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IDONTSUDO 2024-06-20 21:45:57 +03:00
parent 81238c5182
commit 0a4eea19c5
39 changed files with 242 additions and 286 deletions
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3
server/src/core/extensions/array.ts
View file

@ -6,7 +6,6 @@ export const ArrayExtensions = () => {
};
}
if ([].equals === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.equals = function (array, strict = true) {
if (!array) return false;
@ -27,7 +26,6 @@ export const ArrayExtensions = () => {
};
}
if ([].lastElement === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.lastElement = function () {
const instanceCheck = this;
if (instanceCheck === undefined) {
@ -39,7 +37,6 @@ export const ArrayExtensions = () => {
};
}
if ([].isEmpty === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.isEmpty = function () {
return this.length === 0;
};

2
server/src/core/extensions/string.ts
View file

@ -1,6 +1,5 @@
export const StringExtensions = () => {
if ("".isEmpty === undefined) {
// eslint-disable-next-line no-extend-native
String.prototype.isEmpty = function () {
return this.length === 0;
};
@ -11,7 +10,6 @@ export const StringExtensions = () => {
};
}
if ("".isNotEmpty === undefined) {
// eslint-disable-next-line no-extend-native
String.prototype.isNotEmpty = function () {
return this.length !== 0;
};

5
server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts
View file

@ -9,7 +9,7 @@ export interface Parts {
name: string;
part_path: string;
material_path: string;
httpUrl?: string;
stlUrl?: string;
}
export class RobossemblerAssetsNetworkMapperScenario extends CallbackStrategyWithEmpty {
call = async (): ResponseBase => (await new SearchManyDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({ isActive: true }, 'is dont active projects')).map((projectModel) => {
@ -22,8 +22,7 @@ export class RobossemblerAssetsNetworkMapperScenario extends CallbackStrategyWit
).map((model) => {
model.map((el) => {
el.httpUrl = address + '/' + rootDir.match(new RegExp(/[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}/gm))[0] + '/assets/libs/objects/' + el.name + '.glb'
// server/build/public/0ddbb777-8002-4424-a3b0-d869783cca97/assets/libs/objects/planet_gear.glb
el.stlUrl = address + '/' + rootDir.match(new RegExp(/[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}/gm))[0] + '/assets/' + el.part_path
return el
})
return Result.ok(model);

34
ui/package-lock.json generated
View file

@ -50,6 +50,7 @@
"sass": "^1.66.1",
"serve": "^14.2.1",
"socket.io-client": "^4.7.2",
"source-map-loader": "^5.0.0",
"styled-components": "^6.1.8",
"three": "^0.165.0",
"three-stdlib": "^2.28.9",
@ -14874,6 +14875,26 @@
}
}
},
"node_modules/react-scripts/node_modules/source-map-loader": {
"version": "3.0.2",
"resolved": "https://registry.npmjs.org/source-map-loader/-/source-map-loader-3.0.2.tgz",
"integrity": "sha512-BokxPoLjyl3iOrgkWaakaxqnelAJSS+0V+De0kKIq6lyWrXuiPgYTGp6z3iHmqljKAaLXwZa+ctD8GccRJeVvg==",
"dependencies": {
"abab": "^2.0.5",
"iconv-lite": "^0.6.3",
"source-map-js": "^1.0.1"
},
"engines": {
"node": ">= 12.13.0"
},
"funding": {
"type": "opencollective",
"url": "https://opencollective.com/webpack"
},
"peerDependencies": {
"webpack": "^5.0.0"
}
},
"node_modules/read-cache": {
"version": "1.0.0",
"resolved": "https://registry.npmjs.org/read-cache/-/read-cache-1.0.0.tgz",
@ -15994,23 +16015,22 @@
}
},
"node_modules/source-map-loader": {
"version": "3.0.2",
"resolved": "https://registry.npmjs.org/source-map-loader/-/source-map-loader-3.0.2.tgz",
"integrity": "sha512-BokxPoLjyl3iOrgkWaakaxqnelAJSS+0V+De0kKIq6lyWrXuiPgYTGp6z3iHmqljKAaLXwZa+ctD8GccRJeVvg==",
"version": "5.0.0",
"resolved": "https://registry.npmjs.org/source-map-loader/-/source-map-loader-5.0.0.tgz",
"integrity": "sha512-k2Dur7CbSLcAH73sBcIkV5xjPV4SzqO1NJ7+XaQl8if3VODDUj3FNchNGpqgJSKbvUfJuhVdv8K2Eu8/TNl2eA==",
"dependencies": {
"abab": "^2.0.5",
"iconv-lite": "^0.6.3",
"source-map-js": "^1.0.1"
"source-map-js": "^1.0.2"
},
"engines": {
"node": ">= 12.13.0"
"node": ">= 18.12.0"
},
"funding": {
"type": "opencollective",
"url": "https://opencollective.com/webpack"
},
"peerDependencies": {
"webpack": "^5.0.0"
"webpack": "^5.72.1"
}
},
"node_modules/source-map-support": {

7
ui/package.json
View file

@ -45,6 +45,7 @@
"sass": "^1.66.1",
"serve": "^14.2.1",
"socket.io-client": "^4.7.2",
"source-map-loader": "^5.0.0",
"styled-components": "^6.1.8",
"three": "^0.165.0",
"three-stdlib": "^2.28.9",
@ -59,7 +60,7 @@
"xml-formatter": "^3.6.2"
},
"scripts": {
"dev": "GENERATE_SOURCEMAP=false && react-scripts start",
"dev": "react-scripts start",
"build": "react-scripts build",
"test": "react-scripts test",
"eject": "react-scripts eject",
@ -67,9 +68,7 @@
},
"eslintConfig": {
"extends": [
"react-app",
"react-app/jest"
]
"react-app" ]
},
"browserslist": {
"production": [

8
ui/src/core/extensions/array.ts
View file

@ -3,7 +3,6 @@ import { Result } from "../helper/result";
/* eslint-disable @typescript-eslint/no-this-alias */
export const ArrayExtensions = () => {
if ([].equals === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.equals = function (array, strict = true) {
if (!array) return false;
@ -24,7 +23,6 @@ export const ArrayExtensions = () => {
};
}
if ([].lastElement === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.lastElement = function () {
const instanceCheck = this;
if (instanceCheck === undefined) {
@ -36,31 +34,26 @@ export const ArrayExtensions = () => {
};
}
if ([].isEmpty === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.isEmpty = function () {
return this.length === 0;
};
}
if ([].isNotEmpty === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.isNotEmpty = function () {
return this.length !== 0;
};
}
if ([].hasIncludeElement === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.hasIncludeElement = function (element) {
return this.indexOf(element) !== -1;
};
}
if ([].repeat === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.repeat = function (quantity) {
return Array(quantity).fill(this).flat(1);
};
}
if ([].rFind === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.rFind = function (predicate) {
const result = this.find(predicate as any);
if (result === undefined) {
@ -70,7 +63,6 @@ export const ArrayExtensions = () => {
};
}
if ([].maxLength === undefined) {
// eslint-disable-next-line no-extend-native
Array.prototype.maxLength = function (length) {
if (this.length > length) {
return this;

1
ui/src/core/extensions/extensions.ts
View file

@ -42,6 +42,7 @@ declare global {
isEqualMany(str: string[]): boolean;
hasPattern(pattern: string): boolean;
hasNoPattern(pattern: string): boolean;
divideByIndex(index: number): string[]
}
interface Map<K, V> {

7
ui/src/core/extensions/map.ts
View file

@ -1,6 +1,5 @@
export const MapExtensions = () => {
if (Map.prototype.addValueOrMakeCallback === undefined) {
// eslint-disable-next-line no-extend-native
Map.prototype.addValueOrMakeCallback = function (key, value, fn) {
if (this.has(key)) {
this.set(key, value);
@ -12,7 +11,6 @@ export const MapExtensions = () => {
};
}
if (Map.prototype.getKeyFromValueIsExists === undefined) {
// eslint-disable-next-line no-extend-native
Map.prototype.getKeyFromValueIsExists = function (value) {
let result;
this.forEach((el, key) => {
@ -24,7 +22,6 @@ export const MapExtensions = () => {
};
}
if (Map.prototype.overrideValue === undefined) {
// eslint-disable-next-line no-extend-native
Map.prototype.overrideValue = function (key, value) {
const result = this.get(key);
@ -32,7 +29,6 @@ export const MapExtensions = () => {
};
}
if (Map.prototype.keysToJson === undefined) {
// eslint-disable-next-line no-extend-native
Map.prototype.keysToJson = function () {
const result: any[] = [];
this.forEach((el) => result.push(el));
@ -40,13 +36,11 @@ export const MapExtensions = () => {
};
}
if (Map.prototype.toArray === undefined) {
// eslint-disable-next-line no-extend-native
Map.prototype.toArray = function () {
return Array.from(this.values());
};
}
if (Map.prototype.getPredicateValue === undefined) {
// eslint-disable-next-line no-extend-native
Map.prototype.getPredicateValue = function (callBack) {
const result: any[] = [];
this.forEach((el, key) => {
@ -59,7 +53,6 @@ export const MapExtensions = () => {
};
}
if (Map.prototype.incrementValue === undefined) {
// eslint-disable-next-line no-extend-native
Map.prototype.incrementValue = function (key) {
if (this.get(key)) {
this.set(key, this.get(key) + 1);

8
ui/src/core/extensions/number.ts
View file

@ -1,45 +1,39 @@
export const NumberExtensions = () => {
if (Number().fromArray === undefined) {
// eslint-disable-next-line no-extend-native
Number.prototype.fromArray = function () {
return Array.from(this.toString()).map((el) => Number(el));
};
}
if (Number().toPx === undefined) {
// eslint-disable-next-line no-extend-native
Number.prototype.toPx = function () {
return String(this) + "px";
};
}
if (Number().unixFromDate === undefined) {
// eslint-disable-next-line no-extend-native
Number.prototype.unixFromDate = function () {
const date = new Date(Number(this) * 1000);
return `${date.getUTCFullYear()}.${date.getMonth()}.${date.getDay()} ${date.getHours()}:${date.getMinutes()}`;
};
}
if (Number().isValid === undefined) {
// eslint-disable-next-line no-extend-native
Number.prototype.isValid = function (str: string) {
return !isNaN(Number(str));
};
}
if (Number().randRange === undefined) {
// eslint-disable-next-line no-extend-native
Number.prototype.randRange = function (min, max) {
return Math.random() * (max - min) + min;
};
}
if (Number().isPositive === undefined) {
// eslint-disable-next-line no-extend-native
Number.prototype.isPositive = function () {
return Math.sign(Number(this)) === 1;
};
}
if(Number().isNegative === undefined){
// eslint-disable-next-line no-extend-native
Number.prototype.isNegative = function (){
return !this.isPositive()
}
}
};

11
ui/src/core/extensions/string.ts
View file

@ -1,13 +1,11 @@
/* eslint-disable no-extend-native */
export const StringExtensions = () => {
if ("".isEmpty === undefined) {
// eslint-disable-next-line no-extend-native
String.prototype.isEmpty = function () {
return this.length === 0;
};
}
if ("".isNotEmpty === undefined) {
// eslint-disable-next-line no-extend-native
String.prototype.isNotEmpty = function () {
return this.length !== 0;
};
@ -46,4 +44,13 @@ export const StringExtensions = () => {
return !this.hasPattern(pattern);
};
}
if (''.divideByIndex === undefined) {
String.prototype.divideByIndex = function (index) {
if (this.at(index) === undefined) {
return []
}
return [this.slice(0, index), this.slice(index+1, this.length)]
}
}
};

2
ui/src/core/helper/typed_event.ts
View file

@ -40,3 +40,5 @@ export class TypedEvent<T> {
return this.on((e) => te.emit(e));
};
}

35
ui/src/core/repository/babylon_repository.ts
View file

@ -1,37 +1,36 @@
import { Scene, Engine, MeshBuilder, FreeCamera, HemisphericLight, Vector3, SceneLoader } from 'babylonjs';
import { GLTFFileLoader, STLFileLoader } from 'babylonjs-loaders';
import { GLTFFileLoader } from 'babylonjs-loaders';
export class BabylonRepository {
engine: Engine;
canvas: HTMLCanvasElement;
scene: Scene;
sceneLoader: SceneLoader
constructor(canvas: HTMLCanvasElement) {
this.sceneLoader = new SceneLoader();
this.engine = new Engine(canvas, true);
this.scene = this.CreateScene();
this.scene = new Scene(this.engine);
this.engine.runRenderLoop(() => {
this.scene.render();
});
const Camera = new FreeCamera("camera", new Vector3(0, 1, -5), this.scene);
Camera.attachControl();
const light = new HemisphericLight("light", new Vector3(0, 1, 0), this.scene);
light.intensity = 0.5;
//3D Object
// const ground = MeshBuilder.CreateGround("ground", { width: 10, height: 10 }, this.scene);
// const sphereball = MeshBuilder.CreateSphere("sphereball", { diameter: 1 }, this.scene);
// sphereball.position = new Vector3(0, 1, 0)
this.scene.createDefaultCameraOrLight(true, true, true);
new HemisphericLight("hemiLight", new Vector3(0, 1, 0));
SceneLoader.RegisterPlugin(new GLTFFileLoader())
SceneLoader.RegisterPlugin(new STLFileLoader());
SceneLoader.ImportMeshAsync("",
"http://localhost:4001/1dfc4e1a-9c1a-4fa2-96b2-19c86acb6ea4/assets/libs/objects/",
"sol_gear.glb", this.scene)
}
CreateScene(): Scene {
const scene = new Scene(this.engine);
return scene;
}
load = (url: string) => {
deleteAllObjectsScene = () => this.scene.meshes.forEach((el) => this.scene.removeMesh(el, true))
SceneLoader.LoadAssetContainer(url)
loadHttp = (url: string) => {
const divide = url.divideByIndex(url.lastIndexOf('/'))
SceneLoader.ImportMeshAsync("",
`${divide.at(0)}/`,
`${divide.at(1)}`, this.scene).then((frame) => {
});
}
}

56
ui/src/core/repository/core_three_repository.ts
View file

@ -20,9 +20,7 @@ import {
CameraHelper,
Quaternion,
MeshBasicMaterial,
PlaneGeometry,
BoxGeometry,
AxesHelper,
MeshStandardMaterial
} from "three";
import { TypedEvent } from "../helper/typed_event";
@ -37,8 +35,9 @@ import { SceneMode } from "../../features/scene_manager/model/scene_view";
import { throttle } from "../helper/throttle";
import { Asset, InstanceRgbCamera, RobossemblerAssets, SceneSimpleObject } from "../model/robossembler_assets";
import { LoadingManager } from 'three';
import URDFLoader, { URDFLink } from 'urdf-loader';
import { UrdfTransforms, coordsToQuaternion } from "../../features/simulations/tranforms_model";
import URDFLoader, { URDFLink } from 'urdf-loader';
Object3D.DEFAULT_UP = new Vector3(0, 0, 1);
@ -46,6 +45,7 @@ export enum UserData {
selectedObject = "selected_object",
cameraInitialization = "camera_initialization",
objectForMagnetism = "object_for_magnetism",
loadObject = 'load_object'
}
interface IEventDraggingChange {
@ -104,16 +104,26 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
this.scene.add(this.transformControls);
this.orbitControls = new OrbitControls(this.camera, this.htmlCanvasRef);
this.scene.background = new Color("black");
this.scene.background = new Color("white");
this.init();
}
deleteAllObjectsScene = () => {
this.getAllSceneNameModels().forEach((el) => this.scene.remove(this.scene.getObjectByName(el) as Object3D<Object3DEventMap>))
}
drawPoint(point: Vector3): Mesh<BoxGeometry, MeshBasicMaterial, Object3DEventMap> {
var cube = new Mesh(new BoxGeometry(0.5, 0.5, 0.5), new MeshBasicMaterial({ color: 0x0095dd }));
cube.position.add(point);
this.scene.add(cube);
return cube;
}
getCenterPoint = (object: Object3D<Object3DEventMap>) => object.getWorldPosition(new Box3().setFromObject(object).getCenter(object.position));
makeCube(inc: number, vector?: Vector3, color?: string, size?: number) {
const cube = new Mesh(
new BoxGeometry(size ?? 10, size ?? 10, size ?? 10),
@ -128,6 +138,7 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
}
this.scene.add(cube);
}
makePoint(vector?: Vector3, color?: string, size?: number) {
const cube = new Mesh(
new BoxGeometry(size ?? 10, size ?? 10, size ?? 10),
@ -152,7 +163,6 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
robot => {
this.scene.add(robot)
console.log(robot)
// @ts-expect-error
this.sceneFrame = robot.frames
@ -188,14 +198,18 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
new Quaternion(0, 0, 0, 0)
);
}
load(path: string, name: string, loadCallback?: Function) {
loadHttpAndPreview(path: string, name: string, loadCallback?: Function) {
this.loader(
'http://localhost:4001/1dfc4e1a-9c1a-4fa2-96b2-19c86acb6ea4/assets/libs/objects/untitled.glb',
loadCallback ? loadCallback : () => { },
path,
() => {
// this.fitCameraToCenteredObject([name])
// this.scene.getObjectByName(name)
},
name,
new Vector3(0, 0, 0)
);
}
setTransformMode(mode?: SceneMode) {
@ -324,6 +338,7 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
floor.userData = {};
floor.userData[UserData.cameraInitialization] = true;
floor.up.copy(new Vector3(0, 0, 1))
this.scene.add(floor);
}
@ -351,7 +366,6 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
loader(url: string, callBack: Function, name: string, position?: Vector3, quaternion?: Quaternion) {
const ext = url.split(/\./g).pop()!.toLowerCase();
switch (ext) {
case "gltf":
case "glb":
@ -359,7 +373,7 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
url,
(result) => {
this.scene.add(result.scene)
callBack()
},
(err) => { }
);
@ -378,6 +392,7 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
this.emit(new StaticAssetItemModel(el.name, el.position, el.quaternion));
this.scene.add(el);
callBack()
});
},
(err) => { }
@ -396,6 +411,7 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
this.stlLoader.load(
url,
(result) => {
const material = new MeshStandardMaterial({
color: 'red',
metalness: 0.35,
@ -404,9 +420,20 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
transparent: false,
});
const mesh = new Mesh(result, material);
this.scene.add(mesh);
const mesh = new Mesh(result, material);
mesh.name = name;
// var geometry = mesh.geometry;
// geometry.computeBoundingBox(); // Вычисляем ограничивающий параллелепипед для геометрии
if (position) mesh.position.copy(position)
this.scene.add(mesh);
callBack()
},
(err) => { }
@ -500,8 +527,7 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
urdfTransforms.transforms.forEach((transform) => {
if (this.sceneFrame) {
const currentLink = this.sceneFrame[transform?.child_frame_id ?? ""]
const currentLinkParrent = this.sceneFrame[transform?.header.frame_id ?? ""]
// currentLink.position.copy(coordsToVector(transform.transform.translation))
currentLink.quaternion.copy(coordsToQuaternion(transform.transform.rotation))
}
})

13
ui/src/core/repository/http_repository.ts
View file

@ -1,5 +1,7 @@
import { ClassConstructor, plainToInstance } from "class-transformer";
import { Result } from "../helper/result";
import { Parts } from "../../features/details/details_http_repository";
import { UUID } from "../../features/all_projects/data/project_repository";
export enum HttpMethod {
GET = "GET",
@ -16,7 +18,6 @@ export class HttpError extends Error {
this.status = status;
}
}
export class HttpRepository {
private server = "http://localhost:4001";
public async _formDataRequest<T>(method: HttpMethod, url: string, data?: any): Promise<Result<HttpError, T>> {
@ -96,5 +97,13 @@ export class HttpRepository {
return Result.error(new HttpError(error, 0));
}
}
}
export class CoreHttpRepository extends HttpRepository {
getAssetsActiveProject = async (): Promise<Result<HttpError, Parts[]>> => {
return this._jsonRequest<Parts[]>(HttpMethod.GET, "/projects/assets");
};
async getActiveProjectId() {
return this._jsonRequest<UUID>(HttpMethod.GET, "/projects/get/active/project/id");
}
}

BIN
ui/src/core/repository/sol_gear.glb
View file

Binary file not shown.

4
ui/src/core/ui/pages/main_page.tsx
View file

@ -35,7 +35,9 @@ const Block = (props: IBlockProps) => {
alignContent: "center",
borderRadius: 12,
}
: { textAlignLast: "center", alignContent: "center" }
: {
textAlignLast: "center", alignContent: "center", height: 32,
}
}
>
<Icon type={props.icon ?? ""} />

8
ui/src/features/all_projects/data/project_repository.ts
View file

@ -1,17 +1,15 @@
import { HttpMethod, HttpRepository } from "../../../core/repository/http_repository";
import { HttpMethod, CoreHttpRepository } from "../../../core/repository/http_repository";
import { IProjectModel } from "../model/project_model";
export interface UUID {
id: string;
}
export class ProjectRepository extends HttpRepository {
export class ProjectRepository extends CoreHttpRepository {
async getAllProject() {
return this._jsonRequest<IProjectModel[]>(HttpMethod.GET, "/projects");
}
async getActivePipeline() {
return this._jsonRequest<UUID>(HttpMethod.GET, "/projects/get/active/project/id");
}
async setActivePipeline(id: string) {
return this._jsonRequest(HttpMethod.POST, `/projects/set/active/project?id=${id}`);
}

4
ui/src/features/all_projects/presentation/all_projects_store.ts
View file

@ -32,11 +32,11 @@ export class AllProjectStore extends SimpleErrorState {
await this.mapOk<IProjectModel[]>("projectsModels", this.repository.getAllProject());
}
async getActiveProjectId(): Promise<void> {
await this.mapOk<UUID>("activeProjectId", this.repository.getActivePipeline());
await this.mapOk<UUID>("activeProjectId", this.repository.getActiveProjectId());
}
setActiveProject = async (id: string) => {
await this.messageHttp(this.repository.setActivePipeline(id), { successMessage: "проект активирован", errorMessage: 'ошибка активации' })
await this.mapOk<UUID>("activeProjectId", this.repository.getActivePipeline());
await this.mapOk<UUID>("activeProjectId", this.repository.getActiveProjectId());
await this.mapOk<IProjectModel[]>("projectsModels", this.repository.getAllProject());
}
async init() {

8
ui/src/features/behavior_tree_builder/data/behavior_tree_builder_repository.ts
View file

@ -1,11 +1,11 @@
import { Result } from "../../../core/helper/result";
import { Skills } from "../../../core/model/skill_model";
import { HttpError, HttpMethod, HttpRepository } from "../../../core/repository/http_repository";
import { HttpError, HttpMethod, CoreHttpRepository } from "../../../core/repository/http_repository";
import { UUID } from "../../all_projects/data/project_repository";
import { BehaviorTreeModel } from "../model/behavior_tree_model";
import { BehaviorTreeViewModel } from "../model/behavior_tree_view_model";
export class BehaviorTreeBuilderHttpRepository extends HttpRepository {
export class BehaviorTreeBuilderHttpRepository extends CoreHttpRepository {
getAllBtInstances = async () => this._jsonRequest<BehaviorTreeModel[]>(HttpMethod.GET, "/behavior/trees");
getBtSkills = async (): Promise<Result<HttpError, Skills>> => {
return (await this._jsonToClassInstanceRequest<Skills>(
@ -21,9 +21,7 @@ export class BehaviorTreeBuilderHttpRepository extends HttpRepository {
`/behavior/trees/by_id?id=${id}`,
BehaviorTreeModel
) as unknown as Promise<Result<HttpError, BehaviorTreeModel>>;
getActiveProjectId(): Promise<Result<HttpError, UUID>> {
return this._jsonRequest<UUID>(HttpMethod.GET, "/projects/get/active/project/id");
}
editBt = async (model: BehaviorTreeModel) => {
await this._jsonRequest(HttpMethod.POST, "/behavior/trees/fill/tree", model);
return await this._jsonRequest(HttpMethod.PUT, "/behavior/trees", model);

4
ui/src/features/behavior_tree_builder/presentation/ui/forms/camera_device_form/camera_device_form_http_repository.ts
View file

@ -1,6 +1,6 @@
import { Cameras } from "../../../../../../core/model/cameras";
import { HttpMethod, HttpRepository } from "../../../../../../core/repository/http_repository";
import { HttpMethod, CoreHttpRepository } from "../../../../../../core/repository/http_repository";
export class CameraDeviceHttpRepository extends HttpRepository {
export class CameraDeviceHttpRepository extends CoreHttpRepository {
getAllCameras = () => this._jsonRequest<Cameras>(HttpMethod.GET, '/behavior/trees/cameras');
}

4
ui/src/features/behavior_tree_builder/presentation/ui/forms/robot_device_form/robot_device_form_http_repository.ts
View file

@ -1,5 +1,5 @@
import { HttpRepository } from "../../../../../../core/repository/http_repository";
import { CoreHttpRepository } from "../../../../../../core/repository/http_repository";
export class RobotDeviceFormHttpRepository extends HttpRepository {
export class RobotDeviceFormHttpRepository extends CoreHttpRepository {
}

4
ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form_http_repository.ts
View file

@ -1,6 +1,6 @@
import { Topics } from "../../../../../../core/model/topics";
import { HttpMethod, HttpRepository } from "../../../../../../core/repository/http_repository";
import { HttpMethod, CoreHttpRepository } from "../../../../../../core/repository/http_repository";
export class TopicsFormHttpRepository extends HttpRepository {
export class TopicsFormHttpRepository extends CoreHttpRepository {
getAllTopics = () => this._jsonRequest<Topics>(HttpMethod.GET, '/behavior/trees/topics');
}

2
ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form/weights_form.tsx
View file

@ -37,7 +37,7 @@ export const WeightsForm = observer((props: IWeightsFormProps) => {
}
style={{ width: "100%" }}
options={
store.assets?.assets.map((el) => {
store.parts?.map((el) => {
return { label: el.name, value: el.name };
}) ?? []
}

6
ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form/weights_store.ts
View file

@ -1,13 +1,13 @@
import makeAutoObservable from "mobx-store-inheritance";
import { FormState, CoreError } from "../../../../../../core/store/base_store";
import { DataSetHttpRepository } from "../../../../../dataset/dataset_http_repository";
import { Assets } from "../../../../../dataset/dataset_model";
import { ISkils, SkillsHttpRepository } from "../../../../../skils/skills_http_repository";
import { WeightsViewModel } from "./weights_view_model";
import { Parts } from "../../../../../details/details_http_repository";
export class WeightsFormStore extends FormState<WeightsViewModel, CoreError> {
weights?: ISkils[];
assets?: Assets;
parts?: Parts[];
suitableWeights: string[] = [];
viewModel: WeightsViewModel = WeightsViewModel.empty();
skillsHttpRepository: SkillsHttpRepository = new SkillsHttpRepository();
@ -18,7 +18,7 @@ export class WeightsFormStore extends FormState<WeightsViewModel, CoreError> {
}
init = async () => {
await this.mapOk("weights", this.skillsHttpRepository.getAllSkills());
await this.mapOk("assets", this.datasetHttpRepository.getAssetsActiveProject());
await this.mapOk("parts", this.datasetHttpRepository.getAssetsActiveProject());
};
changeDimensions = (index: number, value: number) => {
this.viewModel.dimensions[index] = value;

4
ui/src/features/create_project/create_project_repository.ts
View file

@ -1,7 +1,7 @@
import { Result } from "../../core/helper/result";
import { DatabaseModel } from "../../core/model/database_model";
import { ITriggerModel } from "../../core/model/trigger_model";
import { HttpMethod, HttpRepository } from "../../core/repository/http_repository";
import { HttpMethod, CoreHttpRepository } from "../../core/repository/http_repository";
import { UUID } from "../all_projects/data/project_repository";
import { ICreateProjectViewModel } from "./project_model";
@ -10,7 +10,7 @@ export interface PipelineModel extends DatabaseModel {
trigger: ITriggerModel;
}
export class CreateProjectRepository extends HttpRepository {
export class CreateProjectRepository extends CoreHttpRepository {
async saveProject(model: ICreateProjectViewModel): Promise<Result<Error, UUID>> {
return await this._jsonRequest<UUID>(HttpMethod.POST, "/projects", model);
}

13
ui/src/features/dataset/dataset_http_repository.ts
View file

@ -1,9 +1,10 @@
import { Result } from "../../core/helper/result";
import { HttpError, HttpMethod, HttpRepository } from "../../core/repository/http_repository";
import { HttpError, HttpMethod, CoreHttpRepository } from "../../core/repository/http_repository";
import { UUID } from "../all_projects/data/project_repository";
import { Assets, DataSetModel, Dataset, IDatasetModel, ProcessStatus } from "./dataset_model";
import { Parts } from "../details/details_http_repository";
import { DataSetModel, Dataset, IDatasetModel, ProcessStatus } from "./dataset_model";
export class DataSetHttpRepository extends HttpRepository {
export class DataSetHttpRepository extends CoreHttpRepository {
editDataset(dataSetModel: DataSetModel) {
dataSetModel.processStatus = ProcessStatus.NEW;
return this._jsonRequest<void>(HttpMethod.PUT, `/datasets`, dataSetModel);
@ -11,12 +12,6 @@ export class DataSetHttpRepository extends HttpRepository {
deleteDataset(id: string) {
return this._jsonRequest<void>(HttpMethod.DELETE, `/datasets/dataset?id=${id}`);
}
getActiveProjectId(): Promise<Result<HttpError, UUID>> {
return this._jsonRequest<UUID>(HttpMethod.GET, "/projects/get/active/project/id");
}
getAssetsActiveProject = async (): Promise<Result<HttpError, Assets>> => {
return this._jsonRequest<Assets>(HttpMethod.GET, "/projects/assets");
};
saveDataSet = async (model: DataSetModel) => {
return this._jsonRequest<Dataset>(HttpMethod.POST, "/datasets", model);
};

3
ui/src/features/dataset/dataset_model.ts
View file

@ -31,9 +31,6 @@ export interface Dataset {
formBuilder: FormBuilderValidationModel;
}
export interface Assets {
assets: Asset[];
}
export interface Asset {
name: string;

2
ui/src/features/dataset/dataset_screen.tsx
View file

@ -101,7 +101,7 @@ export const DataSetScreen: React.FunctionComponent = observer(() => {
filled={true}
/>
</div>
{store.assets?.assets?.map((el) => {
{store.parts?.map((el) => {
return (
<ListItem
status={store.assetStatus(el.name)}

15
ui/src/features/dataset/dataset_store.ts
View file

@ -2,10 +2,11 @@ import makeAutoObservable from "mobx-store-inheritance";
import { DataSetHttpRepository } from "./dataset_http_repository";
import { Drawer, UiErrorState } from "../../core/store/base_store";
import { HttpError } from "../../core/repository/http_repository";
import { Asset, Assets, DataSetModel, IDatasetModel, ProcessStatus } from "./dataset_model";
import { DataSetModel, IDatasetModel, ProcessStatus } from "./dataset_model";
import { message } from "antd";
import { UUID } from "../all_projects/data/project_repository";
import { SocketRepository, socketRepository } from "../../core/repository/socket_repository";
import { Parts } from "../details/details_http_repository";
export enum DrawersDataset {
NewDataset = "Новый датасет",
@ -14,7 +15,7 @@ export enum DrawersDataset {
export class DataSetStore extends UiErrorState<HttpError> {
dataSetRepository: DataSetHttpRepository;
assets?: Assets;
parts?: Parts[];
datasets?: IDatasetModel[];
activeProject: UUID;
dataSetModel = DataSetModel.empty();
@ -74,11 +75,11 @@ export class DataSetStore extends UiErrorState<HttpError> {
return this.dataSetModel.dataSetObjects.includes(name);
}
datasetCheckBox(asset: Asset): void {
if (this.assetStatus(asset.name)) {
this.dataSetModel.dataSetObjects = this.dataSetModel.dataSetObjects.filter((el) => !el.isEqual(asset.name));
datasetCheckBox(part: Parts): void {
if (this.assetStatus(part.name)) {
this.dataSetModel.dataSetObjects = this.dataSetModel.dataSetObjects.filter((el) => !el.isEqual(part.name));
} else {
this.dataSetModel.dataSetObjects.push(asset.name);
this.dataSetModel.dataSetObjects.push(part.name);
}
}
@ -154,7 +155,7 @@ export class DataSetStore extends UiErrorState<HttpError> {
}
init = async () => {
await this.mapOk("assets", this.dataSetRepository.getAssetsActiveProject());
await this.mapOk("parts", this.dataSetRepository.getAssetsActiveProject());
await this.getDatasets();
await this.mapOk("activeProject", this.dataSetRepository.getActiveProjectId());
};

11
ui/src/features/details/details_http_repository.ts
View file

@ -1,13 +1,12 @@
import { HttpMethod, HttpRepository } from "../../core/repository/http_repository";
import { UUID } from "../all_projects/data/project_repository";
import { HttpMethod, CoreHttpRepository } from "../../core/repository/http_repository";
export interface Parts {
name: string;
part_path: string;
material_path: string;
httpUrl: string;
stlUrl: string;
image: string;
}
export class DetailsHttpRepository extends HttpRepository {
getAllDetails = async () => this._jsonRequest<Parts[]>(HttpMethod.GET, '/projects/assets/')
}
export class DetailsHttpRepository extends CoreHttpRepository {
}

86
ui/src/features/details/details_screen.tsx
View file

@ -11,7 +11,7 @@ export const DetailsScreen = observer(() => {
React.useEffect(() => {
store.loadScene(canvasRef.current!);
})
}, [])
const canvasRef = React.useRef<HTMLCanvasElement>(null);
return (
@ -39,87 +39,3 @@ export const DetailsScreen = observer(() => {
/>
);
});
// /* state-layer */
// /* Auto layout */
// display: flex;
// flex-direction: row;
// align-items: center;
// padding: 16px 24px 16px 16px;
// gap: 12px;
// width: 256px;
// height: 56px;
// /* Inside auto layout */
// flex: none;
// order: 0;
// align-self: stretch;
// flex-grow: 1;
// /* Icon */
// width: 24px;
// height: 24px;
// /* Inside auto layout */
// flex: none;
// order: 0;
// flex-grow: 0;
// /* icon */
// position: absolute;
// left: 25%;
// right: 25%;
// top: 25%;
// bottom: 25%;
// /* M3/sys/light/on-secondary-container */
// background: #1D192B;
// /* Label */
// width: 160px;
// height: 20px;
// /* M3/label/large - prominent */
// font-family: 'Roboto';
// font-style: normal;
// font-weight: 600;
// font-size: 14px;
// line-height: 20px;
// /* identical to box height, or 143% */
// letter-spacing: 0.1px;
// /* M3/sys/light/on-secondary-container */
// color: #1D192B;
// /* Inside auto layout */
// flex: none;
// order: 1;
// flex-grow: 1;
// /* Badge label text */
// width: 8px;
// height: 20px;
// /* M3/label/large - prominent */
// font-family: 'Roboto';
// font-style: normal;
// font-weight: 600;
// font-size: 14px;
// line-height: 20px;
// /* identical to box height, or 143% */
// text-align: right;
// letter-spacing: 0.1px;
// /* M3/sys/light/on-secondary-container */
// color: #1D192B;
// /* Inside auto layout */
// flex: none;
// order: 2;
// flex-grow: 0;

21
ui/src/features/details/details_store.ts
View file

@ -2,9 +2,7 @@ import makeAutoObservable from "mobx-store-inheritance";
import { CoreError, UiErrorState } from "../../core/store/base_store";
import { NavigateFunction } from "react-router-dom";
import { DetailsHttpRepository, Parts } from "./details_http_repository";
import { CoreThreeRepository } from "../../core/repository/core_three_repository";
import { Color } from "three";
import { BabylonRepository } from "../../core/repository/babylon_repository";
import { DetailsThreeRepository } from "./details_three_repository";
interface IDetailViewModel {
label: string;
@ -12,12 +10,12 @@ interface IDetailViewModel {
httpUrl: string;
}
export class DetailsStore extends UiErrorState<CoreError> {
detailsViewModel: IDetailViewModel[] = [];
parts: Parts[] = [];
detailsHttpRepository: DetailsHttpRepository = new DetailsHttpRepository();
coreThereRepository?: CoreThreeRepository;
babylonRepository?: BabylonRepository;
detailsThreeRepository?: DetailsThreeRepository;
constructor() {
super();
makeAutoObservable(this);
@ -25,12 +23,12 @@ export class DetailsStore extends UiErrorState<CoreError> {
}
errorHandingStrategy = (error: CoreError) => { };
init = async (navigate?: NavigateFunction | undefined): Promise<void> => {
await this.mapOk("parts", this.detailsHttpRepository.getAllDetails());
await this.mapOk("parts", this.detailsHttpRepository.getAssetsActiveProject());
this.detailsViewModel = this.parts.map((el) => {
return {
label: el.name,
selected: false,
httpUrl: el.httpUrl,
httpUrl: el.stlUrl,
};
});
};
@ -43,15 +41,16 @@ export class DetailsStore extends UiErrorState<CoreError> {
this.detailsViewModel.map((el) => {
if (el.label.match(label)) {
el.selected = true;
this.babylonRepository?.load(el.httpUrl)
this.detailsThreeRepository?.deleteAllObjectsScene()
this.detailsThreeRepository?.loadHttpAndPreview(el.httpUrl, el.label, () => { })
return el;
}
return el
});
};
loadScene = async (ref: HTMLCanvasElement) => {
this.babylonRepository = new BabylonRepository(ref);
this.detailsThreeRepository = new DetailsThreeRepository(ref, () => { });
this.detailsThreeRepository.render();
};
}

26
ui/src/features/details/details_three_repository.ts Normal file
View file

@ -0,0 +1,26 @@
import { Box3, GridHelper, Mesh, Object3D, Vector3 } from "three";
import { CoreThreeRepository } from "../../core/repository/core_three_repository";
export class DetailsThreeRepository extends CoreThreeRepository {
raiseAnObjectAboveZeroVector = (name: string) => {
const mesh = this.scene.getObjectByName(name) as Object3D;
mesh.position.sub(new Box3().setFromObject(mesh).min)
}
matchTwoPlacesInTheCenter = () => {
}
loadHttpAndPreview = (path: string, name: string, loadCallback?: Function) => {
this.loader(
path,
() => {
this.raiseAnObjectAboveZeroVector(name)
console.log(this.getCenterPoint(this.scene.children.filter((el) => el instanceof GridHelper).at(0) as Object3D))
},
name,
new Vector3(0, 0, 0)
);
}
}

11
ui/src/features/details/number_trivia.ts
View file

@ -1,11 +0,0 @@
import { Result } from "../../core/helper/result";
export class NumberTriviaModel {
constructor() {}
isValid(): Result<string, void> {
return Result.ok();
}
static empty() {
return new NumberTriviaModel();
}
}

4
ui/src/features/scene_manager/data/scene_repository.ts
View file

@ -1,9 +1,9 @@
import { Result } from "../../../core/helper/result";
import { HttpMethod, HttpRepository } from "../../../core/repository/http_repository";
import { HttpMethod, CoreHttpRepository } from "../../../core/repository/http_repository";
import { CoreError } from "../../../core/store/base_store";
import { RobossemblerAssets } from "../../../core/model/robossembler_assets";
export class SceneHttpRepository extends HttpRepository {
export class SceneHttpRepository extends CoreHttpRepository {
async getRobossemblerAssets() {
return this._jsonToClassInstanceRequest<RobossemblerAssets>(
HttpMethod.GET,

30
ui/src/features/scene_manager/presentation/scene_manager_store.ts
View file

@ -14,7 +14,7 @@ export class SceneMangerStore extends UiErrorState<HttpError> {
sceneMode: SceneMode;
sceneMenu: SceneMenu;
isVisibleSaveButton: boolean = false;
coreThereRepository: null | CoreThreeRepository = null;
coreThreeRepository: null | CoreThreeRepository = null;
sceneHttpRepository: SceneHttpRepository;
sceneModels: BaseSceneItemModel[] = [];
isSceneMenuShow = false;
@ -39,7 +39,7 @@ export class SceneMangerStore extends UiErrorState<HttpError> {
deleteSceneItem(item: BaseSceneItemModel) {
const itm = this.sceneModels.filter((el) => el.id === item.id);
this.coreThereRepository!.deleteSceneItem(itm[0]);
this.coreThreeRepository!.deleteSceneItem(itm[0]);
this.sceneModels = this.sceneModels.filter((el) => el.name !== item.name);
this.visibleSaveButton();
}
@ -49,10 +49,10 @@ export class SceneMangerStore extends UiErrorState<HttpError> {
}
addNewCamera(model: CameraViewModel) {
model.position = this.coreThereRepository!.camera.position;
model.quaternion = this.coreThereRepository!.camera.quaternion;
model.position = this.coreThreeRepository!.camera.position;
model.quaternion = this.coreThreeRepository!.camera.quaternion;
this.sceneModels.push(model);
this.coreThereRepository?.addSceneCamera(model);
this.coreThreeRepository?.addSceneCamera(model);
this.visibleSaveButton();
}
@ -71,7 +71,7 @@ export class SceneMangerStore extends UiErrorState<HttpError> {
try {
const assetPath = this.robossemblerAssets?.getAssetPath(name) as string;
this.coreThereRepository?.loader(assetPath, this.loaderWatcher, name);
this.coreThreeRepository?.loader(assetPath, this.loaderWatcher, name);
this.visibleSaveButton();
} catch (error) {
message.error(String(error));
@ -99,7 +99,7 @@ export class SceneMangerStore extends UiErrorState<HttpError> {
} else if (this.sceneMode === mode) {
this.sceneMode = SceneMode.EMPTY;
}
this.coreThereRepository?.setTransformMode(this.sceneMode);
this.coreThreeRepository?.setTransformMode(this.sceneMode);
this.sceneModeWatcher();
};
@ -117,15 +117,15 @@ export class SceneMangerStore extends UiErrorState<HttpError> {
this.loadWebGl(canvasRef);
await this.mapOk<RobossemblerAssets>("robossemblerAssets", this.sceneHttpRepository.getRobossemblerAssets());
if (this.robossemblerAssets) {
this.coreThereRepository?.loadInstances(this.robossemblerAssets);
this.coreThreeRepository?.loadInstances(this.robossemblerAssets);
}
}
loadWebGl(canvasRef: HTMLCanvasElement): void {
this.coreThereRepository = new CoreThreeRepository(canvasRef as HTMLCanvasElement, this.watcherSceneEditorObject);
this.coreThereRepository.on(this.watcherThereObjects);
this.coreThereRepository.render();
this.sceneModels = this.coreThereRepository.getAllSceneModels();
this.coreThreeRepository = new CoreThreeRepository(canvasRef as HTMLCanvasElement, this.watcherSceneEditorObject);
this.coreThreeRepository.on(this.watcherThereObjects);
this.coreThreeRepository.render();
this.sceneModels = this.coreThreeRepository.getAllSceneModels();
window.addEventListener("click", (event) => this.clickLister(event));
window.addEventListener("mousedown", (e) => this.sceneContextMenu(e));
@ -169,9 +169,9 @@ export class SceneMangerStore extends UiErrorState<HttpError> {
};
transformContollsCall = (vector: Vector2) => {
this.coreThereRepository?.setRayCastAndGetFirstObject(vector).fold(
(success) => this.coreThereRepository?.setTransformControlsAttach(success),
(_error) => this.coreThereRepository?.disposeTransformControlsMode()
this.coreThreeRepository?.setRayCastAndGetFirstObject(vector).fold(
(success) => this.coreThreeRepository?.setTransformControlsAttach(success),
(_error) => this.coreThreeRepository?.disposeTransformControlsMode()
);
};

14
ui/src/features/simulations/simulations_store.ts
View file

@ -5,7 +5,7 @@ import { UrdfTransforms } from "./tranforms_model";
export class SimulationStore {
rosWsUrdfTransfomsListner: RosWsBridgeRepository<UrdfTransforms> = new RosWsBridgeRepository();
coreThereRepository?: CoreThreeRepository;
coreThreeRepository?: CoreThreeRepository;
constructor() {
makeAutoObservable(this)
@ -15,15 +15,15 @@ export class SimulationStore {
}
async loadScene(canvasRef: HTMLCanvasElement) {
await this.loadWebGl(canvasRef);
this.coreThereRepository?.loadUrdf('http://localhost:4001/robot.xml');
if (this.coreThereRepository?.urdfTransforms) {
this.rosWsUrdfTransfomsListner.on(this.coreThereRepository.urdfTransforms)
this.coreThreeRepository?.loadUrdf('http://localhost:4001/robot.xml');
if (this.coreThreeRepository?.urdfTransforms) {
this.rosWsUrdfTransfomsListner.on(this.coreThreeRepository.urdfTransforms)
}
}
loadWebGl = async (canvasRef: HTMLCanvasElement) => {
this.coreThereRepository = new CoreThreeRepository(canvasRef as HTMLCanvasElement, () => { });
this.coreThereRepository.on(() => { });
this.coreThereRepository.render();
this.coreThreeRepository = new CoreThreeRepository(canvasRef as HTMLCanvasElement, () => { });
this.coreThreeRepository.on(() => { });
this.coreThreeRepository.render();
}
}

13
ui/src/features/skils/skills_http_repository.tsx
View file

@ -1,6 +1,5 @@
import { Result } from "../../core/helper/result";
import { HttpError, HttpMethod, HttpRepository } from "../../core/repository/http_repository";
import { UUID } from "../all_projects/data/project_repository";
import { HttpError, HttpMethod, CoreHttpRepository } from "../../core/repository/http_repository";
import { IDatasetModel } from "../dataset/dataset_model";
import { SkillModel } from "./skill_model";
@ -8,15 +7,15 @@ export interface ISkils {
_id: string;
name: string;
processStatus: string;
epoch:number;
epoch: number;
isFinished: boolean;
datasetId: any;
project: any;
numberOfTrainedEpochs:number;
numberOfTrainedEpochs: number;
__v: number;
}
export class SkillsHttpRepository extends HttpRepository {
export class SkillsHttpRepository extends CoreHttpRepository {
execSkill(id: string) {
return this._jsonRequest(HttpMethod.GET, `/weights/exec?id=${id}`);
}
@ -36,7 +35,5 @@ export class SkillsHttpRepository extends HttpRepository {
getDatasetsActiveProject = async (): Promise<Result<HttpError, IDatasetModel[]>> => {
return this._jsonRequest<IDatasetModel[]>(HttpMethod.GET, "/datasets");
};
getActiveProjectId(): Promise<Result<HttpError, UUID>> {
return this._jsonRequest<UUID>(HttpMethod.GET, "/projects/get/active/project/id");
}
}

7
ui/tslint.json
View file

@ -2,7 +2,9 @@
"eslintConfig": {
"extends": ["react-app", "shared-config"],
"rules": {
"additional-rule": "warn"
"additional-rule": "warn",
"no-extend-native":"off",
"react-hooks/exhaustive-deps":"off"
},
"overrides": [
{
@ -10,7 +12,8 @@
"rules": {
"additional-typescript-only-rule": "warn",
"array-callback-return": "off",
"react-hooks/exhaustive-deps": "off"
"react-hooks/exhaustive-deps": "off",
"no-extend-native":"off"
}
}
]