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Robot Management Module - Architecture Design

Module: Robot Management System
Version: 1.0
Date: 2025-01-XX
Status: 📋 Architecture Design Phase

📋 Mục Lục

Tổng Quan
Cấu Trúc Database
Cấu Trúc Backend
Cấu Trúc Frontend
API Endpoints
VDA5050 Integration

🎯 Tổng Quan

Mục Đích

Xây dựng hệ thống quản lý thông tin robot bao gồm:

RobotModel Management: Quản lý các chủng loại robot (thêm, sửa, xóa, preview)
Robot Management: Quản lý thông tin robot (thêm, sửa, xóa, preview)
Robot Detail: Hiển thị thông tin robot theo tiêu chuẩn VDA5050 và manual actions

Quan Hệ Dữ Liệu

RobotModel (1) ──< (N) Robot

1 RobotModel có thể có nhiều Robot
1 Robot chỉ thuộc về 1 RobotModel

🗄️ Cấu Trúc Database

1. Bảng RobotModels

CREATE TABLE [RobotModels] (
    [Id] uniqueidentifier PRIMARY KEY DEFAULT NEWID(),
    [ModelName] nvarchar(256) NOT NULL,
    [Length] decimal(18,2) NOT NULL,              -- Chiều dài robot (m)
    [Width] decimal(18,2) NOT NULL,                -- Chiều rộng robot (m)
    [ImageWidth] int NOT NULL,                     -- Chiều rộng ảnh (pixels)
    [ImageHeight] int NOT NULL,                    -- Chiều cao ảnh (pixels)
    [NavigationPointX] decimal(18,2) NOT NULL,     -- Tọa độ X điểm navigation (m)
    [NavigationPointY] decimal(18,2) NOT NULL,     -- Tọa độ Y điểm navigation (m)
    [NavigationType] int NOT NULL,                 -- Enum: Differential, Forklift, OmniDrive
    [CreatedDate] datetime2 NOT NULL DEFAULT GETUTCDATE(),
    [UpdatedDate] datetime2 NULL
);

-- Indexes
CREATE INDEX IX_RobotModels_ModelName ON [RobotModels]([ModelName]);
CREATE INDEX IX_RobotModels_NavigationType ON [RobotModels]([NavigationType]);

Fields:

Id: GUID primary key
ModelName: Tên model robot (unique, có thể thêm constraint)
Length, Width: Kích thước robot (mét)
ImageWidth, ImageHeight: Kích thước ảnh hiển thị
NavigationPointX, NavigationPointY: Điểm navigation tương đối so với tâm robot
NavigationType: Enum (0=Differential, 1=Forklift, 2=OmniDrive)
CreatedDate, UpdatedDate: Timestamps

2. Bảng Robots

CREATE TABLE [Robots] (
    [Id] uniqueidentifier PRIMARY KEY DEFAULT NEWID(),
    [RobotId] nvarchar(64) NOT NULL UNIQUE,        -- Robot identifier (serial number)
    [Name] nvarchar(256) NOT NULL,                 -- Tên hiển thị
    [ModelId] uniqueidentifier NOT NULL,            -- FK to RobotModels
    [MapId] uniqueidentifier NULL,                  -- FK to Maps (có thể nullable)
    [CreatedDate] datetime2 NOT NULL DEFAULT GETUTCDATE(),
    [UpdatedDate] datetime2 NULL,
    
    CONSTRAINT FK_Robots_RobotModels FOREIGN KEY ([ModelId]) 
        REFERENCES [RobotModels]([Id]) ON DELETE RESTRICT
);

-- Indexes
CREATE INDEX IX_Robots_RobotId ON [Robots]([RobotId]);
CREATE INDEX IX_Robots_ModelId ON [Robots]([ModelId]);
CREATE INDEX IX_Robots_MapId ON [Robots]([MapId]);
CREATE UNIQUE INDEX UX_Robots_RobotId ON [Robots]([RobotId]);

Fields:

Id: GUID primary key
RobotId: Serial number hoặc identifier duy nhất của robot
Name: Tên hiển thị của robot
ModelId: Foreign key đến RobotModels
MapId: Foreign key đến Maps (có thể null nếu chưa gán map)
CreatedDate, UpdatedDate: Timestamps

3. Entity Relationship Diagram

┌─────────────────┐
│  RobotModels    │
├─────────────────┤
│ Id (PK)         │
│ ModelName       │
│ Length          │
│ Width           │
│ ImageWidth      │
│ ImageHeight     │
│ NavPointX       │
│ NavPointY       │
│ NavigationType  │
│ CreatedDate     │
│ UpdatedDate     │
└────────┬────────┘
         │ 1
         │
         │ N
┌────────▼────────┐
│    Robots       │
├─────────────────┤
│ Id (PK)         │
│ RobotId (UK)    │
│ Name            │
│ ModelId (FK)    │──┐
│ MapId (FK)      │  │
│ CreatedDate     │  │
│ UpdatedDate     │  │
└─────────────────┘  │
                     │
                     │ (optional)
                     │
         ┌───────────┘
         │
         ▼
    [Maps Table]

🔧 Cấu Trúc Backend

1. Folder Structure

RobotNet10.FleetManager/
├── Data/
│   ├── NavigationType.cs          ✅ (Enum)
│   ├── RobotModel.cs              ✅ (Entity)
│   ├── Robot.cs                   ✅ (Entity)
│   └── ApplicationDbContext.cs    (Update: Add DbSets)
│
├── Services/
│   ├── IRobotModelService.cs      (Interface)
│   ├── RobotModelService.cs       (Implementation)
│   ├── IRobotService.cs           (Interface)
│   ├── RobotService.cs            (Implementation)
│   ├── IRobotModelImageStorageService.cs  (Image storage interface)
│   └── RobotModelImageStorageService.cs   (FileSystem implementation)
│
├── Controllers/
│   ├── RobotModelController.cs    (API endpoints)
│   ├── RobotController.cs         (API endpoints)
│   └── RobotModelImagesController.cs  (Image upload/download)
│
└── Hubs/
    └── RobotStateHub.cs           (SignalR Hub cho VDA5050 State)

RobotNet10.FleetManager.Shared/
├── DTOs/
│   ├── RobotModel/
│   │   ├── RobotModelDto.cs
│   │   ├── CreateRobotModelRequest.cs
│   │   ├── UpdateRobotModelRequest.cs
│   │   └── RobotModelUsageInfoDto.cs
│   └── Robot/
│       ├── RobotDto.cs
│       ├── CreateRobotRequest.cs
│       └── UpdateRobotRequest.cs

2. Services Interface

IRobotModelService

public interface IRobotModelService
{
    Task<RobotModel> CreateAsync(CreateRobotModelRequest request);
    Task<List<RobotModel>> GetAllAsync();
    Task<RobotModel?> GetByIdAsync(Guid id);
    Task<RobotModel> UpdateAsync(Guid id, UpdateRobotModelRequest request);
    Task<bool> DeleteAsync(Guid id);
    Task<List<RobotModel>> SearchAsync(string query);
    Task<bool> ExistsAsync(string modelName);
    Task<RobotModelUsageInfo> GetUsageInfoAsync(Guid id);
}

IRobotService

public interface IRobotService
{
    Task<Robot> CreateAsync(CreateRobotRequest request);
    Task<List<Robot>> GetAllAsync();
    Task<Robot?> GetByIdAsync(Guid id);
    Task<Robot?> GetByRobotIdAsync(string robotId);
    Task<Robot> UpdateAsync(Guid id, UpdateRobotRequest request);
    Task<bool> DeleteAsync(Guid id);
    Task<List<Robot>> GetByModelIdAsync(Guid modelId);
    Task<List<Robot>> SearchAsync(string query);
    Task<bool> ExistsAsync(string robotId);
}

3. DTOs Structure

RobotModelDto

public class RobotModelDto
{
    public Guid Id { get; set; }
    public string ModelName { get; set; }
    public decimal Length { get; set; }
    public decimal Width { get; set; }
    public int ImageWidth { get; set; }
    public int ImageHeight { get; set; }
    public decimal NavigationPointX { get; set; }
    public decimal NavigationPointY { get; set; }
    public NavigationType NavigationType { get; set; }
    public DateTime CreatedDate { get; set; }
    public DateTime? UpdatedDate { get; set; }
    public int RobotCount { get; set; } // Số lượng robot sử dụng model này
}

RobotDto

public class RobotDto
{
    public Guid Id { get; set; }
    public string RobotId { get; set; }
    public string Name { get; set; }
    public Guid ModelId { get; set; }
    public string? ModelName { get; set; } // Include từ RobotModel
    public Guid? MapId { get; set; }
    public DateTime CreatedDate { get; set; }
    public DateTime? UpdatedDate { get; set; }
}

🎨 Cấu Trúc Frontend

1. Folder Structure

RobotNet10.FleetManager.Client/
├── Pages/
│   ├── RobotModelManager.razor        (Main page: /robot-models)
│   ├── RobotManager.razor             (Main page: /robots)
│   └── RobotDetail.razor               (Detail page: /robots/{robotId}/detail)
│
└── Components/                         (Optional: nếu tách components)
    ├── RobotModelManager/
    │   ├── RobotModelManagerComponent.razor
    │   ├── RobotModelListPanel.razor
    │   ├── RobotModelDetailsPanel.razor
    │   └── Dialogs/
    │       ├── CreateRobotModelDialog.razor
    │       ├── EditRobotModelDialog.razor
    │       └── DeleteRobotModelDialog.razor
    │
    ├── RobotManager/
    │   ├── RobotManagerComponent.razor
    │   ├── RobotListPanel.razor
    │   ├── RobotDetailsPanel.razor
    │   └── Dialogs/
    │       ├── CreateRobotDialog.razor
    │       ├── EditRobotDialog.razor
    │       └── DeleteRobotDialog.razor
    │
    └── RobotDetail/
        ├── RobotDetailComponent.razor
        ├── VDA5050StatePanel.razor
        ├── ManualActionsPanel.razor
        └── RobotInfoCard.razor

2. Layout Design

2.1. RobotModelManager Page Layout

┌─────────────────────────────────────────────────────────────┐
│  Header (MudPaper)                                           │
│  ┌───────────────────────────────────────────────────────┐  │
│  │  Robot Model Management          [Search] [Add]      │  │
│  └───────────────────────────────────────────────────────┘  │
├─────────────────────────────────────────────────────────────┤
│  Main Content (MudGrid)                                      │
│  ┌──────────────────────┬─────────────────────────────────┐ │
│  │  Left Panel (60%)   │  Right Panel (40%)              │ │
│  │                     │                                  │ │
│  │  RobotModelList     │  RobotModelDetails              │ │
│  │  ┌──────────────┐   │  ┌──────────────────────────┐  │ │
│  │  │ Search Bar   │   │  │ Image Preview             │  │ │
│  │  └──────────────┘   │  │ ┌──────────────────────┐ │  │ │
│  │                     │  │ │ [Image Canvas]        │ │  │ │
│  │  ┌──────────────┐   │  │ │ + NavigationPoint    │ │  │ │
│  │  │ MudTable     │   │  │ │   (mũi tên X, Y)     │ │  │ │
│  │  │ - ModelName  │   │  │ └──────────────────────┘ │  │ │
│  │  │ - NavType    │   │  │                          │  │ │
│  │  │ - Dimensions │   │  │ Dimensions              │  │ │
│  │  │ - RobotCount │   │  │ - Length x Width        │  │ │
│  │  │ - Actions    │   │  │ - Image Size            │  │ │
│  │  └──────────────┘   │  │                          │  │ │
│  │                     │  │ Navigation Point        │  │ │
│  │                     │  │ - X, Y coordinates      │  │ │
│  │                     │  │                          │  │ │
│  │                     │  │ Usage Statistics         │  │ │
│  │                     │  │ - Robot Count            │  │ │
│  │                     │  │                          │  │ │
│  │                     │  │ Actions                  │  │ │
│  │                     │  │ [Edit] [Delete]          │  │ │
│  │                     │  └──────────────────────────┘  │ │
│  └──────────────────────┴─────────────────────────────────┘ │
└─────────────────────────────────────────────────────────────┘

Lưu ý:

Left Panel: Chỉ hiển thị danh sách (ModelName, NavType, Dimensions, RobotCount)
Right Panel: Preview ảnh với NavigationPoint overlay, thông tin chi tiết, không lặp lại thông tin từ Left Panel

2.2. RobotManager Page Layout

┌─────────────────────────────────────────────────────────────┐
│  Header (MudPaper)                                           │
│  ┌───────────────────────────────────────────────────────┐  │
│  │  Robot Management              [Search] [Add]         │  │
│  └───────────────────────────────────────────────────────┘  │
├─────────────────────────────────────────────────────────────┤
│  Main Content (MudContainer)                                │
│  ┌────────────────────────────────────────────────────────┐ │
│  │  Search & Filters                                      │ │
│  │  ┌──────────────────────────────────────────────────┐  │ │
│  │  │ [Search] [Filter by Model] [Filter by Map]    │  │ │
│  │  └──────────────────────────────────────────────────┘  │ │
│  │                                                        │ │
│  │  Robot Table (MudTable)                                │ │
│  │  ┌──────────────────────────────────────────────────┐  │ │
│  │  │ RobotId │ Name │ Model │ Map │ Actions          │  │ │
│  │  │ ────────┼──────┼───────┼─────┼─────────────────│  │ │
│  │  │ ROBOT01 │ R1   │ AMR-T │ M1  │ [Detail][Edit]  │  │ │
│  │  │ ROBOT02 │ R2   │ AMR-F │ M2  │ [Detail][Edit]  │  │ │
│  │  │ ...     │ ...  │ ...   │ ... │ ...             │  │ │
│  │  └──────────────────────────────────────────────────┘  │ │
│  │                                                        │ │
│  │  Pagination                                            │ │
│  └────────────────────────────────────────────────────────┘ │
└─────────────────────────────────────────────────────────────┘

Lưu ý:

Bỏ Right Panel vì thông tin robot ít
Chỉ có 1 bảng với đầy đủ thông tin
Actions: View Detail (link đến RobotDetail page), Edit, Delete

2.3. RobotDetail Page Layout

┌─────────────────────────────────────────────────────────────┐
│  Header (MudPaper)                                           │
│  ┌───────────────────────────────────────────────────────┐  │
│  │  Robot Detail: {RobotName}        [Back] [Refresh]    │  │
│  └───────────────────────────────────────────────────────┘  │
├─────────────────────────────────────────────────────────────┤
│  Main Content (MudGrid)                                      │
│  ┌──────────────────────┬─────────────────────────────────┐ │
│  │  Left Panel (60%)   │  Right Panel (40%)              │ │
│  │                     │                                  │ │
│  │  VDA5050 State     │  Manual Actions                  │ │
│  │  ┌──────────────┐   │  ┌──────────────────────────┐  │ │
│  │  │ Robot Info   │   │  │ Action List               │  │ │
│  │  │ Card         │   │  │ ┌──────────────────────┐  │  │ │
│  │  └──────────────┘   │  │ │ Action Type          │  │  │ │
│  │                     │  │ │ [Select]              │  │  │ │
│  │  ┌──────────────┐   │  │ └──────────────────────┘  │  │ │
│  │  │ Position     │   │  │                          │  │ │
│  │  │ - X, Y, θ    │   │  │ Action Parameters       │  │ │
│  │  │ - MapId      │   │  │ ┌──────────────────────┐  │  │ │
│  │  └──────────────┘   │  │ │ Key-Value pairs      │  │  │ │
│  │                     │  │ │ [Add] [Remove]        │  │  │ │
│  │  ┌──────────────┐   │  │ └──────────────────────┘  │  │ │
│  │  │ Battery      │   │  │                          │  │ │
│  │  │ - Charge %   │   │  │ [Send Action]           │  │  │ │
│  │  │ - Voltage    │   │  └──────────────────────────┘  │ │
│  │  └──────────────┘   │                                  │ │
│  │                     │  Robot Status                   │ │
│  │  ┌──────────────┐   │  ┌──────────────────────────┐  │ │
│  │  │ Order Info   │   │  │ - Operating Mode         │  │ │
│  │  │ - OrderId    │   │  │ - Driving Status         │  │ │
│  │  │ - NodeId     │   │  │ - Paused                 │  │ │
│  │  └──────────────┘   │  └──────────────────────────┘  │ │
│  │                     │                                  │ │
│  │  ┌──────────────┐   │  Errors & Warnings               │ │
│  │  │ Errors       │   │  ┌──────────────────────────┐  │ │
│  │  │ - List       │   │  │ Error List              │  │ │
│  │  └──────────────┘   │  │ [Clear]                 │  │ │
│  │                     │  └──────────────────────────┘  │ │
│  └──────────────────────┴─────────────────────────────────┘ │
└─────────────────────────────────────────────────────────────┘

3. Component Details

3.1. RobotModelListPanel

Features:

MudTable với sorting
Search functionality
Pagination
Row selection
Actions: Edit, Delete, View Details

Columns:

ModelName (sortable)
NavigationType (Chip)
Dimensions (Length x Width) - formatted display
Robot Count (Badge)
Actions (Icon buttons: Edit, Delete, View Details)

3.2. RobotModelDetailsPanel

Sections:

Image Preview (Canvas/SVG với NavigationPoint overlay)
- Hiển thị ảnh robot model
- Vẽ mũi tên tại NavigationPoint (X, Y)
- Mũi tên hướng lên trên (Y+) và sang phải (X+)
Dimensions
- Length x Width (m)
- Image Size (pixels)
Navigation Point
- X, Y coordinates (m)
Usage Statistics
- Robot Count (số robot đang sử dụng model này)
Actions
- Edit, Delete buttons

3.3. RobotManager Table

Features:

MudTable với sorting
Search functionality (search by RobotId, Name)
Filter by Model (MudSelect dropdown)
Filter by Map (MudSelect dropdown)
Pagination
Inline actions trong table

Columns:

RobotId (sortable, link to detail page)
Name (sortable)
Model (link to model, hiển thị ModelName)
Map (link to map, nullable, hiển thị MapName nếu có)
Actions (Icon buttons: View Detail, Edit, Delete)

Lưu ý: Không có Right Panel, tất cả thông tin hiển thị trong table

3.5. RobotDetailComponent (VDA5050)

Real-time Data:

SignalR Hub Client kết nối đến RobotStateHub
Subscribe to robot khi vào page
Nhận events: OnStateUpdate, OnVisualizationUpdate
Manual refresh button
Auto-disconnect khi rời page

VDA5050 State Sections (từ StateMsg):

Header Info Card
- HeaderId
- Timestamp
- Version
- Manufacturer
- SerialNumber
Position Card (từ agvPosition)
- X, Y, Theta
- MapId
- PositionInitialized
- LocalizationScore
- DeviationRange
Velocity Card (từ velocity)
- vx, vy, omega
Battery Card (từ batteryState)
- BatteryCharge (%)
- BatteryVoltage
- BatteryHealth
- Charging status
- Reach (estimated)
Order Info Card
- OrderId
- OrderUpdateId
- ZoneSetId
- LastNodeId
- LastNodeSequenceId
- Driving status
- Paused status
- NewBaseRequest
- DistanceSinceLastNode
- OperatingMode
Maps Card (từ maps array)
- MapId, MapDescription, MapVersion
Node States (từ nodeStates array)
- MudTable: NodeId, SequenceId, Released, NodePosition
Edge States (từ edgeStates array)
- MudTable: EdgeId, SequenceId, Released
Action States (từ actionStates array)
- MudTable: ActionId, ActionType, ActionStatus, ResultDescription
Loads Card (từ loads array)
- MudTable: LoadId, LoadType, LoadPosition, Weight, Dimensions
Errors Card (từ errors array)
- MudTable: ErrorType, ErrorLevel, ErrorDescription, ErrorReferences
- Color coding (ERROR/WARNING/INFO)
Information Card (từ information array) ⭐ MỚI
- MudTable: InfoType, InfoLevel, InfoDescription, InfoReferences
- Color coding (INFO/WARNING/DEBUG)
Safety State Card (từ safetyState)
- EStop status (enum: NONE, SOFT, HARD)
- FieldViolation (bool)

VDA5050 Visualization Sections (từ VisualizationMsg): 14. Visualization Position (từ visualization.agvPosition) - X, Y, Theta, MapId, PositionInitialized

Visualization Velocity (từ visualization.velocity)
- vx, vy, omega

3.6. ManualActionsPanel

Features:

Action Type selector (MudSelect với ActionType enum)
Action Parameters editor (Key-Value pairs)
Send Action button
Action History (recent actions sent)

Action Types:

startPause / stopPause
startCharging / stopCharging
cancelOrder
stateRequest
initPosition
etc. (theo VDA5050 ActionType enum)

🔌 API Endpoints

RobotModelController

Base Route: /api/robot-models

Method	Endpoint	Description	Request	Response
GET	`/api/robot-models`	Get all robot models	-	`List<RobotModelDto>`
GET	`/api/robot-models/{id}`	Get robot model by ID	-	`RobotModelDto`
GET	`/api/robot-models/search?query={text}`	Search robot models	-	`List<RobotModelDto>`
GET	`/api/robot-models/{id}/usage`	Get usage info	-	`RobotModelUsageInfoDto`
POST	`/api/robot-models`	Create robot model	`CreateRobotModelRequest`	`RobotModelDto` (201)
PUT	`/api/robot-models/{id}`	Update robot model	`UpdateRobotModelRequest`	`RobotModelDto`
DELETE	`/api/robot-models/{id}`	Delete robot model	-	204 No Content
GET	`/api/robot-models/{id}/image`	Get robot model image	-	Image file (PNG)
POST	`/api/robot-models/{id}/image`	Upload robot model image	`multipart/form-data`	Success message
DELETE	`/api/robot-models/{id}/image`	Delete robot model image	-	204 No Content

RobotController

Base Route: /api/robots

Method	Endpoint	Description	Request	Response
GET	`/api/robots`	Get all robots	`?modelId={guid}&mapId={guid}`	`List<RobotDto>`
GET	`/api/robots/{id}`	Get robot by ID	-	`RobotDto`
GET	`/api/robots/robotId/{robotId}`	Get robot by RobotId	-	`RobotDto`
GET	`/api/robots/search?query={text}`	Search robots	-	`List<RobotDto>`
GET	`/api/robots/model/{modelId}`	Get robots by model	-	`List<RobotDto>`
POST	`/api/robots`	Create robot	`CreateRobotRequest`	`RobotDto` (201)
PUT	`/api/robots/{id}`	Update robot	`UpdateRobotRequest`	`RobotDto`
DELETE	`/api/robots/{id}`	Delete robot	-	204 No Content

🔄 VDA5050 Integration

1. SignalR Hub Architecture

RobotStateHub:

Hub chạy trên FleetManager Server
Nhận State và Visualization messages từ RobotApp (qua MQTT hoặc direct)
HubServer chủ động gửi updates theo chu kỳ đến connected clients
Frontend kết nối SignalR và lắng nghe events

Flow:

RobotApp → MQTT/HTTP → FleetManager Backend → RobotStateHub → Frontend (SignalR Client)

Hub Methods:

SubscribeToRobot(string robotId): Client subscribe để nhận updates của robot cụ thể
UnsubscribeFromRobot(string robotId): Client unsubscribe

Hub Events (Server → Client):

OnStateUpdate(string robotId, StateMsg state): Khi có State message mới
OnVisualizationUpdate(string robotId, VisualizationMsg visualization): Khi có Visualization message mới

Hub Configuration:

HubServer gửi updates theo chu kỳ (configurable, ví dụ: mỗi 500ms)
Frontend chỉ cập nhật khi nhận được event hoặc manual refresh

2. Image Storage (RobotModel)

Service: IRobotModelImageStorageService

Tương tự IImageStorageService trong MapManager
FileSystem-based storage
File naming: {robotModelId}.png
Location: {AppBaseDirectory}/RobotModelImages/

API Endpoints:

GET    /api/robot-models/{id}/image     - Get image
POST   /api/robot-models/{id}/image     - Upload image (multipart/form-data)
DELETE /api/robot-models/{id}/image     - Delete image

Image Upload Flow:

User chọn file ảnh trong Create/Edit dialog
Frontend upload ảnh qua API
Backend lưu ảnh và extract dimensions (ImageWidth, ImageHeight)
Backend lưu dimensions vào database
Frontend hiển thị preview với NavigationPoint overlay

Image Preview với NavigationPoint:

Sử dụng HTML5 Canvas hoặc SVG overlay
Vẽ mũi tên tại tọa độ (NavigationPointX, NavigationPointY)
Mũi tên hướng lên trên (Y+) và sang phải (X+) như gốc tọa độ
Scale tọa độ từ mét sang pixels dựa trên ImageWidth/ImageHeight và Length/Width

3. Manual Actions

API Endpoint:

POST /api/robots/{robotId}/actions
Body: {
    "actionType": "startPause",
    "actionParameters": [
        {"key": "duration", "value": "60"}
    ]
}

Flow:

User chọn action type và parameters
Frontend gửi request đến FleetManager API
FleetManager chuyển tiếp action đến robot (MQTT/HTTP)
Robot thực hiện action và báo cáo qua State message

4. Data Storage

State & Visualization Messages:

In-memory storage trong HubServer
Lưu latest state per robot
Mất khi restart (không persist)
Có thể thêm option lưu vào DB nếu cần history (future enhancement)

📝 Implementation Steps

Phase 1: Database & Entities (Foundation)

1.1. Create Enum

Create NavigationType.cs enum với 3 values: Differential, Forklift, OmniDrive
Location: RobotNet10.FleetManager/Data/NavigationType.cs

1.2. Create Entities

Create RobotModel.cs entity với đầy đủ properties
- Id, ModelName, Length, Width, ImageWidth, ImageHeight
- NavigationPointX, NavigationPointY, NavigationType
- CreatedDate, UpdatedDate
- Navigation property: Robots collection
Create Robot.cs entity với đầy đủ properties
- Id, RobotId, Name, ModelId, MapId
- CreatedDate, UpdatedDate
- Navigation property: RobotModel

1.3. Update Database Context

Update ApplicationDbContext.cs
- Add DbSet<RobotModel> RobotModels
- Add DbSet<Robot> Robots
- Configure entity relationships trong OnModelCreating
- Configure indexes

1.4. Database Migration

Create EF Core migration: AddRobotManagementTables
Review migration script
Apply migration to database
Verify tables và indexes được tạo đúng

Deliverables:

NavigationType enum
RobotModel entity
Robot entity
Database migration
Tables trong database

Phase 2: Shared DTOs (Data Transfer Objects)

2.1. RobotModel DTOs

Create RobotModelDto.cs trong RobotNet10.FleetManager.Shared/DTOs/RobotModel/
Create CreateRobotModelRequest.cs với validation attributes
Create UpdateRobotModelRequest.cs với validation attributes
Create RobotModelUsageInfoDto.cs cho usage statistics

2.2. Robot DTOs

Create RobotDto.cs trong RobotNet10.FleetManager.Shared/DTOs/Robot/
Create CreateRobotRequest.cs với validation attributes
Create UpdateRobotRequest.cs với validation attributes

2.3. Error Response DTOs

Create ErrorResponseDto.cs (nếu chưa có) cho API error responses

Deliverables:

Tất cả DTOs trong RobotNet10.FleetManager.Shared
Validation attributes đầy đủ

Phase 3: Backend Services Layer

3.1. RobotModel Service

Create IRobotModelService.cs interface
- Methods: CreateAsync, GetAllAsync, GetByIdAsync, UpdateAsync, DeleteAsync
- Methods: SearchAsync, ExistsAsync, GetUsageInfoAsync
Create RobotModelService.cs implementation
- Implement tất cả methods
- Add validation logic
- Add error handling
- Check foreign key constraints khi delete

3.2. Robot Service

Create IRobotService.cs interface
- Methods: CreateAsync, GetAllAsync, GetByIdAsync, GetByRobotIdAsync
- Methods: UpdateAsync, DeleteAsync, GetByModelIdAsync, SearchAsync, ExistsAsync
Create RobotService.cs implementation
- Implement tất cả methods
- Add validation logic
- Add error handling

3.3. Image Storage Service

Create IRobotModelImageStorageService.cs interface
- Methods: SaveImageAsync, GetImageAsync, DeleteImageAsync, ImageExistsAsync, GetImageDimensionsAsync
Create RobotModelImageStorageService.cs implementation
- FileSystem-based storage
- Folder: {AppBaseDirectory}/RobotModelImages/
- File naming: {robotModelId}.png
- Use ImageSharp để extract dimensions

3.4. Service Registration

Register services trong Program.cs
- AddScoped IRobotModelService, RobotModelService
- AddScoped IRobotService, RobotService
- AddScoped IRobotModelImageStorageService, RobotModelImageStorageService

Deliverables:

3 Service interfaces
3 Service implementations
Services registered trong DI container

Phase 4: API Controllers

4.1. RobotModel Controller

Create RobotModelController.cs
- GET /api/robot-models - GetAll
- GET /api/robot-models/{id} - GetById
- GET /api/robot-models/search?query={text} - Search
- GET /api/robot-models/{id}/usage - GetUsageInfo
- POST /api/robot-models - Create
- PUT /api/robot-models/{id} - Update
- DELETE /api/robot-models/{id} - Delete
Add error handling và validation
Add proper HTTP status codes
Add API documentation comments

4.2. Robot Controller

Create RobotController.cs
- GET /api/robots - GetAll (với filters: modelId, mapId)
- GET /api/robots/{id} - GetById
- GET /api/robots/robotId/{robotId} - GetByRobotId
- GET /api/robots/search?query={text} - Search
- GET /api/robots/model/{modelId} - GetByModelId
- POST /api/robots - Create
- PUT /api/robots/{id} - Update
- DELETE /api/robots/{id} - Delete
Add error handling và validation
Add proper HTTP status codes
Add API documentation comments

4.3. RobotModel Images Controller

Create RobotModelImagesController.cs
- GET /api/robot-models/{id}/image - GetImage
- POST /api/robot-models/{id}/image - UploadImage (multipart/form-data)
- DELETE /api/robot-models/{id}/image - DeleteImage
Add file validation (PNG only, max size)
Extract và update ImageWidth, ImageHeight trong database

4.4. API Testing

Test tất cả endpoints với Postman/curl
Verify error handling
Verify validation rules

Deliverables:

3 Controllers với đầy đủ endpoints
API documentation
Tested và verified

Phase 5: SignalR Hub (VDA5050 Integration)

5.1. RobotState Hub

Create RobotStateHub.cs trong RobotNet10.FleetManager/Hubs/
- Hub class kế thừa Hub
- Methods: SubscribeToRobot, UnsubscribeFromRobot
- Events: OnStateUpdate, OnVisualizationUpdate
Create HubContext service để manage robot subscriptions
Implement logic để nhận State/Visualization từ backend
Implement periodic broadcast đến clients

5.2. Hub Registration

Register Hub trong Program.cs
- MapHub("/hubs/robot-state")
Configure SignalR options nếu cần

5.3. Backend Integration (Future)

Note: Integration với MQTT/HTTP để nhận messages từ RobotApp
Note: Sẽ implement trong phase sau khi có RobotConnections module

Deliverables:

RobotStateHub
Hub registered và accessible
Ready để integrate với frontend

Phase 6: Frontend - RobotModel Management

6.1. API Service Client

Create RobotModelApiService.cs trong Client project
- Methods để call tất cả RobotModel endpoints
- Methods để upload/download images
Create RobotApiService.cs trong Client project
- Methods để call tất cả Robot endpoints

6.2. State Management (Optional)

Create RobotModelManagerState.cs (nếu cần state management)
- SelectedRobotModel
- RobotModels list
- Loading states

6.3. RobotModelManager Page

Create RobotModelManager.razor page
- Route: /robot-models
- Layout: Header với Search và Add button
- Two-column layout (60% List, 40% Details)

6.4. RobotModelListPanel Component

Create RobotModelListPanel.razor
- MudTable với columns: ModelName, NavigationType, Dimensions, RobotCount, Actions
- Search functionality
- Sorting
- Pagination
- Row selection để hiển thị details
- Actions: Edit, Delete buttons

6.5. RobotModelDetailsPanel Component

Create RobotModelDetailsPanel.razor
- Image Preview section với Canvas/SVG
- NavigationPoint overlay (mũi tên X+, Y+)
- Dimensions display
- Navigation Point coordinates
- Usage Statistics (Robot Count)
- Actions: Edit, Delete buttons

6.6. Image Preview với NavigationPoint

Create component để render image với overlay
- Load image từ API
- Calculate scale từ Length/Width và ImageWidth/ImageHeight
- Draw arrow tại NavigationPoint coordinates
- Arrow direction: up (Y+) và right (X+)

6.7. Create RobotModel Dialog

Create CreateRobotModelDialog.razor
- Form fields: ModelName, Length, Width, NavigationPointX, NavigationPointY, NavigationType
- Image upload input (file picker)
- Image preview
- Validation
- Submit handler

6.8. Edit RobotModel Dialog

Create EditRobotModelDialog.razor
- Pre-fill form với existing data
- Image upload/replace
- Image preview với NavigationPoint
- Validation
- Submit handler

6.9. Delete RobotModel Dialog

Create DeleteRobotModelDialog.razor
- Confirmation message
- Show usage info (Robot count)
- Warning nếu có robots đang sử dụng
- Delete handler

Deliverables:

Complete RobotModel management UI
Image upload và preview
NavigationPoint visualization
CRUD operations working

Phase 7: Frontend - Robot Management

7.1. RobotManager Page

Create RobotManager.razor page
- Route: /robots
- Layout: Header với Search, Filters, và Add button
- Single table layout (no Right Panel)

7.2. RobotTable Component

Create RobotTable.razor component
- MudTable với columns: RobotId, Name, Model, Map, Actions
- Search functionality (by RobotId, Name)
- Filter by Model (MudSelect dropdown)
- Filter by Map (MudSelect dropdown)
- Sorting
- Pagination
- Actions: View Detail (link), Edit, Delete buttons

7.3. Create Robot Dialog

Create CreateRobotDialog.razor
- Form fields: RobotId, Name, ModelId (dropdown), MapId (dropdown, optional)
- Validation
- Submit handler

7.4. Edit Robot Dialog

Create EditRobotDialog.razor
- Pre-fill form với existing data
- ModelId và MapId dropdowns
- Validation
- Submit handler

7.5. Delete Robot Dialog

Create DeleteRobotDialog.razor
- Confirmation message
- Delete handler

Deliverables:

Complete Robot management UI
Table với search và filters
CRUD operations working

Phase 8: Frontend - RobotDetail (VDA5050)

8.1. SignalR Hub Client

Create RobotStateHubClient.cs trong Client project
- Connect to /hubs/robot-state
- Methods: SubscribeToRobot, UnsubscribeFromRobot
- Event handlers: OnStateUpdate, OnVisualizationUpdate
- Connection management (connect, disconnect)

8.2. RobotDetail Page

Create RobotDetail.razor page
- Route: /robots/{robotId}/detail
- Header với Robot name, Back button, Refresh button
- Two-column layout (60% State, 40% Manual Actions)
- Initialize SignalR connection
- Subscribe to robot khi vào page
- Unsubscribe khi rời page

8.3. VDA5050 State Cards

Create HeaderInfoCard.razor - Header info
Create PositionCard.razor - AgvPosition
Create VelocityCard.razor - Velocity
Create BatteryCard.razor - BatteryState
Create OrderInfoCard.razor - Order information
Create MapsCard.razor - Maps array
Create NodeStatesCard.razor - NodeStates table
Create EdgeStatesCard.razor - EdgeStates table
Create ActionStatesCard.razor - ActionStates table
Create LoadsCard.razor - Loads table
Create ErrorsCard.razor - Errors table với color coding
Create InformationCard.razor - Information array với color coding
Create SafetyStateCard.razor - SafetyState

8.4. VDA5050 Visualization Cards

Create VisualizationPositionCard.razor - Visualization agvPosition
Create VisualizationVelocityCard.razor - Visualization velocity

8.5. Manual Actions Panel

Create ManualActionsPanel.razor
- Action Type selector (MudSelect với ActionType enum)
- Action Parameters editor (Key-Value pairs với Add/Remove)
- Send Action button
- Action History (recent actions sent)
- Call API endpoint để send action

8.6. State Update Integration

Integrate SignalR events vào RobotDetail page
- Handle OnStateUpdate event
- Update tất cả State cards
- Handle OnVisualizationUpdate event
- Update Visualization cards
- Error handling cho connection issues

Deliverables:

Complete RobotDetail page
Real-time State và Visualization updates
Manual Actions functionality
All VDA5050 fields displayed

Phase 9: Testing & Polish

9.1. Unit Tests (Optional)

Test Services (RobotModelService, RobotService)
Test Controllers
Test Image Storage Service

9.2. Integration Testing

Test full flow: Create RobotModel → Upload Image → Create Robot → View Detail
Test SignalR connection và updates
Test error scenarios

9.3. UI/UX Polish

Verify responsive design
Add loading states
Add error messages
Add success notifications
Verify navigation flows

9.4. Documentation

Update API documentation
Add code comments
Create user guide (nếu cần)

Deliverables:

Fully tested module
Polished UI/UX
Documentation complete

Phase 10: Manual Actions API (Future)

10.1. Manual Actions Endpoint

Create endpoint: POST /api/robots/{robotId}/actions
Validate action type và parameters
Forward action đến robot (MQTT/HTTP)
Return response

Note: Phase này sẽ implement sau khi có RobotConnections module để forward actions đến robot.

📊 Implementation Summary

Phase	Description	Estimated Tasks	Status
Phase 1	Database & Entities	4 tasks	⏳ Pending
Phase 2	Shared DTOs	3 tasks	⏳ Pending
Phase 3	Backend Services	4 tasks	⏳ Pending
Phase 4	API Controllers	4 tasks	⏳ Pending
Phase 5	SignalR Hub	3 tasks	⏳ Pending
Phase 6	Frontend - RobotModel	9 tasks	⏳ Pending
Phase 7	Frontend - Robot	5 tasks	⏳ Pending
Phase 8	Frontend - RobotDetail	6 tasks	⏳ Pending
Phase 9	Testing & Polish	4 tasks	⏳ Pending
Phase 10	Manual Actions API	1 task	⏳ Future

Total: ~43 tasks across 10 phases

🔍 Notes & Considerations

Validation Rules

RobotModel:

ModelName: Required, unique, max 256 chars
Length, Width: Required, > 0
ImageWidth, ImageHeight: Required, > 0
NavigationPointX, Y: Required
NavigationType: Required

Robot:

RobotId: Required, unique, max 64 chars
Name: Required, max 256 chars
ModelId: Required, must exist
MapId: Optional, must exist if provided

Business Rules

Delete RobotModel:
- Không được xóa nếu có Robot đang sử dụng
- Phải xóa tất cả Robot trước
Delete Robot:
- Có thể xóa bất cứ lúc nào
- Cân nhắc xóa các dữ liệu liên quan (orders, history, etc.)
Update RobotModel:
- Có thể update bất cứ lúc nào
- Các Robot hiện tại không bị ảnh hưởng

Performance Considerations

Pagination: Sử dụng pagination cho list views
Lazy Loading: Load details khi cần
Caching: Cache RobotModel list (ít thay đổi)
SignalR: Limit frequency của State messages

✅ Checklist

Database

NavigationType enum
RobotModel entity
Robot entity
ApplicationDbContext update
Migration
Indexes

Backend

IRobotModelService
RobotModelService
IRobotService
RobotService
IRobotModelImageStorageService
RobotModelImageStorageService
DTOs (trong RobotNet10.FleetManager.Shared)
RobotModelController
RobotController
RobotModelImagesController
RobotStateHub (SignalR)
Service registration

Frontend - RobotModel

RobotModelManager page
RobotModelListPanel
RobotModelDetailsPanel (với Image Preview & NavigationPoint)
CreateDialog (với image upload)
EditDialog (với image upload)
DeleteDialog

Frontend - Robot

RobotManager page (table only, no Right Panel)
RobotTable component
CreateDialog
EditDialog
DeleteDialog

Frontend - RobotDetail

RobotDetail page
RobotStateHubClient (SignalR client)
VDA5050StatePanel (đầy đủ State & Visualization)
InformationCard component
ManualActionsPanel
SignalR event handlers (OnStateUpdate, OnVisualizationUpdate)

End of Architecture Document

47 KiB Raw Blame History

Robot Management Module - Architecture Design

📋 Mục Lục

🎯 Tổng Quan

Mục Đích

Quan Hệ Dữ Liệu

🗄️ Cấu Trúc Database

1. Bảng RobotModels

2. Bảng Robots

3. Entity Relationship Diagram

🔧 Cấu Trúc Backend

1. Folder Structure

2. Services Interface

IRobotModelService

IRobotService

3. DTOs Structure

RobotModelDto

RobotDto

🎨 Cấu Trúc Frontend

1. Folder Structure

2. Layout Design

2.1. RobotModelManager Page Layout

2.2. RobotManager Page Layout

2.3. RobotDetail Page Layout

3. Component Details

3.1. RobotModelListPanel

3.2. RobotModelDetailsPanel

3.3. RobotManager Table

3.5. RobotDetailComponent (VDA5050)

3.6. ManualActionsPanel

🔌 API Endpoints

RobotModelController

RobotController

🔄 VDA5050 Integration

1. SignalR Hub Architecture

2. Image Storage (RobotModel)

3. Manual Actions

4. Data Storage

📝 Implementation Steps

Phase 1: Database & Entities (Foundation)

1.1. Create Enum

1.2. Create Entities

1.3. Update Database Context

1.4. Database Migration

Phase 2: Shared DTOs (Data Transfer Objects)

2.1. RobotModel DTOs

2.2. Robot DTOs

2.3. Error Response DTOs

Phase 3: Backend Services Layer

3.1. RobotModel Service

3.2. Robot Service

3.3. Image Storage Service

3.4. Service Registration

Phase 4: API Controllers

4.1. RobotModel Controller

4.2. Robot Controller

4.3. RobotModel Images Controller

4.4. API Testing

Phase 5: SignalR Hub (VDA5050 Integration)

5.1. RobotState Hub

5.2. Hub Registration

5.3. Backend Integration (Future)

Phase 6: Frontend - RobotModel Management

6.1. API Service Client

6.2. State Management (Optional)

6.3. RobotModelManager Page

6.4. RobotModelListPanel Component

6.5. RobotModelDetailsPanel Component

6.6. Image Preview với NavigationPoint

6.7. Create RobotModel Dialog

6.8. Edit RobotModel Dialog

6.9. Delete RobotModel Dialog

Phase 7: Frontend - Robot Management

7.1. RobotManager Page

7.2. RobotTable Component

7.3. Create Robot Dialog

7.4. Edit Robot Dialog

7.5. Delete Robot Dialog

Phase 8: Frontend - RobotDetail (VDA5050)

8.1. SignalR Hub Client

47 KiB

Raw Blame History