webstudio/ui/src/core/model/skill_model.ts

import { IsArray, IsOptional, IsString, ValidateNested } from "class-validator";
import { Type } from "class-transformer";
import { ISkillView } from "../../features/behavior_tree_builder/presentation/ui/skill_tree/skill_tree";
import { v4 } from "uuid";
import { Result } from "../helper/result";
import clone from "just-clone";

export interface IDependency {
  skills: ISkillDependency[];
}

export interface ISkillDependency {
  sid: string;
  dependency: Object;
}

export interface ISkill {
  sid?: string;
  SkillPackage: ISkillPackage;
  Module: IModule;
  Launch: ILaunch;
  ROS2: IRos2;
  BTAction: IBTAction[];
  Interface: IInterface;
  Settings: ISetting[];
  xxx: IXxx;
}
export interface IWeightsDependency {
  weights_name:string;
  object_name: string;
  weights_file: string;
  dimensions: number[];
}

export interface IParam {
  type: string;
  dependency: Object;
}
export interface IBTAction {
  name: string;
  format: string;
  // TODO: Нужно выпилить его отсюда
  // sid?: string;
  type: string;
  param: IParam[];
  result: string[];
}

export interface IInterface {
  Input: IPut[];
  Output: IPut[];
}

export interface IPut {
  name: string;
  type: string;
}

export interface ILaunch {
  executable: string;
}

export interface IModule {
  name: string;
  description: string;
}

export interface IRos2 {
  node_name: string;
}

export interface ISetting {
  name: string;
  value: number | string;
}

export interface ISkillPackage {
  name: string;
  version: string;
  format: string;
}

export interface IXxx {
  cameraLink: string;
  topicImage: string;
  topicCameraInfo: string;
}

export class SkillPackage implements ISkillPackage {
  @IsString()
  name: string;
  @IsString()
  version: string;
  @IsString()
  format: string;
}
export class Module implements IModule {
  @IsString()
  name: string;
  @IsString()
  description: string;
}
export class BTAction implements IBTAction {
  @IsString()
  name: string;
  @IsString()
  format: string;
  @IsString()
  type: string;
  sid?: string;
  @IsArray()
  param: IParam[];
  @IsArray()
  result: string[];
}
export class Launch implements ILaunch {
  @IsString()
  executable: string;
}
export class Ros2 implements IRos2 {
  @IsString()
  node_name: string;
}
export class Put implements IPut {
  @IsString()
  name: string;
  @IsString()
  type: string;
}
export class Interface implements IInterface {
  @ValidateNested()
  @Type(() => Put)
  Input: IPut[];
  @ValidateNested()
  @Type(() => Put)
  Output: IPut[];
}
export class Setting implements ISetting {
  name: string;
  value: string | number;
}
export class Xxx implements IXxx {
  cameraLink: string;
  topicImage: string;
  topicCameraInfo: string;
}
export class SkillModel implements ISkill {
  @IsOptional()
  @IsString()
  sid?: string;
  @ValidateNested()
  @Type(() => SkillPackage)
  SkillPackage: ISkillPackage;
  @ValidateNested()
  @Type(() => Module)
  Module: IModule;
  @ValidateNested()
  @Type(() => Launch)
  Launch: ILaunch;
  @ValidateNested()
  @Type(() => Ros2)
  ROS2: IRos2;
  @ValidateNested()
  @IsArray()
  @Type(() => BTAction)
  BTAction: IBTAction[];
  @ValidateNested()
  @Type(() => Interface)
  Interface: IInterface;
  @ValidateNested()
  @IsArray()
  @Type(() => Setting)
  Settings: ISetting[];
  @ValidateNested()
  @Type(() => Xxx)
  xxx: IXxx;
  static empty() {
    const skillModel = new SkillModel();
    skillModel.BTAction = [];
    return skillModel;
  }
  public static isEmpty(skill: SkillModel): Result<void, SkillModel> {
    if (skill.BTAction.isEmpty()) {
      return Result.error(undefined);
    }
    return Result.ok(Object.assign(skill, {}));
  }

  public getSid = () => this.sid;
  public setSid = (sid: string) => {
    const result = clone(this);
    result.sid = sid;
    return result;
  };
}

export class SkillDependency implements IDependency {
  constructor(public skills: ISkillDependency[]) {}
  static empty() {
    return new SkillDependency([]);
  }
  static isEmpty = (skill: SkillDependency) => {
    if (skill.skills.isEmpty()) {
      return Result.error(undefined);
    }
    return Result.ok(skill);
  };
}

export class Skills {
  @IsArray()
  @Type(() => SkillModel)
  skills: SkillModel[];
  validation = (): Result<string[], void> => {
    const errors: string[] = [];
    this.skills.forEach((skill) => {
      skill.BTAction.forEach((action) => {
        if (action.param.isNotEmpty()) {
          action.param.forEach((param) => {
            if (Object.keys(param.dependency).isEmpty()) {
              errors.push(param.type);
            }
          });
        }
      });
    });
    if (errors.isNotEmpty()) {
      return Result.error(errors);
    }
    return Result.ok(undefined);
  };
  skillBySid = (sid: string) =>
    SkillModel.isEmpty(
      this.skills.reduce<SkillModel>((acc, el) => {
        if (el.sid?.isEqual(sid)) {
          acc = el;
        }
        return acc;
      }, SkillModel.empty())
    );

  toSkillView = (): ISkillView[] =>
    this.skills.map((el) => {
      return {
        name: el.Module.name,
        children: el.BTAction.map((act) => {
          return { name: act.name, uuid: v4() };
        }),
      };
    });
  getSkill = (name: string) =>
    SkillModel.isEmpty(
      this.skills.reduce<SkillModel>((acc, el) => {
        if (el.BTAction.find((el) => el.name.isEqual(name))) {
          el.BTAction.map((action) => {
            action.param.map((param) => {
              return param;
            });
          });
          acc = el;
        }
        return acc;
      }, SkillModel.empty())
    );

  getSkilsOut = (name: string) =>
    this.skills
      .reduce<string[][]>((acc, el) => {
        if (el.BTAction.find((el) => el.name.isEqual(name))) {
          acc = el.BTAction.filter((f) => f.name.isEqual(name)).map((z) => z.result);
        }
        return acc;
      }, [])
      .flat(1);
  getSkillParams = (name: string) =>
    this.skills
      .reduce<IParam[][]>((acc, el) => {
        if (el.BTAction.find((el) => el.name.isEqual(name))) {
          acc = el.BTAction.filter((f) => f.name.isEqual(name)).map((z) => z.param);
        }
        return acc;
      }, [])
      .flat(1);
  getSkillDo = (name: string) =>
    this.skills.reduce((acc, el) => {
      if (el.BTAction.find((el) => el.name.isEqual(name))) {
        acc = el.Module.name;
      }
      return acc;
    }, "error");

  getSkillsNames = () =>
    this.skills
      .map((el) => {
        return el.BTAction.map((act) => {
          return { name: act.name };
        });
      })
      .flat(1);

  getForms = (skillLabel: string) =>
    this.skills
      .reduce<SkillModel[]>((acc, el) => {
        if (el.BTAction.find((el) => el.name.isEqual(skillLabel))) {
          acc.push(el);
        }
        return acc;
      }, [])
      .map((el) => el.BTAction.map((act) => act.param.map((el) => el.type).flat(1)))
      .flat(1)
      .flat(1)
      .filter((el) => el !== "");

  getDependencyBySkillLabelAndType = <T>(skillType: string, sid: string) =>
    this.skills
      .reduce<Object[]>((acc, skill) => {
        if (skill.sid?.isEqual(sid)) {
          skill.BTAction.map((action) => {
            action.param.map((param) => {
              if (param.type.isEqual(skillType)) {
                acc.push(param.dependency);
              }
              return param;
            });
            return action;
          });
        }

        return acc;
      }, [])
      .at(0) as T;
  static isEmpty(model: Skills): Result<void, void> {
    if (model.skills.isEmpty()) {
      return Result.error(undefined);
    }
    return Result.ok(undefined);
  }
  static empty() {
    const skills = new Skills();
    skills.skills = [];
    return skills;
  }

  public dependencyIsFilled = (skillType: string, sid: string) =>
    this.skills.reduce((acc, skill) => {
      if (skill.sid?.isEqual(sid)) {
        skill.BTAction.forEach((action) => {
          action.param.forEach((param) => {
            if (param.type.isEqual(skillType)) {
              // console.log('SKILL TYPE')
              // console.log(skillType);
              // console.log("SID")
              // console.log(sid)
              // console.log("DEPENDENCY")
              // console.log(param.dependency)
              acc = Object.keys(param.dependency).isNotEmpty();
            }
          });
        });
      }

      return acc;
    }, false);

  getAllSids = () =>
    this.skills.reduce((acc, skill) => {
      skill.BTAction.forEach((action) =>
        action.param.forEach((param) => {
          // acc.incrementValue(param.sid ?? "empty");
          return param;
        })
      );
      return acc;
    }, new Map<string, number>());

  deleteSid(sid: string): SkillModel[] {
    return this.skills.filter((skill) => !skill.sid?.isEqual(sid));
  }
  updateSkill = (skill: SkillModel) => {
    console.log(skill);
    this.skills = this.skills.map((el) => {
      if (el.sid?.isEqual(skill.sid ?? "")) {
        el = skill;
      }
      return el;
    });
  };
  skillHasForm = (label: string): boolean => {
    // TODO:NEED IMPLEMENTS
    return true;
  };
}