fixed errors

ui/src/core/model/robot_model.ts

@@ -13,10 +13,10 @@ export enum ToolTypes {
 
 interface RobotJoint {
   limit: {
-    lower: Number;
-    upper: Number;
+    lower: number;
+    upper: number;
   };
-  angle: Number;
+  angle: number;
   name: string;
 }
 

ui/src/core/repository/core_three_repository.ts

@@ -199,10 +199,10 @@ export class CoreThreeRepository extends TypedEvent<any> {
         Object.entries(robot.joints).forEach(([name, uRDFJoint]) => {
           if (uRDFJoint.jointType !== "fixed") {
             robotModel.jointPosition.push({
-              angle: uRDFJoint.angle,
+              angle: Number(uRDFJoint.angle),
               limit: {
-                lower: uRDFJoint.limit.lower,
-                upper: uRDFJoint.limit.upper,
+                lower: Number(uRDFJoint.limit.lower),
+                upper: Number(uRDFJoint.limit.upper),
               },
               name: name,
             });

ui/src/features/behavior_tree_builder/model/editor_view.ts

@@ -43,20 +43,32 @@ export class BehaviorTreeBuilderModel {
         this.toXML(sortedSequence as Map<string, number>, editor, area, firstNodeId, skills);
         this.result += `</${this.getNodeLabelAtId(editor, firstNodeId, skills)}>`;
       });
-      return Result.ok(xmlFormat(this.btRootTag.replace("${bt}", this.result)));
+
+      return this.xmlFormat(this.btRootTag, this.result);
     } catch (error) {
+      console.log(error);
       return Result.error("BtBuilderModel fromReteScene error");
     }
   }
-
-  public static getNodeLabelAtId(editor: NodeEditor<Schemes>, id: string, skills?: Skills) {
+  public static xmlFormat = (result: string, btRootTag: string): Result<string, string> => {
     try {
-      if (skills?.getSkillsNames().find((el) => el.name.isEqual(editor.getNode(id).label))) {
-        return `Action ID="RbsAction" do="${skills.getSkillDo(editor.getNode(id).label)}" command="${
-          editor.getNode(id).label
+      return Result.ok(xmlFormat(btRootTag.replace("${bt}", result)));
+    } catch (error) {
+      console.log(result);
+      console.log(btRootTag);
+      console.log(error);
+      console.log(btRootTag.replace("${bt}", result))
+      return Result.error(error as string);
+    }
+  };
+  public static getNodeLabelAtId(editor: NodeEditor<Schemes>, id: string, skills?: Skills,) {
+    try {
+      if (skills?.getSkillsNames().find((el) => el.name.isEqual(editor.getNode(id)!.label))) {
+        return `Action ID="RbsAction" do="${skills.getSkillDo(editor.getNode(id)!.label)}" command="${
+          editor.getNode(id)?.label
         }" sid=${id}"`;
       }
-      return editor.getNode(id).label;
+      return editor.getNode(id)?.label;
     } catch (error) {
       console.log(error);
     }

ui/src/features/behavior_tree_builder/model/node_behavior_tree.ts

@@ -26,9 +26,8 @@ export class NodeBehaviorTree {
 
   static fromReteScene(editor: NodeEditor<Schemes>, area: AreaPlugin<Schemes, AreaExtra>): NodeBehaviorTree[] {
     const nodes = new Map<string, NodeBehaviorTree>();
-    editor
-      .getNodes()
-      .forEach((el) =>
+    editor.getNodes().forEach((el) => {
+      if (area.nodeViews.get(el.id)?.position)
         nodes.set(
           el.id,
           new NodeBehaviorTree(
@@ -38,8 +37,8 @@ export class NodeBehaviorTree {
             Object.keys(el.inputs),
             area.nodeViews.get(el.id)!.position
           )
-        )
-      );
+        );
+    });
     editor.getConnections().forEach((el) => nodes.overrideValue(el.target, { connectTo: el.source }));
 
     return nodes.toArray();

ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_store.tsx

@@ -211,6 +211,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
           )
         ).fold(
           (xml) => {
+            console.log(xml)
             this.behaviorTreeModel.skills = this.filledOutTemplates;
             this.behaviorTreeModel.scene = NodeBehaviorTree.fromReteScene(
               this.editor as NodeEditor<Schemes>,
@@ -222,7 +223,10 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
               successMessage: "Дерево поведения сохранено",
             });
           },
-          (_) => message.error(`Дерево поведения ошибка: ${_}`)
+          (error) => {
+            message.error(`Дерево поведения ошибка: ${error}`);
+            console.log(error);
+          }
         );
       },
       async () => message.error(`Дерево поведения не заполнено`)

ui/tsconfig.json

@@ -1,6 +1,6 @@
 {
   "compilerOptions": {
-    "target": "es6",
+    "target": "es2018",
     "lib": ["dom", "dom.iterable", "esnext"],
     "allowJs": true,
     "skipLibCheck": true,