everything but light

server/src/core/models/static_files.ts

@@ -4,6 +4,7 @@ export enum StaticFilesProject {
   parts = "/assets/parts.json",
   scenes = "/scenes/",
   behaviorTrees = "behavior_trees",
+  robots = 'robots'
 }
 
 export enum StaticFilesServer {

server/src/features/scenes/domain/create_robot_scenario.ts

@@ -1,25 +1,45 @@
 import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
 import { Result } from "../../../core/helpers/result";
 import { RobotModel } from "../model/robot_model";
-import { StaticFilesProject } from "../../../core/models/static_files";
 import { GetServerAddressUseCase } from "../../../core/usecases/get_server_address_usecase";
 import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
 import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
 import { ExecProcessUseCase } from "../../../core/usecases/exec_process_usecase";
+import { StaticFilesProject } from "../../../core/models/static_files";
 
 export class CreateRobotScenario extends CallbackStrategyWithValidationModel<RobotModel> {
   validationModel: RobotModel = new RobotModel();
-  call = async (model: RobotModel): ResponseBase =>   (
+  call = async (model: RobotModel): ResponseBase =>
-    await new SearchManyDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
+    (
-      { isActive: true },
+      await new SearchManyDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
-      "is dont active projects"
+        { isActive: true },
-    )
+        "is dont active projects"
-  ).map(async (projectModel) => {
+      )
-    const { rootDir } = projectModel[0];
+    ).map((projectModel) => {
-    rootDir + '/robots/'
+      const { rootDir } = projectModel[0];
-     
+      console.log(
-    return Result.ok([])
+        `python3 $PYTHON_ROBOT_BUILDER --path  ${
-  });
+          projectModel[0].rootDir + "/" + StaticFilesProject.robots + "/"
-    
+        }  --name ${model.name} --nDOF ${model.nDof} --toolType ${model.toolType}`
-  
+      );
+      return new GetServerAddressUseCase().call().map(async (serverAddress) =>
+        (
+          await new ExecProcessUseCase().call(
+            rootDir,
+            `python3 $PYTHON_ROBOT_BUILDER --path  ${
+              projectModel[0].rootDir + "/" + StaticFilesProject.robots + "/"
+            }  --name ${model.name} --nDOF ${model.nDof} --toolType ${model.toolType}`,
+            ""
+          )
+        ).map((log) =>
+          Result.ok({
+            robotUrl: `${serverAddress}/${
+              rootDir.match(new RegExp(/[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}/gm))[0]
+            }/${StaticFilesProject.robots}/${model.name}/robot.xml`,
+          })
+        )
+      );
+    });
 }
+
+// PYTHON_ROBOT_BUILDER

ui/src/core/helper/use_store.tsx

@@ -18,3 +18,14 @@ export const useStore = <S extends LifeCycleStore>(storeConstructor: ClassConstr
   }, []);
   return store;
 };
+export const useStoreClass = <S extends LifeCycleStore>(storeClass: S) => {
+  const [store] = React.useState(storeClass);
+  const navigate = useNavigate();
+  React.useEffect(() => {
+    store?.init?.(navigate);
+    return () => {
+      store?.dispose?.();
+    };
+  }, []);
+  return store;
+};

ui/src/core/repository/core_http_repository.ts

@@ -141,3 +141,5 @@ export class CoreHttpRepository extends HttpRepository {
   }
   getAllScenes = () => this._jsonRequest<SceneModel[]>(HttpMethod.GET, "/scenes");
 }
+["", "", ""].map((el) => el.toLowerCase()).map((el) => el != "");
+["", "", ""].map((el) => el.toLowerCase()).filter((el) => el != "");

ui/src/core/store/base_store.ts

@@ -127,3 +127,16 @@ export abstract class FormState<V, E> extends UiErrorState<E> {
     this.viewModel = plainToInstance(instance, viewModel);
   };
 }
+abstract class Foo {
+  abstract init?(): void;
+}
+interface Foo1 {
+  init?(param1: number | undefined): void;
+}
+class Bar implements Foo1 {}
+export interface LifeCycleStore {
+  init?(navigate?: NavigateFunction | undefined): void;
+  dispose?(): void;
+}
+
+class VVV implements LifeCycleStore {}

ui/src/core/ui/input/input.tsx

@@ -28,6 +28,13 @@ export const CoreInput = (props: IInputProps) => {
       setAppendInnerText(false);
     }
   }, [ref, value, isAppendInnerText, setAppendInnerText, props]);
+  React.useEffect(() => {
+    if (ref.current && props.value) {
+      ref.current.innerText = value;
+      setValue(props.value);
+      console.log(props.value);
+    }
+  }, [props.value]);
   const isSmall = props.type !== undefined && props.type.isEqual(CoreInputType.small);
   return (
     <div

ui/src/core/ui/inputNumber/input_number.tsx

@@ -25,15 +25,12 @@ export const CoreInputNumber = (props: IInputProps) => {
       setAppendInnerText(false);
     }
   }, [ref, value, isAppendInnerText, setAppendInnerText, props]);
-
+  React.useEffect(() => {
+    if (props.value) setValue(props.value);
+  }, [props.value]);
   return (
     <>
-      {/* <div style={{ position: "absolute" }}>
+     
-        <div style={{ width: width, display: "flex", justifyContent: "flex-end" }}>
-          <Icon type="Plus" />
-          <Icon type="Minus" />
-        </div>
-      </div> */}
       <div
         style={Object.assign(
           {

ui/src/core/ui/toggle/toggle.tsx

@@ -10,18 +10,18 @@ interface IToggleProps {
 export const Toggle = (props: IToggleProps) => {
   const [isOpen, setOpen] = useState(props.isOpen);
   return (
-    <div style={{ border: "1px black solid" }}>
+    <div style={{ border: "1px black solid", height: "max-content",width:"100%" }}>
       <div
         style={{
           display: "flex",
           justifyContent: "space-between",
           margin: 0,
-          padding:5,
+          padding: 5,
           alignItems: "center",
         }}
         onClick={() => setOpen(!isOpen)}
       >
-        <CoreText style={{ height: 33 }} text={props.name} type={CoreTextType.large} />
+        <CoreText   text={props.name} type={CoreTextType.large} />
         <Icon type="PlusCircle" style={{ width: 33 }} />
       </div>
       {isOpen ? props.child : <></>}

ui/src/features/behavior_tree_builder/presentation/ui/forms/robot_device_form/robot_device_form_store.ts

@@ -10,7 +10,7 @@ export class RobotDeviceFormStore extends FormState<SidViewModel, CoreError> {
         makeAutoObservable(this);
     }
     viewModel: SidViewModel = SidViewModel.empty();
-    cameraDeviceHttpRepository:  RobotDeviceFormHttpRepository = new RobotDeviceFormHttpRepository();
+    robotDeviceFormHttpRepository:  RobotDeviceFormHttpRepository = new RobotDeviceFormHttpRepository();
     errorHandingStrategy = (error: CoreError) => { }
     init = async (navigate?: NavigateFunction | undefined) => {
       

ui/src/features/scene_builder/presentation/components/coords_form.tsx

@@ -10,7 +10,7 @@ export const CoordsForm = ({ store, update }: { store: FormState<any, any>; upda
       <Toggle
         name={"Координаты"}
         child={
-          <div style={{margin:10}}>
+          <div  >
             <CoreText text="Позиция" type={CoreTextType.header} />
 
             <CoreInput

ui/src/features/scene_builder/presentation/forms/camera/camera_form.tsx

@@ -7,69 +7,83 @@ import { CoreSelect } from "../../../../../core/ui/select/select";
 import { CameraFormStore } from "./camera_store";
 import { observer } from "mobx-react-lite";
 import { CameraTypes } from "../../../../../core/model/camera_model";
+import { useStoreClass } from "../../../../../core/helper/use_store";
+import { CoordsForm } from "../../components/coords_form";
+import { Toggle } from "../../../../../core/ui/toggle/toggle";
 
 export const CameraForm = observer((props: IDefaultSceneManagerFormProps) => {
-  const [store] = React.useState(() => new CameraFormStore(props.store));
+  const store = useStoreClass(new CameraFormStore(props.store));
-
+   return (
-  React.useEffect(() => {
+    <div style={{  overflowY: "auto", height: "100%" }}>
-    store.init();
+ 
-  }, []);
+      <Toggle
-  return (
+        name={"Настройки камеры"}
-    <div style={{ margin: 10, padding: 10, overflowY: "auto", height: "100%" }}>
+        isOpen={false}
-      <CoreText text="Камера" type={CoreTextType.header} />
+        child={
-      <CoreInput value={store.viewModel.topic} label={"Топик"} onChange={(text) => store.updateForm({ topic: text })} />
+          <>
-      <CoreInput value={store.viewModel.name} label={"Имя"} onChange={(text) => store.updateForm({ name: text })} />
+            <CoreInput
-      <CoreInput
+              value={store.viewModel.topic}
-        value={String(store.viewModel.updateRate)}
+              label={"Топик"}
-        validation={(text) => Number().isValid(text)}
+              onChange={(text) => store.updateForm({ topic: text })}
-        label={"Update Rate"}
+            />
-        onChange={(text) => store.updateForm({ updateRate: Number(text) })}
+            <CoreInput
-      />
+              value={store.viewModel.name}
-      <CoreInput
+              label={"Имя"}
-        value={String(store.viewModel.height)}
+              onChange={(text) => store.updateForm({ name: text })}
-        validation={(text) => Number().isValid(text)}
+            />
-        label={"Height"}
+            <CoreInput
-        onChange={(text) => store.updateForm({ height: Number(text) })}
+              value={String(store.viewModel.updateRate)}
-      />
+              validation={(text) => Number().isValid(text)}
-      <CoreInput
+              label={"Update Rate"}
-        value={String(store.viewModel.width)}
+              onChange={(text) => store.updateForm({ updateRate: Number(text) })}
-        validation={(text) => Number().isValid(text)}
+            />
-        label={"Width"}
+            <CoreInput
-        onChange={(text) => store.updateForm({ width: Number(text) })}
+              value={String(store.viewModel.height)}
-      />
+              validation={(text) => Number().isValid(text)}
-      <CoreInput
+              label={"Height"}
-        value={String(store.viewModel.fov)}
+              onChange={(text) => store.updateForm({ height: Number(text) })}
-        label={"Fov"}
+            />
-        validation={(text) => Number().isValid(text)}
+            <CoreInput
-        onChange={(text) => (store.updateForm({ fov: Number(text) }), store.updateCameraScene())}
+              value={String(store.viewModel.width)}
-      />
+              validation={(text) => Number().isValid(text)}
-      <CoreInput
+              label={"Width"}
-        value={String(store.viewModel.far)}
+              onChange={(text) => store.updateForm({ width: Number(text) })}
-        label={"Far"}
+            />
-        validation={(text) => Number().isValid(text)}
+            <CoreInput
-        onChange={(text) => (store.updateForm({ far: Number(text) }), store.updateCameraScene())}
+              value={String(store.viewModel.fov)}
-      />
+              label={"Fov"}
-      <CoreInput
+              validation={(text) => Number().isValid(text)}
-        value={String(store.viewModel.near)}
+              onChange={(text) => (store.updateForm({ fov: Number(text) }), store.updateCameraScene())}
-        label={"Near"}
+            />
-        validation={(text) => Number().isValid(text)}
+            <CoreInput
-        onChange={(text) => (store.updateForm({ near: Number(text) }), store.updateCameraScene())}
+              value={String(store.viewModel.far)}
-      />
+              label={"Far"}
-
+              validation={(text) => Number().isValid(text)}
-      <CoreSelect
+              onChange={(text) => (store.updateForm({ far: Number(text) }), store.updateCameraScene())}
-        items={Object.entries(CameraTypes).map(([_, v]) => v)}
+            />
-        value={store.viewModel.cameraType}
+            <CoreInput
-        label={"Тип камеры"}
+              value={String(store.viewModel.near)}
-        onChange={(text) => store.updateForm({ cameraType: text as CameraTypes })}
+              label={"Near"}
+              validation={(text) => Number().isValid(text)}
+              onChange={(text) => (store.updateForm({ near: Number(text) }), store.updateCameraScene())}
+            />
+            <CoreSelect
+              items={Object.entries(CameraTypes).map(([_, v]) => v)}
+              value={store.viewModel.cameraType}
+              label={"Тип камеры"}
+              onChange={(text) => store.updateForm({ cameraType: text as CameraTypes })}
+            />
+          </>
+        }
       />
       <div style={{ height: 10 }} />
+      <CoordsForm store={store} update={() => store.updateCameraScene()} />
+      <div style={{ height: 10 }} />
 
       {store.type !== "preview" ? (
         <CoreButton text="Создать" style={{ width: 96 }} onClick={() => store.clickNewCamera()} />
       ) : null}
       <div style={{ height: 50 }} />
-
-
     </div>
   );
 });

ui/src/features/scene_builder/presentation/forms/camera/camera_store.tsx

@@ -36,6 +36,7 @@ export class CameraFormStore extends FormState<CameraModel, CoreError> {
         .rFind<CameraModel>((el) => el.name.isEqual(this.sceneBuilderStore.selectedItemName ?? ""))
         .fold(
           (cameraModel) => {
+            console.log(200)
             this.loadDependency(cameraModel);
             this.type = "preview";
           },

ui/src/features/scene_builder/presentation/forms/robot_form/robot_form.tsx

@@ -7,21 +7,18 @@ import { CoreInputNumber } from "../../../../../core/ui/inputNumber/input_number
 import { CoreInput, CoreInputType } from "../../../../../core/ui/input/input";
 import { match } from "ts-pattern";
 import { CoreSelect } from "../../../../../core/ui/select/select";
-import { ToolTypes } from "../../../../../core/model/robot_model";
+import { RobotModel, ToolTypes } from "../../../../../core/model/robot_model";
 import { CoreButton } from "../../../../../core/ui/button/button";
 import { SpawnPositionTypesForm } from "../../components/spawn_position_types";
 import { CoordsForm } from "../../components/coords_form";
+import { useStoreClass } from "../../../../../core/helper/use_store";
+import { Toggle } from "../../../../../core/ui/toggle/toggle";
 
 export const RobotForm = observer((props: IDefaultSceneManagerFormProps) => {
-  const [store] = React.useState(() => new RobotFormStore(props.store));
+  const store = useStoreClass(new RobotFormStore(props.store));
-  React.useEffect(() => {
+
-    store.init();
-    return () => {
-      store.dispose();
-    };
-  }, []);
   return (
-    <div style={{ overflowY: "scroll", height: "100%" }}>
+    <div style={{  overflowY: "auto", height: "100%" }}>
       {match(store.storeType)
         .with(RobotStoreType.awaitMouseClick, () => (
           <>
@@ -59,37 +56,44 @@ export const RobotForm = observer((props: IDefaultSceneManagerFormProps) => {
         ))
         .with(RobotStoreType.previewRobot, () => (
           <>
-            <CoreText text="Управление соединениями" type={CoreTextType.small} />
+            <Toggle
-            {store.viewModel.jointPosition.map((el, i) => (
+              name={"Управление соединениями"}
-              <div>
+              child={
-                <CoreInputNumber
+                <>
-                  key={i}
+                  {store.viewModel.jointPosition.map((el, i) => (
-                  step={0.1}
+                    <div>
-                  max={Number(el.limit.upper)}
+                      <CoreInputNumber
-                  min={Number(el.limit.lower)}
+                        key={i}
-                  value={0}
+                        step={0.1}
-                  onChange={(value) => (
+                        max={Number(el.limit.upper)}
-                    store.updateForm({
+                        min={Number(el.limit.lower)}
-                      jointPosition: store.viewModel.jointPosition.map((element, index) =>
+                        value={el.angle}
-                        index.isEqualR(i).fold(
+                        onChange={(value) => (
-                          () => {
+                          store.updateForm({
-                            element.angle = value;
+                            jointPosition: store.viewModel.jointPosition.map((element, index) =>
-                            return element;
+                              index.isEqualR(i).fold(
-                          },
+                                () => {
-                          () => element
+                                  element.angle = value;
-                        )
+                                  return element;
-                      ),
+                                },
-                    }),
+                                () => element
-                    store.updateScene()
+                              )
-                  )}
+                            ),
-                  label={el.name}
+                          }),
-                />
+                          store.updateScene()
-              </div>
+                        )}
-            ))}
+                        label={el.name}
-            <div style={{ height: 40 }} />
+                      />
+                    </div>
+                  ))}
+                </>
+              }
+              isOpen={false}
+            />
+
+            <div style={{ height: 10 }} />
             <CoordsForm store={store} update={() => store.updateScene()} />
             <div style={{ height: 40 }} />
-
           </>
         ))
         .otherwise(() => (

ui/src/features/scene_builder/presentation/forms/robot_form/robot_form_store.ts

@@ -75,8 +75,8 @@ export class RobotFormStore extends FormState<RobotModel, CoreError> {
       this.sceneBuilderStore.scene
         .rFind<RobotModel>((el) => el.name.isEqual(this.sceneBuilderStore.selectedItemName ?? ""))
         .fold(
-          (solidBodyModel) => {
+          (robotModel) => {
-            this.loadDependency(solidBodyModel);
+            this.loadDependency(robotModel);
             this.storeType = RobotStoreType.previewRobot;
           },
           () =>

ui/src/features/scene_builder/presentation/forms/solid_body/solid_body_form.tsx

@@ -8,22 +8,29 @@ import { match } from "ts-pattern";
 import { SpawnPositionTypesForm } from "../../components/spawn_position_types";
 import { CoreInput } from "../../../../../core/ui/input/input";
 import { CoordsForm } from "../../components/coords_form";
+import { useStoreClass } from "../../../../../core/helper/use_store";
+import { Toggle } from "../../../../../core/ui/toggle/toggle";
 
 export const SolidBodyForm = observer((props: IDefaultSceneManagerFormProps) => {
-  const [store] = React.useState(() => new SolidBodyStore(props.store));
+  const store = useStoreClass(new SolidBodyStore(props.store));
-  React.useEffect(() => {
-    store.init();
-  }, []);
 
   return (
-    <div style={{ display: "flex", flexDirection: "column", alignItems: "center", overflow: "auto", height: "100%" }}>
+    <div style={{ display: "flex", flexDirection: "column", alignItems: "center", overflow: "auto", height: "100%",width:'100%' }}>
       <>
         {match(store.solidBodyStoreType)
           .with(SolidBodyStoreType.previewSolid, () => (
             <>
-              <CoreText text={"Твердое тело"} type={CoreTextType.header} />
+              <Toggle
+                name={"Настройки твердого тела"}
+                child={
+                  <>
+                    <CoreText text={"Тип твердого тела: " + store.viewModel.solidType} type={CoreTextType.header} />
+                  </>
+                }
+                isOpen={false}
+              />
+              <div style={{height:10}}/>
               <CoordsForm store={store} update={store.updateBodySimulation} />
-              <CoreText text={"Тип твердого тела: " + store.viewModel.solidType} type={CoreTextType.header} />
             </>
           ))
           .with(SolidBodyStoreType.selectBody, () => (

ui/src/features/scene_builder/presentation/scene_builder_store.ts

@@ -1,4 +1,3 @@
-import { message } from "antd";
 import makeAutoObservable from "mobx-store-inheritance";
 import { Vector2, Vector3, Object3D } from "three";
 import { CameraModel } from "../../../core/model/camera_model";

ui/src/features/scene_manager/presentation/scene_manager.tsx

@@ -1,16 +1,14 @@
 import * as React from "react";
 import { DrawersSceneManager, SceneMangerStore } from "./scene_manager_store";
 import { observer } from "mobx-react-lite";
-import { Drawer, Popover } from "antd";
+import { Drawer } from "antd";
-import { useNavigate, useParams } from "react-router-dom";
+import { useNavigate } from "react-router-dom";
 import { MainPage } from "../../../core/ui/pages/main_page";
 import { CoreText, CoreTextType } from "../../../core/ui/text/text";
 import { CoreButton } from "../../../core/ui/button/button";
 import { CoreInput } from "../../../core/ui/input/input";
 import { DrawersDataset } from "../../dataset/dataset_store";
 import { Icon } from "../../../core/ui/icons/icons";
-import { sceneManagerForms } from "../../scene_builder/presentation/forms/scene_manager_forms";
-import { SceneMode } from "../model/scene_view";
 import { useStore } from "../../../core/helper/use_store";
 import { SceneBuilderScreenPath } from "../../scene_builder/presentation/scene_builder_screen";