RobotApp/RobotApp.Client/Pages/Order/OrderMess.razor

@page "/robot-order"

@rendermode InteractiveWebAssemblyNoPrerender

@using System.Text.Json
@using System.Text.Json.Serialization

@inject IJSRuntime JS
@inject IDialogService DialogService
@inject HttpClient Http
@inject ISnackbar Snackbar

<MudMainContent Class="pa-0 ma-0">
    <div style="height:100vh; overflow:hidden;">
        <MudContainer MaxWidth="MaxWidth.False"
                      Class="pa-4"
                      Style="max-width:100%; height:100%; display:flex; flex-direction:column;">
            <MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">

                <!-- ================= LEFT ================= -->
                <MudItem xs="12" md="7" Class="d-flex flex-column h-100" Style="gap:16px;">
                    <MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">

                        <MudItem xs="12" md="6" Class="h-100">
                            <NodesPanel Order="Order"
                                        OnAddNode="AddNode"
                                        OnRemoveNode="RemoveNode"
                                        OnEditNode="OpenEditNodeDialog"
                                        OnAddAction="AddAction"
                                        OnRemoveAction="@(w => RemoveAction(w.Node, w.Action))"
                                        OnAddActionParameter="AddActionParameter"
                                        OnRemoveActionParameter="@(w => RemoveActionParameter(w.Action, w.Parameter))"
                                        OnOrderChanged="OnOrderChanged" />
                        </MudItem>

                        <MudItem xs="12" md="6" Class="h-100">
                            <EdgesPanel Order="Order"
                                        OnAddEdge="AddEdge"
                                        OnRemoveEdge="RemoveEdge"
                                        OnOrderChanged="OnOrderChanged" />
                        </MudItem>

                    </MudGrid>
                </MudItem>

                <!-- ================= RIGHT ================= -->
                <MudItem xs="12" md="5" Class="h-100">
                    <JsonOutputPanel @bind-OrderJson="@OrderJson"
                                     Copied="@copied"
                                     SendSuccess="@sendSuccess"
                                     CancelSuccess="@cancelSuccess"
                                     OnCopy="CopyJsonToClipboard"
                                     OnSend="SendOrderToServer"
                                     OnImport="OpenImportDialog"
                                     OnCancel="CancelOrder" />
                </MudItem>

            </MudGrid>
        </MudContainer>
    </div>
</MudMainContent>

@code {
    // ================= STATE =================
    private OrderMessage Order { get; set; } = new();
    private string OrderJson = "";          // 🔥 CACHE JSON (QUAN TRỌNG)
    private bool copied;
    private bool? sendSuccess;
    private bool? cancelSuccess;
    private CancellationTokenSource? _copyCts;

    // ================= INIT =================
    protected override void OnInitialized()
    {
        RebuildOrderJson();
    }

    // ================= CORE FIX =================
    private void RebuildOrderJson()
    {
        OrderJson = JsonSerializer.Serialize(
            Order.ToSchemaObject(),
            new JsonSerializerOptions
            {
                WriteIndented = true,
                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
            });
    }
    private async Task OpenImportDialog()
    {
        var dialog = await DialogService.ShowAsync<ImportOrderDialog>(
            "Import Order JSON",
            new DialogOptions
            {
                FullWidth = true,
                MaxWidth = MaxWidth.Large
            });

        var result = await dialog.Result;

        if (result is not null && !result.Canceled && result.Data is OrderMsg imported)
        {
            Order.Import(imported);
            RebuildOrderJson();
            StateHasChanged();
        }
    }

    private void OnOrderChanged()
    {
        RebuildOrderJson();   // 🔥 JSON luôn rebuild
        StateHasChanged();    // 🔥 ép render
    }

    // ================= NODE =================
    void AddNode()
    {
        Order.Nodes.Add(new Node
        {
            NodeId = $"NODE_{Order.Nodes.Count + 1}",
            SequenceId = Order.Nodes.Count,
            Released = true,
            NodePosition = new VDA5050.Order.NodePosition { MapId = "MAP_01" }
        });
    }

    void RemoveNode(Node node)
    {
        Order.Nodes.Remove(node);
        Order.Edges.RemoveAll(e => e.StartNodeId == node.NodeId || e.EndNodeId == node.NodeId);
        ResequenceNodes();
    }

    void ResequenceNodes()
    {
        for (int i = 0; i < Order.Nodes.Count; i++)
            Order.Nodes[i].SequenceId = i;
    }

    // ================= EDGE =================
    void AddEdge()
    {
        if (Order.Nodes.Count == 0)
            return;

        var start = Order.Nodes[0].NodeId;
        var end = Order.Nodes.Count > 1
            ? Order.Nodes[1].NodeId
            : start; // 👈 1 node thì start = end

        Order.Edges.Add(new VDA5050.Order.Edge
        {
            EdgeId = $"EDGE_{Order.Edges.Count + 1}",
            StartNodeId = start,
            EndNodeId = end
        });
    }


    void RemoveEdge(VDA5050.Order.Edge edge)
    {
        Order.Edges.Remove(edge);
    }
    // ================= ACTION =================
    void AddAction(Node node)
    {
        var list = node.Actions?.ToList() ?? new();
        list.Add(new VDA5050.InstantAction.Action
        {
            ActionId = Guid.NewGuid().ToString(),
            ActionType = ActionType.startPause.ToString(),
            BlockingType = "NONE",
            ActionParameters = Array.Empty<ActionParameter>()
        });
        node.Actions = list.ToArray();
    }

    void RemoveAction(Node node, VDA5050.InstantAction.Action action)
    {
        node.Actions = node.Actions?.Where(a => a != action).ToArray()
                       ?? 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 orderMsg = JsonSerializer.Deserialize<OrderMsg>(OrderJson,
            new JsonSerializerOptions
            {
                WriteIndented = true,
                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
            });
            if (orderMsg is null)
            {
                Snackbar.Add("Unable to convert JSON to Order", Severity.Warning);
                return;
            }
            if (orderMsg.Nodes.Length < 1)
            {
                Snackbar.Add("The order must contain at least one node (number of nodes > 0)", Severity.Warning);
                return;
            }
            if (orderMsg.Nodes.Length - 1 != orderMsg.Edges.Length)
            {
                Snackbar.Add("Order must have a number of edges equal to the number of nodes minus 1", Severity.Warning);
                return;
            }

            foreach(var edge in orderMsg.Edges)
            {
                if (!orderMsg.Nodes.Any(n => n.NodeId == edge.StartNodeId))
                {
                    Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.StartNodeId} that does not exist in the list of nodes", Severity.Warning);
                    return;
                }
                if (!orderMsg.Nodes.Any(n => n.NodeId == edge.EndNodeId))
                {
                    Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.EndNodeId} that does not exist in the list of nodes", Severity.Warning);
                    return;
                }
            }

            var response = await Http.PostAsJsonAsync("/api/order",orderMsg);

            sendSuccess = response.IsSuccessStatusCode;
        }
        catch(JsonException jsonEx)
        {
            Snackbar.Add($"Json to Order failed: {jsonEx.Message}", Severity.Warning);
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Send Order failed: {ex.Message}", Severity.Warning);
            sendSuccess = false;
        }

        StateHasChanged();

        // 🔥 AUTO RESET SAU 2 GIÂY
        _ = Task.Run(async () =>
        {
            await Task.Delay(2000);

            // quay về trạng thái Send
            sendSuccess = null;

            await InvokeAsync(StateHasChanged);
        });
    }

    async Task CancelOrder()
    {
        // reset trạng thái trước khi gửi
        cancelSuccess = null;
        StateHasChanged();

        try
        {
            var res = await Http.PostAsync("/api/order/cancel", null);
            cancelSuccess = res.IsSuccessStatusCode;
        }
        catch
        {
            cancelSuccess = false;
        }

        StateHasChanged();

        // 🔥 AUTO RESET SAU 2 GIÂY
        _ = Task.Run(async () =>
        {
            await Task.Delay(2000);
            cancelSuccess = null;
            await InvokeAsync(StateHasChanged);
        });
    }



    async Task CopyJsonToClipboard()
    {
        _copyCts?.Cancel();
        _copyCts = new();

        await JS.InvokeVoidAsync("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
    }
}