# Lấy pose hiện tại
```bash
curl -k -X GET https://localhost:7002/api/navigation/pose/current2d
```
# Di chuyển đến vị trí (1.0, 2.0) với yaw = 0
```bash
# Move to goal
curl -k -X POST https://localhost:7002/api/navigation/move_to \
  -H "Content-Type: application/json" \
  -d '{"x": 1.0, "y": 2.0, "yaw": 0.0, "frame_id": "map"}'
```

# Di chuyển đến vị trí với order (navigation_move_to_order)
# 
# ⚠️ LƯU Ý QUAN TRỌNG: 
# - order_handle phải là một pointer hợp lệ đến Order object được tạo bởi navigation system.
# - KHÔNG thể sử dụng số ngẫu nhiên hoặc giá trị test (như 0x12345678) - phải là pointer thực sự từ C++ code.
# - Nếu sử dụng order_handle không hợp lệ, server có thể crash hoặc trả về lỗi SSL.
# - order_handle có thể là số decimal hoặc hex string (0x...)
# - Giá trị phải > 0x1000 để được coi là pointer hợp lệ
# - Để có order_handle hợp lệ, bạn cần tạo Order object từ navigation system trước
```bash
curl -k -X POST https://localhost:7002/api/navigation/move_to_order \
  -H "Content-Type: application/json" \
  -d '{
    "order_handle": "0x12345678",
    "x": 1.0,
    "y": 2.0,
    "z": 0.0,
    "qx": 0.0,
    "qy": 0.0,
    "qz": 0.0,
    "qw": 1.0,
    "frame_id": "map",
    "xy_tolerance": 0.1,
    "yaw_tolerance": 0.1
}'
```

# Lưu ý: JSON phải được format đúng. Nếu gặp lỗi, có thể sử dụng format một dòng:
# ⚠️ LƯU Ý: order_handle "0x12345678" trong ví dụ này chỉ là placeholder - bạn PHẢI thay bằng order_handle thực sự từ navigation system!
```bash
# Ví dụ với order_handle thực (thay 0x12345678 bằng giá trị thực):
curl -k -X POST https://localhost:7002/api/navigation/move_to_order -H "Content-Type: application/json" -d '{"order_handle":"0x12345678","x":1.0,"y":2.0,"z":0.0,"qx":0.0,"qy":0.0,"qz":0.0,"qw":1.0,"frame_id":"map","xy_tolerance":0.1,"yaw_tolerance":0.1}'

curl -k -X POST https://localhost:7002/api/navigation/move_to   -H "Content-Type: application/json"   -d '{"x": 1.0, "y": 2.0, "yaw": 0.0, "frame_id": "map"}'
```

# Hoặc sử dụng yaw thay vì quaternion:
```bash
curl -k -X POST https://localhost:7002/api/navigation/move_to_order \
  -H "Content-Type: application/json" \
  -d '{
    "order_handle": 305419896,
    "x": 1.0,
    "y": 2.0,
    "yaw": 0.0,
    "frame_id": "map",
    "xy_tolerance": 0.1,
    "yaw_tolerance": 0.1
  }'
```

# Cấu trúc OrderHandle trong C#:
# - OrderHandle: Wrapper class cho IntPtr, đại diện cho pointer đến Order object
# - OrderData: C# class chứa dữ liệu Order (headerId, orderId, nodes, edges, etc.)
# 
# Hiện tại, order_data chưa được hỗ trợ (cần C API function để tạo OrderHandle từ OrderData).
# Vui lòng sử dụng order_handle (IntPtr) từ navigation system.

# Di chuyển thẳng theo hướng hiện tại (distance mét). Bắt buộc có trường "distance".
```bash
# Đi thẳng 2.0 mét
curl -k -X POST https://localhost:7002/api/navigation/move_straight_to \
  -H "Content-Type: application/json" \
  -d '{"distance": 1.0}'
```

# Ví dụ khác:
```bash
# Đi thẳng 1.5 mét
curl -k -X POST https://localhost:7002/api/navigation/move_straight_to \
  -H "Content-Type: application/json" \
  -d '{"distance": 1.5}'


curl -k -X POST https://localhost:7002/api/navigation/move_straight_to -H "Content-Type: application/json" -d '{"distance": 2.0}'
```

# Xoay đến yaw = 1.57 (90 độ)
```bash
curl -k -X POST https://localhost:7002/api/navigation/rotate_to \
  -H "Content-Type: application/json" \
  -d '{"yaw": 3.14}'
```
# Tạm dừng
```bash
curl -k -X POST https://localhost:7002/api/navigation/pause
```
# Tiếp tục
```bash
curl -k -X POST https://localhost:7002/api/navigation/resume
```
# Hủy goal
```bash
curl -k -X POST https://localhost:7002/api/navigation/pause
```
# Lấy feedback
```bash
curl -k -X GET https://localhost:7002/api/navigation/feedback
```
```bash
curl -k -X POST https://localhost:7002/api/navigation/twist/linear \
  -H "Content-Type: application/json" \
  -d '{"x": 0.5, "y": 0.0, "z": 0.0}'
```
```bash
curl -k -X POST https://localhost:7002/api/navigation/move_to_order_data \
  -H "Content-Type: application/json" \
  -d '{
    "order": {
      "orderId": "order_001",
      "orderUpdateId": 1,
      "nodes": [{"nodeId": "node1", "sequenceId": 1, "released": true, "nodePosition": {"x": 0.0, "y": 0.0, "mapId": "map"}}],
      "edges": [{"edgeId": "edge1", "sequenceId": 2, "startNodeId": "node1", "endNodeId": "node2", "released": true}]
    },
    "x": 13.05,
    "y": 3.41,
    "z": 0.0,
    "yaw": 1.57
  }'
  ```

  ```bash
  curl -k -X POST https://localhost:7002/api/navigation/move_to_order_data \
  -H "Content-Type: application/json" \
  -d '{
    "x": 7.0,
    "y": 2.0,
    "yaw": 1.57,
    "frame_id": "map",
    "xy_tolerance": 0.3,
    "yaw_tolerance": 50,
    "order": {
      "headerId": 1,
      "timestamp": "2026-02-28T16:01:25.308Z",
      "version": "0.0.1",
      "manufacturer": "phenikaaX",
      "serialNumber": "T800Fake",
      "orderId": "c92ec33e-ec04-4521-8255-af8ae46b7f31",
      "orderUpdateId": 1,
      "zoneSetId": "maze",
      "nodes": [
        {
          "nodeId": "86312653-08b2-4556-bb84-674805905bed",
          "sequenceId": 0,
          "nodeDescription": "Node0",
          "released": true,
          "nodePosition": {
            "x": 2.5,
            "y": 1.0,
            "theta": 0.0,
            "allowedDeviationXY": 0,
            "allowedDeviationTheta": 0,
            "mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
            "mapDescription": ""
          },
          "actions": []
        },
        {
          "nodeId": "3726205f-0140-454d-21a8-08de5340bfbf",
          "sequenceId": 1,
          "nodeDescription": "Node1",
          "released": true,
          "nodePosition": {
            "x": 6.0,
            "y": 1.0,
            "theta": 0.0,
            "allowedDeviationXY": 0.3,
            "allowedDeviationTheta": 50,
            "mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
            "mapDescription": ""
          },
          "actions": []
        },
        {
          "nodeId": "1231321231231-fdfdf-fdfdsafa",
          "sequenceId": 2,
          "nodeDescription": "Node2",
          "released": true,
          "nodePosition": {
            "x": 7.0,
            "y": 2.0,
            "theta": 1.57,
            "allowedDeviationXY": 0.3,
            "allowedDeviationTheta": 50,
            "mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
            "mapDescription": ""
          },
          "actions": []
        }
      ],
      "edges": [
        {
          "edgeId": "522212fa-74d5-4f00-9a00-23e092593bcc",
          "sequenceId": 0,
          "edgeDescription": "86312653-08b2-4556-bb84-674805905bed - 3726205f-0140-454d-21a8-08de5340bfbf",
          "released": true,
          "startNodeId": "86312653-08b2-4556-bb84-674805905bed",
          "endNodeId": "3726205f-0140-454d-21a8-08de5340bfbf",
          "maxSpeed": 0.5,
          "maxHeight": 0,
          "minHeight": 0,
          "orientation": 0,
          "orientationType": "",
          "direction": "Both",
          "rotationAllowed": true,
          "maxRotationSpeed": 0.5,
          "length": 0,
          "trajectory": {
            "degree": 1,
            "knotVector": [0, 0, 1, 1],
            "controlPoints": [
              {
                "x": 2.5,
                "y": 1.0,
                "weight": 1
              },
              {
                "x": 6.0,
                "y": 1.0,
                "weight": 1
              }
            ]
          },
          "actions": []
        },
        {
          "edgeId": "13312fds-fdsfsdaaf",
          "sequenceId": 1,
          "edgeDescription": "3726205f-0140-454d-21a8-08de5340bfbf - 1231321231231-fdfdf-fdfdsafa",
          "released": true,
          "startNodeId": "3726205f-0140-454d-21a8-08de5340bfbf",
          "endNodeId": "1231321231231-fdfdf-fdfdsafa",
          "maxSpeed": 0.5,
          "maxHeight": 0,
          "minHeight": 0,
          "orientation": 0,
          "orientationType": "",
          "direction": "Both",
          "rotationAllowed": true,
          "maxRotationSpeed": 0.5,
          "length": 0,
          "trajectory": {
            "degree": 2,
            "knotVector": [0, 0, 0, 1, 1, 1],
            "controlPoints": [
              {"x": 6.0, "y": 1.0, "weight": 1.0},
              {"x": 7.0, "y": 0.5, "weight": 0.707},
              {"x": 7.0, "y": 2.0, "weight": 1.0}
            ]
          },
          "actions": []
        }
      ]
    }
  }'
  ```

 ```bash
  curl -k -X POST https://localhost:7002/api/navigation/move_to_order_data \
  -H "Content-Type: application/json" \
  -d '{
    "x": 2.5,
    "y": 0.4,
    "yaw": 0.0,
    "frame_id": "map",
    "xy_tolerance": 0.3,
    "yaw_tolerance": 50,
    "order": {
      "headerId": 1,
      "timestamp": "2026-02-28T16:01:25.308Z",
      "version": "0.0.1",
      "manufacturer": "phenikaaX",
      "serialNumber": "T800Fake",
      "orderId": "c92ec33e-ec04-4521-8255-af8ae46b7f31",
      "orderUpdateId": 1,
      "zoneSetId": "maze",
      "nodes": [
        {
          "nodeId": "86312653-08b2-4556-bb84-674805905bed",
          "sequenceId": 0,
          "nodeDescription": "RobotCurrentNode",
          "released": true,
          "nodePosition": {
            "x": 5.5,
            "y": 0.4,
            "theta": -0.0,
            "allowedDeviationXY": 0,
            "allowedDeviationTheta": 0,
            "mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
            "mapDescription": ""
          },
          "actions": []
        },
        {
          "nodeId": "3726205f-0140-454d-21a8-08de5340bfbf",
          "sequenceId": 1,
          "nodeDescription": "Node172",
          "released": true,
          "nodePosition": {
            "x": 2.5,
            "y": 0.4,
            "theta": -0.0,
            "allowedDeviationXY": 0.3,
            "allowedDeviationTheta": 50,
            "mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
            "mapDescription": ""
          },
          "actions": []
        }
      ],
      "edges": [
        {
          "edgeId": "522212fa-74d5-4f00-9a00-23e092593bcc",
          "sequenceId": 0,
          "edgeDescription": "86312653-08b2-4556-bb84-674805905bed - 3726205f-0140-454d-21a8-08de5340bfbf",
          "released": true,
          "startNodeId": "86312653-08b2-4556-bb84-674805905bed",
          "endNodeId": "3726205f-0140-454d-21a8-08de5340bfbf",
          "maxSpeed": 0.5,
          "maxHeight": 0,
          "minHeight": 0,
          "orientation": 0,
          "orientationType": "",
          "direction": "Both",
          "rotationAllowed": true,
          "maxRotationSpeed": 0.5,
          "length": 0,
          "trajectory": {
            "degree": 1,
            "knotVector": [0, 0, 1, 1],
            "controlPoints": [
              {
                "x": 4.5,
                "y": 0.4,
                "weight": 1
              },
              {
                "x": 3.5,
                "y": 0.4,
                "weight": 1
              }
            ]
          },
          "actions": []
        }
      ]
    }
  }'
  ```