RobotApp/RobotApp.Client/Pages/EditNodeDialog.razor

@inherits MudComponentBase
@using RobotApp.VDA5050.InstantAction
@using System.Text.Json
@using System.Text.Json.Serialization
@using RobotApp.VDA5050.Order
@using RobotApp.VDA5050.Type

<MudDialog>
    <TitleContent>
        <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="12">
                <MudNumericField T="int" @bind-Value="Node.SequenceId" Label="Sequence ID" Required="true" />
            </MudItem>
            <MudItem xs="12">
                <MudSwitch T="bool" @bind-Checked="Node.Released" Label="Released" />
            </MudItem>
            <MudItem xs="6">
                <MudNumericField T="double" @bind-Value="Node.NodePosition.X" Label="X" />
            </MudItem>

            <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;
        }
    }
}