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+# VDA 5050 Integration / Tích hợp VDA 5050
+
+## 📋 Overview / Tổng quan
+
+MapEditor convert map data thành VDA 5050 Order messages để gửi đến robot.
+
+## 🔄 Conversion Concept
+
+```mermaid
+graph LR
+    subgraph "VDMA LIF Map"
+        MapStations[Stations<br/>Physical locations]
+        MapINodes[InteractionNodes<br/>Approach points]
+        MapActions[Actions<br/>Behaviors]
+        MapEdges[Edges<br/>Navigation paths]
+    end
+
+    subgraph "VDA 5050 Order"
+        OrderNodes[Nodes<br/>Waypoints]
+        OrderEdges[Edges<br/>Paths]
+        OrderActions[Actions<br/>Tasks]
+    end
+
+    MapINodes -->|Map position<br/>+ deviations| OrderNodes
+    MapActions -->|Copy action<br/>properties| OrderActions
+    MapEdges -->|Map trajectory<br/>+ constraints| OrderEdges
+
+    OrderActions -.->|Embedded in| OrderNodes
+
+    style MapStations fill:#e6f3ff
+    style MapINodes fill:#e6ffe6
+    style MapActions fill:#f0e6ff
+    style MapEdges fill:#fff0e6
+    style OrderNodes fill:#e6f3ff
+    style OrderEdges fill:#fff0e6
+    style OrderActions fill:#f0e6ff
+```
+
+## 🔄 Order Generation Flow
+
+```mermaid
+sequenceDiagram
+    participant FM as FleetManager
+    participant PF as PathFinder
+    participant Gen as OrderGenerator
+    participant DB as Database
+
+    FM->>PF: FindPath(startStation, endStation)
+    PF->>DB: Load Stations & Edges
+    PF->>PF: Run A* algorithm
+    PF-->>FM: Path (stationIds[], edgeIds[])
+
+    FM->>Gen: GenerateOrder(path, vehicleType)
+    Gen->>DB: Load InteractionNodes for stations
+    Gen->>DB: Load Actions for nodes
+    Gen->>Gen: Build Order structure
+    Gen-->>FM: VDA 5050 Order object
+```
+
+## 📋 Mapping Rules
+
+**InteractionNode → VDA 5050 Node**:
+- nodeId: InteractionNode.interactionNodeId
+- sequenceId: Even numbers (0, 2, 4, ...)
+- nodePosition: From InteractionNode position
+- actions: From Actions table
+
+**Edge → VDA 5050 Edge**:
+- edgeId: Edge.edgeId
+- sequenceId: Odd numbers (1, 3, 5, ...)
+- trajectory: From Edge.trajectory
+- maxSpeed: From Edge.maxSpeed
+
+**Action → VDA 5050 Action**:
+- actionType: Action.actionType
+- blockingType: Action.blockingType
+- actionParameters: Action.actionParameters
+
+## 🚗 Vehicle Type Filtering
+
+**Filtering Logic**:
+- Load InteractionNodes for each station
+- Check vehicleTypeIds compatibility
+- Filter edges by vehicleTypeIds
+- Build Order với filtered elements only
+
+## 🔗 Related Documents / Tài liệu Liên quan
+
+- [MapEditor Overview](README.md) - Tổng quan MapEditor
+- [PathFinding](PathFinding.md) - Tính toán path trước khi generate order
+- [VDA 5050 Integration](../vda5050/README.md) - Chi tiết về VDA 5050 protocol
+
+---
+
+**Last Updated**: 2025-11-13
+