From 79776eca516cb4502c614e555e2f3599498d0312 Mon Sep 17 00:00:00 2001
From: GentleLijie <zljzljsweepy@qq.com>
Date: Fri, 17 Apr 2026 12:23:40 +0800
Subject: [PATCH 1/4] feat: add import config functionality for re-editing
 generated YAML

Supports uploading a previously generated config.yaml, parsing it back
into the editor data structure with all 14 task types mapped correctly.
Includes strict type tag validation and meaningful error reporting for
corrupted configs.
---
 package.json                                  |   1 +
 pnpm-lock.yaml                                |   3 +
 .../module-settings/ImportConfigDialog.vue    | 191 ++++++++
 src/pages/ModuleSettings.vue                  |  12 +
 src/utils/parse-config.js                     | 454 ++++++++++++++++++
 5 files changed, 661 insertions(+)
 create mode 100644 src/components/module-settings/ImportConfigDialog.vue
 create mode 100644 src/utils/parse-config.js

diff --git a/package.json b/package.json
index 29464a7..490c629 100644
--- a/package.json
+++ b/package.json
@@ -8,6 +8,7 @@
     "lint": "eslint --ext .js,.vue src"
   },
   "dependencies": {
+    "@element-plus/icons-vue": "^2.3.2",
     "element-plus": "^2.11.2",
     "highlight.js": "^11.11.1",
     "vue": "^3.5.22"
diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml
index b5783ce..36eda72 100644
--- a/pnpm-lock.yaml
+++ b/pnpm-lock.yaml
@@ -8,6 +8,9 @@ importers:
 
   .:
     dependencies:
+      '@element-plus/icons-vue':
+        specifier: ^2.3.2
+        version: 2.3.2(vue@3.5.32)
       element-plus:
         specifier: ^2.11.2
         version: 2.13.7(vue@3.5.32)
diff --git a/src/components/module-settings/ImportConfigDialog.vue b/src/components/module-settings/ImportConfigDialog.vue
new file mode 100644
index 0000000..d45125f
--- /dev/null
+++ b/src/components/module-settings/ImportConfigDialog.vue
@@ -0,0 +1,191 @@
+<template>
+  <el-dialog
+    v-model="visible"
+    title="Import Configuration"
+    width="700px"
+    :close-on-click-modal="false"
+    @close="reset"
+  >
+    <!-- Step 1: File Selection -->
+    <div v-if="step === 'select'">
+      <el-upload
+        drag
+        accept=".yaml,.yml,.txt"
+        :auto-upload="false"
+        :show-file-list="false"
+        :on-change="handleFileChange"
+      >
+        <div style="padding: 20px 0;">
+          <el-icon :size="40" style="color: #909399;"><UploadFilled /></el-icon>
+          <div style="margin-top: 8px; color: #606266;">Drop config.yaml here or <em>click to browse</em></div>
+        </div>
+      </el-upload>
+      <div v-if="fileName" style="margin-top: 12px; color: #67c23a;">
+        Selected: {{ fileName }}
+      </div>
+      <div v-if="fileContent" style="margin-top: 15px; text-align: right;">
+        <el-button type="primary" @click="parseFile">Parse Configuration</el-button>
+      </div>
+    </div>
+
+    <!-- Step 2: Preview -->
+    <div v-if="step === 'preview'">
+      <el-alert
+        v-if="parseErrors.length > 0"
+        type="warning"
+        :closable="false"
+        style="margin-bottom: 15px;"
+      >
+        <template #title>Parse Warnings ({{ parseErrors.length }})</template>
+        <div v-for="(err, idx) in parseErrors.slice(0, 10)" :key="idx" style="font-size: 12px;">
+          {{ err.line ? `Line ${err.line}: ` : '' }}{{ err.message }}
+        </div>
+        <div v-if="parseErrors.length > 10" style="font-size: 12px; color: #909399;">
+          ... and {{ parseErrors.length - 10 }} more warnings
+        </div>
+      </el-alert>
+
+      <el-alert
+        type="info"
+        :closable="false"
+        style="margin-bottom: 15px;"
+      >
+        <template #title>
+          Found {{ parsedModules.length }} module(s). Module type defaults to H750 Universal Module (0x03).
+        </template>
+      </el-alert>
+
+      <el-table :data="parsedModules" border size="small">
+        <el-table-column prop="sn" label="SN" width="80" />
+        <el-table-column label="Latency Topic" min-width="180">
+          <template #default="{ row }">{{ row.latency_topic }}</template>
+        </el-table-column>
+        <el-table-column label="Tasks">
+          <template #default="{ row }">
+            <el-tag
+              v-for="(t, i) in row.task"
+              :key="i"
+              size="small"
+              style="margin: 2px;"
+            >
+              {{ getAppTypeFriendlyName(t.type) }}
+            </el-tag>
+            <span v-if="row.task.length === 0" style="color: #909399;">(none)</span>
+          </template>
+        </el-table-column>
+      </el-table>
+
+      <div style="margin-top: 15px; text-align: right;">
+        <el-button @click="step = 'select'">Back</el-button>
+        <el-button type="primary" @click="doImport">
+          Import (replace current config)
+        </el-button>
+      </div>
+    </div>
+
+    <!-- Step 3: Done -->
+    <div v-if="step === 'done'" style="text-align: center; padding: 20px 0;">
+      <el-icon :size="48" style="color: #67c23a;"><CircleCheckFilled /></el-icon>
+      <div style="margin-top: 12px; font-size: 16px; font-weight: 500;">Import Successful</div>
+      <div style="margin-top: 4px; color: #909399;">
+        {{ parsedModules.length }} module(s) loaded into editor
+      </div>
+      <el-button type="primary" style="margin-top: 20px;" @click="close">Close</el-button>
+    </div>
+  </el-dialog>
+</template>
+
+<script>
+import { UploadFilled, CircleCheckFilled } from '@element-plus/icons-vue';
+import { parseConfigYaml } from '@/utils/parse-config';
+
+export default {
+  name: 'ImportConfigDialog',
+  components: { UploadFilled, CircleCheckFilled },
+  props: {
+    modelValue: Boolean,
+  },
+  emits: ['update:modelValue', 'imported'],
+  data() {
+    return {
+      step: 'select',
+      fileContent: '',
+      fileName: '',
+      parsedModules: [],
+      parseErrors: [],
+    };
+  },
+  computed: {
+    visible: {
+      get() { return this.modelValue; },
+      set(val) { this.$emit('update:modelValue', val); },
+    },
+  },
+  methods: {
+    handleFileChange(file) {
+      this.fileName = file.name;
+      const reader = new FileReader();
+      reader.onload = (e) => {
+        this.fileContent = e.target.result;
+      };
+      reader.readAsText(file.raw);
+    },
+
+    parseFile() {
+      const result = parseConfigYaml(this.fileContent);
+      this.parsedModules = result.modules;
+      this.parseErrors = result.errors;
+
+      if (this.parsedModules.length === 0) {
+        this.parseErrors.push({ message: 'No valid modules found in file' });
+        return;
+      }
+      this.step = 'preview';
+    },
+
+    doImport() {
+      let uidCounter = Date.now();
+      this.parsedModules.forEach(mod => {
+        mod._uid = uidCounter++;
+        if (mod.task) {
+          mod.task.forEach(t => { t._uid = uidCounter++; });
+        }
+      });
+      this.$emit('imported', this.parsedModules);
+      this.step = 'done';
+    },
+
+    reset() {
+      this.step = 'select';
+      this.fileContent = '';
+      this.fileName = '';
+      this.parsedModules = [];
+      this.parseErrors = [];
+    },
+
+    close() {
+      this.visible = false;
+    },
+
+    getAppTypeFriendlyName(hexId) {
+      switch (hexId) {
+        case 1: return 'DJI RC';
+        case 2: return 'LkTech Motor';
+        case 3: return 'HIPNUC IMU(CAN)';
+        case 4: return 'DSHOT600';
+        case 5: return 'DJI Motor';
+        case 6: return 'OnBoard PWM';
+        case 7: return 'External PWM';
+        case 8: return 'MS5837(30BA)';
+        case 10: return 'PMU(CAN)';
+        case 11: return 'SBUS RC';
+        case 12: return 'DM Motor';
+        case 13: return 'Super Capacitor';
+        case 14: return 'DJI VT13';
+        case 15: return 'DD Motor';
+        default: return `Unknown (${hexId})`;
+      }
+    },
+  },
+};
+</script>
diff --git a/src/pages/ModuleSettings.vue b/src/pages/ModuleSettings.vue
index 5210f34..cf4c8dd 100644
--- a/src/pages/ModuleSettings.vue
+++ b/src/pages/ModuleSettings.vue
@@ -6,6 +6,9 @@
     <el-divider>
       <span>
         Module List
+        <el-button type="" size="small" style="margin-left: 15px;" @click="showImportDialog = true">
+          Import Config
+        </el-button>
       </span>
     </el-divider>
     <div>
@@ -850,11 +853,14 @@
       </el-table>
 
     </div>
+
+    <import-config-dialog v-model="showImportDialog" @imported="handleImport" />
   </div>
 </template>
 
 <script>
 
+  import ImportConfigDialog from "@/components/module-settings/ImportConfigDialog.vue";
 import ConnectionLostActionSelector from "@/components/ConnectionLostActionSelector.vue";
 import ReadDmMotor from "@/components/message-types/ReadDmMotor.vue";
 import ReadSBUSRC from "@/components/message-types/ReadSBUSRC.vue";
@@ -897,6 +903,7 @@ import ModuleAddButtons from "@/components/module-settings/ModuleAddButtons.vue"
 export default {
   name: 'ModuleSettings',
   components: {
+    ImportConfigDialog,
     ModuleAddButtons,
     ReadCANPMU,
     WriteLkMotorSingleRoundPositionControlWithSpeedLimit,
@@ -1131,6 +1138,7 @@ export default {
         },
       },
       modules: [],
+      showImportDialog: false,
     }
   },
   watch: {
@@ -1230,6 +1238,10 @@ export default {
         }
       })
       return targetObj
+    },
+    handleImport(importedModules) {
+      this.modules = importedModules;
+      this.showImportDialog = false;
     }
   }
 }
diff --git a/src/utils/parse-config.js b/src/utils/parse-config.js
new file mode 100644
index 0000000..2fc6e43
--- /dev/null
+++ b/src/utils/parse-config.js
@@ -0,0 +1,454 @@
+/**
+ * parse-config.js
+ * Parses a generated config.yaml back into the modules_info data structure
+ * for re-editing in the TaskEditor.
+ *
+ * Two-pass architecture:
+ *   Pass 1 (tokenize): line-by-line extraction of flat key-value pairs
+ *   Pass 2 (map): task-type-specific mappers convert flat data to structured objects
+ */
+
+// ─── Helpers ────────────────────────────────────────────────────────────────
+
+const VALID_TAGS = new Set([
+  'uint8_t', 'uint16_t', 'uint32_t',
+  'int8_t', 'int16_t', 'int32_t',
+  'float', 'std::string',
+]);
+
+const INT_TAGS = new Set([
+  'uint8_t', 'uint16_t', 'uint32_t',
+  'int8_t', 'int16_t', 'int32_t',
+]);
+
+function parseTypedValue(rawValue, tag, lineNum, errors) {
+  if (tag === 'std::string') {
+    if ((rawValue.startsWith("'") && rawValue.endsWith("'")) ||
+        (rawValue.startsWith('"') && rawValue.endsWith('"'))) {
+      return rawValue.slice(1, -1);
+    }
+    return rawValue;
+  }
+  if (tag === 'float') {
+    const num = parseFloat(rawValue);
+    if (isNaN(num)) {
+      errors.push({ line: lineNum + 1, message: `Invalid float value: "${rawValue}"` });
+      return 0;
+    }
+    return num;
+  }
+  if (INT_TAGS.has(tag)) {
+    if (rawValue.startsWith('0x') || rawValue.startsWith('0X')) {
+      const num = parseInt(rawValue, 16);
+      if (isNaN(num)) {
+        errors.push({ line: lineNum + 1, message: `Invalid hex value: "${rawValue}" for !${tag}` });
+        return 0;
+      }
+      return num;
+    }
+    const num = parseInt(rawValue, 10);
+    if (isNaN(num)) {
+      errors.push({ line: lineNum + 1, message: `Invalid integer value: "${rawValue}" for !${tag}` });
+      return 0;
+    }
+    return num;
+  }
+  // Unknown tag — should not happen if parsePropertyLine validates
+  errors.push({ line: lineNum + 1, message: `Unknown type tag: !${tag}` });
+  return rawValue;
+}
+
+function parsePropertyLine(trimmed, lineNum, errors) {
+  const propMatch = trimmed.match(/^([\w]+):\s+!(\S+)\s+(.+)$/);
+  if (propMatch) {
+    const tag = propMatch[2];
+    if (!VALID_TAGS.has(tag)) {
+      errors.push({ line: lineNum + 1, message: `Unknown type tag !${tag}, expected one of: ${[...VALID_TAGS].join(', ')}` });
+      return null;
+    }
+    return { key: propMatch[1], value: parseTypedValue(propMatch[3].trim(), tag, lineNum, errors) };
+  }
+  // Lines without a !type tag are invalid in this config format
+  const fallback = trimmed.match(/^([\w]+):\s+(.+)$/);
+  if (fallback) {
+    errors.push({ line: lineNum + 1, message: `Missing type tag on "${fallback[1]}", expected format: key: !type value` });
+    return null;
+  }
+  return null;
+}
+
+function stripHexPrefix(value) {
+  if (value === undefined || value === null) return '';
+  if (typeof value === 'number') {
+    return value.toString(16).padStart(2, '0');
+  }
+  return String(value).replace(/^0x/i, '');
+}
+
+function defaultPid() {
+  return { kp: 1, ki: 0, kd: 0, maxout: 10000, maxiout: 1000 };
+}
+
+function extractPidParams(flat, prefix) {
+  const pid = defaultPid();
+  const yamlFields = ['kp', 'ki', 'kd', 'max_out', 'max_iout'];
+  const localFields = ['kp', 'ki', 'kd', 'maxout', 'maxiout'];
+  for (let i = 0; i < yamlFields.length; i++) {
+    const key = `${prefix}_${yamlFields[i]}`;
+    if (key in flat) pid[localFields[i]] = flat[key];
+  }
+  return pid;
+}
+
+/**
+ * Reverse of get_dji_motor_report_id from generate-module-def.js
+ */
+function reverseDjiMotorId(canPacketId, reportId) {
+  const ctrlId = typeof canPacketId === 'number'
+    ? '0x' + canPacketId.toString(16)
+    : canPacketId;
+  switch (ctrlId) {
+    case '0x200':
+      return reportId - 0x200;
+    case '0x2ff':
+    case '0x2fe':
+    case '0x1fe':
+      return reportId - 0x204;
+    case '0x1ff':
+      if (reportId >= 0x205 && reportId <= 0x208) return reportId - 0x204;
+      return reportId - 0x200;
+    default:
+      return reportId - 0x200;
+  }
+}
+
+// ─── Pass 1: Tokenize ───────────────────────────────────────────────────────
+
+function pass1Tokenize(yamlText) {
+  const lines = yamlText.split('\n');
+  const modules = [];
+  const errors = [];
+  let currentModule = null;
+  let currentTask = null;
+  let inTasksSection = false;
+
+  for (let i = 0; i < lines.length; i++) {
+    const line = lines[i];
+    const trimmed = line.trimStart();
+    if (trimmed === '' || trimmed.startsWith('#') || trimmed === 'slaves:') continue;
+
+    // Module header: "  - sn{N}:"
+    const moduleMatch = trimmed.match(/^- (sn\d+):$/);
+    if (moduleMatch) {
+      currentModule = { sn: moduleMatch[1].replace('sn', ''), latency_topic: '', tasks: [] };
+      modules.push(currentModule);
+      currentTask = null;
+      inTasksSection = false;
+      continue;
+    }
+
+    if (!currentModule) {
+      errors.push({ line: i + 1, message: `Line outside module: ${trimmed}` });
+      continue;
+    }
+
+    // "tasks:" marks start of tasks section
+    if (!inTasksSection && trimmed === 'tasks:') {
+      inTasksSection = true;
+      continue;
+    }
+
+    // Module-level properties (before tasks section)
+    if (!inTasksSection) {
+      if (trimmed.startsWith('latency_pub_topic:')) {
+        const parsed = parsePropertyLine(trimmed, i, errors);
+        if (parsed) currentModule.latency_topic = parsed.value;
+      }
+      // sdo_len, task_count are informational — skip
+      continue;
+    }
+
+    // Task header: "        - app_{N}:"
+    const taskMatch = trimmed.match(/^- app_\d+:$/);
+    if (taskMatch) {
+      currentTask = { _flat: {} };
+      currentModule.tasks.push(currentTask);
+      continue;
+    }
+
+    if (!currentTask) {
+      errors.push({ line: i + 1, message: `Property before task header: ${trimmed}` });
+      continue;
+    }
+
+    // Task properties
+    const parsed = parsePropertyLine(trimmed, i, errors);
+    if (parsed) {
+      currentTask._flat[parsed.key] = parsed.value;
+    }
+  }
+
+  return { modules, errors };
+}
+
+// ─── Pass 2: Task-type mappers ──────────────────────────────────────────────
+
+function mapDjirc(flat) {
+  return {
+    type: 0x01,
+    read_topic: flat['pub_topic'] || '',
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+  };
+}
+
+function mapVt13(flat) {
+  return {
+    type: 14,
+    read_topic: flat['pub_topic'] || '',
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+  };
+}
+
+function mapSbusRc(flat) {
+  return {
+    type: 11,
+    read_topic: flat['pub_topic'] || '',
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+  };
+}
+
+function mapLkMotor(flat) {
+  const canPacketId = flat['sdowrite_can_packet_id'] ?? 0x141;
+  return {
+    type: 0x02,
+    can_inst: flat['sdowrite_can_inst'] ?? 1,
+    motor_id: canPacketId - 0x140 || 1,
+    can_packet_id: canPacketId,
+    control_period: flat['sdowrite_control_period'] ?? 1,
+    control_type: flat['sdowrite_control_type'] ?? 0x01,
+    read_topic: flat['pub_topic'] || '',
+    write_topic: flat['sub_topic'] || '',
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+    connection_lost_write_action: flat['sdowrite_connection_lost_write_action'] ?? 0x01,
+  };
+}
+
+function mapHipnucImu(flat) {
+  return {
+    type: 0x03,
+    read_topic: flat['pub_topic'] || '',
+    frame_name: flat['conf_frame_name'] || 'imu_link',
+    can_inst: flat['sdowrite_can_inst'] ?? 1,
+    packet1_id: stripHexPrefix(flat['sdowrite_packet1_id']),
+    packet2_id: stripHexPrefix(flat['sdowrite_packet2_id']),
+    packet3_id: stripHexPrefix(flat['sdowrite_packet3_id']),
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+  };
+}
+
+function mapDshot(flat) {
+  return {
+    type: 0x04,
+    dshot_id: flat['sdowrite_dshot_id'] ?? 1,
+    write_topic: flat['sub_topic'] || '',
+    init_value: flat['sdowrite_init_value'] ?? 0,
+    connection_lost_write_action: flat['sdowrite_connection_lost_write_action'] ?? 0x01,
+  };
+}
+
+function mapDjiMotor(flat) {
+  const canPacketId = flat['sdowrite_can_packet_id'] ?? 0x200;
+  const motor_enable = [false, false, false, false];
+  const motor_id = [1, 2, 3, 4];
+  const motor_control_type = [0x01, 0x01, 0x01, 0x01];
+  const motor_speed_pid_param = [defaultPid(), defaultPid(), defaultPid(), defaultPid()];
+  const motor_angle_pid_param = [defaultPid(), defaultPid(), defaultPid(), defaultPid()];
+
+  for (let i = 1; i <= 4; i++) {
+    const canIdKey = `sdowrite_motor${i}_can_id`;
+    if (canIdKey in flat && flat[canIdKey] !== 0) {
+      motor_enable[i - 1] = true;
+      motor_id[i - 1] = reverseDjiMotorId(canPacketId, flat[canIdKey]);
+    }
+    const ctrlKey = `sdowrite_motor${i}_control_type`;
+    if (ctrlKey in flat) motor_control_type[i - 1] = flat[ctrlKey];
+    motor_speed_pid_param[i - 1] = extractPidParams(flat, `sdowrite_motor${i}_speed_pid`);
+    motor_angle_pid_param[i - 1] = extractPidParams(flat, `sdowrite_motor${i}_angle_pid`);
+  }
+
+  return {
+    type: 0x05,
+    can_inst: flat['sdowrite_can_inst'] ?? 1,
+    can_packet_id: canPacketId,
+    control_period: flat['sdowrite_control_period'] ?? 1,
+    motor_enable,
+    motor_id,
+    motor_control_type,
+    motor_speed_pid_param,
+    motor_angle_pid_param,
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+    connection_lost_write_action: flat['sdowrite_connection_lost_write_action'] ?? 0x01,
+    read_topic: flat['pub_topic'] || '',
+    write_topic: flat['sub_topic'] || '',
+  };
+}
+
+function mapOnboardPwm(flat) {
+  return {
+    type: 6,
+    port_id: flat['sdowrite_port_id'] ?? 1,
+    expected_period: flat['sdowrite_pwm_period'] ?? 0,
+    init_value: flat['sdowrite_init_value'] ?? 0,
+    write_topic: flat['sub_topic'] || '',
+    connection_lost_write_action: flat['sdowrite_connection_lost_write_action'] ?? 0x01,
+  };
+}
+
+function mapExternalPwm(flat) {
+  return {
+    type: 7,
+    uart_id: flat['sdowrite_uart_id'] ?? 1,
+    expected_period: flat['sdowrite_pwm_period'] ?? 0,
+    enabled_channel_count: flat['sdowrite_channel_num'] ?? 1,
+    init_value: flat['sdowrite_init_value'] ?? 0,
+    write_topic: flat['sub_topic'] || '',
+    connection_lost_write_action: flat['sdowrite_connection_lost_write_action'] ?? 0x01,
+  };
+}
+
+function mapMs5837(flat) {
+  return {
+    type: 8,
+    i2c_id: flat['sdowrite_i2c_id'] ?? 3,
+    osr_id: flat['sdowrite_osr_id'] ?? 1,
+    read_topic: flat['pub_topic'] || '',
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+  };
+}
+
+function mapPmu(flat) {
+  return {
+    type: 10,
+    read_topic: flat['pub_topic'] || '',
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+  };
+}
+
+function mapDmMotor(flat) {
+  return {
+    type: 12,
+    can_inst: flat['sdowrite_can_inst'] ?? 1,
+    can_id: stripHexPrefix(flat['sdowrite_can_id']),
+    master_id: stripHexPrefix(flat['sdowrite_master_id']),
+    control_period: flat['sdowrite_control_period'] ?? 1,
+    control_type: flat['sdowrite_control_type'] ?? 1,
+    pmax: flat['conf_pmax'] ?? 3.141592653589793,
+    vmax: flat['conf_vmax'] ?? 30,
+    tmax: flat['conf_tmax'] ?? 10,
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+    connection_lost_write_action: flat['sdowrite_connection_lost_write_action'] ?? 0x01,
+    read_topic: flat['pub_topic'] || '',
+    write_topic: flat['sub_topic'] || '',
+  };
+}
+
+function mapSuperCap(flat) {
+  return {
+    type: 13,
+    can_inst: flat['sdowrite_can_inst'] ?? 1,
+    chassis_to_cap_id: stripHexPrefix(flat['sdowrite_chassis_to_cap_id']),
+    cap_to_chassis_id: stripHexPrefix(flat['sdowrite_cap_to_chassis_id']),
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+    connection_lost_write_action: flat['sdowrite_connection_lost_write_action'] ?? 0x01,
+    read_topic: flat['pub_topic'] || '',
+    write_topic: flat['sub_topic'] || '',
+  };
+}
+
+function mapDdMotor(flat) {
+  const motor_enable = [false, false, false, false];
+  const motor_id = [1, 2, 3, 4];
+  const motor_control_type = [0x01, 0x01, 0x01, 0x01];
+
+  for (let i = 1; i <= 4; i++) {
+    const canIdKey = `sdowrite_motor${i}_can_id`;
+    if (canIdKey in flat && flat[canIdKey] !== 0) {
+      motor_enable[i - 1] = true;
+      motor_id[i - 1] = flat[canIdKey] - 0x96;
+    }
+    const ctrlKey = `sdowrite_motor${i}_control_type`;
+    if (ctrlKey in flat) motor_control_type[i - 1] = flat[ctrlKey];
+  }
+
+  return {
+    type: 15,
+    can_inst: flat['sdowrite_can_inst'] ?? 1,
+    can_type: flat['sdowrite_can_baudrate'] ?? 1,
+    can_packet_id: flat['sdowrite_can_packet_id'] ?? 0x32,
+    control_period: flat['sdowrite_control_period'] ?? 1,
+    motor_enable,
+    motor_id,
+    motor_control_type,
+    connection_lost_read_action: flat['conf_connection_lost_read_action'] ?? 0x01,
+    connection_lost_write_action: flat['sdowrite_connection_lost_write_action'] ?? 0x01,
+    read_topic: flat['pub_topic'] || '',
+    write_topic: flat['sub_topic'] || '',
+  };
+}
+
+const TASK_MAPPERS = {
+  1: mapDjirc,
+  2: mapLkMotor,
+  3: mapHipnucImu,
+  4: mapDshot,
+  5: mapDjiMotor,
+  6: mapOnboardPwm,
+  7: mapExternalPwm,
+  8: mapMs5837,
+  10: mapPmu,
+  11: mapSbusRc,
+  12: mapDmMotor,
+  13: mapSuperCap,
+  14: mapVt13,
+  15: mapDdMotor,
+};
+
+// ─── Main entry ─────────────────────────────────────────────────────────────
+
+export function parseConfigYaml(yamlText) {
+  if (!yamlText || typeof yamlText !== 'string') {
+    return { modules: [], errors: [{ message: 'Empty or invalid input' }] };
+  }
+
+  const { modules: rawModules, errors } = pass1Tokenize(yamlText);
+
+  const modules = rawModules.map(rawMod => {
+    const tasks = rawMod.tasks.map(rawTask => {
+      const taskType = rawTask._flat['sdowrite_task_type'];
+      if (taskType === undefined) {
+        errors.push({ message: 'Task missing sdowrite_task_type, skipped' });
+        return null;
+      }
+      const mapper = TASK_MAPPERS[taskType];
+      if (!mapper) {
+        errors.push({ message: `Unknown task type ${taskType}, skipped` });
+        return null;
+      }
+      try {
+        return mapper(rawTask._flat);
+      } catch (e) {
+        errors.push({ message: `Error parsing task type ${taskType}: ${e.message}` });
+        return null;
+      }
+    }).filter(Boolean);
+
+    return {
+      type: 0x03,
+      sn: rawMod.sn,
+      latency_topic: rawMod.latency_topic,
+      task: tasks,
+    };
+  });
+
+  return { modules, errors };
+}

From da82f629ab77d1dbec073c611985f8cbfaeb4a1a Mon Sep 17 00:00:00 2001
From: GentleLijie <zljzljsweepy@qq.com>
Date: Fri, 17 Apr 2026 15:07:10 +0800
Subject: [PATCH 2/4] feat: Add EtherCAT Import configuration, validation
 scripts and move task function

- Introduced a new YAML configuration file for EtherCAT slaves
- Implemented a verification script to validate the config file
- Added utility functions for config validation, including type checks
- Ensured proper error and warning reporting for configuration issues
---
 .DS_Store                                     | Bin 0 -> 6148 bytes
 CLAUDE.md                                     | 105 ---
 config_sentry_vt13.yaml                       | 128 +++
 package.json                                  |   1 +
 scripts/verify-config.js                      | 113 +++
 .../module-settings/ImportConfigDialog.vue    |  60 +-
 src/pages/ModuleSettings.vue                  |  36 +
 src/utils/verify-config.js                    | 802 ++++++++++++++++++
 8 files changed, 1139 insertions(+), 106 deletions(-)
 create mode 100644 .DS_Store
 delete mode 100644 CLAUDE.md
 create mode 100644 config_sentry_vt13.yaml
 create mode 100644 scripts/verify-config.js
 create mode 100644 src/utils/verify-config.js

diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..b4dc850d06e5107e997fa8fc4df69bbe82bc4099
GIT binary patch
literal 6148
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zU4v2uPa<{(X5MsmCds@F*$x1R?sU`wr~^P1m9XTZ`9f%&bV*7!QbrW|8WYGMee{z!
zQcKw!_=^nC-Z_xM5E2OC!~Vs$xPrS1Wn4{Q7|ha15UBtoFTo@V)2!Ki6{T`zZQXHP
zr{-MycWUNmgKV012gxP<I#VhN-u*#v9*$@I`sT5Uvq2b-6I~FF#+Y(-5ym4m>#Auy
zN_DMo7F@UL_Uqg8`QbskA)AYaoOkw{4cTe67Ynz#wYzt8+P{w;V)cYih9c;hNj3}=
z_8C3fi+Mwf4vQ3am;q*h8CVep?3c1yTakXbO=f@@_&EdgeUPYxp2ggt{&b+xBLHFr
z!&=a%S%PY$MbBbx5LZxyDMd7;!j2filw(}lJkMfo(3FF)!-ueU7Is1r`tEprsnbDt
z2H7$L%)n;`X!b*?)A@h${rs<!*f0ak!2e`GRC<1|i@n*ib*W1_YbELpDhcJ~28$AO
i^ihntbQJHPYQeZ92hp>b8^j0-{}IqMuwe#%m4P>_E>Bnh

literal 0
HcmV?d00001

diff --git a/CLAUDE.md b/CLAUDE.md
deleted file mode 100644
index c5f0764..0000000
--- a/CLAUDE.md
+++ /dev/null
@@ -1,105 +0,0 @@
-# CLAUDE.md - EtherCAT TaskEditor 项目指南
-
-## 项目概述
-
-EtherCAT TaskEditor 是一个基于 Vue 2 的 Web 应用，用于配置 EtherCAT 从站模块并生成对应的 `config.yaml` 配置文件。该配置文件供 [EcatV2_Master](https://github.com/AIMEtherCAT/EcatV2_Master) 使用。
-
-## 技术栈
-
-- **框架**: Vue 2.6 (Options API)
-- **UI 库**: Element UI 2.x
-- **构建工具**: Vue CLI 4.5
-- **包管理**: npm / yarn
-- **其他依赖**: echarts, three.js, urdf-loader, xacro-parser, lodash, axios
-
-## 开发命令
-
-```bash
-npm install        # 安装依赖
-npm run serve      # 启动开发服务器 (需要 --openssl-legacy-provider)
-npm run build      # 构建生产版本
-npm run lint       # 代码检查
-```
-
-注意：由于 Node.js 版本兼容性问题，`serve` 和 `build` 脚本中设置了 `NODE_OPTIONS=--openssl-legacy-provider`。
-
-## 项目结构
-
-```
-src/
-├── App.vue                              # 根组件，包含两个 Tab 页
-├── main.js                              # 入口文件，注册 Element UI
-├── pages/
-│   ├── module_settings.vue              # 模块配置页面（主要交互页面）
-│   └── code_generator.vue               # YAML 生成与下载页面
-├── components/
-│   ├── CanSelector.vue                  # CAN 总线实例选择器
-│   ├── ConnectionLostActionSelector.vue  # 连接丢失动作选择器
-│   ├── ControlPeriodInput.vue           # 控制周期输入
-│   ├── HexInput.vue                     # 十六进制输入框
-│   ├── NumberInput.vue                  # 通用数字输入框
-│   ├── PortSelector.vue                # 端口选择器
-│   ├── Ros2TopicNameInput.vue          # ROS2 Topic 名称输入
-│   └── message_types/                  # ROS2 消息定义展示组件
-│       ├── Read*.vue                   # 读消息类型（从站→主站）
-│       └── Write*.vue                  # 写消息类型（主站→从站）
-└── utils/
-    └── generate-module-def.js          # 核心 YAML 生成逻辑
-```
-
-## 核心架构
-
-### 数据流
-
-1. 用户在 `module_settings.vue` 中添加模块和任务，数据保存在 `localStorage` 的 `modules_info` 键中
-2. 切换到 `code_generator.vue` Tab 时，读取 `localStorage` 中的配置
-3. `generate-module-def.js` 中的 `generateModuleDef()` 函数计算 PDO/SDO 偏移量并生成 YAML 文本
-4. 用户可下载完整的 `config.yaml` 文件
-
-### 模块类型 (Module Types)
-
-| Type ID | 名称 | PDO 限制 (TX/RX) |
-|---------|------|-------------------|
-| 0x03 | H750 Universal Module | 80 / 80 bytes |
-| 0x04 | H750 Universal Module (Large PDO V.) | 112 / 80 bytes |
-
-### 任务类型 (Task/App Types)
-
-| Type ID | 名称 | 方向 | 说明 |
-|---------|------|------|------|
-| 0x01 | DJI RC | Read | DJI 遥控器 |
-| 0x02 | LkTech Motor | Read+Write | 力矩电机（多种控制模式） |
-| 0x03 | HIPNUC IMU | Read | CAN 总线 IMU |
-| 0x04 | DSHOT600 | Write | ESC 电调协议 |
-| 0x05 | DJI Motor | Read+Write | 大疆电机（最多 4 个，含 PID 配置） |
-| 0x06 | OnBoard PWM | Write | 板载 PWM |
-| 0x07 | External PWM | Write | 外置 PWM 板 |
-| 0x08 | MS5837(30BA) | Read | I2C 压力传感器 |
-| 0x0A | PMU(CAN) | Read | CAN 电源管理单元 |
-| 0x0B | SBUS RC | Read | SBUS 遥控器 |
-| 0x0C | DM Motor | Read+Write | 达妙电机 |
-| 0x0D | Super Capacitor | Read+Write | 超级电容 |
-
-## 编码约定
-
-- 使用 Vue 2 Options API（`data()`, `methods`, `watch`, `mounted`）
-- 组件通过 `localStorage` 共享状态，未使用 Vuex
-- 任务类型使用十六进制 ID 标识（如 `0x01`, `0x05`）
-- 任务数据模板定义在 `module_settings.vue` 的 `examples` 对象中，新增任务类型需在此添加默认配置
-- `generate-module-def.js` 中的 `switch(task_info.type)` 是 YAML 生成的核心分发逻辑，新增任务类型需在此添加生成分支
-- ROS2 消息展示组件放在 `src/components/message_types/` 目录下
-
-## 新增任务类型的步骤
-
-1. 在 `module_settings.vue` 的 `examples` 中添加任务默认数据模板
-2. 在 `module_settings.vue` 的 `getAppTypeFriendlyName()` 中添加友好名称
-3. 在 `module_settings.vue` 的模板中添加该任务类型的配置表单
-4. 在 `src/components/message_types/` 中创建对应的 ROS2 消息展示组件
-5. 在 `generate-module-def.js` 的 `switch` 中添加该类型的 YAML 生成逻辑（包括 PDO 偏移计算）
-6. 在 `code_generator.vue` 中验证 PDO 长度是否溢出
-
-## 部署
-
-- `vue.config.js` 中配置了 `publicPath: '/TaskEditor/'`
-- 构建产物在 `dist/` 目录
-- 应用版本号在 `App.vue` 中标注（当前为 v2.1）
diff --git a/config_sentry_vt13.yaml b/config_sentry_vt13.yaml
new file mode 100644
index 0000000..6ed394c
--- /dev/null
+++ b/config_sentry_vt13.yaml
@@ -0,0 +1,128 @@
+slaves:
+  - sn4653115:
+      sdo_len: !uint16_t 151
+      task_count: !uint8_t 4
+      latency_pub_topic: !std::string "/ecat/sn4653115/latency"
+
+      tasks:
+        - app_1:
+            sdowrite_task_type: !uint8_t 3
+            conf_connection_lost_read_action: !uint8_t 0x01
+            pub_topic: !std::string "/ecat/sn4653115/app2/read"
+            pdoread_offset: !uint16_t 0
+            sdowrite_can_inst: !uint8_t 2
+            sdowrite_packet1_id: !uint32_t 0x01
+            sdowrite_packet2_id: !uint32_t 0x02
+            sdowrite_packet3_id: !uint32_t 0x03
+            conf_frame_name: !std::string "imu_link"
+
+        - app_2:
+            sdowrite_task_type: !uint8_t 5
+            conf_connection_lost_read_action: !uint8_t 0x01
+            sdowrite_connection_lost_write_action: !uint8_t 0x02
+            pub_topic: !std::string "/ecat/sn4653115/app3/read"
+            pdoread_offset: !uint16_t 21
+            sub_topic: !std::string "/ecat/sn4653115/app3/write"
+            pdowrite_offset: !uint16_t 0
+            sdowrite_control_period: !uint16_t 1
+            sdowrite_can_packet_id: !uint32_t 0x200
+            sdowrite_motor1_can_id: !uint32_t 0x201
+            sdowrite_motor2_can_id: !uint32_t 0x202
+            sdowrite_motor3_can_id: !uint32_t 0x203
+            sdowrite_motor4_can_id: !uint32_t 0
+            sdowrite_can_inst: !uint8_t 1
+            sdowrite_motor1_control_type: !uint8_t 2
+            sdowrite_motor1_speed_pid_kp: !float 13.5
+            sdowrite_motor1_speed_pid_ki: !float 1
+            sdowrite_motor1_speed_pid_kd: !float 0
+            sdowrite_motor1_speed_pid_max_out: !float 16384
+            sdowrite_motor1_speed_pid_max_iout: !float 2000
+            sdowrite_motor2_control_type: !uint8_t 2
+            sdowrite_motor2_speed_pid_kp: !float 13.5
+            sdowrite_motor2_speed_pid_ki: !float 1
+            sdowrite_motor2_speed_pid_kd: !float 0
+            sdowrite_motor2_speed_pid_max_out: !float 16384
+            sdowrite_motor2_speed_pid_max_iout: !float 2000
+            sdowrite_motor3_control_type: !uint8_t 1
+
+        - app_3:
+            sdowrite_task_type: !uint8_t 5
+            conf_connection_lost_read_action: !uint8_t 0x01
+            sdowrite_connection_lost_write_action: !uint8_t 0x02
+            pub_topic: !std::string "/ecat/sn4653115/app4/read"
+            pdoread_offset: !uint16_t 48
+            sub_topic: !std::string "/ecat/sn4653115/app4/write"
+            pdowrite_offset: !uint16_t 9
+            sdowrite_control_period: !uint16_t 1
+            sdowrite_can_packet_id: !uint32_t 0x1ff
+            sdowrite_motor1_can_id: !uint32_t 0
+            sdowrite_motor2_can_id: !uint32_t 0
+            sdowrite_motor3_can_id: !uint32_t 0
+            sdowrite_motor4_can_id: !uint32_t 0x208
+            sdowrite_can_inst: !uint8_t 1
+            sdowrite_motor4_control_type: !uint8_t 3
+            sdowrite_motor4_speed_pid_kp: !float 65
+            sdowrite_motor4_speed_pid_ki: !float 0.2
+            sdowrite_motor4_speed_pid_kd: !float 0
+            sdowrite_motor4_speed_pid_max_out: !float 25000
+            sdowrite_motor4_speed_pid_max_iout: !float 3000
+            sdowrite_motor4_angle_pid_kp: !float 1.5
+            sdowrite_motor4_angle_pid_ki: !float 0
+            sdowrite_motor4_angle_pid_kd: !float 10.5
+            sdowrite_motor4_angle_pid_max_out: !float 1800
+            sdowrite_motor4_angle_pid_max_iout: !float 0
+
+        - app_4:
+            sdowrite_task_type: !uint8_t 14
+            conf_connection_lost_read_action: !uint8_t 0x02
+            pub_topic: !std::string "/ecat/sn4653115/vt13/read"
+            pdoread_offset: !uint16_t 57
+
+  - sn4128829:
+      sdo_len: !uint16_t 11
+      task_count: !uint8_t 1
+      latency_pub_topic: !std::string "/ecat/sn4128829/latency"
+
+      tasks:
+        - app_1:
+            sdowrite_task_type: !uint8_t 2
+            conf_connection_lost_read_action: !uint8_t 0x01
+            sdowrite_connection_lost_write_action: !uint8_t 0x02
+            pub_topic: !std::string "/ecat/sn4128829/app1/read"
+            pdoread_offset: !uint16_t 0
+            sub_topic: !std::string "/ecat/sn4128829/app1/write"
+            pdowrite_offset: !uint16_t 0
+            sdowrite_control_period: !uint16_t 1
+            sdowrite_can_packet_id: !uint32_t 0x141
+            sdowrite_can_inst: !uint8_t 1
+            sdowrite_control_type: !uint8_t 2
+
+  - sn2228292:
+      sdo_len: !uint16_t 13
+      task_count: !uint8_t 2
+      latency_pub_topic: !std::string "/ecat/sn2228292/latency"
+
+      tasks:
+        - app_1:
+            sdowrite_task_type: !uint8_t 2
+            conf_connection_lost_read_action: !uint8_t 0x01
+            sdowrite_connection_lost_write_action: !uint8_t 0x02
+            pub_topic: !std::string "/ecat/sn2228292/app1/read"
+            pdoread_offset: !uint16_t 0
+            sub_topic: !std::string "/ecat/sn2228292/app1/write"
+            pdowrite_offset: !uint16_t 0
+            sdowrite_control_period: !uint16_t 1
+            sdowrite_can_inst: !uint8_t 1
+            sdowrite_control_type: !uint8_t 8
+
+        - app_2:
+            sdowrite_task_type: !uint8_t 2
+            conf_connection_lost_read_action: !uint8_t 0x01
+            sdowrite_connection_lost_write_action: !uint8_t 0x02
+            pub_topic: !std::string "/ecat/sn2228292/app2/read"
+            pdoread_offset: !uint16_t 32
+            sub_topic: !std::string "/ecat/sn2228292/app2/write"
+            pdowrite_offset: !uint16_t 8
+            sdowrite_control_period: !uint16_t 1
+            sdowrite_can_inst: !uint8_t 2
+            sdowrite_control_type: !uint8_t 8
diff --git a/package.json b/package.json
index 490c629..417c898 100644
--- a/package.json
+++ b/package.json
@@ -2,6 +2,7 @@
   "name": "EtherCAT_TaskEditor",
   "version": "0.1.0",
   "private": true,
+  "type": "module",
   "scripts": {
     "serve": "vite",
     "build": "vite build",
diff --git a/scripts/verify-config.js b/scripts/verify-config.js
new file mode 100644
index 0000000..cf8c3cd
--- /dev/null
+++ b/scripts/verify-config.js
@@ -0,0 +1,113 @@
+#!/usr/bin/env node
+/**
+ * verify-config.js — CLI entry point for config.yaml verification
+ *
+ * Usage:
+ *   node scripts/verify-config.js <config.yaml> [--json] [--quiet]
+ *
+ * Options:
+ *   --json    Output results as JSON (for CI parsing)
+ *   --quiet   Only show errors, suppress warnings
+ *
+ * Exit code: 0 = valid, 1 = has errors
+ */
+
+import { readFileSync } from 'fs';
+import { resolve } from 'path';
+
+// ─── ANSI colors (zero-dependency) ───────────────────────────────────────────
+
+const RESET = '\x1b[0m';
+const RED = '\x1b[31m';
+const YELLOW = '\x1b[33m';
+const GREEN = '\x1b[32m';
+const CYAN = '\x1b[36m';
+const BOLD = '\x1b[1m';
+const DIM = '\x1b[2m';
+
+// ─── Inline the verifier (to avoid import resolution issues) ─────────────────
+// We import from the shared module using a relative path.
+
+import { verifyConfig } from '../src/utils/verify-config.js';
+
+// ─── Main ────────────────────────────────────────────────────────────────────
+
+function main() {
+  const args = process.argv.slice(2);
+  const flags = {
+    json: args.includes('--json'),
+    quiet: args.includes('--quiet'),
+  };
+  const files = args.filter(a => !a.startsWith('--'));
+
+  if (files.length === 0) {
+    console.error(`${RED}Error: No file specified${RESET}`);
+    console.error(`Usage: node scripts/verify-config.js <config.yaml> [--json] [--quiet]`);
+    process.exit(2);
+  }
+
+  const filePath = resolve(files[0]);
+  let yamlText;
+  try {
+    yamlText = readFileSync(filePath, 'utf-8');
+  } catch (e) {
+    console.error(`${RED}Error: Cannot read file "${filePath}": ${e.message}${RESET}`);
+    process.exit(2);
+  }
+
+  const result = verifyConfig(yamlText);
+
+  if (flags.json) {
+    console.log(JSON.stringify(result, null, 2));
+    process.exit(result.valid ? 0 : 1);
+  }
+
+  // ─── Human-readable output ─────────────────────────────────────────────
+
+  const { valid, errors, warnings, stats } = result;
+
+  console.log(`\n${BOLD}EtherCAT Config Verification${RESET}`);
+  console.log(`${DIM}File: ${filePath}${RESET}`);
+  console.log(`${DIM}Modules: ${stats.moduleCount} | Tasks: ${stats.taskCount}${RESET}`);
+  console.log('─'.repeat(50));
+
+  if (errors.length > 0) {
+    console.log(`\n${RED}${BOLD}Errors (${errors.length})${RESET}`);
+    for (const err of errors) {
+      const loc = formatLocation(err);
+      console.log(`  ${RED}✗${RESET} ${loc}${err.message}`);
+    }
+  }
+
+  if (warnings.length > 0 && !flags.quiet) {
+    console.log(`\n${YELLOW}${BOLD}Warnings (${warnings.length})${RESET}`);
+    for (const warn of warnings) {
+      const loc = formatLocation(warn);
+      console.log(`  ${YELLOW}⚠${RESET} ${loc}${warn.message}`);
+    }
+  }
+
+  console.log('─'.repeat(50));
+  if (valid) {
+    console.log(`${GREEN}${BOLD}✓ Configuration is valid${RESET}`);
+    if (warnings.length > 0 && !flags.quiet) {
+      console.log(`${YELLOW}  (${warnings.length} warning(s))${RESET}`);
+    }
+  } else {
+    console.log(`${RED}${BOLD}✗ Configuration has ${errors.length} error(s)${RESET}`);
+  }
+  console.log();
+
+  process.exit(valid ? 0 : 1);
+}
+
+function formatLocation(issue) {
+  const parts = [];
+  if (issue.module) parts.push(`sn${issue.module}`);
+  if (issue.task) parts.push(issue.task);
+  const loc = parts.length > 0 ? `[${parts.join('/')}] ` : '';
+  const line = issue.line ? `${DIM}L${issue.line}:${RESET} ` : '';
+  return `${loc}${line}`;
+}
+
+main();
diff --git a/src/components/module-settings/ImportConfigDialog.vue b/src/components/module-settings/ImportConfigDialog.vue
index d45125f..322e367 100644
--- a/src/components/module-settings/ImportConfigDialog.vue
+++ b/src/components/module-settings/ImportConfigDialog.vue
@@ -30,6 +30,45 @@
 
     <!-- Step 2: Preview -->
     <div v-if="step === 'preview'">
+      <el-alert
+        v-if="verifyResult && !verifyResult.valid"
+        type="error"
+        :closable="false"
+        style="margin-bottom: 15px;"
+      >
+        <template #title>Verification Failed ({{ verifyResult.stats.totalErrors }} error(s))</template>
+        <div v-for="(err, idx) in verifyResult.errors.slice(0, 10)" :key="'e'+idx" style="font-size: 12px;">
+          {{ formatVerifyIssue(err) }}
+        </div>
+        <div v-if="verifyResult.errors.length > 10" style="font-size: 12px; color: #909399;">
+          ... and {{ verifyResult.errors.length - 10 }} more errors
+        </div>
+      </el-alert>
+
+      <el-alert
+        v-if="verifyResult && verifyResult.valid && verifyResult.warnings.length > 0"
+        type="warning"
+        :closable="false"
+        style="margin-bottom: 15px;"
+      >
+        <template #title>Verification Warnings ({{ verifyResult.warnings.length }})</template>
+        <div v-for="(warn, idx) in verifyResult.warnings.slice(0, 10)" :key="'w'+idx" style="font-size: 12px;">
+          {{ formatVerifyIssue(warn) }}
+        </div>
+        <div v-if="verifyResult.warnings.length > 10" style="font-size: 12px; color: #909399;">
+          ... and {{ verifyResult.warnings.length - 10 }} more warnings
+        </div>
+      </el-alert>
+
+      <el-alert
+        v-if="verifyResult && verifyResult.valid && verifyResult.warnings.length === 0"
+        type="success"
+        :closable="false"
+        style="margin-bottom: 15px;"
+      >
+        <template #title>Verification Passed</template>
+      </el-alert>
+
       <el-alert
         v-if="parseErrors.length > 0"
         type="warning"
@@ -77,7 +116,11 @@
 
       <div style="margin-top: 15px; text-align: right;">
         <el-button @click="step = 'select'">Back</el-button>
-        <el-button type="primary" @click="doImport">
+        <el-button
+          type="primary"
+          :disabled="verifyResult && !verifyResult.valid"
+          @click="doImport"
+        >
           Import (replace current config)
         </el-button>
       </div>
@@ -98,6 +141,7 @@
 <script>
 import { UploadFilled, CircleCheckFilled } from '@element-plus/icons-vue';
 import { parseConfigYaml } from '@/utils/parse-config';
+import { verifyConfig } from '@/utils/verify-config';
 
 export default {
   name: 'ImportConfigDialog',
@@ -113,6 +157,7 @@ export default {
       fileName: '',
       parsedModules: [],
       parseErrors: [],
+      verifyResult: null,
     };
   },
   computed: {
@@ -136,6 +181,9 @@ export default {
       this.parsedModules = result.modules;
       this.parseErrors = result.errors;
 
+      // Run verification
+      this.verifyResult = verifyConfig(this.fileContent);
+
       if (this.parsedModules.length === 0) {
         this.parseErrors.push({ message: 'No valid modules found in file' });
         return;
@@ -161,12 +209,22 @@ export default {
       this.fileName = '';
       this.parsedModules = [];
       this.parseErrors = [];
+      this.verifyResult = null;
     },
 
     close() {
       this.visible = false;
     },
 
+    formatVerifyIssue(issue) {
+      const parts = [];
+      if (issue.module) parts.push(`sn${issue.module}`);
+      if (issue.task) parts.push(issue.task);
+      const loc = parts.length > 0 ? `[${parts.join('/')}] ` : '';
+      const line = issue.line ? `L${issue.line}: ` : '';
+      return `${loc}${line}${issue.message}`;
+    },
+
     getAppTypeFriendlyName(hexId) {
       switch (hexId) {
         case 1: return 'DJI RC';
diff --git a/src/pages/ModuleSettings.vue b/src/pages/ModuleSettings.vue
index cf4c8dd..050a566 100644
--- a/src/pages/ModuleSettings.vue
+++ b/src/pages/ModuleSettings.vue
@@ -812,6 +812,7 @@
                       label="Operations">
                     <template #default="props2">
                       <el-button @click="props.row.task.splice(props2.$index, 1)">Remove</el-button>
+                      <el-button v-if="modules.length > 1" @click="openMoveDialog(props.row.task, props2.$index)">Move</el-button>
                     </template>
                   </el-table-column>
                 </el-table>
@@ -855,6 +856,23 @@
     </div>
 
     <import-config-dialog v-model="showImportDialog" @imported="handleImport" />
+
+    <el-dialog v-model="moveDialogVisible" title="Move Task" width="400px">
+      <p>Select target module:</p>
+      <el-select v-model="moveTargetIndex" placeholder="Select module" style="width: 100%;">
+        <el-option
+            v-for="(mod, idx) in modules"
+            :key="mod._uid"
+            :label="`${getTypeFriendlyName(mod.type)}${mod.sn ? ' (SN: ' + mod.sn + ')' : ''}`"
+            :value="idx"
+            :disabled="idx === moveSourceModuleIndex"
+        />
+      </el-select>
+      <template #footer>
+        <el-button @click="moveDialogVisible = false">Cancel</el-button>
+        <el-button type="primary" :disabled="moveTargetIndex === null" @click="doMoveTask">Move</el-button>
+      </template>
+    </el-dialog>
   </div>
 </template>
 
@@ -1139,6 +1157,11 @@ export default {
       },
       modules: [],
       showImportDialog: false,
+      moveDialogVisible: false,
+      moveSourceTaskList: null,
+      moveSourceIndex: -1,
+      moveSourceModuleIndex: -1,
+      moveTargetIndex: null,
     }
   },
   watch: {
@@ -1175,6 +1198,19 @@ export default {
       cloned._uid = this._uidCounter++;
       taskList.push(cloned);
     },
+    openMoveDialog(sourceTaskList, sourceIndex) {
+      this.moveSourceTaskList = sourceTaskList;
+      this.moveSourceIndex = sourceIndex;
+      this.moveSourceModuleIndex = this.modules.findIndex(mod => mod.task === sourceTaskList);
+      this.moveTargetIndex = null;
+      this.moveDialogVisible = true;
+    },
+    doMoveTask() {
+      if (this.moveTargetIndex === null) return;
+      const task = this.moveSourceTaskList.splice(this.moveSourceIndex, 1)[0];
+      this.modules[this.moveTargetIndex].task.push(task);
+      this.moveDialogVisible = false;
+    },
     getTypeFriendlyName(hexId) {
       switch (hexId) {
           // deprecated
diff --git a/src/utils/verify-config.js b/src/utils/verify-config.js
new file mode 100644
index 0000000..fade4e7
--- /dev/null
+++ b/src/utils/verify-config.js
@@ -0,0 +1,802 @@
+/**
+ * verify-config.js
+ * Validates an EtherCAT config.yaml file against structural and semantic rules.
+ *
+ * Shared by CLI (`scripts/verify-config.js`) and Web UI.
+ *
+ * Main export: verifyConfig(yamlText) → { valid, errors, warnings, stats }
+ */
+
+// ─── Constants ───────────────────────────────────────────────────────────────
+
+const VALID_TAGS = new Set([
+  'uint8_t', 'uint16_t', 'uint32_t',
+  'int8_t', 'int16_t', 'int32_t',
+  'float', 'std::string',
+]);
+
+const INT_TAGS = new Set([
+  'uint8_t', 'uint16_t', 'uint32_t',
+  'int8_t', 'int16_t', 'int32_t',
+]);
+
+const TAG_BYTE_SIZE = {
+  uint8_t: 1, int8_t: 1,
+  uint16_t: 2, int16_t: 2,
+  uint32_t: 4, int32_t: 4,
+  float: 4,
+};
+
+const TAG_RANGES = {
+  uint8_t: [0, 255],
+  int8_t: [-128, 127],
+  uint16_t: [0, 65535],
+  int16_t: [-32768, 32767],
+  uint32_t: [0, 4294967295],
+  int32_t: [-2147483648, 2147483647],
+};
+
+const TASK_TYPE_NAMES = {
+  1: 'DJI RC',
+  2: 'LkTech Motor',
+  3: 'HIPNUC IMU(CAN)',
+  4: 'DSHOT600',
+  5: 'DJI Motor',
+  6: 'OnBoard PWM',
+  7: 'External PWM',
+  8: 'MS5837(30BA)',
+  10: 'PMU(CAN)',
+  11: 'SBUS RC',
+  12: 'DM Motor',
+  13: 'Super Capacitor',
+  14: 'DJI VT13',
+  15: 'DD Motor',
+};
+
+const VALID_TASK_TYPES = new Set(Object.keys(TASK_TYPE_NAMES).map(Number));
+
+/**
+ * Required fields per task type (keys = YAML field names)
+ * Common fields (sdowrite_task_type, pub_topic, sub_topic, pdoread_offset, pdowrite_offset,
+ * conf_connection_lost_read_action, sdowrite_connection_lost_write_action) are checked separately.
+ */
+const REQUIRED_FIELDS = {
+  1: [],  // DJI RC — no extra required fields beyond common
+  2: ['sdowrite_control_period', 'sdowrite_can_inst', 'sdowrite_control_type'],
+  3: ['sdowrite_can_inst', 'sdowrite_packet1_id', 'sdowrite_packet2_id', 'sdowrite_packet3_id', 'conf_frame_name'],
+  4: ['sdowrite_dshot_id', 'sdowrite_init_value'],
+  5: ['sdowrite_control_period', 'sdowrite_can_packet_id', 'sdowrite_motor1_can_id', 'sdowrite_motor2_can_id', 'sdowrite_motor3_can_id', 'sdowrite_motor4_can_id', 'sdowrite_can_inst'],
+  6: ['sdowrite_port_id', 'sdowrite_pwm_period', 'sdowrite_init_value'],
+  7: ['sdowrite_uart_id', 'sdowrite_pwm_period', 'sdowrite_channel_num', 'sdowrite_init_value'],
+  8: ['sdowrite_i2c_id', 'sdowrite_osr_id'],
+  10: [],
+  11: [],
+  12: ['sdowrite_control_period', 'sdowrite_can_id', 'sdowrite_master_id', 'sdowrite_can_inst', 'sdowrite_control_type', 'conf_pmax', 'conf_vmax', 'conf_tmax'],
+  13: ['sdowrite_can_inst', 'sdowrite_chassis_to_cap_id', 'sdowrite_cap_to_chassis_id'],
+  14: [],
+  15: ['sdowrite_control_period', 'sdowrite_can_baudrate', 'sdowrite_can_packet_id', 'sdowrite_motor1_can_id', 'sdowrite_motor2_can_id', 'sdowrite_motor3_can_id', 'sdowrite_motor4_can_id', 'sdowrite_can_inst'],
+};
+
+/**
+ * All known YAML field names per task type (for unknown-field detection)
+ */
+const KNOWN_FIELDS = {
+  1: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'pub_topic', 'pdoread_offset'],
+  2: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'sdowrite_connection_lost_write_action', 'pub_topic', 'pdoread_offset', 'sub_topic', 'pdowrite_offset', 'sdowrite_control_period', 'sdowrite_can_packet_id', 'sdowrite_can_inst', 'sdowrite_control_type'],
+  3: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'pub_topic', 'pdoread_offset', 'sdowrite_can_inst', 'sdowrite_packet1_id', 'sdowrite_packet2_id', 'sdowrite_packet3_id', 'conf_frame_name'],
+  4: ['sdowrite_task_type', 'sdowrite_connection_lost_write_action', 'sub_topic', 'pdowrite_offset', 'sdowrite_dshot_id', 'sdowrite_init_value'],
+  5: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'sdowrite_connection_lost_write_action', 'pub_topic', 'pdoread_offset', 'sub_topic', 'pdowrite_offset', 'sdowrite_control_period', 'sdowrite_can_packet_id', 'sdowrite_can_inst'],
+  6: ['sdowrite_task_type', 'sdowrite_connection_lost_write_action', 'sub_topic', 'pdowrite_offset', 'sdowrite_port_id', 'sdowrite_pwm_period', 'sdowrite_init_value'],
+  7: ['sdowrite_task_type', 'sdowrite_connection_lost_write_action', 'sub_topic', 'pdowrite_offset', 'sdowrite_uart_id', 'sdowrite_pwm_period', 'sdowrite_channel_num', 'sdowrite_init_value'],
+  8: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'pub_topic', 'pdoread_offset', 'sdowrite_i2c_id', 'sdowrite_osr_id'],
+  10: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'pub_topic', 'pdoread_offset'],
+  11: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'pub_topic', 'pdoread_offset'],
+  12: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'sdowrite_connection_lost_write_action', 'pub_topic', 'pdoread_offset', 'sub_topic', 'pdowrite_offset', 'sdowrite_control_period', 'sdowrite_can_id', 'sdowrite_master_id', 'sdowrite_can_inst', 'sdowrite_control_type', 'conf_pmax', 'conf_vmax', 'conf_tmax'],
+  13: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'sdowrite_connection_lost_write_action', 'pub_topic', 'pdoread_offset', 'sub_topic', 'pdowrite_offset', 'sdowrite_can_inst', 'sdowrite_chassis_to_cap_id', 'sdowrite_cap_to_chassis_id'],
+  14: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'pub_topic', 'pdoread_offset'],
+  15: ['sdowrite_task_type', 'conf_connection_lost_read_action', 'sdowrite_connection_lost_write_action', 'pub_topic', 'pdoread_offset', 'sub_topic', 'pdowrite_offset', 'sdowrite_control_period', 'sdowrite_can_baudrate', 'sdowrite_can_packet_id', 'sdowrite_can_inst'],
+};
+
+// Add motor-specific fields for types 5 and 15
+for (let i = 1; i <= 4; i++) {
+  [5, 15].forEach(type => {
+    KNOWN_FIELDS[type].push(`sdowrite_motor${i}_can_id`, `sdowrite_motor${i}_control_type`);
+  });
+  // PID fields for DJI Motor (type 5)
+  ['speed_pid_kp', 'speed_pid_ki', 'speed_pid_kd', 'speed_pid_max_out', 'speed_pid_max_iout',
+    'angle_pid_kp', 'angle_pid_ki', 'angle_pid_kd', 'angle_pid_max_out', 'angle_pid_max_iout'].forEach(suffix => {
+    KNOWN_FIELDS[5].push(`sdowrite_motor${i}_${suffix}`);
+  });
+}
+
+// ─── Tokenize (reuse pass1 from parse-config.js, extended to capture raw lines) ──
+
+function tokenize(yamlText) {
+  const lines = yamlText.split('\n');
+  const modules = [];
+  const errors = [];
+  const warnings = [];
+  let currentModule = null;
+  let currentTask = null;
+  let inTasksSection = false;
+  let hasSlavesHeader = false;
+
+  for (let i = 0; i < lines.length; i++) {
+    const line = lines[i];
+    const trimmed = line.trimStart();
+
+    // Empty lines and comments
+    if (trimmed === '' || trimmed.startsWith('#')) continue;
+
+    // slaves: header
+    if (i === 0 || (!hasSlavesHeader && trimmed === 'slaves:')) {
+      if (trimmed === 'slaves:') {
+        hasSlavesHeader = true;
+        continue;
+      }
+    }
+
+    // Module header: "  - sn{N}:"
+    const moduleMatch = trimmed.match(/^- (sn(\d+)):/);
+    if (moduleMatch) {
+      if (!hasSlavesHeader) {
+        errors.push({ line: i + 1, code: 'MISSING_HEADER', message: 'File does not start with "slaves:"' });
+        hasSlavesHeader = true; // suppress repeat
+      }
+      currentModule = {
+        sn: moduleMatch[2],
+        snRaw: moduleMatch[1],
+        line: i + 1,
+        latency_topic: '',
+        task_count_declared: null,
+        sdo_len_declared: null,
+        tasks: [],
+        rawLines: [],
+      };
+      modules.push(currentModule);
+      currentTask = null;
+      inTasksSection = false;
+      continue;
+    }
+
+    if (!currentModule) {
+      errors.push({ line: i + 1, code: 'ORPHAN_LINE', message: `Line outside module: "${trimmed}"` });
+      continue;
+    }
+
+    currentModule.rawLines.push({ lineNum: i, text: trimmed });
+
+    // "tasks:" marks start of tasks section
+    if (!inTasksSection && trimmed === 'tasks:') {
+      inTasksSection = true;
+      continue;
+    }
+
+    // Module-level properties (before tasks section)
+    if (!inTasksSection) {
+      const parsed = parseLineForValidation(trimmed, i, errors, warnings);
+      if (parsed) {
+        if (parsed.key === 'latency_pub_topic') currentModule.latency_topic = parsed.value;
+        if (parsed.key === 'task_count') currentModule.task_count_declared = parsed.value;
+        if (parsed.key === 'sdo_len') currentModule.sdo_len_declared = parsed.value;
+      }
+      continue;
+    }
+
+    // Task header: "        - app_{N}:"
+    const taskMatch = trimmed.match(/^- app_(\d+):$/);
+    if (taskMatch) {
+      currentTask = {
+        appNum: parseInt(taskMatch[1]),
+        line: i + 1,
+        _flat: {},
+        _typed: [], // { key, tag, rawValue, lineNum }
+      };
+      currentModule.tasks.push(currentTask);
+      continue;
+    }
+
+    if (!currentTask) {
+      errors.push({ line: i + 1, code: 'ORPHAN_PROPERTY', message: `Property before task header: "${trimmed}"` });
+      continue;
+    }
+
+    // Task properties
+    const parsed = parseLineForValidation(trimmed, i, errors, warnings);
+    if (parsed) {
+      currentTask._flat[parsed.key] = parsed.value;
+      currentTask._typed.push({ key: parsed.key, tag: parsed.tag, rawValue: parsed.rawValue, lineNum: i + 1 });
+    }
+  }
+
+  if (!hasSlavesHeader) {
+    errors.push({ code: 'MISSING_HEADER', message: 'File does not contain "slaves:" header' });
+  }
+
+  return { modules, errors, warnings };
+}
+
+/**
+ * Parse a single property line with validation.
+ * Returns { key, value, tag, rawValue } or null.
+ */
+function parseLineForValidation(trimmed, lineIdx, errors, warnings) {
+  const propMatch = trimmed.match(/^([\w]+):\s+!(\S+)\s+(.+)$/);
+  if (propMatch) {
+    const key = propMatch[1];
+    const tag = propMatch[2];
+    const rawValue = propMatch[3].trim();
+
+    if (!VALID_TAGS.has(tag)) {
+      errors.push({
+        line: lineIdx + 1,
+        code: 'UNKNOWN_TAG',
+        message: `Unknown type tag "!${tag}" on "${key}", expected one of: ${[...VALID_TAGS].join(', ')}`,
+      });
+      return null;
+    }
+
+    // Validate value against tag
+    validateTypedValue(rawValue, tag, key, lineIdx + 1, errors, warnings);
+
+    // Parse actual value
+    const value = parseValue(rawValue, tag);
+    return { key, value, tag, rawValue };
+  }
+
+  // Line without a !type tag
+  const fallback = trimmed.match(/^([\w]+):\s+(.+)$/);
+  if (fallback) {
+    // Special case: known module-level keys with no tag
+    const key = fallback[1];
+    if (['sdo_len', 'task_count', 'latency_pub_topic', 'tasks', 'slaves'].includes(key)) {
+      errors.push({
+        line: lineIdx + 1,
+        code: 'MISSING_TAG',
+        message: `"${key}" is missing type tag, expected format: ${key}: !<type> <value>`,
+      });
+      return null;
+    }
+    errors.push({
+      line: lineIdx + 1,
+      code: 'MISSING_TAG',
+      message: `Missing type tag on "${key}", expected format: key: !type value`,
+    });
+    return null;
+  }
+
+  return null;
+}
+
+function validateTypedValue(rawValue, tag, key, lineNum, errors, warnings) {
+  if (tag === 'std::string') {
+    if (rawValue.startsWith("'") || rawValue.startsWith('"')) {
+      // OK — quoted string
+    } else {
+      warnings.push({
+        line: lineNum,
+        code: 'UNQUOTED_STRING',
+        message: `String value for "${key}" is not quoted: ${rawValue}`,
+      });
+    }
+    return;
+  }
+
+  if (tag === 'float') {
+    if (isNaN(parseFloat(rawValue))) {
+      errors.push({
+        line: lineNum,
+        code: 'INVALID_FLOAT',
+        message: `Invalid float value: "${rawValue}" for "${key}"`,
+      });
+    }
+    return;
+  }
+
+  if (INT_TAGS.has(tag)) {
+    let num;
+    if (rawValue.startsWith('0x') || rawValue.startsWith('0X')) {
+      num = parseInt(rawValue, 16);
+      if (isNaN(num)) {
+        errors.push({
+          line: lineNum,
+          code: 'INVALID_HEX',
+          message: `Invalid hex value: "${rawValue}" for "${key}"`,
+        });
+        return;
+      }
+    } else {
+      num = parseInt(rawValue, 10);
+      if (isNaN(num)) {
+        errors.push({
+          line: lineNum,
+          code: 'INVALID_INT',
+          message: `Invalid integer value: "${rawValue}" for "${key}"`,
+        });
+        return;
+      }
+    }
+
+    // Range check
+    const range = TAG_RANGES[tag];
+    if (range && (num < range[0] || num > range[1])) {
+      errors.push({
+        line: lineNum,
+        code: 'VALUE_OUT_OF_RANGE',
+        message: `Value ${num} for "${key}" (!${tag}) out of range [${range[0]}, ${range[1]}]`,
+      });
+    }
+  }
+}
+
+function parseValue(rawValue, tag) {
+  if (tag === 'std::string') {
+    if ((rawValue.startsWith("'") && rawValue.endsWith("'")) ||
+        (rawValue.startsWith('"') && rawValue.endsWith('"'))) {
+      return rawValue.slice(1, -1);
+    }
+    return rawValue;
+  }
+  if (tag === 'float') return parseFloat(rawValue);
+  if (INT_TAGS.has(tag)) {
+    if (rawValue.startsWith('0x') || rawValue.startsWith('0X')) return parseInt(rawValue, 16);
+    return parseInt(rawValue, 10);
+  }
+  return rawValue;
+}
+
+// ─── sdo_len calculation (mirrors get_length from generate-module-def.js) ─────
+
+function calculateSdoLen(typedEntries) {
+  let total = 0;
+  for (const { key, tag } of typedEntries) {
+    if (!key.startsWith('sdowrite_')) continue;
+    const size = TAG_BYTE_SIZE[tag];
+    if (size) total += size;
+  }
+  return total + 1; // +1 as in generate-module-def.js
+}
+
+// ─── PDO offset calculation (mirrors generate-module-def.js logic) ────────────
+
+function calculatePdoOffsets(tasks) {
+  let pdoreadOffset = 0;
+  let pdowriteOffset = 0;
+  const results = [];
+
+  for (const task of tasks) {
+    const flat = task._flat;
+    const type = flat['sdowrite_task_type'];
+    const entry = { type, pdoread_offset: pdoreadOffset, pdowrite_offset: pdowriteOffset };
+
+    switch (type) {
+      case 1: pdoreadOffset += 19; break;
+      case 2: {
+        const ctrlType = flat['sdowrite_control_type'];
+        if (ctrlType !== 8) {
+          pdoreadOffset += 8;
+        } else {
+          pdoreadOffset += 32;
+        }
+        switch (ctrlType) {
+          case 1: case 2: pdowriteOffset += 3; break;
+          case 3: pdowriteOffset += 7; break;
+          case 4: pdowriteOffset += 5; break;
+          case 5: pdowriteOffset += 7; break;
+          case 6: pdowriteOffset += 6; break;
+          case 7: pdowriteOffset += 8; break;
+          case 8: pdowriteOffset += 8; break;
+        }
+        break;
+      }
+      case 3: pdoreadOffset += 21; break;
+      case 4: pdowriteOffset += 8; break;
+      case 5: {
+        let readLen = 0, writeLen = 0;
+        for (let j = 1; j <= 4; j++) {
+          if (flat[`sdowrite_motor${j}_can_id`] && flat[`sdowrite_motor${j}_can_id`] !== 0) {
+            readLen += 9;
+            writeLen += 3;
+          }
+        }
+        pdoreadOffset += readLen;
+        pdowriteOffset += writeLen;
+        break;
+      }
+      case 6: pdowriteOffset += 8; break;
+      case 7: pdowriteOffset += (flat['sdowrite_channel_num'] || 1) * 2; break;
+      case 8: pdoreadOffset += 9; break;
+      case 10: pdoreadOffset += 7; break;
+      case 11: pdoreadOffset += 24; break;
+      case 12: {
+        pdoreadOffset += 9;
+        const ctrlType = flat['sdowrite_control_type'];
+        if (ctrlType === 1 || ctrlType === 2) pdowriteOffset += 9;
+        else if (ctrlType === 3) pdowriteOffset += 5;
+        break;
+      }
+      case 13: pdoreadOffset += 7; pdowriteOffset += 4; break;
+      case 14: pdoreadOffset += 18; break;
+      case 15: {
+        let readLen = 0, writeLen = 0;
+        for (let j = 1; j <= 4; j++) {
+          if (flat[`sdowrite_motor${j}_can_id`] && flat[`sdowrite_motor${j}_can_id`] !== 0) {
+            readLen += 9;
+            writeLen += 3;
+          }
+        }
+        pdoreadOffset += readLen;
+        pdowriteOffset += writeLen;
+        break;
+      }
+    }
+
+    results.push(entry);
+  }
+
+  return results;
+}
+
+// ─── Main verification ───────────────────────────────────────────────────────
+
+export function verifyConfig(yamlText) {
+  if (!yamlText || typeof yamlText !== 'string') {
+    return {
+      valid: false,
+      errors: [{ code: 'EMPTY_INPUT', message: 'Empty or invalid input' }],
+      warnings: [],
+      stats: { moduleCount: 0, taskCount: 0, totalErrors: 1, totalWarnings: 0 },
+    };
+  }
+
+  const { modules, errors, warnings } = tokenize(yamlText);
+
+  // ── A. SN uniqueness ──
+  const seenSNs = new Map(); // sn → first module line
+  for (const mod of modules) {
+    if (seenSNs.has(mod.sn)) {
+      errors.push({
+        code: 'DUPLICATE_SN',
+        module: mod.sn,
+        line: mod.line,
+        message: `Duplicate SN "sn${mod.sn}" (first defined at line ${seenSNs.get(mod.sn)})`,
+      });
+    } else {
+      seenSNs.set(mod.sn, mod.line);
+    }
+  }
+
+  // ── B. Per-module and per-task checks ──
+  const allTopics = []; // { topic, moduleSn, appNum, line, kind }
+  let totalTasks = 0;
+
+  for (const mod of modules) {
+    // ── task_count check ──
+    if (mod.task_count_declared !== null && mod.task_count_declared !== mod.tasks.length) {
+      errors.push({
+        code: 'TASK_COUNT_MISMATCH',
+        module: mod.sn,
+        line: mod.line,
+        message: `Declared task_count=${mod.task_count_declared} but found ${mod.tasks.length} task(s)`,
+      });
+    }
+
+    // ── sdo_len check ──
+    const allTyped = [];
+    for (const task of mod.tasks) {
+      allTyped.push(...task._typed);
+    }
+    const expectedSdoLen = calculateSdoLen(allTyped);
+    if (mod.sdo_len_declared !== null && mod.sdo_len_declared !== expectedSdoLen) {
+      errors.push({
+        code: 'SDO_LEN_MISMATCH',
+        module: mod.sn,
+        line: mod.line,
+        message: `Declared sdo_len=${mod.sdo_len_declared} but calculated=${expectedSdoLen}`,
+      });
+    }
+
+    // ── latency_topic check ──
+    if (mod.latency_topic) {
+      allTopics.push({ topic: mod.latency_topic, moduleSn: mod.sn, appNum: 0, line: mod.line, kind: 'latency' });
+      if (!mod.latency_topic.startsWith('/')) {
+        warnings.push({
+          code: 'TOPIC_FORMAT',
+          module: mod.sn,
+          line: mod.line,
+          message: `latency_pub_topic "${mod.latency_topic}" does not start with "/"`,
+        });
+      }
+      const expectedLatency = `/ecat/sn${mod.sn}/latency`;
+      if (mod.latency_topic !== expectedLatency) {
+        warnings.push({
+          code: 'TOPIC_CONVENTION',
+          module: mod.sn,
+          line: mod.line,
+          message: `latency_pub_topic "${mod.latency_topic}" does not match convention "${expectedLatency}"`,
+        });
+      }
+    }
+
+    // ── App numbering check ──
+    for (let i = 0; i < mod.tasks.length; i++) {
+      if (mod.tasks[i].appNum !== i + 1) {
+        warnings.push({
+          code: 'APP_NUMBERING',
+          module: mod.sn,
+          line: mod.tasks[i].line,
+          message: `Expected app_${i + 1} but found app_${mod.tasks[i].appNum}`,
+        });
+      }
+    }
+
+    // ── PDO offset checks ──
+    const expectedOffsets = calculatePdoOffsets(mod.tasks);
+    for (let i = 0; i < mod.tasks.length; i++) {
+      const task = mod.tasks[i];
+      const flat = task._flat;
+      const type = flat['sdowrite_task_type'];
+
+      // ── Required task_type ──
+      if (type === undefined) {
+        errors.push({
+          code: 'MISSING_TASK_TYPE',
+          module: mod.sn,
+          task: `app_${task.appNum}`,
+          line: task.line,
+          message: `Task app_${task.appNum} is missing sdowrite_task_type`,
+        });
+        continue;
+      }
+
+      // ── Unknown task type ──
+      if (!VALID_TASK_TYPES.has(type)) {
+        errors.push({
+          code: 'UNKNOWN_TASK_TYPE',
+          module: mod.sn,
+          task: `app_${task.appNum}`,
+          line: task.line,
+          message: `Unknown task type ${type}`,
+        });
+        continue;
+      }
+
+      const typeName = TASK_TYPE_NAMES[type] || `Type ${type}`;
+
+      // ── Required fields ──
+      const required = REQUIRED_FIELDS[type] || [];
+      for (const field of required) {
+        if (!(field in flat)) {
+          errors.push({
+            code: 'MISSING_REQUIRED_FIELD',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `${typeName}: missing required field "${field}"`,
+          });
+        }
+      }
+
+      // ── Unknown fields ──
+      const known = KNOWN_FIELDS[type] || [];
+      for (const key of Object.keys(flat)) {
+        if (!known.includes(key)) {
+          warnings.push({
+            code: 'UNKNOWN_FIELD',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `${typeName}: unknown field "${key}"`,
+          });
+        }
+      }
+
+      // ── Motor-specific logic checks ──
+      if (type === 5) {
+        // DJI Motor: if motor enabled, must have control_type
+        for (let j = 1; j <= 4; j++) {
+          const canId = flat[`sdowrite_motor${j}_can_id`];
+          if (canId && canId !== 0) {
+            if (!(`sdowrite_motor${j}_control_type` in flat)) {
+              errors.push({
+                code: 'MISSING_MOTOR_CONTROL_TYPE',
+                module: mod.sn,
+                task: `app_${task.appNum}`,
+                line: task.line,
+                message: `DJI Motor: motor${j} enabled (can_id=${canId}) but missing motor${j}_control_type`,
+              });
+            }
+            const ctrlType = flat[`sdowrite_motor${j}_control_type`];
+            if (ctrlType > 1) {
+              const speedFields = ['kp', 'ki', 'kd', 'max_out', 'max_iout'];
+              for (const suffix of speedFields) {
+                if (!(`sdowrite_motor${j}_speed_pid_${suffix}` in flat)) {
+                  errors.push({
+                    code: 'MISSING_PID_FIELD',
+                    module: mod.sn,
+                    task: `app_${task.appNum}`,
+                    line: task.line,
+                    message: `DJI Motor: motor${j} control_type=${ctrlType} but missing motor${j}_speed_pid_${suffix}`,
+                  });
+                }
+              }
+            }
+            if (ctrlType > 2) {
+              const angleFields = ['kp', 'ki', 'kd', 'max_out', 'max_iout'];
+              for (const suffix of angleFields) {
+                if (!(`sdowrite_motor${j}_angle_pid_${suffix}` in flat)) {
+                  errors.push({
+                    code: 'MISSING_PID_FIELD',
+                    module: mod.sn,
+                    task: `app_${task.appNum}`,
+                    line: task.line,
+                    message: `DJI Motor: motor${j} control_type=${ctrlType} but missing motor${j}_angle_pid_${suffix}`,
+                  });
+                }
+              }
+            }
+          }
+        }
+      }
+
+      if (type === 15) {
+        // DD Motor: if motor enabled, must have control_type
+        for (let j = 1; j <= 4; j++) {
+          const canId = flat[`sdowrite_motor${j}_can_id`];
+          if (canId && canId !== 0) {
+            if (!(`sdowrite_motor${j}_control_type` in flat)) {
+              errors.push({
+                code: 'MISSING_MOTOR_CONTROL_TYPE',
+                module: mod.sn,
+                task: `app_${task.appNum}`,
+                line: task.line,
+                message: `DD Motor: motor${j} enabled (can_id=${canId}) but missing motor${j}_control_type`,
+              });
+            }
+          }
+        }
+      }
+
+      if (type === 2) {
+        // LkTech: if control_type != 8, must have can_packet_id
+        const ctrlType = flat['sdowrite_control_type'];
+        if (ctrlType !== 8 && !('sdowrite_can_packet_id' in flat)) {
+          errors.push({
+            code: 'MISSING_CAN_PACKET_ID',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `LkTech Motor: control_type=${ctrlType} requires sdowrite_can_packet_id`,
+          });
+        }
+        // LkTech control_type range
+        if (ctrlType !== undefined && (ctrlType < 1 || ctrlType > 8)) {
+          errors.push({
+            code: 'INVALID_CONTROL_TYPE',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `LkTech Motor: control_type=${ctrlType} out of valid range [1, 8]`,
+          });
+        }
+      }
+
+      // ── Topic checks ──
+      if ('pub_topic' in flat) {
+        const topic = flat['pub_topic'];
+        allTopics.push({ topic, moduleSn: mod.sn, appNum: task.appNum, line: task.line, kind: 'read' });
+        if (!topic) {
+          warnings.push({
+            code: 'EMPTY_TOPIC',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `pub_topic is empty`,
+          });
+        } else if (!topic.startsWith('/')) {
+          errors.push({
+            code: 'TOPIC_FORMAT',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `pub_topic "${topic}" does not start with "/"`,
+          });
+        }
+        // Check SN in topic matches module SN
+        const snInTopic = topic.match(/sn(\d+)/);
+        if (snInTopic && snInTopic[1] !== mod.sn) {
+          warnings.push({
+            code: 'TOPIC_SN_MISMATCH',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `pub_topic "${topic}" references sn${snInTopic[1]} but module is sn${mod.sn}`,
+          });
+        }
+      }
+
+      if ('sub_topic' in flat) {
+        const topic = flat['sub_topic'];
+        allTopics.push({ topic, moduleSn: mod.sn, appNum: task.appNum, line: task.line, kind: 'write' });
+        if (!topic) {
+          warnings.push({
+            code: 'EMPTY_TOPIC',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `sub_topic is empty`,
+          });
+        } else if (!topic.startsWith('/')) {
+          errors.push({
+            code: 'TOPIC_FORMAT',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `sub_topic "${topic}" does not start with "/"`,
+          });
+        }
+        const snInTopic = topic.match(/sn(\d+)/);
+        if (snInTopic && snInTopic[1] !== mod.sn) {
+          warnings.push({
+            code: 'TOPIC_SN_MISMATCH',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `sub_topic "${topic}" references sn${snInTopic[1]} but module is sn${mod.sn}`,
+          });
+        }
+      }
+
+      // ── PDO offset validation ──
+      if (i < expectedOffsets.length) {
+        const expected = expectedOffsets[i];
+        if ('pdoread_offset' in flat && flat['pdoread_offset'] !== expected.pdoread_offset) {
+          errors.push({
+            code: 'PDOREAD_OFFSET_MISMATCH',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `pdoread_offset=${flat['pdoread_offset']} but expected ${expected.pdoread_offset}`,
+          });
+        }
+        if ('pdowrite_offset' in flat && flat['pdowrite_offset'] !== expected.pdowrite_offset) {
+          errors.push({
+            code: 'PDOWRITE_OFFSET_MISMATCH',
+            module: mod.sn,
+            task: `app_${task.appNum}`,
+            line: task.line,
+            message: `pdowrite_offset=${flat['pdowrite_offset']} but expected ${expected.pdowrite_offset}`,
+          });
+        }
+      }
+
+      totalTasks++;
+    }
+  }
+
+  // ── Cross-module topic uniqueness ──
+  const topicMap = new Map(); // topic → [{ moduleSn, appNum, line, kind }]
+  for (const entry of allTopics) {
+    if (!topicMap.has(entry.topic)) topicMap.set(entry.topic, []);
+    topicMap.get(entry.topic).push(entry);
+  }
+  for (const [topic, entries] of topicMap) {
+    if (entries.length > 1 && topic) {
+      const details = entries.map(e => `sn${e.moduleSn}/app_${e.appNum}`).join(', ');
+      errors.push({
+        code: 'DUPLICATE_TOPIC',
+        message: `Topic "${topic}" used by multiple tasks: ${details}`,
+      });
+    }
+  }
+
+  const totalErrors = errors.length;
+  const totalWarnings = warnings.length;
+
+  return {
+    valid: totalErrors === 0,
+    errors,
+    warnings,
+    stats: { moduleCount: modules.length, taskCount: totalTasks, totalErrors, totalWarnings },
+  };
+}

From ae03b8bffd0f230d1746e51454fc9381405d9d4b Mon Sep 17 00:00:00 2001
From: GentleLijie <zljzljsweepy@qq.com>
Date: Fri, 17 Apr 2026 15:09:37 +0800
Subject: [PATCH 3/4] docs: update README

---
 README.md | 20 ++++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index 2d3018d..e85086e 100644
--- a/README.md
+++ b/README.md
@@ -6,19 +6,27 @@ This project is a Vue-based web application designed for configuring EtherCAT mo
 
 * **Module Management**: Add and manage multiple EtherCAT slave modules by Serial Number (SN).
 * **Task Assignment**: Assign various hardware tasks to each module, including:
-  * **Remote Controllers**: DJI RC, SBUS RC.
-  * **Sensors**: HIPNUC IMU (CAN), SUPER CAP (CAN).
-  * **Actuators**: DJI Motors, DM Motors, LkTech Motors, DSHOT600, OnBoard PWM.
+  * **Remote Controllers**: DJI RC, SBUS RC, VT13 RC.
+  * **Sensors**: HIPNUC IMU (CAN), CAN PMU (CAN), SUPER CAP (CAN), MS5837.
+  * **Actuators**: DJI Motors, DM Motors, DD Motors, LkTech Motors, DSHOT600, OnBoard PWM, External PWM.
 * **Task Configuration**: Modify the configuration items of each task.
+* **Import Configuration**: Upload a previously generated `config.yaml` to re-edit it in the editor.
+* **Configuration Validation**: Built-in verification script to validate config files for type correctness and structural integrity.
 * **ROS2 Integration**: Customize publisher and subscriber topic names for seamless communication with ROS2.
 * **Message Schema Visualization**: View the ROS2 message structure directly within the task configuration.
+* **Syntax Highlighting**: YAML output with syntax highlighting powered by highlight.js.
 * **Automatic YAML Generation**: Generates a complete `config.yaml` file that can be used by the [EcatV2_Master](https://github.com/AIMEtherCAT/EcatV2_Master).
 
 ## Project Structure
-* `src/pages/`: Contains the main application views (`module_settings.vue` for configuration and `code_generator.vue` for file generation).
+* `src/pages/`: Main application views (`ModuleSettings.vue` for configuration and `CodeGenerator.vue` for file generation).
 * `src/components/`: Reusable UI components.
-* `src/components/message_types/`: Vue templates representing ROS2 message definitions.
-* `src/utils/generate-module-def.js`: The core logic that calculates memory offsets (PDO/SDO) and formats the YAML output.
+* `src/components/message-types/`: Vue templates representing ROS2 message definitions.
+* `src/components/module-settings/`: Module settings page specific components (e.g., `ImportConfigDialog.vue`).
+* `src/components/code-generator/`: Code generator page specific components.
+* `src/utils/generate-module-def.js`: Core logic that calculates memory offsets (PDO/SDO) and formats the YAML output.
+* `src/utils/parse-config.js`: Parses a `config.yaml` back into the editor data structure for re-editing.
+* `src/utils/verify-config.js`: Validates configuration files with type checks and structural verification.
+* `scripts/verify-config.js`: Standalone script for validating config YAML files.
 
 ## Getting Started
 

From be45f8fdd67aa806b54922a7992bf5d56d98faa1 Mon Sep 17 00:00:00 2001
From: GentleLijie <zljzljsweepy@qq.com>
Date: Fri, 17 Apr 2026 18:59:36 +0800
Subject: [PATCH 4/4] fix: fix import issues, auto-correction and linting
 issues

---
 .DS_Store                                     | Bin 6148 -> 6148 bytes
 .../module-settings/ImportConfigDialog.vue    | 236 +++++++++++++++---
 src/pages/ModuleSettings.vue                  |  76 +++++-
 src/utils/parse-config.js                     |  10 +-
 src/utils/verify-config.js                    |   4 +
 5 files changed, 285 insertions(+), 41 deletions(-)

diff --git a/.DS_Store b/.DS_Store
index b4dc850d06e5107e997fa8fc4df69bbe82bc4099..30162b39b64a3c9eec0cfe628b5514e9f1e171be 100644
GIT binary patch
delta 67
zcmZoMXfc@JFUrEez`)4BAi%&-z)-?aoK#+1kd(7oka;<yFi47>p_n0=p@<<9B0brJ
Q>F8#DCKcAr>>Pjj0prFGF#rGn

delta 48
zcmZoMXfc@JFUrioz`)4BAi%&-z)-?aTozoEmy^HwA@g!ZM&`{AnABM(HeA`v&heKY
E03vV>0{{R3

diff --git a/src/components/module-settings/ImportConfigDialog.vue b/src/components/module-settings/ImportConfigDialog.vue
index 322e367..603bbd5 100644
--- a/src/components/module-settings/ImportConfigDialog.vue
+++ b/src/components/module-settings/ImportConfigDialog.vue
@@ -30,45 +30,52 @@
 
     <!-- Step 2: Preview -->
     <div v-if="step === 'preview'">
+      <!-- Fixable issues — will be auto-corrected -->
       <el-alert
-        v-if="verifyResult && !verifyResult.valid"
-        type="error"
+        v-if="fixableErrors.length > 0"
+        type="info"
         :closable="false"
         style="margin-bottom: 15px;"
       >
-        <template #title>Verification Failed ({{ verifyResult.stats.totalErrors }} error(s))</template>
-        <div v-for="(err, idx) in verifyResult.errors.slice(0, 10)" :key="'e'+idx" style="font-size: 12px;">
+        <template #title>Auto-fixable Issues ({{ fixableErrors.length }}) — will be corrected on import</template>
+        <div v-for="(err, idx) in fixableErrors" :key="'f'+idx" style="font-size: 12px;">
           {{ formatVerifyIssue(err) }}
         </div>
-        <div v-if="verifyResult.errors.length > 10" style="font-size: 12px; color: #909399;">
-          ... and {{ verifyResult.errors.length - 10 }} more errors
-        </div>
       </el-alert>
 
+      <!-- Unfixable errors — affected tasks will be skipped -->
       <el-alert
-        v-if="verifyResult && verifyResult.valid && verifyResult.warnings.length > 0"
+        v-if="unfixableErrors.length > 0"
         type="warning"
         :closable="false"
         style="margin-bottom: 15px;"
       >
-        <template #title>Verification Warnings ({{ verifyResult.warnings.length }})</template>
-        <div v-for="(warn, idx) in verifyResult.warnings.slice(0, 10)" :key="'w'+idx" style="font-size: 12px;">
-          {{ formatVerifyIssue(warn) }}
+        <template #title>Issues Found ({{ unfixableErrors.length }}) — affected tasks will be skipped</template>
+        <div v-for="(err, idx) in unfixableErrors.slice(0, 10)" :key="'u'+idx" style="font-size: 12px;">
+          {{ formatVerifyIssue(err) }}
         </div>
-        <div v-if="verifyResult.warnings.length > 10" style="font-size: 12px; color: #909399;">
-          ... and {{ verifyResult.warnings.length - 10 }} more warnings
+        <div v-if="unfixableErrors.length > 10" style="font-size: 12px; color: #909399;">
+          ... and {{ unfixableErrors.length - 10 }} more issues
         </div>
       </el-alert>
 
+      <!-- Warnings -->
       <el-alert
-        v-if="verifyResult && verifyResult.valid && verifyResult.warnings.length === 0"
-        type="success"
+        v-if="verifyResult && verifyResult.warnings.length > 0"
+        type="warning"
         :closable="false"
         style="margin-bottom: 15px;"
       >
-        <template #title>Verification Passed</template>
+        <template #title>Warnings ({{ verifyResult.warnings.length }})</template>
+        <div v-for="(warn, idx) in verifyResult.warnings.slice(0, 10)" :key="'w'+idx" style="font-size: 12px;">
+          {{ formatVerifyIssue(warn) }}
+        </div>
+        <div v-if="verifyResult.warnings.length > 10" style="font-size: 12px; color: #909399;">
+          ... and {{ verifyResult.warnings.length - 10 }} more warnings
+        </div>
       </el-alert>
 
+      <!-- Parse warnings -->
       <el-alert
         v-if="parseErrors.length > 0"
         type="warning"
@@ -84,31 +91,57 @@
         </div>
       </el-alert>
 
+      <!-- All clean -->
+      <el-alert
+        v-if="verifyResult && verifyResult.errors.length === 0 && verifyResult.warnings.length === 0"
+        type="success"
+        :closable="false"
+        style="margin-bottom: 15px;"
+      >
+        <template #title>Verification Passed</template>
+      </el-alert>
+
+      <!-- Import summary -->
       <el-alert
         type="info"
         :closable="false"
         style="margin-bottom: 15px;"
       >
-        <template #title>
-          Found {{ parsedModules.length }} module(s). Module type defaults to H750 Universal Module (0x03).
-        </template>
+        <template #title>{{ importSummaryText }}</template>
       </el-alert>
 
+      <!-- Module table with status indicators -->
       <el-table :data="parsedModules" border size="small">
-        <el-table-column prop="sn" label="SN" width="80" />
-        <el-table-column label="Latency Topic" min-width="180">
+        <el-table-column prop="sn" label="SN" width="70" />
+        <el-table-column label="Status" width="80" align="center">
+          <template #default="{ row }">
+            <el-tag v-if="isModuleBroken(row.sn)" type="danger" size="small">Skip</el-tag>
+            <el-tag v-else-if="getModuleBrokenTaskCount(row) > 0" type="warning" size="small">Partial</el-tag>
+            <el-tag v-else type="success" size="small">OK</el-tag>
+          </template>
+        </el-table-column>
+        <el-table-column label="Latency Topic" min-width="160">
           <template #default="{ row }">{{ row.latency_topic }}</template>
         </el-table-column>
         <el-table-column label="Tasks">
           <template #default="{ row }">
-            <el-tag
-              v-for="(t, i) in row.task"
-              :key="i"
-              size="small"
-              style="margin: 2px;"
-            >
-              {{ getAppTypeFriendlyName(t.type) }}
-            </el-tag>
+            <template v-for="(t, i) in row.task" :key="i">
+              <el-tag
+                v-if="isTaskBroken(row.sn, i + 1)"
+                type="danger"
+                size="small"
+                style="margin: 2px; text-decoration: line-through;"
+              >
+                {{ getAppTypeFriendlyName(t.type) }}
+              </el-tag>
+              <el-tag
+                v-else
+                size="small"
+                style="margin: 2px;"
+              >
+                {{ getAppTypeFriendlyName(t.type) }}
+              </el-tag>
+            </template>
             <span v-if="row.task.length === 0" style="color: #909399;">(none)</span>
           </template>
         </el-table-column>
@@ -118,10 +151,10 @@
         <el-button @click="step = 'select'">Back</el-button>
         <el-button
           type="primary"
-          :disabled="verifyResult && !verifyResult.valid"
-          @click="doImport"
+          :disabled="!hasSomethingToImport"
+          @click="startImport"
         >
-          Import (replace current config)
+          {{ importButtonText }}
         </el-button>
       </div>
     </div>
@@ -131,7 +164,10 @@
       <el-icon :size="48" style="color: #67c23a;"><CircleCheckFilled /></el-icon>
       <div style="margin-top: 12px; font-size: 16px; font-weight: 500;">Import Successful</div>
       <div style="margin-top: 4px; color: #909399;">
-        {{ parsedModules.length }} module(s) loaded into editor
+        {{ importedModuleCount }} module(s) with {{ importedTaskCount }} task(s) loaded
+      </div>
+      <div v-if="skippedTaskCount > 0" style="margin-top: 4px; color: #e6a23c;">
+        {{ skippedTaskCount }} task(s) skipped due to errors
       </div>
       <el-button type="primary" style="margin-top: 20px;" @click="close">Close</el-button>
     </div>
@@ -140,6 +176,7 @@
 
 <script>
 import { UploadFilled, CircleCheckFilled } from '@element-plus/icons-vue';
+import { ElMessageBox } from 'element-plus';
 import { parseConfigYaml } from '@/utils/parse-config';
 import { verifyConfig } from '@/utils/verify-config';
 
@@ -158,6 +195,9 @@ export default {
       parsedModules: [],
       parseErrors: [],
       verifyResult: null,
+      importedModuleCount: 0,
+      importedTaskCount: 0,
+      skippedTaskCount: 0,
     };
   },
   computed: {
@@ -165,6 +205,67 @@ export default {
       get() { return this.modelValue; },
       set(val) { this.$emit('update:modelValue', val); },
     },
+    fixableErrors() {
+      if (!this.verifyResult) return [];
+      return this.verifyResult.errors.filter(e => e.fixable);
+    },
+    unfixableErrors() {
+      if (!this.verifyResult) return [];
+      return this.verifyResult.errors.filter(e => !e.fixable);
+    },
+    brokenTaskKeys() {
+      const keys = new Set();
+      for (const err of this.unfixableErrors) {
+        if (err.module && err.task) {
+          keys.add(`${err.module}:${err.task}`);
+        }
+      }
+      return keys;
+    },
+    brokenModuleSns() {
+      const sns = new Set();
+      for (const err of this.unfixableErrors) {
+        if (err.module && !err.task) {
+          sns.add(err.module);
+        }
+      }
+      return sns;
+    },
+    hasSomethingToImport() {
+      return this.parsedModules.some(mod => {
+        if (this.brokenModuleSns.has(mod.sn)) return false;
+        return (mod.task || []).some((t, i) => !this.brokenTaskKeys.has(`${mod.sn}:app_${i + 1}`));
+      });
+    },
+    importSummaryText() {
+      const total = this.parsedModules.length;
+      let cleanModules = 0, cleanTasks = 0, brokenTasks = 0;
+      for (const mod of this.parsedModules) {
+        if (this.brokenModuleSns.has(mod.sn)) continue;
+        cleanModules++;
+        for (let i = 0; i < (mod.task || []).length; i++) {
+          if (this.brokenTaskKeys.has(`${mod.sn}:app_${i + 1}`)) {
+            brokenTasks++;
+          } else {
+            cleanTasks++;
+          }
+        }
+      }
+      const brokenModules = total - cleanModules;
+      let text = `Found ${total} module(s), ${cleanTasks} task(s) will be imported.`;
+      if (brokenModules > 0) text += ` ${brokenModules} module(s) skipped.`;
+      if (brokenTasks > 0) text += ` ${brokenTasks} task(s) skipped.`;
+      if (this.fixableErrors.length > 0) text += ` ${this.fixableErrors.length} issue(s) will be auto-corrected.`;
+      return text;
+    },
+    importButtonText() {
+      if (this.fixableErrors.length > 0 && this.unfixableErrors.length > 0) {
+        return 'Import (fix & skip broken)';
+      }
+      if (this.fixableErrors.length > 0) return 'Import (auto-fix)';
+      if (this.unfixableErrors.length > 0) return 'Import (skip broken)';
+      return 'Import (replace current config)';
+    },
   },
   methods: {
     handleFileChange(file) {
@@ -191,15 +292,61 @@ export default {
       this.step = 'preview';
     },
 
+    startImport() {
+      if (this.fixableErrors.length > 0) {
+        const lines = this.fixableErrors.map(e => this.formatVerifyIssue(e)).join('\n');
+        ElMessageBox.confirm(
+          `The following issues will be auto-corrected:\n\n${lines}\n\nProceed with import?`,
+          'Confirm Auto-fix',
+          { confirmButtonText: 'Import with fixes', cancelButtonText: 'Cancel', type: 'info' }
+        ).then(() => {
+          this.doImport();
+        }).catch(() => {});
+      } else {
+        this.doImport();
+      }
+    },
+
     doImport() {
+      // Filter out broken modules and tasks
+      const cleanModules = this.parsedModules
+        .filter(mod => !this.brokenModuleSns.has(mod.sn))
+        .map(mod => {
+          const cleanTasks = (mod.task || []).filter(
+            (t, i) => !this.brokenTaskKeys.has(`${mod.sn}:app_${i + 1}`)
+          );
+          return { ...mod, task: cleanTasks };
+        });
+
       let uidCounter = Date.now();
-      this.parsedModules.forEach(mod => {
+      this.importedModuleCount = cleanModules.length;
+      this.importedTaskCount = 0;
+      this.skippedTaskCount = 0;
+
+      cleanModules.forEach(mod => {
         mod._uid = uidCounter++;
         if (mod.task) {
-          mod.task.forEach(t => { t._uid = uidCounter++; });
+          mod.task.forEach(t => {
+            t._uid = uidCounter++;
+            this.importedTaskCount++;
+          });
         }
       });
-      this.$emit('imported', this.parsedModules);
+
+      // Count skipped tasks
+      for (const mod of this.parsedModules) {
+        if (this.brokenModuleSns.has(mod.sn)) {
+          this.skippedTaskCount += (mod.task || []).length;
+        } else {
+          for (let i = 0; i < (mod.task || []).length; i++) {
+            if (this.brokenTaskKeys.has(`${mod.sn}:app_${i + 1}`)) {
+              this.skippedTaskCount++;
+            }
+          }
+        }
+      }
+
+      this.$emit('imported', cleanModules);
       this.step = 'done';
     },
 
@@ -210,12 +357,29 @@ export default {
       this.parsedModules = [];
       this.parseErrors = [];
       this.verifyResult = null;
+      this.importedModuleCount = 0;
+      this.importedTaskCount = 0;
+      this.skippedTaskCount = 0;
     },
 
     close() {
       this.visible = false;
     },
 
+    isModuleBroken(sn) {
+      return this.brokenModuleSns.has(sn);
+    },
+
+    getModuleBrokenTaskCount(mod) {
+      return (mod.task || []).filter(
+        (t, i) => this.brokenTaskKeys.has(`${mod.sn}:app_${i + 1}`)
+      ).length;
+    },
+
+    isTaskBroken(sn, appNum) {
+      return this.brokenTaskKeys.has(`${sn}:app_${appNum}`);
+    },
+
     formatVerifyIssue(issue) {
       const parts = [];
       if (issue.module) parts.push(`sn${issue.module}`);
diff --git a/src/pages/ModuleSettings.vue b/src/pages/ModuleSettings.vue
index 050a566..2bc24be 100644
--- a/src/pages/ModuleSettings.vue
+++ b/src/pages/ModuleSettings.vue
@@ -9,6 +9,9 @@
         <el-button type="" size="small" style="margin-left: 15px;" @click="showImportDialog = true">
           Import Config
         </el-button>
+        <el-button type="" size="small" style="margin-left: 5px;" @click="verifyCurrentConfig">
+          Verify
+        </el-button>
       </span>
     </el-divider>
     <div>
@@ -857,6 +860,50 @@
 
     <import-config-dialog v-model="showImportDialog" @imported="handleImport" />
 
+    <el-dialog v-model="verifyDialogVisible" title="Verify Configuration" width="600px">
+      <div v-if="verifyResult">
+        <el-alert
+          v-if="verifyResult.valid"
+          type="success"
+          :closable="false"
+          style="margin-bottom: 15px;"
+        >
+          <template #title>Configuration is valid ({{ verifyResult.stats.moduleCount }} modules, {{ verifyResult.stats.taskCount }} tasks)</template>
+        </el-alert>
+        <el-alert
+          v-else
+          type="error"
+          :closable="false"
+          style="margin-bottom: 15px;"
+        >
+          <template #title>Verification Failed ({{ verifyResult.stats.totalErrors }} error(s), {{ verifyResult.stats.totalWarnings }} warning(s))</template>
+        </el-alert>
+
+        <div v-if="verifyResult.errors.length > 0" style="margin-bottom: 15px;">
+          <div style="font-weight: bold; color: #f56c6c; margin-bottom: 8px;">Errors:</div>
+          <div v-for="(err, idx) in verifyResult.errors.slice(0, 20)" :key="'e'+idx" style="font-size: 13px; color: #f56c6c; margin-bottom: 4px;">
+            {{ formatVerifyIssue(err) }}
+          </div>
+          <div v-if="verifyResult.errors.length > 20" style="font-size: 12px; color: #909399;">
+            ... and {{ verifyResult.errors.length - 20 }} more errors
+          </div>
+        </div>
+
+        <div v-if="verifyResult.warnings.length > 0">
+          <div style="font-weight: bold; color: #e6a23c; margin-bottom: 8px;">Warnings:</div>
+          <div v-for="(warn, idx) in verifyResult.warnings.slice(0, 20)" :key="'w'+idx" style="font-size: 13px; color: #e6a23c; margin-bottom: 4px;">
+            {{ formatVerifyIssue(warn) }}
+          </div>
+          <div v-if="verifyResult.warnings.length > 20" style="font-size: 12px; color: #909399;">
+            ... and {{ verifyResult.warnings.length - 20 }} more warnings
+          </div>
+        </div>
+      </div>
+      <template #footer>
+        <el-button type="primary" @click="verifyDialogVisible = false">Close</el-button>
+      </template>
+    </el-dialog>
+
     <el-dialog v-model="moveDialogVisible" title="Move Task" width="400px">
       <p>Select target module:</p>
       <el-select v-model="moveTargetIndex" placeholder="Select module" style="width: 100%;">
@@ -879,6 +926,8 @@
 <script>
 
   import ImportConfigDialog from "@/components/module-settings/ImportConfigDialog.vue";
+import { verifyConfig } from "@/utils/verify-config";
+import { generateModuleDef } from "@/utils/generate-module-def";
 import ConnectionLostActionSelector from "@/components/ConnectionLostActionSelector.vue";
 import ReadDmMotor from "@/components/message-types/ReadDmMotor.vue";
 import ReadSBUSRC from "@/components/message-types/ReadSBUSRC.vue";
@@ -1157,6 +1206,8 @@ export default {
       },
       modules: [],
       showImportDialog: false,
+      verifyDialogVisible: false,
+      verifyResult: null,
       moveDialogVisible: false,
       moveSourceTaskList: null,
       moveSourceIndex: -1,
@@ -1278,7 +1329,30 @@ export default {
     handleImport(importedModules) {
       this.modules = importedModules;
       this.showImportDialog = false;
-    }
+    },
+    verifyCurrentConfig() {
+      if (this.modules.length === 0) {
+        this.verifyResult = { valid: false, errors: [{ message: 'No modules to verify' }], warnings: [], stats: { moduleCount: 0, taskCount: 0, totalErrors: 1, totalWarnings: 0 } };
+        this.verifyDialogVisible = true;
+        return;
+      }
+      // Generate YAML from current modules, then verify
+      let fullYaml = 'slaves:\n';
+      for (const mod of this.modules) {
+        const result = generateModuleDef(mod);
+        fullYaml += result.configuration;
+      }
+      this.verifyResult = verifyConfig(fullYaml);
+      this.verifyDialogVisible = true;
+    },
+    formatVerifyIssue(issue) {
+      const parts = [];
+      if (issue.module) parts.push(`sn${issue.module}`);
+      if (issue.task) parts.push(issue.task);
+      const loc = parts.length > 0 ? `[${parts.join('/')}] ` : '';
+      const line = issue.line ? `L${issue.line}: ` : '';
+      return `${loc}${line}${issue.message}`;
+    },
   }
 }
 </script>
diff --git a/src/utils/parse-config.js b/src/utils/parse-config.js
index 2fc6e43..f33112a 100644
--- a/src/utils/parse-config.js
+++ b/src/utils/parse-config.js
@@ -23,11 +23,13 @@ const INT_TAGS = new Set([
 
 function parseTypedValue(rawValue, tag, lineNum, errors) {
   if (tag === 'std::string') {
-    if ((rawValue.startsWith("'") && rawValue.endsWith("'")) ||
-        (rawValue.startsWith('"') && rawValue.endsWith('"'))) {
-      return rawValue.slice(1, -1);
+    let v = rawValue;
+    while (v.length >= 2 &&
+      ((v[0] === "'" && v[v.length - 1] === "'") ||
+       (v[0] === '"' && v[v.length - 1] === '"'))) {
+      v = v.slice(1, -1);
     }
-    return rawValue;
+    return v;
   }
   if (tag === 'float') {
     const num = parseFloat(rawValue);
diff --git a/src/utils/verify-config.js b/src/utils/verify-config.js
index fade4e7..a19d5b0 100644
--- a/src/utils/verify-config.js
+++ b/src/utils/verify-config.js
@@ -477,6 +477,7 @@ export function verifyConfig(yamlText) {
         code: 'TASK_COUNT_MISMATCH',
         module: mod.sn,
         line: mod.line,
+        fixable: true,
         message: `Declared task_count=${mod.task_count_declared} but found ${mod.tasks.length} task(s)`,
       });
     }
@@ -492,6 +493,7 @@ export function verifyConfig(yamlText) {
         code: 'SDO_LEN_MISMATCH',
         module: mod.sn,
         line: mod.line,
+        fixable: true,
         message: `Declared sdo_len=${mod.sdo_len_declared} but calculated=${expectedSdoLen}`,
       });
     }
@@ -756,6 +758,7 @@ export function verifyConfig(yamlText) {
             module: mod.sn,
             task: `app_${task.appNum}`,
             line: task.line,
+            fixable: true,
             message: `pdoread_offset=${flat['pdoread_offset']} but expected ${expected.pdoread_offset}`,
           });
         }
@@ -765,6 +768,7 @@ export function verifyConfig(yamlText) {
             module: mod.sn,
             task: `app_${task.appNum}`,
             line: task.line,
+            fixable: true,
             message: `pdowrite_offset=${flat['pdowrite_offset']} but expected ${expected.pdowrite_offset}`,
           });
         }