fix bug kéo thả của loop

data/mission_queue.json

@@ -1,33 +1,66 @@
 {
   "queue": [
     {
-      "created_at": "2026-06-13T07:03:00Z",
+      "created_at": "2026-06-13T07:19:31Z",
-      "finished_at": "2026-06-13T07:03:01Z",
+      "finished_at": "2026-06-13T07:19:32Z",
-      "id": "c636ad0d89937cd2",
+      "id": "3a520bd342883c75",
       "log": [
+        {
+          "level": "info",
+          "message": "Loop 1/1",
+          "ts": "2026-06-13T07:19:31Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-13T07:19:31Z"
+        },
         {
           "level": "info",
           "message": "Wait 1000ms",
-          "ts": "2026-06-13T07:03:00Z"
+          "ts": "2026-06-13T07:19:31Z"
         }
       ],
       "mission": {
         "actions": [
           {
-            "id": "a1",
+            "children": [
+              {
+                "id": "c6c40563-0755-4e97-a48a-bb91ac8b0a9c",
+                "kind": "action",
+                "label": "Set PLC register",
+                "params": {
+                  "action": "set",
+                  "register": 1,
+                  "value": 0
+                },
+                "type": "set_plc_register"
+              },
+              {
+                "id": "a1",
+                "kind": "action",
+                "label": "Wait",
+                "params": {
+                  "seconds": 1
+                },
+                "type": "wait"
+              }
+            ],
+            "id": "65f3cf0b-73fa-4f51-8774-1c5d4c83d8c4",
             "kind": "action",
-            "label": "Wait",
+            "label": "Loop",
             "params": {
-              "seconds": 1
+              "count": 1,
+              "mode": "count"
             },
-            "type": "wait"
+            "type": "loop"
           }
         ],
         "description": "",
         "group": "Missions",
         "id": "5ae9dbcb0722dffb",
         "name": "Test run",
-        "updated_at": "2026-06-13T04:44:03Z"
+        "updated_at": "2026-06-13T07:19:17.185Z"
       },
       "mission_group": "Missions",
       "mission_id": "5ae9dbcb0722dffb",
@@ -36,37 +69,70 @@
       "priority": 0,
       "robot_id": "default",
       "source": "ui",
-      "started_at": "2026-06-13T07:03:00Z",
+      "started_at": "2026-06-13T07:19:31Z",
       "status": "completed"
     },
     {
-      "created_at": "2026-06-13T07:03:01Z",
+      "created_at": "2026-06-13T07:19:41Z",
-      "finished_at": "2026-06-13T07:03:02Z",
+      "finished_at": "2026-06-13T07:19:43Z",
-      "id": "06048341b549f0ac",
+      "id": "51de82d74cb4b1cd",
       "log": [
+        {
+          "level": "info",
+          "message": "Loop 1/1",
+          "ts": "2026-06-13T07:19:41Z"
+        },
+        {
+          "level": "info",
+          "message": "Set PLC register (set_plc_register) simulated",
+          "ts": "2026-06-13T07:19:41Z"
+        },
         {
           "level": "info",
           "message": "Wait 1000ms",
-          "ts": "2026-06-13T07:03:01Z"
+          "ts": "2026-06-13T07:19:42Z"
         }
       ],
       "mission": {
         "actions": [
           {
-            "id": "a1",
+            "children": [
+              {
+                "id": "c6c40563-0755-4e97-a48a-bb91ac8b0a9c",
+                "kind": "action",
+                "label": "Set PLC register",
+                "params": {
+                  "action": "set",
+                  "register": 1,
+                  "value": 0
+                },
+                "type": "set_plc_register"
+              },
+              {
+                "id": "a1",
+                "kind": "action",
+                "label": "Wait",
+                "params": {
+                  "seconds": 1
+                },
+                "type": "wait"
+              }
+            ],
+            "id": "65f3cf0b-73fa-4f51-8774-1c5d4c83d8c4",
             "kind": "action",
-            "label": "Wait",
+            "label": "Loop",
             "params": {
-              "seconds": 1
+              "count": 1,
+              "mode": "count"
             },
-            "type": "wait"
+            "type": "loop"
           }
         ],
         "description": "",
         "group": "Missions",
         "id": "5ae9dbcb0722dffb",
         "name": "Test run",
-        "updated_at": "2026-06-13T04:44:03Z"
+        "updated_at": "2026-06-13T07:19:17.185Z"
       },
       "mission_group": "Missions",
       "mission_id": "5ae9dbcb0722dffb",
@@ -75,85 +141,7 @@
       "priority": 0,
       "robot_id": "default",
       "source": "ui",
-      "started_at": "2026-06-13T07:03:01Z",
+      "started_at": "2026-06-13T07:19:41Z",
-      "status": "completed"
-    },
-    {
-      "created_at": "2026-06-13T07:03:01Z",
-      "finished_at": "2026-06-13T07:03:03Z",
-      "id": "887245afd51df357",
-      "log": [
-        {
-          "level": "info",
-          "message": "Wait 1000ms",
-          "ts": "2026-06-13T07:03:02Z"
-        }
-      ],
-      "mission": {
-        "actions": [
-          {
-            "id": "a1",
-            "kind": "action",
-            "label": "Wait",
-            "params": {
-              "seconds": 1
-            },
-            "type": "wait"
-          }
-        ],
-        "description": "",
-        "group": "Missions",
-        "id": "5ae9dbcb0722dffb",
-        "name": "Test run",
-        "updated_at": "2026-06-13T04:44:03Z"
-      },
-      "mission_group": "Missions",
-      "mission_id": "5ae9dbcb0722dffb",
-      "mission_name": "Test run",
-      "parameters": {},
-      "priority": 0,
-      "robot_id": "default",
-      "source": "modbus:1005",
-      "started_at": "2026-06-13T07:03:02Z",
-      "status": "completed"
-    },
-    {
-      "created_at": "2026-06-13T07:03:01Z",
-      "finished_at": "2026-06-13T07:03:04Z",
-      "id": "4365bd4d8beedfd2",
-      "log": [
-        {
-          "level": "info",
-          "message": "Wait 1000ms",
-          "ts": "2026-06-13T07:03:03Z"
-        }
-      ],
-      "mission": {
-        "actions": [
-          {
-            "id": "a1",
-            "kind": "action",
-            "label": "Wait",
-            "params": {
-              "seconds": 1
-            },
-            "type": "wait"
-          }
-        ],
-        "description": "",
-        "group": "Missions",
-        "id": "5ae9dbcb0722dffb",
-        "name": "Test run",
-        "updated_at": "2026-06-13T04:44:03Z"
-      },
-      "mission_group": "Missions",
-      "mission_id": "5ae9dbcb0722dffb",
-      "mission_name": "Test run",
-      "parameters": {},
-      "priority": 0,
-      "robot_id": "default",
-      "source": "fleet:pytest-schedule",
-      "started_at": "2026-06-13T07:03:03Z",
       "status": "completed"
     }
   ],
@@ -163,6 +151,6 @@
     "message": "Hoàn thành: Test run",
     "paused": false,
     "state": "idle",
-    "updated_at": "2026-06-13T07:03:04Z"
+    "updated_at": "2026-06-13T07:19:43Z"
   }
 }

data/missions.json

@@ -14,20 +14,43 @@
     {
       "actions": [
         {
-          "id": "a1",
+          "children": [
+            {
+              "id": "c6c40563-0755-4e97-a48a-bb91ac8b0a9c",
+              "kind": "action",
+              "label": "Set PLC register",
+              "params": {
+                "action": "set",
+                "register": 1,
+                "value": 0
+              },
+              "type": "set_plc_register"
+            },
+            {
+              "id": "a1",
+              "kind": "action",
+              "label": "Wait",
+              "params": {
+                "seconds": 1
+              },
+              "type": "wait"
+            }
+          ],
+          "id": "65f3cf0b-73fa-4f51-8774-1c5d4c83d8c4",
           "kind": "action",
-          "label": "Wait",
+          "label": "Loop",
           "params": {
-            "seconds": 1
+            "count": 1,
+            "mode": "count"
           },
-          "type": "wait"
+          "type": "loop"
         }
       ],
       "description": "",
       "group": "Missions",
       "id": "5ae9dbcb0722dffb",
       "name": "Test run",
-      "updated_at": "2026-06-13T04:44:03Z"
+      "updated_at": "2026-06-13T07:19:17.185Z"
     },
     {
       "actions": [

src/mission/mission_queue.cpp

@@ -411,7 +411,7 @@ void MissionQueue::runMissionActions(nlohmann::json& entry)
   }
 }
 
-void MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
+MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
                                           const nlohmann::json& parameters,
                                           nlohmann::json& log,
                                           int loop_depth)
@@ -426,7 +426,7 @@ void MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
     while (paused_ && !stop_)
       std::this_thread::sleep_for(std::chrono::milliseconds(100));
     if (stop_)
-      return;
+      return LoopControl::None;
 
     const std::string action_id = action.value("id", "");
     const std::string kind = action.value("kind", "action");
@@ -445,30 +445,58 @@ void MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
     {
       const std::string ref_id = action.value("refId", "");
       nlohmann::json ref_mission = nlohmann::json::object();
-      // Nested mission snapshot should be resolved by frontend before queueing.
       (void)ref_id;
       log.push_back({{"ts", IdUtil::nowIso8601()}, {"level", "info"}, {"message", "Sub-mission: " + label}});
       if (action.contains("resolved_mission") && action["resolved_mission"].is_object())
       {
         const auto& nested_actions = action["resolved_mission"]["actions"];
-        executeActionsUnlocked(nested_actions, parameters, log, loop_depth);
+        const LoopControl nested = executeActionsUnlocked(nested_actions, parameters, log, loop_depth);
+        if (nested == LoopControl::Break)
+          return LoopControl::Break;
+        if (nested == LoopControl::Continue)
+          continue;
       }
       continue;
     }
 
+    if (type == "break")
+    {
+      log.push_back({{"ts", IdUtil::nowIso8601()}, {"level", "info"}, {"message", "Break loop"}});
+      return LoopControl::Break;
+    }
+
+    if (type == "continue")
+    {
+      log.push_back({{"ts", IdUtil::nowIso8601()}, {"level", "info"}, {"message", "Continue loop"}});
+      return LoopControl::Continue;
+    }
+
     if (type == "loop")
     {
       const std::string mode = params.value("mode", "count");
       const int count = static_cast<int>(paramNumber(params, "count", 1));
       const auto& children =
           action.contains("children") && action["children"].is_array() ? action["children"] : nlohmann::json::array();
-      const int iterations = mode == "endless" ? 1 : std::max(1, count);
+      const int iterations = mode == "endless" ? 10000 : std::max(1, count);
-      for (int i = 0; i < iterations; ++i)
+      for (int i = 0; i < iterations && !stop_; ++i)
       {
-        log.push_back({{"ts", IdUtil::nowIso8601()},
+        if (mode == "endless" && i == 0)
-                       {"level", "info"},
+        {
-                       {"message", "Loop " + std::to_string(i + 1) + "/" + std::to_string(iterations)}});
+          log.push_back({{"ts", IdUtil::nowIso8601()},
-        executeActionsUnlocked(children, parameters, log, loop_depth + 1);
+                         {"level", "info"},
+                         {"message", "Loop endless (simulated, max " + std::to_string(iterations) + ")"}});
+        }
+        else if (mode != "endless")
+        {
+          log.push_back({{"ts", IdUtil::nowIso8601()},
+                         {"level", "info"},
+                         {"message", "Loop " + std::to_string(i + 1) + "/" + std::to_string(iterations)}});
+        }
+        const LoopControl ctrl = executeActionsUnlocked(children, parameters, log, loop_depth + 1);
+        if (ctrl == LoopControl::Break)
+          break;
+        if (ctrl == LoopControl::Continue)
+          continue;
       }
       continue;
     }
@@ -520,6 +548,7 @@ void MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
         {{"ts", IdUtil::nowIso8601()}, {"level", "info"}, {"message", label + " (" + type + ") simulated"}});
     sleepMs(400);
   }
+  return LoopControl::None;
 }
 
 void MissionQueue::sleepMs(int ms)

src/mission/mission_queue.hpp

@@ -31,6 +31,8 @@ public:
   bool resume(std::string& err);
 
 private:
+  enum class LoopControl { None, Break, Continue };
+
   std::filesystem::path queue_path_;
   mutable std::recursive_mutex mu_;
   nlohmann::json queue_;
@@ -47,10 +49,10 @@ private:
   void startWorkerIfNeeded();
   void workerLoop();
   void runMissionActions(nlohmann::json& entry);
-  void executeActionsUnlocked(const nlohmann::json& actions,
+  LoopControl executeActionsUnlocked(const nlohmann::json& actions,
-                              const nlohmann::json& parameters,
+                                     const nlohmann::json& parameters,
-                              nlohmann::json& log,
+                                     nlohmann::json& log,
-                              int loop_depth);
+                                     int loop_depth);
   void sleepMs(int ms);
   void setRunnerState(const std::string& state, const std::string& message = "");
   void insertByPriorityUnlocked(nlohmann::json& entry);

www/missions.js

@@ -302,11 +302,21 @@
     }
   }
 
+  function normalizeActionTree(actions) {
+    if (!Array.isArray(actions)) return;
+    actions.forEach((action) => {
+      if (action.type === "loop" && !Array.isArray(action.children)) {
+        action.children = [];
+      }
+      if (Array.isArray(action.children)) normalizeActionTree(action.children);
+    });
+  }
+
   function findActionList(path) {
     const draft = getDraft();
     if (!draft) return null;
     if (path === "root") return draft.actions;
-    const parts = path.split(".");
+    const parts = path.split(".").filter((p) => p !== "root");
     let list = draft.actions;
     for (const part of parts) {
       const node = list.find((a) => a.id === part);
@@ -321,7 +331,7 @@
     for (let i = 0; i < list.length; i += 1) {
       const action = list[i];
       if (action.id === actionId) return { action, list, index: i, path, parent };
-      if (action.children?.length) {
+      if (Array.isArray(action.children)) {
         const hit = findActionWithParent(actionId, action.children, `${path}.${action.id}`, action);
         if (hit) return hit;
       }
@@ -765,12 +775,17 @@
         const item = document.createElement("button");
         item.type = "button";
         item.className = "missionPaletteItem";
+        item.draggable = true;
         item.innerHTML = `<span class="missionActionIcon">${def.isLoop ? "↻" : "▶"}</span><span>${escapeHtml(def.label)}</span>`;
         item.addEventListener("click", () => {
           addActionToList(def.type, "root");
           menu.hidden = true;
           btn.classList.remove("open");
         });
+        item.addEventListener("dragstart", (evt) => {
+          onPaletteDragStart(evt, { actionType: def.type });
+        });
+        item.addEventListener("dragend", onDragEnd);
         menu.appendChild(item);
       });
 
@@ -785,12 +800,17 @@
           const item = document.createElement("button");
           item.type = "button";
           item.className = "missionPaletteItem missionRef";
+          item.draggable = true;
           item.innerHTML = `<span class="missionActionIcon kind-mission">◎</span><span>${escapeHtml(m.name)}</span>`;
           item.addEventListener("click", () => {
             addMissionRefToList(m.id, "root");
             menu.hidden = true;
             btn.classList.remove("open");
           });
+          item.addEventListener("dragstart", (evt) => {
+            onPaletteDragStart(evt, { missionId: m.id });
+          });
+          item.addEventListener("dragend", onDragEnd);
           menu.appendChild(item);
         });
       }
@@ -891,15 +911,13 @@
     renderActionPalette();
     missionActionListEl.innerHTML = "";
     renderActionRows(draft.actions, "root", missionActionListEl);
-    bindDragPaletteItems();
   }
 
-  function bindDragPaletteItems() {
+  function onPaletteDragStart(evt, payload) {
-    document.querySelectorAll(".missionLoopDrop").forEach((drop) => {
+    store.drag = { mode: "palette", ...payload };
-      drop.addEventListener("dragover", onLoopDragOver);
+    evt.dataTransfer.effectAllowed = "copy";
-      drop.addEventListener("dragleave", onLoopDragLeave);
+    evt.dataTransfer.setData("text/plain", payload.actionType || payload.missionId || "palette");
-      drop.addEventListener("drop", onLoopDrop);
+    evt.currentTarget.classList.add("dragging");
-    });
   }
 
   function onDragStart(evt, actionId, listPath) {
@@ -913,6 +931,7 @@
     document.querySelectorAll(".missionActionRow.dragging, .missionActionRow.dropBefore, .missionActionRow.dropAfter").forEach((n) => {
       n.classList.remove("dragging", "dropBefore", "dropAfter");
     });
+    document.querySelectorAll(".missionPaletteItem.dragging").forEach((n) => n.classList.remove("dragging"));
     document.querySelectorAll(".missionLoopDrop.dragOver").forEach((n) => n.classList.remove("dragOver"));
     store.drag = null;
   }
@@ -980,6 +999,7 @@
     if (!mission) return;
     store.editingId = missionId;
     store.draft = JSON.parse(JSON.stringify(mission));
+    normalizeActionTree(store.draft.actions);
     setDirty(false);
     missionsListViewEl.hidden = true;
     missionEditorViewEl.hidden = false;

www/style.css

@@ -718,6 +718,7 @@ canvas {
   color: var(--text);
 }
 .missionPaletteItem:hover { background: #eff6ff; }
+.missionPaletteItem.dragging { opacity: 0.45; }
 .missionPaletteItem.missionRef .missionActionIcon { background: rgba(16, 185, 129, 0.15); color: #059669; }
 
 .missionEditorBody { padding: 16px 18px 20px; }