotConfigDto
+{
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+    public NavigationType NavigationType { get; set; }
+    public double RadiusWheel { get; set; }
+    public double Width { get; set; }
+    public double Length { get; set; }
+    public double Height { get; set; }
+}

RobotApp.Common.Shares/Dtos/RobotMonitorDto.cs

@@ -0,0 +1,31 @@
+using RobotApp.VDA5050.State;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+public class RobotMonitorDto
+{
+    public RobotPositionDto RobotPosition { get; set; } = new();
+    public EdgeStateDto[] EdgeStates { get; set; } = [];
+    public NodeState[] NodeStates { get; set; } = [];
+    public bool HasOrder { get; set; }
+    public DateTime Timestamp { get; set; } = DateTime.UtcNow;
+}
+
+public class RobotPositionDto
+{
+    public double X { get; set; }
+    public double Y { get; set; }
+    public double Theta { get; set; }
+}
+public class EdgeStateDto()
+{
+    public double StartX { get; set; }
+    public double StartY { get; set; }
+    public double EndX { get; set; }
+    public double EndY { get; set; }
+    public double ControlPoint1X { get; set; }
+    public double ControlPoint1Y { get; set; }
+    public double ControlPoint2X { get; set; }
+    public double ControlPoint2Y { get; set; }
+    public int Degree { get; set; }
+}

RobotApp.Common.Shares/Dtos/RobotPlcConfigDto.cs

@@ -0,0 +1,39 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+#nullable disable
+
+public record RobotPlcConfigDto
+{
+    public Guid Id { get; set; }
+    [Required]
+    public string PLCAddress { get; set; }
+    [Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
+    public int PLCPort { get; set; }
+    [Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
+    public int PLCUnitId { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    [Required]
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}
+
+public record UpdateRobotPlcConfigDto
+{
+    public string Description { get; set; }
+    public string PLCAddress { get; set; }
+    public int PLCPort { get; set; }
+    public int PLCUnitId { get; set; }
+}
+
+public record CreateRobotPlcConfigDto
+{
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+    public string PLCAddress { get; set; }
+    public int PLCPort { get; set; }
+    public int PLCUnitId { get; set; }
+}

RobotApp.Common.Shares/Dtos/RobotSafetyConfigDto.cs

@@ -0,0 +1,54 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+#nullable disable
+
+public record RobotSafetyConfigDto
+{
+    public Guid Id { get; set; }
+    public double SafetySpeedVerySlow { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedSlow { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedNormal { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedMedium { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedOptimal { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedFast { get; set; }
+    [Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
+    public double SafetySpeedVeryFast { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    [Required]
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}
+
+public record UpdateRobotSafetyConfigDto
+{
+    public double SafetySpeedVerySlow { get; set; }
+    public double SafetySpeedSlow { get; set; }
+    public double SafetySpeedNormal { get; set; }
+    public double SafetySpeedMedium { get; set; }
+    public double SafetySpeedOptimal { get; set; }
+    public double SafetySpeedFast { get; set; }
+    public double SafetySpeedVeryFast { get; set; }
+    public string Description { get; set; }
+}
+
+public record CreateRobotSafetyConfigDto
+{
+    public double SafetySpeedVerySlow { get; set; }
+    public double SafetySpeedSlow { get; set; }
+    public double SafetySpeedNormal { get; set; }
+    public double SafetySpeedMedium { get; set; }
+    public double SafetySpeedOptimal { get; set; }
+    public double SafetySpeedFast { get; set; }
+    public double SafetySpeedVeryFast { get; set; }
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}

RobotApp.Common.Shares/Dtos/RobotSimulationConfigDto.cs

@@ -0,0 +1,46 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+#nullable disable
+
+public record RobotSimulationConfigDto
+{
+    public Guid Id { get; set; }
+    public bool EnableSimulation { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double SimulationMaxVelocity { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double SimulationMaxAngularVelocity { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double SimulationAcceleration { get; set; }
+    [Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
+    public double SimulationDeceleration { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    [Required]
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}
+
+public record UpdateRobotSimulationConfigDto
+{
+    public bool EnableSimulation { get; set; }
+    public double SimulationMaxVelocity { get; set; }
+    public double SimulationMaxAngularVelocity { get; set; }
+    public double SimulationAcceleration { get; set; }
+    public double SimulationDeceleration { get; set; }
+    public string Description { get; set; }
+}
+
+public record CreateRobotSimulationConfigDto
+{
+    public bool EnableSimulation { get; set; }
+    public double SimulationMaxVelocity { get; set; }
+    public double SimulationMaxAngularVelocity { get; set; }
+    public double SimulationAcceleration { get; set; }
+    public double SimulationDeceleration { get; set; }
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}

RobotApp.Common.Shares/Dtos/RobotVDA5050ConfigDto.cs

@@ -0,0 +1,74 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotApp.Common.Shares.Dtos;
+
+#nullable disable
+
+public record RobotVDA5050ConfigDto
+{
+    public Guid Id { get; set; }
+    [Required]
+    public string SerialNumber { get; set; }
+    [Required]
+    public string VDA5050HostServer { get; set; }
+    [Required]
+    [Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
+    public int VDA5050Port { get; set; }
+    public string VDA5050UserName { get; set; }
+    public string VDA5050Password { get; set; }
+    public string VDA5050Manufacturer { get; set; }
+    public string VDA5050Version { get; set; }
+    public string VDA5050TopicPrefix { get; set; }
+    [Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
+    public int VDA5050PublishRepeat { get; set; }
+    public bool VDA5050EnablePassword { get; set; }
+    public bool VDA5050EnableTls { get; set; }
+    public string VDA5050CA { get; set; }
+    public string VDA5050Cer { get; set; }
+    public string VDA5050Key { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    [Required]
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}
+
+public record UpdateRobotVDA5050ConfigDto
+{
+    public string SerialNumber { get; set; }
+    public string VDA5050HostServer { get; set; }
+    public int VDA5050Port { get; set; }
+    public string VDA5050UserName { get; set; }
+    public string VDA5050Password { get; set; }
+    public string VDA5050Manufacturer { get; set; }
+    public string VDA5050Version { get; set; }
+    public string VDA5050TopicPrefix { get; set; }
+    public int VDA5050PublishRepeat { get; set; }
+    public bool VDA5050EnablePassword { get; set; }
+    public bool VDA5050EnableTls { get; set; }
+    public string VDA5050CA { get; set; }
+    public string VDA5050Cer { get; set; }
+    public string VDA5050Key { get; set; }
+    public string Description { get; set; }
+}
+
+public record CreateRobotVDA5050ConfigDto
+{
+    public string SerialNumber { get; set; }
+    public string VDA5050HostServer { get; set; }
+    public int VDA5050Port { get; set; }
+    public string VDA5050UserName { get; set; }
+    public string VDA5050Password { get; set; }
+    public string VDA5050Manufacturer { get; set; }
+    public string VDA5050Version { get; set; }
+    public string VDA5050TopicPrefix { get; set; }
+    public int VDA5050PublishRepeat { get; set; }
+    public bool VDA5050EnablePassword { get; set; }
+    public bool VDA5050EnableTls { get; set; }
+    public string VDA5050CA { get; set; }
+    public string VDA5050Cer { get; set; }
+    public string VDA5050Key { get; set; }
+    public string ConfigName { get; set; }
+    public string Description { get; set; }
+}

RobotApp.Common.Shares/Enums/NavigationType.cs

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

RobotApp.Common.Shares/Enums/RobotConfigType.cs

@@ -0,0 +1,10 @@
+namespace RobotApp.Common.Shares.Enums;
+
+public enum RobotConfigType
+{
+    VDA5050,
+    Core,
+    Safety ,
+    Simulation,
+    PLC,
+}

RobotApp.Common.Shares/Enums/RobotDirection.cs

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

RobotApp.Common.Shares/Enums/StateType.cs

@@ -0,0 +1,94 @@
+namespace RobotApp.Common.Shares.Enums;
+
+public enum RootStateType
+{
+    System,
+    Auto,
+    Manual,
+    Service,
+    Stop,
+    Fault,
+}
+
+public enum SystemStateType
+{
+    Initializing,
+    Standby,
+    Shutting_Down,
+}
+
+public enum AutoStateType
+{
+    Idle,
+    Executing,
+    Paused,
+    Holding,
+    Canceling,
+    Recovering,
+    Remote_Override,
+}
+
+public enum ManualStateType
+{
+    Idle,
+    Active,
+}
+
+public enum ServiceStateType
+{
+    Idle,
+    Active,
+}
+
+public enum StopStateType
+{
+    EMC,
+    Bumber,
+    Protective,
+    Manual,
+}
+
+public enum FaultStateType
+{
+    Navigation,
+    Localization,
+    Shielf,
+    Battery,
+    Driver,
+    Peripherals,
+    Safety,
+    Communication,
+}
+
+public enum ExecutingStateType
+{
+    Planning,
+    Moving,
+    ACT,
+}
+
+public enum ACTStateType
+{
+    Docking,
+    Docked,
+    Charging,
+    Undocking,
+    Loading,
+    Unloading,
+    TechAction,
+}
+
+public enum MoveStateType
+{
+    Navigation,
+    Avoidance,
+    Approach,
+    Tracking,
+    Repositioning,
+}
+
+public enum PlanStateType
+{
+    Task,
+    Path,
+}

RobotApp.Common.Shares/Enums/TrajectoryDegree.cs

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

RobotApp.Common.Shares/JsonOptionExtends.cs

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

RobotApp.Common.Shares/MathExtensions.cs

@@ -0,0 +1,110 @@
+using RobotApp.Common.Shares.Model;
+
+namespace RobotApp.Common.Shares;
+
+public static class MathExtensions
+{
+    public static double NormalizeAngle(double angle)
+    {
+        angle = angle % 360;
+        if (angle > 180)  angle -= 360;
+        else if (angle < -180) angle += 360;
+        return angle;
+    }
+
+    public static (double x, double y) CurveDegreeTwo(double t, double x1, double y1, double controlPointX, double controlPointY, double x2, double y2)
+    {
+        var x = (1 - t) * (1 - t) * x1 + 2 * t * (1 - t) * controlPointX + t * t * x2;
+        var y = (1 - t) * (1 - t) * y1 + 2 * t * (1 - t) * controlPointY + t * t * y2;
+        return (x, y);
+    }
+
+    public static (double x, double y) CurveDegreeThree(double t, double x1, double y1, double controlPoint1X, double controlPoint1Y, double controlPoint2X, double controlPoint2Y, double x2, double y2)
+    {
+        var x = Math.Pow(1 - t, 3) * x1 + 3 * Math.Pow(1 - t, 2) * t * controlPoint1X + 3 * Math.Pow(t, 2) * (1 - t) * controlPoint2X + Math.Pow(t, 3) * x2; ;
+        var y = Math.Pow(1 - t, 3) * y1 + 3 * Math.Pow(1 - t, 2) * t * controlPoint1Y + 3 * Math.Pow(t, 2) * (1 - t) * controlPoint2Y + Math.Pow(t, 3) * y2;
+        return (x, y);
+    }
+
+
+    public static (double x, double y) Curve(double t, EdgeCalculatorModel edge)
+    {
+        if (edge.TrajectoryDegree == Enums.TrajectoryDegree.One)
+        {
+            return (edge.X1 + t * (edge.X2 - edge.X1), edge.Y1 + t * (edge.Y2 - edge.Y1));
+        }
+        else if (edge.TrajectoryDegree == Enums.TrajectoryDegree.Two)
+        {
+            return CurveDegreeTwo(t, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.X2, edge.Y2);
+        }
+        else
+        {
+            return CurveDegreeThree(t, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.ControlPoint2X, edge.ControlPoint2Y, edge.X2, edge.Y2);
+        }
+    }
+
+    public static (double x, double y) Curve(this EdgeCalculatorModel edge, double t)
+    {
+        return Curve(t, edge);
+    }
+
+    public static double GetEdgeLength(this EdgeCalculatorModel edge)
+    {
+        double distance = 0;
+        if (edge.TrajectoryDegree == Enums.TrajectoryDegree.One)
+        {
+            distance = Math.Sqrt(Math.Pow(edge.X1 - edge.X2, 2) + Math.Pow(edge.Y1 - edge.Y2, 2));
+        }
+        else if (edge.TrajectoryDegree == Enums.TrajectoryDegree.Two)
+        {
+            var length = Math.Sqrt(Math.Pow(edge.X1 - edge.X2, 2) + Math.Pow(edge.Y1 - edge.Y2, 2));
+            if (length == 0) return 0;
+            double step = 0.1 / length;
+
+            for (double t = step; t <= 1.001; t += step)
+            {
+                (double x1, double y1) = CurveDegreeTwo(t - step, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.X2, edge.Y2);
+                (double x2, double y2) = CurveDegreeTwo(t, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.X2, edge.Y2);
+                distance += Math.Sqrt(Math.Pow(x1 - x2, 2) + Math.Pow(y1 - y2, 2));
+            }
+        }
+        else
+        {
+            var length = Math.Sqrt(Math.Pow(edge.X1 - edge.X2, 2) + Math.Pow(edge.Y1 - edge.Y2, 2));
+            if (length == 0) return 0;
+            double step = 0.1 / length;
+            for (double t = step; t <= 1.001; t += step)
+            {
+                var sTime = t - step;
+                (var sx, var sy) = CurveDegreeThree(1 - sTime, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.ControlPoint2X, edge.ControlPoint2Y, edge.X2, edge.Y2);
+                sTime = t;
+                (var ex, var ey) = CurveDegreeThree(1 - sTime, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.ControlPoint2X, edge.ControlPoint2Y, edge.X2, edge.Y2);
+
+                distance += Math.Sqrt(Math.Pow(sx - ex, 2) + Math.Pow(sy - ey, 2));
+            }
+        }
+        return distance;
+    }
+
+    public static double GetVectorAngle(double originNodeX, double originNodeY, double vector1X, double vector1Y, double vector2X, double vector2Y)
+    {
+        double BA_x = vector1X - originNodeX;
+        double BA_y = vector1Y - originNodeY;
+        double BC_x = vector2X - originNodeX;
+        double BC_y = vector2Y - originNodeY;
+        // Tính độ dài của các vector AB và BC
+        double lengthAB = Math.Sqrt(BA_x * BA_x + BA_y * BA_y);
+        double lengthBC = Math.Sqrt(BC_x * BC_x + BC_y * BC_y);
+        // Tính tích vô hướng của AB và BC
+        double dotProduct = BA_x * BC_x + BA_y * BC_y;
+        if (lengthAB * lengthBC == 0) return 0;
+        if (dotProduct / (lengthAB * lengthBC) > 1) return 0;
+        if (dotProduct / (lengthAB * lengthBC) < -1) return 180;
+        return Math.Acos(dotProduct / (lengthAB * lengthBC)) * (180.0 / Math.PI);
+    }
+
+    public static double Distance(double x1, double y1, double x2, double y2)
+    {
+        return Math.Sqrt(Math.Pow(x2 - x1, 2) + Math.Pow(y2 - y1, 2));
+    }
+}

RobotApp.Common.Shares/MessageResult.cs

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

RobotApp.Common.Shares/Model/EdgeCalculatorModel.cs

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

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

@@ -0,0 +1,13 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net10.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
+  </ItemGroup>
+
+</Project>

RobotApp.VDA5050/Factsheet/ActionParameters.cs

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

RobotApp.VDA5050/Factsheet/AgvActions.cs

@@ -2,7 +2,6 @@
 
 namespace RobotApp.VDA5050.Factsheet;
 
-#nullable disable
 
 public enum ActionScopes
 {
@@ -10,14 +9,15 @@ public enum ActionScopes
     NODE,
     EDGE,
 }
-public class AgvActions
+
+public class AgvAction
 {
     [Required]
-    public string ActionType { get; set; }
+    public string ActionType { get; set; } = string.Empty;
-    public string ActionDescription { get; set; }
+    public string ActionDescription { get; set; } = string.Empty;
     [Required]
-    public string[] ActionScopes { get; set; }
+    public string[] ActionScopes { get; set; } = [];
-    public ActionParameters[] ActionParameters { get; set; }
+    public ActionParameters[] ActionParameters { get; set; } = [];
-    public string ResultDescription { get; set; }
+    public string ResultDescription { get; set; } = string.Empty;
-    public string[] BlockingTypes { get; set; } 
+    public string[] BlockingTypes { get; set; } = [];
 }

RobotApp.VDA5050/Factsheet/AgvGeometry.cs

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

RobotApp.VDA5050/Factsheet/Envelopes2d.cs

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

RobotApp.VDA5050/Factsheet/Envelopes3d.cs

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

RobotApp.VDA5050/Factsheet/FactSheetMsg.cs

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

RobotApp.VDA5050/Factsheet/LoadSets.cs

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

RobotApp.VDA5050/Factsheet/LoadSpecification.cs

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

RobotApp.VDA5050/Factsheet/OptionalParameters.cs

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

RobotApp.VDA5050/Factsheet/ProtocolFeatures.cs

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

RobotApp.VDA5050/Factsheet/ProtocolLimits.cs

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

RobotApp.VDA5050/Factsheet/TypeSpecification.cs

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

RobotApp.VDA5050/Factsheet/WheelDefinitions.cs

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

RobotApp.VDA5050/FactsheetExtend/Battery.cs

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

RobotApp.VDA5050/FactsheetExtend/BatteryThreshold.cs

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

RobotApp.VDA5050/FactsheetExtend/CameraSafety.cs

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

RobotApp.VDA5050/FactsheetExtend/ChargerParam.cs

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

RobotApp.VDA5050/FactsheetExtend/FactsheetExtendMsg.cs

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

RobotApp.VDA5050/FactsheetExtend/ForkSafety.cs

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

RobotApp.VDA5050/FactsheetExtend/Initpose.cs

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

RobotApp.VDA5050/FactsheetExtend/LineSegment.cs

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

RobotApp.VDA5050/FactsheetExtend/Localization.cs

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

RobotApp.VDA5050/FactsheetExtend/Motor.cs

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

RobotApp.VDA5050/FactsheetExtend/Navigation.cs

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