thêm phần paths

2026-06-23 17:51:54 +07:00
parent 50a2587cef
commit 2ce8a23ce9
25 changed files with 1411 additions and 31 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -49,6 +49,9 @@ add_executable(lidar_manager_web
  src/io/io_module_service.cpp
  src/io/io_zone_runtime.cpp
  src/io/io_module_usage.cpp
+  src/storage/path_store.cpp
+  src/path/path_planner.cpp
+  src/path/path_service.cpp
  src/storage/dashboard_store.cpp
  src/storage/state_repository.cpp
  src/validation/sensor_validator.cpp
@@ -66,6 +69,7 @@ add_executable(lidar_manager_web
  src/server/api_media_routes.cpp
  src/server/api_transition_routes.cpp
  src/server/api_io_module_routes.cpp
+  src/server/api_path_routes.cpp
  src/server/api_dashboard_routes.cpp
 )

--- a/src/app/lidar_manager_app.cpp
+++ b/src/app/lidar_manager_app.cpp
@@ -3,6 +3,8 @@
 #include "auth/auth_service.hpp"
 #include "io/io_module_service.hpp"
 #include "io/io_zone_runtime.hpp"
+#include "path/path_service.hpp"
+#include "storage/path_store.hpp"
 #include "mission/mission_enqueue.hpp"
 #include "mission/mission_queue.hpp"
 #include "mission/mission_scheduler.hpp"
@@ -70,8 +72,11 @@ int LidarManagerApp::run()
  IoModuleStore io_module_store(database);
  IoModuleService io_module_service(io_module_store);
  IoZoneRuntime io_zone_runtime;
+  PathStore path_store(database);
+  PathService path_service(path_store, map_store);
  MissionStore mission_store(database);
-  MissionQueue mission_queue(database, map_store, transition_store, mission_store, io_module_service, io_zone_runtime);
+  MissionQueue mission_queue(database, map_store, transition_store, mission_store, io_module_service, io_zone_runtime,
+                               path_service);
  RobotRuntime robot_runtime(database, mission_queue);
  SiteStore site_store(database);
  site_store.ensureDefaultSiteId();
@@ -112,6 +117,8 @@ int LidarManagerApp::run()
                transition_store,
                io_module_store,
                io_module_service,
+                path_store,
+                path_service,
                dashboard_store);
  api.registerRoutes(svr);
  auth.registerRoutes(svr);
--- a/src/auth/auth_service.cpp
+++ b/src/auth/auth_service.cpp
@@ -236,6 +236,7 @@ std::optional<std::string> AuthService::resourceForApiPath(const std::string& pa
  if (path == "/api/robot/active_map")
    return "maps";
  if (path.rfind("/api/maps", 0) == 0 || path.rfind("/api/sites", 0) == 0 ||
+      path.rfind("/api/paths", 0) == 0 || path.rfind("/api/transitions", 0) == 0 ||
      path.rfind("/api/recordings", 0) == 0)
    return "maps";
  if (path.rfind("/api/layout", 0) == 0 || path.rfind("/api/lidars", 0) == 0 ||
--- a/src/mission/mission_queue.cpp
+++ b/src/mission/mission_queue.cpp
@@ -2,6 +2,7 @@

 #include "io/io_module_service.hpp"
 #include "io/io_zone_runtime.hpp"
+#include "path/path_service.hpp"
 #include "mission/mission_store.hpp"
 #include "mission/position_resolver.hpp"
 #include "storage/database.hpp"
@@ -93,13 +94,15 @@ MissionQueue::MissionQueue(Database& db,
                           TransitionStore& transitions,
                           MissionStore& missions,
                           IoModuleService& io_modules,
-                           IoZoneRuntime& io_zones)
+                           IoZoneRuntime& io_zones,
+                           PathService& paths)
    : db_(db),
      maps_(maps),
      transitions_(transitions),
      missions_(missions),
      io_modules_(io_modules),
      io_zones_(io_zones),
+      paths_(paths),
      position_resolver_(maps)
 {
  load();
@@ -153,6 +156,8 @@ void MissionQueue::ensureRunnerDefaults()
    runner_["current_action"] = nullptr;
  if (!runner_.contains("paused"))
    runner_["paused"] = false;
+  if (!runner_.contains("last_position_id"))
+    runner_["last_position_id"] = nullptr;
 }

 void MissionQueue::startWorkerIfNeeded()
@@ -602,6 +607,57 @@ void MissionQueue::runAutoTransitionIfNeeded(const std::string& from_map_id,
  }
 }

+void MissionQueue::completeMoveToPosition(const ResolvedPosition& resolved,
+                                          const std::string& label,
+                                          nlohmann::json& log)
+{
+  std::string from_id;
+  {
+    std::lock_guard<std::recursive_mutex> lock(mu_);
+    if (runner_.contains("last_position_id") && runner_["last_position_id"].is_string())
+      from_id = runner_["last_position_id"].get<std::string>();
+  }
+
+  const auto map = maps_.find(resolved.map_id);
+  const std::string site_id = map ? map->value("site_id", "") : "";
+  if (!from_id.empty() && from_id != resolved.position_id)
+  {
+    std::string path_err;
+    const nlohmann::json path =
+        paths_.getOrCreatePath(resolved.map_id, site_id, from_id, resolved.position_id, path_err);
+    const int pt_count =
+        path.contains("points") && path["points"].is_array() ? static_cast<int>(path["points"].size()) : 0;
+    if (!path_err.empty())
+    {
+      log.push_back({{"ts", IdUtil::nowIso8601()},
+                     {"level", "warn"},
+                     {"message", "Path planning: " + path_err}});
+    }
+    else
+    {
+      log.push_back({{"ts", IdUtil::nowIso8601()},
+                     {"level", "info"},
+                     {"message", "Path " + from_id + " → " + resolved.position_id + " (" + std::to_string(pt_count) +
+                                     " pts)"}});
+    }
+  }
+
+  log.push_back({{"ts", IdUtil::nowIso8601()},
+                 {"level", "info"},
+                 {"message", label + " → " + resolved.label}});
+  sleepMs(1200);
+  if (cancel_)
+    throw MissionCancelled();
+  io_zones_.onRobotAtPosition(db_, maps_, io_modules_, resolved.map_id, resolved.position_id, log);
+
+  {
+    std::lock_guard<std::recursive_mutex> lock(mu_);
+    runner_["last_position_id"] = resolved.position_id;
+    runner_["last_map_id"] = resolved.map_id;
+    saveUnlocked();
+  }
+}
+
 MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
                                          const nlohmann::json& parameters,
                                          nlohmann::json& log,
@@ -725,30 +781,7 @@ MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::j
            if (cancel_)
              throw MissionCancelled();
          }
-          log.push_back({{"ts", IdUtil::nowIso8601()},
-                         {"level", "info"},
-                         {"message", label + " → " + resolved->label}});
-          sleepMs(1200);
-          if (cancel_)
-            throw MissionCancelled();
-          io_zones_.onRobotAtPosition(db_, maps_, io_modules_, resolved->map_id, resolved->position_id, log);
-          continue;
-        }
-      }
-
-      if (allow_auto_transition && type == "move_to_position" && !pos_ref.empty())
-      {
-        const std::string active_map = getActiveMapIdFromDb(db_);
-        const auto resolved = position_resolver_.resolve(pos_ref, active_map);
-        if (resolved)
-        {
-          log.push_back({{"ts", IdUtil::nowIso8601()},
-                         {"level", "info"},
-                         {"message", label + " → " + resolved->label}});
-          sleepMs(1200);
-          if (cancel_)
-            throw MissionCancelled();
-          io_zones_.onRobotAtPosition(db_, maps_, io_modules_, resolved->map_id, resolved->position_id, log);
+          completeMoveToPosition(*resolved, label, log);
          continue;
        }
      }
--- a/src/mission/mission_queue.hpp
+++ b/src/mission/mission_queue.hpp
@@ -17,6 +17,7 @@ class IoModuleService;
 class IoZoneRuntime;
 class MapStore;
 class MissionStore;
+class PathService;
 class TransitionStore;

 class MissionQueue
@@ -27,7 +28,8 @@ public:
               TransitionStore& transitions,
               MissionStore& missions,
               IoModuleService& io_modules,
-               IoZoneRuntime& io_zones);
+               IoZoneRuntime& io_zones,
+               PathService& paths);
  ~MissionQueue();

  MissionQueue(const MissionQueue&) = delete;
@@ -53,6 +55,7 @@ private:
  MissionStore& missions_;
  IoModuleService& io_modules_;
  IoZoneRuntime& io_zones_;
+  PathService& paths_;
  PositionResolver position_resolver_;
  mutable std::recursive_mutex mu_;
  nlohmann::json queue_;
@@ -82,6 +85,7 @@ private:
                                 int loop_depth);
  void sleepMs(int ms);
  void setRunnerState(const std::string& state, const std::string& message = "");
+  void completeMoveToPosition(const ResolvedPosition& resolved, const std::string& label, nlohmann::json& log);
  void insertByPriorityUnlocked(nlohmann::json& entry);
 };

--- a/src/path/path_planner.cpp
+++ b/src/path/path_planner.cpp
@@ -0,0 +1,287 @@
+#include "path/path_planner.hpp"
+
+#include <algorithm>
+#include <cmath>
+#include <limits>
+#include <queue>
+#include <unordered_map>
+
+namespace lm {
+
+namespace {
+
+constexpr double kInf = std::numeric_limits<double>::infinity();
+
+double mapResolution(const nlohmann::json& map)
+{
+  if (map.contains("resolution") && map["resolution"].is_number())
+    return std::max(0.01, map["resolution"].get<double>());
+  return 0.05;
+}
+
+double mapImageHeight(const nlohmann::json& map)
+{
+  if (map.contains("height") && map["height"].is_number())
+    return map["height"].get<double>();
+  return 1000.0;
+}
+
+}  // namespace
+
+std::pair<double, double> PathPlanner::worldToPixel(const nlohmann::json& map, double wx, double wy, double img_h)
+{
+  const double res = mapResolution(map);
+  const double ox = map.value("origin_x", 0.0);
+  const double oy = map.value("origin_y", 0.0);
+  return {((wx - ox) / res), (img_h - (wy - oy) / res)};
+}
+
+WorldPoint PathPlanner::pixelToWorld(const nlohmann::json& map, double px, double py, double img_h)
+{
+  const double res = mapResolution(map);
+  const double ox = map.value("origin_x", 0.0);
+  const double oy = map.value("origin_y", 0.0);
+  return {ox + px * res, oy + (img_h - py) * res};
+}
+
+bool PathPlanner::pointInPolygon(double px, double py, const nlohmann::json& points)
+{
+  if (!points.is_array() || points.size() < 3)
+    return false;
+  bool inside = false;
+  size_t j = points.size() - 1;
+  for (size_t i = 0; i < points.size(); ++i)
+  {
+    const auto& pi = points[i];
+    const auto& pj = points[j];
+    if (!pi.is_object() || !pj.is_object())
+      continue;
+    const double xi = pi.value("x", 0.0);
+    const double yi = pi.value("y", 0.0);
+    const double xj = pj.value("x", 0.0);
+    const double yj = pj.value("y", 0.0);
+    const bool intersect = ((yi > py) != (yj > py)) && (px < (xj - xi) * (py - yi) / ((yj - yi) + 1e-12) + xi);
+    if (intersect)
+      inside = !inside;
+    j = i;
+  }
+  return inside;
+}
+
+bool PathPlanner::pointNearPolyline(double px, double py, const nlohmann::json& points, double half_width)
+{
+  if (!points.is_array() || points.size() < 2)
+    return false;
+  const double limit = half_width + 4.0;
+  for (size_t j = 0; j + 1 < points.size(); ++j)
+  {
+    const auto& p1 = points[j];
+    const auto& p2 = points[j + 1];
+    if (!p1.is_object() || !p2.is_object())
+      continue;
+    const double x1 = p1.value("x", 0.0);
+    const double y1 = p1.value("y", 0.0);
+    const double x2 = p2.value("x", 0.0);
+    const double y2 = p2.value("y", 0.0);
+    const double dx = x2 - x1;
+    const double dy = y2 - y1;
+    const double len_sq = dx * dx + dy * dy;
+    double dist = 0;
+    if (len_sq == 0)
+      dist = std::hypot(px - x1, py - y1);
+    else
+    {
+      double t = ((px - x1) * dx + (py - y1) * dy) / len_sq;
+      t = std::clamp(t, 0.0, 1.0);
+      dist = std::hypot(px - (x1 + t * dx), py - (y1 + t * dy));
+    }
+    if (dist <= limit)
+      return true;
+  }
+  return false;
+}
+
+double PathPlanner::zoneTraversalCost(const nlohmann::json& zones, double px, double py, const nlohmann::json& map)
+{
+  if (!zones.is_array())
+    return 1.0;
+  for (auto it = zones.rbegin(); it != zones.rend(); ++it)
+  {
+    const auto& z = *it;
+    if (!z.is_object())
+      continue;
+    const std::string type = z.value("type", "");
+    if (type != "forbidden" && type != "preferred" && type != "unpreferred")
+      continue;
+    const auto& points = z.value("points", nlohmann::json::array());
+    bool hit = false;
+    if (z.value("geometry", "") == "line")
+    {
+      double half = 8.0;
+      if (z.contains("line_width_cm") && z["line_width_cm"].is_number())
+      {
+        const double res = mapResolution(map);
+        half = std::max(4.0, z["line_width_cm"].get<double>() / (res * 100.0) / 2.0);
+      }
+      hit = pointNearPolyline(px, py, points, half);
+    }
+    else
+    {
+      hit = pointInPolygon(px, py, points);
+    }
+    if (!hit)
+      continue;
+    if (type == "forbidden")
+      return kInf;
+    if (type == "unpreferred")
+      return 4.0;
+    if (type == "preferred")
+      return 0.35;
+  }
+  return 1.0;
+}
+
+double PathPlanner::cellCost(const nlohmann::json& map, double wx, double wy, double img_h)
+{
+  const auto px_py = worldToPixel(map, wx, wy, img_h);
+  const auto& zones = map.value("zones", nlohmann::json::array());
+  return zoneTraversalCost(zones, px_py.first, px_py.second, map);
+}
+
+std::optional<WorldPoint> PathPlanner::positionWorld(const nlohmann::json& map, const std::string& position_id)
+{
+  const auto& zones = map.value("zones", nlohmann::json::array());
+  if (!zones.is_array())
+    return std::nullopt;
+  for (const auto& z : zones)
+  {
+    if (!z.is_object() || z.value("type", "") != "position")
+      continue;
+    if (z.value("id", "") != position_id)
+      continue;
+    return WorldPoint{z.value("x", 0.0), z.value("y", 0.0)};
+  }
+  return std::nullopt;
+}
+
+nlohmann::json PathPlanner::plan(const nlohmann::json& map, const WorldPoint& from, const WorldPoint& to)
+{
+  nlohmann::json fallback = nlohmann::json::array();
+  fallback.push_back({{"x", from.x}, {"y", from.y}});
+  fallback.push_back({{"x", to.x}, {"y", to.y}});
+
+  const double img_h = mapImageHeight(map);
+  const double res = mapResolution(map);
+  const double cell_m = std::max(res * 4.0, 0.2);
+
+  const double min_x = std::min(from.x, to.x) - 2.0;
+  const double max_x = std::max(from.x, to.x) + 2.0;
+  const double min_y = std::min(from.y, to.y) - 2.0;
+  const double max_y = std::max(from.y, to.y) + 2.0;
+
+  const int cols = std::clamp(static_cast<int>(std::ceil((max_x - min_x) / cell_m)) + 1, 8, 120);
+  const int rows = std::clamp(static_cast<int>(std::ceil((max_y - min_y) / cell_m)) + 1, 8, 120);
+
+  auto toCell = [&](double wx, double wy) -> GridCell {
+    const int cx = std::clamp(static_cast<int>(std::round((wx - min_x) / cell_m)), 0, cols - 1);
+    const int cy = std::clamp(static_cast<int>(std::round((wy - min_y) / cell_m)), 0, rows - 1);
+    return {cx, cy};
+  };
+
+  auto cellWorld = [&](int cx, int cy) -> WorldPoint {
+    return {min_x + cx * cell_m, min_y + cy * cell_m};
+  };
+
+  const GridCell start = toCell(from.x, from.y);
+  const GridCell goal = toCell(to.x, to.y);
+
+  const auto key = [](const GridCell& c) { return std::to_string(c.x) + "," + std::to_string(c.y); };
+
+  std::vector<double> costs(static_cast<size_t>(cols * rows), kInf);
+  std::vector<GridCell> parent(static_cast<size_t>(cols * rows), {-1, -1});
+  auto idx = [&](int x, int y) { return y * cols + x; };
+
+  struct Node
+  {
+    double f;
+    int x;
+    int y;
+  };
+  auto cmp = [](const Node& a, const Node& b) { return a.f > b.f; };
+  std::priority_queue<Node, std::vector<Node>, decltype(cmp)> open(cmp);
+
+  const auto start_cost = cellCost(map, from.x, from.y, img_h);
+  if (!std::isfinite(start_cost))
+    return fallback;
+  costs[static_cast<size_t>(idx(start.x, start.y))] = 0;
+  open.push({0, start.x, start.y});
+
+  const int dx[8] = {1, -1, 0, 0, 1, 1, -1, -1};
+  const int dy[8] = {0, 0, 1, -1, 1, -1, 1, -1};
+
+  bool found = false;
+  while (!open.empty())
+  {
+    const Node cur = open.top();
+    open.pop();
+    if (cur.x == goal.x && cur.y == goal.y)
+    {
+      found = true;
+      break;
+    }
+    const size_t cur_i = static_cast<size_t>(idx(cur.x, cur.y));
+    if (cur.f > costs[cur_i] + 1e-6)
+      continue;
+
+    for (int k = 0; k < 8; ++k)
+    {
+      const int nx = cur.x + dx[k];
+      const int ny = cur.y + dy[k];
+      if (nx < 0 || ny < 0 || nx >= cols || ny >= rows)
+        continue;
+      const WorldPoint wp = cellWorld(nx, ny);
+      const double step = cellCost(map, wp.x, wp.y, img_h);
+      if (!std::isfinite(step))
+        continue;
+      const double move = (k < 4) ? 1.0 : 1.414;
+      const size_t ni = static_cast<size_t>(idx(nx, ny));
+      const double next = costs[cur_i] + step * move;
+      if (next + 1e-9 < costs[ni])
+      {
+        costs[ni] = next;
+        parent[ni] = {cur.x, cur.y};
+        const double h = std::hypot(nx - goal.x, ny - goal.y);
+        open.push({next + h, nx, ny});
+      }
+    }
+  }
+
+  if (!found)
+    return fallback;
+
+  std::vector<GridCell> cells;
+  GridCell c = goal;
+  while (c.x >= 0)
+  {
+    cells.push_back(c);
+    if (c.x == start.x && c.y == start.y)
+      break;
+    const size_t pi = static_cast<size_t>(idx(c.x, c.y));
+    c = parent[pi];
+    if (c.x < 0)
+      break;
+  }
+  std::reverse(cells.begin(), cells.end());
+
+  nlohmann::json out = nlohmann::json::array();
+  out.push_back({{"x", from.x}, {"y", from.y}});
+  for (size_t i = 1; i + 1 < cells.size(); ++i)
+  {
+    const WorldPoint wp = cellWorld(cells[i].x, cells[i].y);
+    out.push_back({{"x", wp.x}, {"y", wp.y}});
+  }
+  out.push_back({{"x", to.x}, {"y", to.y}});
+  return out;
+}
+
+}  // namespace lm
--- a/src/path/path_planner.hpp
+++ b/src/path/path_planner.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <nlohmann/json.hpp>
+
+#include <optional>
+#include <string>
+#include <utility>
+#include <vector>
+
+namespace lm {
+
+struct WorldPoint
+{
+  double x = 0;
+  double y = 0;
+};
+
+class PathPlanner
+{
+public:
+  static std::optional<WorldPoint> positionWorld(const nlohmann::json& map, const std::string& position_id);
+  static nlohmann::json plan(const nlohmann::json& map,
+                             const WorldPoint& from,
+                             const WorldPoint& to);
+
+private:
+  struct GridCell
+  {
+    int x = 0;
+    int y = 0;
+  };
+
+  static double cellCost(const nlohmann::json& map, double wx, double wy, double img_h);
+  static std::pair<double, double> worldToPixel(const nlohmann::json& map, double wx, double wy, double img_h);
+  static WorldPoint pixelToWorld(const nlohmann::json& map, double px, double py, double img_h);
+  static bool pointInPolygon(double px, double py, const nlohmann::json& points);
+  static bool pointNearPolyline(double px, double py, const nlohmann::json& points, double half_width);
+  static double zoneTraversalCost(const nlohmann::json& zones, double px, double py, const nlohmann::json& map);
+};
+
+}  // namespace lm
--- a/src/path/path_service.cpp
+++ b/src/path/path_service.cpp
@@ -0,0 +1,104 @@
+#include "path/path_service.hpp"
+
+#include "path/path_planner.hpp"
+#include "storage/map_store.hpp"
+#include "storage/path_store.hpp"
+
+#include <cmath>
+#include <unordered_map>
+
+namespace lm {
+
+PathService::PathService(PathStore& paths, MapStore& maps) : paths_(paths), maps_(maps) {}
+
+nlohmann::json PathService::getOrCreatePath(const std::string& map_id,
+                                            const std::string& site_id,
+                                            const std::string& from_position_id,
+                                            const std::string& to_position_id,
+                                            std::string& err)
+{
+  if (auto cached = paths_.findBetween(map_id, from_position_id, to_position_id))
+    return *cached;
+
+  const auto map = maps_.find(map_id);
+  if (!map)
+  {
+    err = "map not found";
+    return nlohmann::json::object();
+  }
+
+  const auto from = PathPlanner::positionWorld(*map, from_position_id);
+  const auto to = PathPlanner::positionWorld(*map, to_position_id);
+  if (!from || !to)
+  {
+    err = "position not found on map";
+    return nlohmann::json::object();
+  }
+
+  const nlohmann::json points = PathPlanner::plan(*map, *from, *to);
+  nlohmann::json payload = {{"site_id", site_id.empty() ? map->value("site_id", "") : site_id},
+                            {"map_id", map_id},
+                            {"from_position_id", from_position_id},
+                            {"to_position_id", to_position_id},
+                            {"points", points},
+                            {"auto_created", true}};
+  const auto saved = paths_.upsert(payload, err);
+  return saved ? *saved : nlohmann::json::object();
+}
+
+nlohmann::json PathService::pathsBetweenPositions(const std::string& map_id,
+                                                  const std::string& from_position_id,
+                                                  const std::string& to_position_id) const
+{
+  if (auto hit = paths_.findBetween(map_id, from_position_id, to_position_id))
+    return *hit;
+  return nlohmann::json::object();
+}
+
+void PathService::invalidateMapPositions(const nlohmann::json& old_map, const nlohmann::json& new_map)
+{
+  if (!old_map.is_object() || !new_map.is_object())
+    return;
+  const std::string map_id = new_map.value("id", old_map.value("id", ""));
+  if (map_id.empty())
+    return;
+
+  auto positionSnapshot = [](const nlohmann::json& map) {
+    std::unordered_map<std::string, std::pair<double, double>> out;
+    const auto& zones = map.value("zones", nlohmann::json::array());
+    if (!zones.is_array())
+      return out;
+    for (const auto& z : zones)
+    {
+      if (!z.is_object() || z.value("type", "") != "position")
+        continue;
+      const std::string id = z.value("id", "");
+      if (id.empty())
+        continue;
+      out[id] = {z.value("x", 0.0), z.value("y", 0.0)};
+    }
+    return out;
+  };
+
+  const auto before = positionSnapshot(old_map);
+  const auto after = positionSnapshot(new_map);
+  for (const auto& [id, coords] : after)
+  {
+    const auto it = before.find(id);
+    if (it == before.end())
+    {
+      paths_.removeForPosition(map_id, id);
+      continue;
+    }
+    const double eps = 1e-4;
+    if (std::abs(it->second.first - coords.first) > eps || std::abs(it->second.second - coords.second) > eps)
+      paths_.removeForPosition(map_id, id);
+  }
+  for (const auto& [id, _] : before)
+  {
+    if (after.find(id) == after.end())
+      paths_.removeForPosition(map_id, id);
+  }
+}
+
+}  // namespace lm
--- a/src/path/path_service.hpp
+++ b/src/path/path_service.hpp
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <nlohmann/json.hpp>
+
+#include <optional>
+#include <string>
+
+namespace lm {
+
+class MapStore;
+class PathStore;
+
+class PathService
+{
+public:
+  PathService(PathStore& paths, MapStore& maps);
+
+  nlohmann::json getOrCreatePath(const std::string& map_id,
+                                 const std::string& site_id,
+                                 const std::string& from_position_id,
+                                 const std::string& to_position_id,
+                                 std::string& err);
+
+  void invalidateMapPositions(const nlohmann::json& old_map, const nlohmann::json& new_map);
+
+  nlohmann::json pathsBetweenPositions(const std::string& map_id,
+                                       const std::string& from_position_id,
+                                       const std::string& to_position_id) const;
+
+private:
+  PathStore& paths_;
+  MapStore& maps_;
+};
+
+}  // namespace lm
--- a/src/server/api_media_routes.cpp
+++ b/src/server/api_media_routes.cpp
@@ -87,6 +87,7 @@ void ApiServer::registerMediaRoutes(httplib::Server& svr)
                                   {"maps", maps},
                                   {"transitions", transition_store_.list(site_id)},
                                   {"io_modules", io_module_store_.list(site_id)},
+                                   {"paths", path_store_.list(site_id)},
                                   {"sounds", sound_store_.list()}};
    res.set_header("Content-Type", "application/json; charset=utf-8");
    res.body = bundle.dump(2);
@@ -112,6 +113,7 @@ void ApiServer::registerMediaRoutes(httplib::Server& svr)

    nlohmann::json imported = {{"maps", nlohmann::json::array()},
                               {"io_modules", nlohmann::json::array()},
+                               {"paths", nlohmann::json::array()},
                               {"transitions", nlohmann::json::array()}};
    std::unordered_map<std::string, std::string> map_id_remap;

@@ -159,6 +161,26 @@ void ApiServer::registerMediaRoutes(httplib::Server& svr)
      }
    }

+    if (bundle.contains("paths") && bundle["paths"].is_array())
+    {
+      for (const auto& path : bundle["paths"])
+      {
+        if (!path.is_object())
+          continue;
+        nlohmann::json payload = path;
+        payload.erase("id");
+        payload["site_id"] = site_id;
+        const std::string old_map = payload.value("map_id", "");
+        if (map_id_remap.count(old_map))
+          payload["map_id"] = map_id_remap[old_map];
+        std::string err;
+        const auto saved = path_store_.upsert(payload, err);
+        if (!saved)
+          return HttpUtil::jsonError(res, 400, "path import failed: " + err);
+        imported["paths"].push_back(*saved);
+      }
+    }
+
    if (bundle.contains("transitions") && bundle["transitions"].is_array())
    {
      for (const auto& tr : bundle["transitions"])
@@ -240,10 +262,13 @@ void ApiServer::registerMediaRoutes(httplib::Server& svr)
    {
      return HttpUtil::jsonError(res, 400, "invalid JSON");
    }
+    const auto existing = map_store_.find(id);
    std::string err;
    if (!map_store_.update(id, body, err))
      return HttpUtil::jsonError(res, 404, err);
    const auto updated = map_store_.find(id);
+    if (existing && updated)
+      path_service_.invalidateMapPositions(*existing, *updated);
    res.set_header("Content-Type", "application/json; charset=utf-8");
    res.body = updated ? updated->dump() : nlohmann::json::object().dump();
  });
--- a/src/server/api_path_routes.cpp
+++ b/src/server/api_path_routes.cpp
@@ -0,0 +1,36 @@
+#include "server/api_server.hpp"
+
+#include "util/http_util.hpp"
+
+namespace lm {
+
+void ApiServer::registerPathRoutes(httplib::Server& svr)
+{
+  svr.Get("/api/paths", [this](const httplib::Request& req, httplib::Response& res) {
+    HttpUtil::addCors(res);
+    const std::string site_id = req.has_param("site_id") ? req.get_param_value("site_id") : "";
+    res.set_header("Content-Type", "application/json; charset=utf-8");
+    res.body = nlohmann::json({{"paths", path_store_.list(site_id)}}).dump();
+  });
+
+  svr.Get(R"(/api/paths/([^/]+)$)", [this](const httplib::Request& req, httplib::Response& res) {
+    HttpUtil::addCors(res);
+    const std::string id = req.matches[1];
+    const auto path = path_store_.find(id);
+    if (!path)
+      return HttpUtil::jsonError(res, 404, "path not found");
+    res.set_header("Content-Type", "application/json; charset=utf-8");
+    res.body = path->dump();
+  });
+
+  svr.Delete(R"(/api/paths/([^/]+)$)", [this](const httplib::Request& req, httplib::Response& res) {
+    HttpUtil::addCors(res);
+    const std::string id = req.matches[1];
+    std::string err;
+    if (!path_store_.remove(id, err))
+      return HttpUtil::jsonError(res, 404, err);
+    res.status = 204;
+  });
+}
+
+}  // namespace lm
--- a/src/server/api_server.cpp
+++ b/src/server/api_server.cpp
@@ -22,6 +22,8 @@ ApiServer::ApiServer(StateRepository& repo,
                     TransitionStore& transition_store,
                     IoModuleStore& io_module_store,
                     IoModuleService& io_module_service,
+                     PathStore& path_store,
+                     PathService& path_service,
                     DashboardStore& dashboard_store)
    : repo_(repo),
      mission_queue_(mission_queue),
@@ -35,6 +37,8 @@ ApiServer::ApiServer(StateRepository& repo,
      transition_store_(transition_store),
      io_module_store_(io_module_store),
      io_module_service_(io_module_service),
+      path_store_(path_store),
+      path_service_(path_service),
      dashboard_store_(dashboard_store)
 {
 }
@@ -558,6 +562,7 @@ void ApiServer::registerRoutes(httplib::Server& svr)
  registerMediaRoutes(svr);
  registerTransitionRoutes(svr);
  registerIoModuleRoutes(svr);
+  registerPathRoutes(svr);
  registerDashboardRoutes(svr);
 }

--- a/src/server/api_server.hpp
+++ b/src/server/api_server.hpp
@@ -13,6 +13,8 @@
 #include "storage/sound_store.hpp"
 #include "storage/io_module_store.hpp"
 #include "io/io_module_service.hpp"
+#include "storage/path_store.hpp"
+#include "path/path_service.hpp"
 #include "storage/transition_store.hpp"
 #include "storage/state_repository.hpp"

@@ -33,6 +35,8 @@ public:
            TransitionStore& transition_store,
            IoModuleStore& io_module_store,
            IoModuleService& io_module_service,
+            PathStore& path_store,
+            PathService& path_service,
            DashboardStore& dashboard_store);

  void registerRoutes(httplib::Server& svr);
@@ -50,6 +54,8 @@ private:
  TransitionStore& transition_store_;
  IoModuleStore& io_module_store_;
  IoModuleService& io_module_service_;
+  PathStore& path_store_;
+  PathService& path_service_;
  DashboardStore& dashboard_store_;

  bool enqueueRequest(const nlohmann::json& request, httplib::Response& res, int status_code = 201);
@@ -62,6 +68,7 @@ private:
  void registerMediaRoutes(httplib::Server& svr);
  void registerTransitionRoutes(httplib::Server& svr);
  void registerIoModuleRoutes(httplib::Server& svr);
+  void registerPathRoutes(httplib::Server& svr);
  void registerDashboardRoutes(httplib::Server& svr);
 };

--- a/src/storage/database.cpp
+++ b/src/storage/database.cpp
@@ -122,6 +122,21 @@ CREATE TABLE IF NOT EXISTS io_modules (
  FOREIGN KEY (site_id) REFERENCES sites(id) ON DELETE CASCADE
 );

+CREATE TABLE IF NOT EXISTS paths (
+  id TEXT PRIMARY KEY,
+  site_id TEXT NOT NULL,
+  map_id TEXT NOT NULL,
+  from_position_id TEXT NOT NULL,
+  to_position_id TEXT NOT NULL,
+  auto_created INTEGER NOT NULL DEFAULT 1,
+  points_json TEXT NOT NULL DEFAULT '[]',
+  created_at TEXT NOT NULL,
+  updated_at TEXT NOT NULL,
+  UNIQUE(map_id, from_position_id, to_position_id),
+  FOREIGN KEY (site_id) REFERENCES sites(id) ON DELETE CASCADE,
+  FOREIGN KEY (map_id) REFERENCES maps(id) ON DELETE CASCADE
+);
+
 CREATE TABLE IF NOT EXISTS dashboards (
  id TEXT PRIMARY KEY,
  name TEXT NOT NULL,
@@ -431,6 +446,29 @@ bool Database::applySchemaMigrations(std::string& err)
    setMeta("schema_version", "7");
  }

+  ver = getMeta("schema_version").value_or("1");
+  if (ver == "7")
+  {
+    if (!execSql(db_,
+                 "CREATE TABLE IF NOT EXISTS paths ("
+                 "id TEXT PRIMARY KEY, "
+                 "site_id TEXT NOT NULL, "
+                 "map_id TEXT NOT NULL, "
+                 "from_position_id TEXT NOT NULL, "
+                 "to_position_id TEXT NOT NULL, "
+                 "auto_created INTEGER NOT NULL DEFAULT 1, "
+                 "points_json TEXT NOT NULL DEFAULT '[]', "
+                 "created_at TEXT NOT NULL, "
+                 "updated_at TEXT NOT NULL, "
+                 "UNIQUE(map_id, from_position_id, to_position_id), "
+                 "FOREIGN KEY (site_id) REFERENCES sites(id) ON DELETE CASCADE, "
+                 "FOREIGN KEY (map_id) REFERENCES maps(id) ON DELETE CASCADE"
+                 ")",
+                 err))
+      return false;
+    setMeta("schema_version", "8");
+  }
+
  return true;
 }

--- a/src/storage/path_store.cpp
+++ b/src/storage/path_store.cpp
@@ -0,0 +1,256 @@
+#include "storage/path_store.hpp"
+
+#include "storage/database.hpp"
+#include "util/id_util.hpp"
+#include "util/string_util.hpp"
+
+#include <sqlite3.h>
+
+namespace lm {
+
+namespace {
+
+nlohmann::json rowToJson(sqlite3_stmt* stmt)
+{
+  auto text = [&](int col) -> std::string {
+    if (sqlite3_column_type(stmt, col) == SQLITE_NULL)
+      return "";
+    const char* v = reinterpret_cast<const char*>(sqlite3_column_text(stmt, col));
+    return v ? std::string(v) : "";
+  };
+  nlohmann::json points = nlohmann::json::array();
+  try
+  {
+    const std::string raw = text(6);
+    if (!raw.empty())
+      points = nlohmann::json::parse(raw);
+  }
+  catch (...)
+  {
+    points = nlohmann::json::array();
+  }
+  return {{"id", text(0)},
+          {"site_id", text(1)},
+          {"map_id", text(2)},
+          {"from_position_id", text(3)},
+          {"to_position_id", text(4)},
+          {"auto_created", sqlite3_column_int(stmt, 5) != 0},
+          {"points", points.is_array() ? points : nlohmann::json::array()},
+          {"created_at", text(7)},
+          {"updated_at", text(8)}};
+}
+
+constexpr const char* kSelect =
+    "SELECT id, site_id, map_id, from_position_id, to_position_id, auto_created, points_json, created_at, updated_at "
+    "FROM paths";
+
+}  // namespace
+
+PathStore::PathStore(Database& db) : db_(db) {}
+
+nlohmann::json PathStore::list(const std::string& site_id) const
+{
+  std::lock_guard<std::mutex> lock(mu_);
+  nlohmann::json out = nlohmann::json::array();
+  std::string sql = kSelect;
+  if (!site_id.empty())
+    sql += " WHERE site_id = ?1";
+  sql += " ORDER BY map_id, from_position_id, to_position_id";
+
+  sqlite3_stmt* stmt = nullptr;
+  if (sqlite3_prepare_v2(db_.handle(), sql.c_str(), -1, &stmt, nullptr) != SQLITE_OK)
+    return out;
+  if (!site_id.empty())
+    sqlite3_bind_text(stmt, 1, site_id.c_str(), -1, SQLITE_TRANSIENT);
+  while (sqlite3_step(stmt) == SQLITE_ROW)
+    out.push_back(rowToJson(stmt));
+  sqlite3_finalize(stmt);
+  return out;
+}
+
+std::optional<nlohmann::json> PathStore::find(const std::string& id) const
+{
+  std::lock_guard<std::mutex> lock(mu_);
+  const std::string sql = std::string(kSelect) + " WHERE id = ?1";
+  sqlite3_stmt* stmt = nullptr;
+  if (sqlite3_prepare_v2(db_.handle(), sql.c_str(), -1, &stmt, nullptr) != SQLITE_OK)
+    return std::nullopt;
+  sqlite3_bind_text(stmt, 1, id.c_str(), -1, SQLITE_TRANSIENT);
+  std::optional<nlohmann::json> out;
+  if (sqlite3_step(stmt) == SQLITE_ROW)
+    out = rowToJson(stmt);
+  sqlite3_finalize(stmt);
+  return out;
+}
+
+std::optional<nlohmann::json> PathStore::findBetween(const std::string& map_id,
+                                                     const std::string& from_position_id,
+                                                     const std::string& to_position_id) const
+{
+  if (map_id.empty() || from_position_id.empty() || to_position_id.empty())
+    return std::nullopt;
+  std::lock_guard<std::mutex> lock(mu_);
+  const std::string sql = std::string(kSelect) +
+                          " WHERE map_id = ?1 AND from_position_id = ?2 AND to_position_id = ?3 LIMIT 1";
+  sqlite3_stmt* stmt = nullptr;
+  if (sqlite3_prepare_v2(db_.handle(), sql.c_str(), -1, &stmt, nullptr) != SQLITE_OK)
+    return std::nullopt;
+  sqlite3_bind_text(stmt, 1, map_id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_bind_text(stmt, 2, from_position_id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_bind_text(stmt, 3, to_position_id.c_str(), -1, SQLITE_TRANSIENT);
+  std::optional<nlohmann::json> out;
+  if (sqlite3_step(stmt) == SQLITE_ROW)
+    out = rowToJson(stmt);
+  sqlite3_finalize(stmt);
+  return out;
+}
+
+std::optional<nlohmann::json> PathStore::upsert(const nlohmann::json& payload, std::string& err)
+{
+  if (!payload.is_object())
+  {
+    err = "payload must be an object";
+    return std::nullopt;
+  }
+  const std::string site_id = StringUtil::trimCopy(payload.value("site_id", ""));
+  const std::string map_id = StringUtil::trimCopy(payload.value("map_id", ""));
+  const std::string from_id = StringUtil::trimCopy(payload.value("from_position_id", ""));
+  const std::string to_id = StringUtil::trimCopy(payload.value("to_position_id", ""));
+  if (site_id.empty() || map_id.empty() || from_id.empty() || to_id.empty())
+  {
+    err = "missing required fields";
+    return std::nullopt;
+  }
+  if (from_id == to_id)
+  {
+    err = "from and to positions must differ";
+    return std::nullopt;
+  }
+  const auto& points = payload.contains("points") && payload["points"].is_array() ? payload["points"]
+                                                                                  : nlohmann::json::array();
+  const std::string points_json = points.dump();
+  const bool auto_created = payload.value("auto_created", true);
+  const std::string now = IdUtil::nowIso8601();
+
+  std::string id = payload.value("id", IdUtil::newId());
+  {
+    std::lock_guard<std::mutex> lock(mu_);
+    sqlite3_stmt* lookup = nullptr;
+    if (sqlite3_prepare_v2(db_.handle(),
+                           "SELECT id FROM paths WHERE map_id = ?1 AND from_position_id = ?2 AND to_position_id = ?3",
+                           -1,
+                           &lookup,
+                           nullptr) == SQLITE_OK)
+    {
+      sqlite3_bind_text(lookup, 1, map_id.c_str(), -1, SQLITE_TRANSIENT);
+      sqlite3_bind_text(lookup, 2, from_id.c_str(), -1, SQLITE_TRANSIENT);
+      sqlite3_bind_text(lookup, 3, to_id.c_str(), -1, SQLITE_TRANSIENT);
+      if (sqlite3_step(lookup) == SQLITE_ROW)
+      {
+        const char* existing = reinterpret_cast<const char*>(sqlite3_column_text(lookup, 0));
+        if (existing)
+          id = existing;
+      }
+      sqlite3_finalize(lookup);
+    }
+  }
+
+  std::lock_guard<std::mutex> lock(mu_);
+  sqlite3_stmt* stmt = nullptr;
+  if (sqlite3_prepare_v2(db_.handle(),
+                         "INSERT INTO paths(id, site_id, map_id, from_position_id, to_position_id, auto_created, "
+                         "points_json, created_at, updated_at) "
+                         "VALUES(?1,?2,?3,?4,?5,?6,?7,?8,?9) "
+                         "ON CONFLICT(map_id, from_position_id, to_position_id) DO UPDATE SET "
+                         "points_json=excluded.points_json, auto_created=excluded.auto_created, updated_at=excluded.updated_at",
+                         -1,
+                         &stmt,
+                         nullptr) != SQLITE_OK)
+  {
+    err = sqlite3_errmsg(db_.handle());
+    return std::nullopt;
+  }
+  sqlite3_bind_text(stmt, 1, id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_bind_text(stmt, 2, site_id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_bind_text(stmt, 3, map_id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_bind_text(stmt, 4, from_id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_bind_text(stmt, 5, to_id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_bind_int(stmt, 6, auto_created ? 1 : 0);
+  sqlite3_bind_text(stmt, 7, points_json.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_bind_text(stmt, 8, now.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_bind_text(stmt, 9, now.c_str(), -1, SQLITE_TRANSIENT);
+  const bool ok = sqlite3_step(stmt) == SQLITE_DONE;
+  sqlite3_finalize(stmt);
+  if (!ok)
+  {
+    err = sqlite3_errmsg(db_.handle());
+    return std::nullopt;
+  }
+
+  sqlite3_stmt* get_stmt = nullptr;
+  if (sqlite3_prepare_v2(db_.handle(), (std::string(kSelect) + " WHERE id = ?1").c_str(), -1, &get_stmt, nullptr) !=
+      SQLITE_OK)
+  {
+    err = sqlite3_errmsg(db_.handle());
+    return std::nullopt;
+  }
+  sqlite3_bind_text(get_stmt, 1, id.c_str(), -1, SQLITE_TRANSIENT);
+  std::optional<nlohmann::json> out;
+  if (sqlite3_step(get_stmt) == SQLITE_ROW)
+    out = rowToJson(get_stmt);
+  sqlite3_finalize(get_stmt);
+  return out;
+}
+
+bool PathStore::remove(const std::string& id, std::string& err)
+{
+  std::lock_guard<std::mutex> lock(mu_);
+  sqlite3_stmt* stmt = nullptr;
+  if (sqlite3_prepare_v2(db_.handle(), "DELETE FROM paths WHERE id = ?1", -1, &stmt, nullptr) != SQLITE_OK)
+  {
+    err = sqlite3_errmsg(db_.handle());
+    return false;
+  }
+  sqlite3_bind_text(stmt, 1, id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_step(stmt);
+  const bool ok = sqlite3_changes(db_.handle()) > 0;
+  sqlite3_finalize(stmt);
+  if (!ok)
+    err = "path not found";
+  return ok;
+}
+
+int PathStore::removeForMap(const std::string& map_id)
+{
+  std::lock_guard<std::mutex> lock(mu_);
+  sqlite3_stmt* stmt = nullptr;
+  if (sqlite3_prepare_v2(db_.handle(), "DELETE FROM paths WHERE map_id = ?1", -1, &stmt, nullptr) != SQLITE_OK)
+    return 0;
+  sqlite3_bind_text(stmt, 1, map_id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_step(stmt);
+  const int n = sqlite3_changes(db_.handle());
+  sqlite3_finalize(stmt);
+  return n;
+}
+
+int PathStore::removeForPosition(const std::string& map_id, const std::string& position_id)
+{
+  if (map_id.empty() || position_id.empty())
+    return 0;
+  std::lock_guard<std::mutex> lock(mu_);
+  sqlite3_stmt* stmt = nullptr;
+  if (sqlite3_prepare_v2(db_.handle(),
+                         "DELETE FROM paths WHERE map_id = ?1 AND (from_position_id = ?2 OR to_position_id = ?2)",
+                         -1,
+                         &stmt,
+                         nullptr) != SQLITE_OK)
+    return 0;
+  sqlite3_bind_text(stmt, 1, map_id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_bind_text(stmt, 2, position_id.c_str(), -1, SQLITE_TRANSIENT);
+  sqlite3_step(stmt);
+  const int n = sqlite3_changes(db_.handle());
+  sqlite3_finalize(stmt);
+  return n;
+}
+
+}  // namespace lm
--- a/src/storage/path_store.hpp
+++ b/src/storage/path_store.hpp
@@ -0,0 +1,33 @@
+#pragma once
+
+#include <nlohmann/json.hpp>
+
+#include <mutex>
+#include <optional>
+#include <string>
+
+namespace lm {
+
+class Database;
+
+class PathStore
+{
+public:
+  explicit PathStore(Database& db);
+
+  nlohmann::json list(const std::string& site_id = "") const;
+  std::optional<nlohmann::json> find(const std::string& id) const;
+  std::optional<nlohmann::json> findBetween(const std::string& map_id,
+                                            const std::string& from_position_id,
+                                            const std::string& to_position_id) const;
+  std::optional<nlohmann::json> upsert(const nlohmann::json& payload, std::string& err);
+  bool remove(const std::string& id, std::string& err);
+  int removeForMap(const std::string& map_id);
+  int removeForPosition(const std::string& map_id, const std::string& position_id);
+
+private:
+  Database& db_;
+  mutable std::mutex mu_;
+};
+
+}  // namespace lm
--- a/www/app.js
+++ b/www/app.js
@@ -15,6 +15,7 @@ const pageTransitionsEl = el("pageTransitions");
 const pageUsersEl = el("pageUsers");
 const pageUserGroupsEl = el("pageUserGroups");
 const pageIoModulesEl = el("pageIoModules");
+const pagePathsEl = el("pagePaths");
 const pageMonitoringEl = el("pageMonitoring");
 const pageHelpEl = el("pageHelp");
 const contentEl = document.querySelector(".content");
@@ -129,7 +130,7 @@ const state = {
 };

 function setActivePage(page) {
-  const valid = ["dashboard", "config", "maps", "missions", "sounds", "transitions", "user-groups", "io-modules", "users", "integrations", "monitoring", "help"];
+  const valid = ["dashboard", "config", "maps", "missions", "sounds", "transitions", "user-groups", "io-modules", "paths", "users", "integrations", "monitoring", "help"];
  let p = valid.includes(page) ? page : "missions";
  if (window.AuthApp && !window.AuthApp.canAccessPage(p)) {
    const fallback = valid.find((v) => window.AuthApp.canAccessPage(v));
@@ -144,6 +145,7 @@ function setActivePage(page) {
  if (pageTransitionsEl) pageTransitionsEl.hidden = p !== "transitions";
  if (pageUserGroupsEl) pageUserGroupsEl.hidden = p !== "user-groups";
  if (pageIoModulesEl) pageIoModulesEl.hidden = p !== "io-modules";
+  if (pagePathsEl) pagePathsEl.hidden = p !== "paths";
  if (pageUsersEl) pageUsersEl.hidden = p !== "users";
  if (pageIntegrationsEl) pageIntegrationsEl.hidden = p !== "integrations";
  if (pageMonitoringEl) pageMonitoringEl.hidden = p !== "monitoring";
@@ -159,6 +161,7 @@ function setActivePage(page) {
    contentEl.classList.toggle("content--transitions", p === "transitions");
    contentEl.classList.toggle("content--user-groups", p === "user-groups");
    contentEl.classList.toggle("content--io-modules", p === "io-modules");
+    contentEl.classList.toggle("content--paths", p === "paths");
    contentEl.classList.toggle("content--users", p === "users");
    contentEl.classList.toggle("content--integrations", p === "integrations");
    contentEl.classList.toggle("content--monitoring", p === "monitoring");
@@ -175,6 +178,8 @@ function setActivePage(page) {
  else if (window.UserGroupsApp?.onPageHide) window.UserGroupsApp.onPageHide();
  if (p === "io-modules" && window.IoModulesApp) window.IoModulesApp.onPageShow();
  else if (window.IoModulesApp?.onPageHide) window.IoModulesApp.onPageHide();
+  if (p === "paths" && window.PathsApp) window.PathsApp.onPageShow();
+  else if (window.PathsApp?.onPageHide) window.PathsApp.onPageHide();
  if (p === "users" && window.UsersApp) window.UsersApp.onPageShow();
  else if (window.UsersApp?.onPageHide) window.UsersApp.onPageHide();
  if (p === "dashboard" && window.DashboardApp) window.DashboardApp.onPageShow();
--- a/www/auth.js
+++ b/www/auth.js
@@ -153,6 +153,7 @@
      transitions: "maps",
      "user-groups": "users",
      "io-modules": "integrations",
+      paths: "maps",
      users: "users",
      integrations: "integrations",
    };
@@ -177,6 +178,7 @@
    document.body.classList.toggle("auth-readonly-users", !canWrite("users"));
    document.body.classList.toggle("auth-readonly-user-groups", !canWrite("users"));
    document.body.classList.toggle("auth-readonly-io-modules", !canWrite("integrations"));
+    document.body.classList.toggle("auth-readonly-paths", !canWrite("maps"));
  }

  function updateUserMenu() {
--- a/www/i18n.js
+++ b/www/i18n.js
@@ -76,6 +76,7 @@
      "nav.transitions": "Transitions",
      "nav.user-groups": "User groups",
      "nav.io-modules": "I/O modules",
+      "nav.paths": "Paths",
      "nav.users": "Users",
      "nav.build-robot": "Build Robot",
      "nav.monitoring-log": "System log",
@@ -317,7 +318,7 @@
      "maps.view": "Xem",
      "maps.importComingSoon": "Import site sẽ có trong phiên bản sau.",
      "maps.importNoSite": "Chọn site trước khi import.",
-      "maps.importSuccess": "Import xong: {maps} map(s), {io} I/O module(s), {transitions} transition(s).",
+      "maps.importSuccess": "Import xong: {maps} map(s), {io} I/O module(s), {transitions} transition(s), {paths} path(s).",
      "maps.helpTitle": "Trợ giúp Maps",
      "maps.helpText": "Tạo map mới, upload ảnh PNG qua menu ⋮, sau đó kích hoạt map cho robot.",
      "maps.createDialog.title": "Tạo map",
@@ -401,6 +402,7 @@
      "maps.editor.canvasTip": "Kéo map để di chuyển vùng nhìn hoặc dùng nút zoom in/out để phóng to/thu nhỏ.",
      "maps.editor.unsaved": "Chưa lưu",
      "maps.editor.unsavedLeave": "Có thay đổi chưa lưu. Rời editor?",
+      "maps.editor.preferredPathWarning": "Map này có path đã lưu. Thay đổi preferred zone có thể không áp dụng cho đến khi bạn xóa các path liên quan trong Setup → Paths. Tiếp tục lưu?",
      "maps.editor.menu": "Menu",
      "maps.editor.undo": "Hoàn tác",
      "maps.editor.save": "Lưu",
@@ -692,6 +694,26 @@
      "ioModules.testConnection": "Kiểm tra kết nối",
      "ioModules.testOk": "Kết nối TCP thành công.",

+      "paths.title": "Paths",
+      "paths.subtitle": "Xem và xóa tuyến đường đã lưu giữa các position.",
+      "paths.helpTitle": "Trợ giúp Paths",
+      "paths.helpBody": "Path là tuyến đường giữa hai position trên cùng một map. Path được tạo tự động lần đầu robot chạy từ position A đến B và được tái sử dụng cho các lần sau. Xóa path để buộc tính lại (ví dụ sau khi thêm preferred zone). Không thể tạo path thủ công.",
+      "paths.clearFilters": "Xóa bộ lọc",
+      "paths.filterLabel": "Lọc:",
+      "paths.filterPlaceholder": "Lọc theo position hoặc map...",
+      "paths.itemsFound": "{n} mục",
+      "paths.pageOf": "Trang {page} / {total}",
+      "paths.colFrom": "From position",
+      "paths.colTo": "To position",
+      "paths.colMap": "Map",
+      "paths.colFunctions": "Functions",
+      "paths.empty": "Chưa có path. Path được tạo tự động khi robot di chuyển giữa hai position.",
+      "paths.emptyFilter": "Không có path khớp bộ lọc.",
+      "paths.view": "Xem trên map",
+      "paths.viewUnavailable": "Không mở được map editor.",
+      "paths.deleteTitle": "Xóa path?",
+      "paths.deleteConfirmText": "Xóa path từ \"{from}\" đến \"{to}\"? Path sẽ được tạo lại khi robot chạy lại giữa hai position này.",
+
      "missions.title": "Missions",
      "missions.subtitle": "Setup → Missions — danh sách nhiệm vụ robot.",
      "missions.create": "Tạo mission",
@@ -887,6 +909,7 @@
      "nav.transitions": "Transitions",
      "nav.user-groups": "User groups",
      "nav.io-modules": "I/O modules",
+      "nav.paths": "Paths",
      "nav.users": "Users",
      "nav.build-robot": "Build Robot",
      "nav.monitoring-log": "System log",
@@ -1128,7 +1151,7 @@
      "maps.view": "View",
      "maps.importComingSoon": "Import site will be available in a future release.",
      "maps.importNoSite": "Select a site before importing.",
-      "maps.importSuccess": "Import complete: {maps} map(s), {io} I/O module(s), {transitions} transition(s).",
+      "maps.importSuccess": "Import complete: {maps} map(s), {io} I/O module(s), {transitions} transition(s), {paths} path(s).",
      "maps.helpTitle": "Maps help",
      "maps.helpText": "Create a new map, upload a PNG via the ⋮ menu, then activate the map for the robot.",
      "maps.createDialog.title": "Create map",
@@ -1212,6 +1235,7 @@
      "maps.editor.canvasTip": "Drag the map to move your view or use the zoom-in and -out buttons to zoom.",
      "maps.editor.unsaved": "Unsaved",
      "maps.editor.unsavedLeave": "You have unsaved changes. Leave the editor?",
+      "maps.editor.preferredPathWarning": "This map has cached paths. Preferred zone changes may not apply until you delete the related paths under Setup → Paths. Save anyway?",
      "maps.editor.menu": "Menu",
      "maps.editor.undo": "Undo",
      "maps.editor.save": "Save",
@@ -1503,6 +1527,26 @@
      "ioModules.testConnection": "Test connection",
      "ioModules.testOk": "TCP connection successful.",

+      "paths.title": "Paths",
+      "paths.subtitle": "View and delete cached routes between positions.",
+      "paths.helpTitle": "Paths help",
+      "paths.helpBody": "A path is a saved route between two positions on the same map. It is created automatically the first time the robot drives from position A to B and reused afterward. Delete a path to force recalculation (for example after adding preferred zones). Paths cannot be created manually.",
+      "paths.clearFilters": "Clear filters",
+      "paths.filterLabel": "Filter:",
+      "paths.filterPlaceholder": "Filter by position or map...",
+      "paths.itemsFound": "{n} item(s) found",
+      "paths.pageOf": "Page {page} of {total}",
+      "paths.colFrom": "From position",
+      "paths.colTo": "To position",
+      "paths.colMap": "Map",
+      "paths.colFunctions": "Functions",
+      "paths.empty": "No paths yet. Paths are created automatically when the robot drives between two positions.",
+      "paths.emptyFilter": "No paths match the filter.",
+      "paths.view": "View on map",
+      "paths.viewUnavailable": "Could not open the map editor.",
+      "paths.deleteTitle": "Delete path?",
+      "paths.deleteConfirmText": "Delete path from \"{from}\" to \"{to}\"? It will be recreated when the robot drives between these positions again.",
+
      "missions.title": "Missions",
      "missions.subtitle": "Setup → Missions — robot task list.",
      "missions.create": "Create mission",
--- a/www/index.html
+++ b/www/index.html
@@ -1272,6 +1272,68 @@
            </dialog>
          </div>

+          <div class="page" id="pagePaths" data-page-content="paths" hidden>
+            <div id="pathsListView" class="mapsMirPage">
+              <header class="mapsMirHeader">
+                <div class="mapsMirHeaderText">
+                  <h1 class="mapsMirTitle" data-i18n="paths.title">Paths</h1>
+                  <p class="mapsMirSubtitle">
+                    <span data-i18n="paths.subtitle">View and delete cached routes between positions.</span>
+                    <button type="button" class="mapsMirHelpBtn" id="pathsHelpBtn" data-i18n-title="paths.helpTitle" aria-label="Help">
+                      <svg width="16" height="16" viewBox="0 0 16 16" aria-hidden="true"><circle cx="8" cy="8" r="7" fill="none" stroke="currentColor" stroke-width="1.5"/><text x="8" y="11.5" text-anchor="middle" font-size="10" font-weight="700" fill="currentColor">?</text></svg>
+                    </button>
+                  </p>
+                </div>
+                <div class="mapsMirHeaderActions">
+                  <button type="button" class="mapsMirBtn mapsMirBtn--outline" id="pathsClearFiltersBtn">
+                    <svg width="14" height="14" viewBox="0 0 14 14" aria-hidden="true"><circle cx="7" cy="7" r="5.5" fill="none" stroke="currentColor" stroke-width="1.3"/><path d="M4.5 4.5l5 5" stroke="currentColor" stroke-width="1.3" stroke-linecap="round"/></svg>
+                    <span data-i18n="paths.clearFilters">Clear filters</span>
+                  </button>
+                </div>
+              </header>
+
+              <div class="mapsMirFilterBar">
+                <label class="mapsMirFilterLabel" for="pathsFilterInput" data-i18n="paths.filterLabel">Filter:</label>
+                <input type="search" id="pathsFilterInput" class="mapsMirFilterInput" data-i18n-placeholder="paths.filterPlaceholder" placeholder="Filter by position or map..." autocomplete="off" />
+                <span id="pathsFilterCount" class="mapsMirFilterCount">0 item(s) found</span>
+                <div class="mapsMirPager">
+                  <button type="button" class="mapsMirPageBtn" id="pathsPageFirst" aria-label="First page">&laquo;</button>
+                  <button type="button" class="mapsMirPageBtn" id="pathsPagePrev" aria-label="Previous page">&lsaquo;</button>
+                  <span id="pathsPageLabel" class="mapsMirPageLabel">Page 1 of 1</span>
+                  <button type="button" class="mapsMirPageBtn" id="pathsPageNext" aria-label="Next page">&rsaquo;</button>
+                  <button type="button" class="mapsMirPageBtn" id="pathsPageLast" aria-label="Last page">&raquo;</button>
+                </div>
+              </div>
+
+              <div class="mapsMirTableWrap">
+                <table class="mapsMirTable mapsMirTable--paths" id="pathsTable">
+                  <thead>
+                    <tr>
+                      <th class="pathsMirThIcon" aria-hidden="true"></th>
+                      <th data-i18n="paths.colFrom">From position</th>
+                      <th data-i18n="paths.colTo">To position</th>
+                      <th data-i18n="paths.colMap">Map</th>
+                      <th class="mapsMirThFunctions" data-i18n="paths.colFunctions">Functions</th>
+                    </tr>
+                  </thead>
+                  <tbody id="pathList"></tbody>
+                </table>
+                <div id="pathListEmpty" class="mapsMirEmpty" hidden data-i18n="paths.empty">No paths yet. Paths are created automatically when the robot drives between two positions.</div>
+              </div>
+            </div>
+
+            <dialog id="pathDeleteConfirmDialog" class="mapsMirDialog">
+              <div class="mapsMirDialogBody">
+                <h2 class="mapsMirDialogTitle" data-i18n="paths.deleteTitle">Delete path?</h2>
+                <p id="pathDeleteConfirmText" class="mapsMirDialogText"></p>
+                <div class="mapsMirDialogFooter">
+                  <button type="button" class="mapsMirBtn mapsMirBtn--outline" id="pathDeleteCancelBtn" data-i18n="common.no">No</button>
+                  <button type="button" class="mapsMirBtn mapsMirBtn--danger" id="pathDeleteYesBtn" data-i18n="common.yes">Yes</button>
+                </div>
+              </div>
+            </dialog>
+          </div>
+
          <div class="page" id="pageUsers" data-page-content="users" hidden>
            <div id="usersListView" class="mapsMirPage">
              <header class="mapsMirHeader">
@@ -2557,6 +2619,7 @@ GET /api/v2.0.0/status</pre>
    <script src="/users.js"></script>
    <script src="/user-groups.js"></script>
    <script src="/io-modules.js"></script>
+    <script src="/paths.js"></script>
    <script src="/map-editor.js"></script>
    <script src="/topbar.js"></script>
    <script src="/dashboard.js"></script>
--- a/www/map-editor.js
+++ b/www/map-editor.js
@@ -61,6 +61,10 @@
    yamlMeta: null,
    /** Pending ROS metadata from upload dialog (set before PNG picker). */
    uploadMeta: null,
+    /** Dotted path overlay when opened from Setup → Paths (view). */
+    pathPreview: null,
+    /** Fingerprint of preferred zones when map was loaded (for save warning). */
+    initialPreferredFp: "",
  };

  const titleEl = el("mapEditorTitle");
@@ -500,6 +504,46 @@
    return mapMetaForOriginDisplay() || state.map || {};
  }

+  function preferredZonesFingerprint(zones) {
+    return zones
+      .filter((z) => z && z.type === "preferred")
+      .map((z) =>
+        JSON.stringify({
+          id: z.id,
+          points: z.points,
+          geometry: z.geometry,
+          line_width_cm: z.line_width_cm,
+        }),
+      )
+      .sort()
+      .join("|");
+  }
+
+  function renderPathPreview() {
+    if (!objectsSvgEl || !state.pathPreview?.points?.length) return;
+    const geo = Geo();
+    const meta = mapMetaForEditor();
+    const { width, height } = floorPlanSize();
+    if (!geo || !width) return;
+    const pts = state.pathPreview.points
+      .map((p) => {
+        const px = geo.worldToPixel(meta, width, height, p.x, p.y);
+        return `${px.x},${px.y}`;
+      })
+      .join(" ");
+    const poly = document.createElementNS("http://www.w3.org/2000/svg", "polyline");
+    poly.setAttribute("points", pts);
+    poly.setAttribute("fill", "none");
+    poly.setAttribute("stroke", "#2563eb");
+    poly.setAttribute("stroke-width", "3");
+    poly.setAttribute("stroke-dasharray", "8 6");
+    poly.setAttribute("stroke-linecap", "round");
+    poly.setAttribute("stroke-linejoin", "round");
+    poly.classList.add("mapEditorPathPreview");
+    poly.setAttribute("pointer-events", "none");
+    objectsSvgEl.appendChild(poly);
+  }
+
  function renderObjects() {
    const obj = Objects();
    if (!objectsSvgEl || !obj) return;
@@ -530,6 +574,7 @@
      draft: state.draft,
      selectionRect: state.selectionRect,
    });
+    renderPathPreview();
  }

  function imagePointFromEvent(evt) {
@@ -1769,6 +1814,7 @@
    state.map = await api(`/api/maps/${encodeURIComponent(state.mapId)}`);
    await loadYamlMeta();
    syncZonesFromMap();
+    state.initialPreferredFp = preferredZonesFingerprint(state.zones);
    updateHeader();
    renderMapImage();
    fillSettingsForm();
@@ -1796,6 +1842,8 @@
    state.selectionRect = null;
    state.positionDrag = null;
    state.pendingPosition = null;
+    state.pathPreview = callbacks.pathPreview || null;
+    state.initialPreferredFp = "";
    updateObjectTypePickerUi();
    state.view = Geo()?.createView(1, 0, 0) || { scale: 1, panX: 0, panY: 0 };
    if (tipEl) {
@@ -1829,6 +1877,8 @@
    state.selectionRect = null;
    state.positionDrag = null;
    state.pendingPosition = null;
+    state.pathPreview = null;
+    state.initialPreferredFp = "";
    drawLineDialogEl?.close();
    menuDialogEl?.close();
    settingsDialogEl?.close();
@@ -2062,6 +2112,19 @@
      if (imageUpdated) state.map = { ...state.map, ...imageUpdated };
      state.rasterDirty = false;
    }
+    const preferredChanged =
+      preferredZonesFingerprint(state.zones) !== state.initialPreferredFp;
+    if (preferredChanged && state.map?.id) {
+      try {
+        const pathsData = await api(
+          `/api/paths?site_id=${encodeURIComponent(state.map.site_id || "")}`,
+        );
+        const onMap = (pathsData.paths || []).filter((p) => p.map_id === state.map.id);
+        if (onMap.length && !confirm(t("maps.editor.preferredPathWarning"))) return;
+      } catch {
+        /* continue save */
+      }
+    }
    const updated = await api(`/api/maps/${encodeURIComponent(state.map.id)}`, {
      method: "PUT",
      headers: { "Content-Type": "application/json" },
@@ -2069,6 +2132,7 @@
    });
    state.map = updated;
    syncZonesFromMap();
+    state.initialPreferredFp = preferredZonesFingerprint(state.zones);
    state.callbacks.onMapUpdated?.(updated);
    setDirty(false);
    updateHeader();
--- a/www/maps.js
+++ b/www/maps.js
@@ -301,6 +301,7 @@
    }
    window.MapEditorApp?.open?.(mapId, {
      readOnly: opts.readOnly,
+      pathPreview: opts.pathPreview || null,
      onMapUpdated: (updated) => {
        const idx = store.maps.findIndex((m) => m.id === updated.id);
        if (idx >= 0) store.maps[idx] = updated;
@@ -326,6 +327,18 @@
    });
  }

+  function openEditorWithPath(path) {
+    if (!path?.map_id) return;
+    openEditor(path.map_id, {
+      readOnly: !canWrite(),
+      pathPreview: {
+        points: Array.isArray(path.points) ? path.points : [],
+        fromPositionId: path.from_position_id,
+        toPositionId: path.to_position_id,
+      },
+    });
+  }
+
  function confirmDeleteMap(map) {
    return new Promise((resolve) => {
      deleteDialogResolve = resolve;
@@ -554,8 +567,16 @@
          Array.isArray(result.maps) ? result.maps.length : 0,
          Array.isArray(result.io_modules) ? result.io_modules.length : 0,
          Array.isArray(result.transitions) ? result.transitions.length : 0,
+          Array.isArray(result.paths) ? result.paths.length : 0,
        ];
-        alert(t("maps.importSuccess", { maps: counts[0], io: counts[1], transitions: counts[2] }));
+        alert(
+          t("maps.importSuccess", {
+            maps: counts[0],
+            io: counts[1],
+            transitions: counts[2],
+            paths: counts[3],
+          }),
+        );
      } catch (e) {
        alert(e.message);
      }
@@ -659,6 +680,7 @@
    getMaps: () => [...store.maps],
    getMapById: findMap,
    activateMap,
+    openEditorWithPath,
  };

  function boot() {
--- a/www/nav.js
+++ b/www/nav.js
@@ -19,6 +19,7 @@
        { section: "transitions", page: "transitions" },
        { section: "user-groups", page: "user-groups" },
        { section: "io-modules", page: "io-modules" },
+        { section: "paths", page: "paths" },
        { section: "users", page: "users" },
        { section: "build-robot", page: "config" },
      ],
@@ -43,6 +44,7 @@
    transitions: { module: "setup", section: "transitions" },
    "user-groups": { module: "setup", section: "user-groups" },
    "io-modules": { module: "setup", section: "io-modules" },
+    paths: { module: "setup", section: "paths" },
    users: { module: "setup", section: "users" },
    integrations: { module: "system", section: "integrations" },
    monitoring: { module: "monitoring", section: "monitoring-log" },
--- a/www/paths.js
+++ b/www/paths.js
@@ -0,0 +1,257 @@
+(() => {
+  const PAGE_SIZE = 10;
+
+  const ICONS = {
+    path: `<svg class="pathsMirIcon" width="22" height="22" viewBox="0 0 22 22" aria-hidden="true"><circle cx="5" cy="11" r="2.5" fill="currentColor"/><circle cx="17" cy="11" r="2.5" fill="currentColor"/><path d="M7.5 11h7" stroke="currentColor" stroke-width="1.5" stroke-dasharray="2 2" stroke-linecap="round"/></svg>`,
+    view: `<svg width="14" height="14" viewBox="0 0 14 14" aria-hidden="true"><path d="M1 7s2.5-4 6-4 6 4 6 4-2.5 4-6 4-6-4-6-4z" fill="none" stroke="currentColor" stroke-width="1.2"/><circle cx="7" cy="7" r="1.8" fill="none" stroke="currentColor" stroke-width="1.2"/></svg>`,
+    delete: `<svg width="14" height="14" viewBox="0 0 14 14" aria-hidden="true"><path d="M4 4l6 6M10 4l-6 6" stroke="currentColor" stroke-width="1.6" stroke-linecap="round"/></svg>`,
+  };
+
+  const el = (id) => document.getElementById(id);
+  const t = (key, vars) => window.I18n?.t(key, vars) ?? key;
+
+  const listEl = el("pathList");
+  const emptyEl = el("pathListEmpty");
+  const tableEl = el("pathsTable");
+  const filterInputEl = el("pathsFilterInput");
+  const filterCountEl = el("pathsFilterCount");
+  const pageLabelEl = el("pathsPageLabel");
+  const deleteConfirmDialogEl = el("pathDeleteConfirmDialog");
+  const deleteConfirmTextEl = el("pathDeleteConfirmText");
+
+  const store = {
+    paths: [],
+    maps: [],
+    sites: [],
+    pendingDeleteId: null,
+    filter: "",
+    page: 1,
+  };
+
+  function canWrite() {
+    if (!window.AuthApp?.canWrite) return true;
+    return window.AuthApp.canWrite("maps");
+  }
+
+  function escapeHtml(str) {
+    return String(str)
+      .replace(/&/g, "&amp;")
+      .replace(/</g, "&lt;")
+      .replace(/>/g, "&gt;")
+      .replace(/"/g, "&quot;");
+  }
+
+  async function apiJson(url, opts = {}) {
+    const res = await fetch(url, { credentials: "include", ...opts });
+    const text = await res.text();
+    let data = null;
+    try {
+      data = text ? JSON.parse(text) : null;
+    } catch {
+      data = null;
+    }
+    if (!res.ok) throw new Error((data && data.error) || text || res.statusText);
+    return data;
+  }
+
+  async function refreshAll() {
+    const [sitesData, mapsData, pathsData] = await Promise.all([
+      apiJson("/api/sites"),
+      apiJson("/api/maps"),
+      apiJson("/api/paths"),
+    ]);
+    store.sites = Array.isArray(sitesData.sites) ? sitesData.sites : [];
+    store.maps = Array.isArray(mapsData.maps) ? mapsData.maps : [];
+    store.paths = Array.isArray(pathsData.paths) ? pathsData.paths : [];
+    return store.paths;
+  }
+
+  function mapName(id) {
+    return store.maps.find((m) => m.id === id)?.name || id || "—";
+  }
+
+  function positionLabel(mapId, positionId) {
+    const map = store.maps.find((m) => m.id === mapId);
+    const zones = Array.isArray(map?.zones) ? map.zones : [];
+    const hit = zones.find((z) => z && z.type === "position" && z.id === positionId);
+    const pname = hit?.name || positionId || "—";
+    return `${mapName(mapId)} / ${pname}`;
+  }
+
+  function filteredPaths() {
+    const q = store.filter.trim().toLowerCase();
+    let items = [...store.paths];
+    if (q) {
+      items = items.filter((p) => {
+        const from = positionLabel(p.map_id, p.from_position_id).toLowerCase();
+        const to = positionLabel(p.map_id, p.to_position_id).toLowerCase();
+        const map = mapName(p.map_id).toLowerCase();
+        return from.includes(q) || to.includes(q) || map.includes(q);
+      });
+    }
+    return items.sort((a, b) => {
+      const ma = mapName(a.map_id).localeCompare(mapName(b.map_id));
+      if (ma !== 0) return ma;
+      return positionLabel(a.map_id, a.from_position_id).localeCompare(
+        positionLabel(b.map_id, b.from_position_id),
+      );
+    });
+  }
+
+  function pageCount(total) {
+    return Math.max(1, Math.ceil(total / PAGE_SIZE));
+  }
+
+  function renderList() {
+    if (!listEl) return;
+    const items = filteredPaths();
+    const total = items.length;
+    const pages = pageCount(total);
+    if (store.page > pages) store.page = pages;
+    const start = (store.page - 1) * PAGE_SIZE;
+    const pageItems = items.slice(start, start + PAGE_SIZE);
+
+    if (filterCountEl) filterCountEl.textContent = t("paths.itemsFound", { n: total });
+    if (pageLabelEl) pageLabelEl.textContent = t("paths.pageOf", { page: store.page, total: pages });
+
+    listEl.innerHTML = "";
+    if (tableEl) tableEl.hidden = total === 0;
+    if (emptyEl) {
+      emptyEl.hidden = total > 0;
+      emptyEl.textContent = store.filter ? t("paths.emptyFilter") : t("paths.empty");
+    }
+
+    pageItems.forEach((path) => {
+      const tr = document.createElement("tr");
+      tr.className = "pathsMirRow";
+      tr.innerHTML = `
+        <td class="pathsMirTdIcon">${ICONS.path}</td>
+        <td>${escapeHtml(positionLabel(path.map_id, path.from_position_id))}</td>
+        <td>${escapeHtml(positionLabel(path.map_id, path.to_position_id))}</td>
+        <td>${escapeHtml(mapName(path.map_id))}</td>
+        <td class="mapsMirTdFunctions">
+          <button type="button" class="mapsMirIconBtn" data-view="${escapeHtml(path.id)}" title="${escapeHtml(t("paths.view"))}">${ICONS.view}</button>
+          ${canWrite() ? `<button type="button" class="mapsMirIconBtn mapsMirIconBtn--danger" data-delete="${escapeHtml(path.id)}" title="${escapeHtml(t("common.delete"))}">${ICONS.delete}</button>` : ""}
+        </td>`;
+      listEl.appendChild(tr);
+    });
+
+    document.body.classList.toggle("auth-readonly-paths", !canWrite());
+  }
+
+  async function viewPath(id) {
+    const path = store.paths.find((p) => p.id === id);
+    if (!path) return;
+    let full = path;
+    try {
+      full = await apiJson(`/api/paths/${encodeURIComponent(id)}`);
+    } catch {
+      /* use list row */
+    }
+    if (window.MapsApp?.openEditorWithPath) {
+      window.NavApp?.selectSection?.("maps", "maps");
+      window.MapsApp.openEditorWithPath(full);
+    } else {
+      alert(t("paths.viewUnavailable"));
+    }
+  }
+
+  function openDeleteConfirm(id) {
+    const path = store.paths.find((p) => p.id === id);
+    if (!path) return;
+    store.pendingDeleteId = id;
+    if (deleteConfirmTextEl) {
+      deleteConfirmTextEl.textContent = t("paths.deleteConfirmText", {
+        from: positionLabel(path.map_id, path.from_position_id),
+        to: positionLabel(path.map_id, path.to_position_id),
+      });
+    }
+    deleteConfirmDialogEl?.showModal();
+  }
+
+  async function confirmDelete() {
+    const id = store.pendingDeleteId;
+    if (!id) return;
+    try {
+      await apiJson(`/api/paths/${encodeURIComponent(id)}`, { method: "DELETE" });
+      store.pendingDeleteId = null;
+      deleteConfirmDialogEl?.close();
+      await refreshAll();
+      renderList();
+    } catch (e) {
+      alert(e.message);
+    }
+  }
+
+  function bindEvents() {
+    listEl?.addEventListener("click", (evt) => {
+      const viewBtn = evt.target.closest("[data-view]");
+      const deleteBtn = evt.target.closest("[data-delete]");
+      if (viewBtn?.dataset.view) void viewPath(viewBtn.dataset.view);
+      else if (deleteBtn?.dataset.delete && canWrite()) openDeleteConfirm(deleteBtn.dataset.delete);
+    });
+
+    filterInputEl?.addEventListener("input", () => {
+      store.filter = filterInputEl.value;
+      store.page = 1;
+      renderList();
+    });
+    el("pathsClearFiltersBtn")?.addEventListener("click", () => {
+      store.filter = "";
+      store.page = 1;
+      if (filterInputEl) filterInputEl.value = "";
+      renderList();
+    });
+    el("pathsPageFirst")?.addEventListener("click", () => {
+      store.page = 1;
+      renderList();
+    });
+    el("pathsPagePrev")?.addEventListener("click", () => {
+      store.page = Math.max(1, store.page - 1);
+      renderList();
+    });
+    el("pathsPageNext")?.addEventListener("click", () => {
+      store.page += 1;
+      renderList();
+    });
+    el("pathsPageLast")?.addEventListener("click", () => {
+      store.page = pageCount(filteredPaths().length);
+      renderList();
+    });
+    el("pathsHelpBtn")?.addEventListener("click", () => alert(t("paths.helpBody")));
+
+    deleteConfirmDialogEl?.addEventListener("cancel", (evt) => {
+      evt.preventDefault();
+      store.pendingDeleteId = null;
+      deleteConfirmDialogEl?.close();
+    });
+    el("pathDeleteCancelBtn")?.addEventListener("click", () => {
+      store.pendingDeleteId = null;
+      deleteConfirmDialogEl?.close();
+    });
+    el("pathDeleteYesBtn")?.addEventListener("click", () => confirmDelete().catch((e) => alert(e.message)));
+
+    window.addEventListener("lm:locale-change", () => renderList());
+  }
+
+  async function onPageShow() {
+    if (!window.AuthApp?.canAccessPage?.("paths")) return;
+    await refreshAll();
+    renderList();
+  }
+
+  function onPageHide() {}
+
+  function init() {
+    bindEvents();
+  }
+
+  window.PathsApp = { init, onPageShow, onPageHide, refresh: refreshAll };
+
+  function boot() {
+    init();
+  }
+
+  if (window.AuthApp?.isReady()) boot();
+  else window.addEventListener("lm:auth-ready", boot, { once: true });
+})();
--- a/www/style.css
+++ b/www/style.css
@@ -3935,6 +3935,11 @@ body.auth-readonly-io-modules .ioModulesMirRow .ioModuleDeleteBtn { pointer-even
  background: #fff;
 }

+.mapsMirTable--paths thead th.pathsMirThIcon { width: 52px; }
+.pathsMirIcon { color: var(--mir-accent, #0d9488); }
+body.auth-readonly-paths .pathsMirRow .mapsMirIconBtn--danger { pointer-events: none; opacity: 0.55; }
+.mapEditorPathPreview { filter: drop-shadow(0 0 2px rgba(37, 99, 235, 0.45)); }
+
 .transMirIcon {
  color: var(--mir-green, #5cb85c);
  display: block;