progress

.vscode/settings.json

@@ -19,6 +19,7 @@
     "Contolls",
     "GLTF",
     "grau",
+    "idontsudo",
     "raycaster",
     "skils",
     "typedataset",

p.json

@@ -1 +0,0 @@
-{"name": "default","collision_shape": "BOX","loc_xyz": [0, 0, 0],"rot_euler": [0,0, 0],"material_randomization": {   "specular": [0, 1],    "roughness": [0, 1],    "metallic": [0, 1],    "base_color": [        [            0,            0,            0,            1        ],        [            1,            1,            1,            1        ]    ]}}

server/command.json

@@ -0,0 +1,26 @@
+{
+    "tensorBoard": {
+        "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}",
+        "date": null,
+        "status": "Fail,Ok",
+        "delay": 200,
+        "checkCommand": null,
+        "filter": null
+    },
+    "simulationProcess": {
+        "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}",
+        "date": null,
+        "status": null,
+        "delay": 0,
+        "checkCommand": null,
+        "filter": null
+    },
+    "btBuilderProcess": {
+        "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}",
+        "date": null,
+        "status": null,
+        "delay": 0,
+        "checkCommand": null,
+        "filter": null
+    }
+}

server/src/core/controllers/http_controller.ts

@@ -34,6 +34,33 @@ export abstract class CallbackStrategyWithFilesUploads {
   abstract call(files: File[]): ResponseBase;
 }
 
+export class SubRouter<A> implements ISubSetFeatureRouter<A> {
+  method: HttpMethodType;
+  subUrl: string;
+  fn:
+    | CallbackStrategyWithValidationModel<A>
+    | CallbackStrategyWithEmpty
+    | CallbackStrategyWithIdQuery
+    | CallBackStrategyWithQueryPage
+    | CallbackStrategyWithFileUpload
+    | CallbackStrategyWithFilesUploads;
+  constructor(
+    method: HttpMethodType,
+    subUrl: string,
+    fn:
+      | CallbackStrategyWithValidationModel<A>
+      | CallbackStrategyWithEmpty
+      | CallbackStrategyWithIdQuery
+      | CallBackStrategyWithQueryPage
+      | CallbackStrategyWithFileUpload
+      | CallbackStrategyWithFilesUploads
+  ) {
+    this.fn = fn;
+    this.subUrl = subUrl;
+    this.method = method;
+  }
+}
+
 interface ISubSetFeatureRouter<A> {
   method: HttpMethodType;
   subUrl: string;
@@ -118,7 +145,7 @@ export class CoreHttpController<V> implements ICoreHttpController {
             await this.responseHelper(res, el.fn.call());
             return;
           }
-         
+
           if (el.fn instanceof CallbackStrategyWithFileUpload) {
             if (req["files"] === undefined) {
               res.status(400).json("need files to form-data request");

server/src/core/controllers/routes.ts

@@ -10,6 +10,7 @@ import { DigitalTwinsInstancePresentation } from "../../features/digital_twins_i
 import { DigitalTwinsTemplatePresentation } from "../../features/digital_twins_template/digital_twins_template_presentation";
 import { TopicsPresentation } from "../../features/topics/topics_presentation";
 import { SkillsPresentation } from "../../features/skills/skill_presentation";
+import { RunTimePresentation } from "../../features/runtime/runtime_presentation";
 
 extensions();
 
@@ -24,4 +25,5 @@ export const httpRoutes: Routes[] = [
   new DigitalTwinsInstancePresentation(),
   new TopicsPresentation(),
   new SkillsPresentation(),
+  new RunTimePresentation(),
 ].map((el) => el.call());

server/src/core/services/executor_program_service.ts

@@ -41,7 +41,7 @@ export class ExecutorProgramService
       await delay(300);
 
       this.worker = worker;
-
+      
       const workerDataExec: WorkerDataExec = {
         command: command,
         execPath: this.execPath,
@@ -50,6 +50,7 @@ export class ExecutorProgramService
       };
       worker.send(workerDataExec);
       worker.on("message", (e) => {
+        console.log(JSON.stringify(e));
         const spawnError = SpawnError.isError(e);
 
         if (spawnError instanceof SpawnError) {
@@ -60,7 +61,7 @@ export class ExecutorProgramService
         const execError = ExecError.isExecError(e);
 
         if (execError instanceof ExecError) {
-          execError.id = id
+          execError.id = id;
           this.emit(Result.error(execError));
           this.worker = undefined;
           return;
@@ -68,7 +69,7 @@ export class ExecutorProgramService
 
         const executorResult = ExecutorResult.isExecutorResult(e);
         if (executorResult instanceof ExecutorResult) {
-          executorResult.id = id
+          executorResult.id = id;
           this.emit(Result.ok(executorResult));
           this.worker = undefined;
           return;
@@ -103,7 +104,8 @@ export class ExecutorProgramService
 
       return;
     }
-    this.workerExecuted(command, WorkerType.SPAWN, args, id);
+    const commands = command.split(" ");
+    this.workerExecuted(commands.at(0), WorkerType.SPAWN, commands.slice(1, commands.length), id);
 
     return;
   }

server/src/core/usecases/exec_process_usecase.ts

@@ -1,7 +1,8 @@
+import * as cp from "child_process";
 import { CallbackStrategyWithEmpty } from "../controllers/http_controller";
 import { Result } from "../helpers/result";
 import { TypedEvent } from "../helpers/typed_event";
-import { EXEC_TYPE, ExecError, SpawnError } from "../models/exec_error_model";
+import { EXEC_EVENT, EXEC_TYPE, ExecError, SpawnError } from "../models/exec_error_model";
 import { ExecutorResult } from "../models/executor_result";
 import { ExecutorProgramService } from "../services/executor_program_service";
 
@@ -26,7 +27,7 @@ export class ExecProcessUseCase {
   call = async (
     path: string,
     command: string,
-    id:string,
+    id: string,
     watcher?: TypedEvent<Result<ExecError | SpawnError, ExecutorResult>>
   ): Promise<Result<Error, string>> => {
     try {
@@ -34,7 +35,7 @@ export class ExecProcessUseCase {
       executorProgramService.on((event) => {
         if (watcher) watcher.emit(event);
       });
-      executorProgramService.call(EXEC_TYPE.EXEC, command, undefined ,id);
+      executorProgramService.call(EXEC_TYPE.EXEC, command, undefined, id);
 
       return Result.ok("ok");
     } catch (error) {
@@ -42,3 +43,38 @@ export class ExecProcessUseCase {
     }
   };
 }
+
+export class SpawnProcessUseCase {
+  call = async (
+    path: string,
+    command: string,
+    id: string,
+    watcher?: TypedEvent<Result<ExecError | SpawnError, ExecutorResult>>
+  ): Promise<Result<Error, string>> => {
+    try {
+      const commands = command.split(" ");
+
+      const subprocess = cp.spawn(commands.at(0), commands.slice(1, commands.length), {
+        cwd: path,
+      });
+      const sendWatcher = (event: Buffer) => {
+        if (watcher) {
+          watcher.emit(Result.ok(new ExecutorResult(EXEC_TYPE.SPAWN, EXEC_EVENT.PROGRESS, event.toString())));
+        }
+      };
+      subprocess.stdout.on("data", (data) => sendWatcher(data));
+
+      subprocess.stderr.on("data", (data) => sendWatcher(data));
+
+      subprocess.on("error", (error) => {
+        console.error(`Ошибка: ${error.message}`);
+      });
+
+      subprocess.on("close", (code) => {
+        console.log(`Процесс завершился с кодом: ${code}`);
+      });
+    } catch (error) {
+      return Result.error(error);
+    }
+  };
+}

server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts

@@ -15,8 +15,7 @@ export class ExecCalculationInstanceProcessScenario extends CallbackStrategyWith
         return (await new IsHaveActiveProcessUseCase().call()).map(async () => {
           const execCommand = `${model.script} --form '${JSON.stringify(
             model.formBuilder
-          )}' --path ${model.instancePath.normalize()}`;
+          )}' --path ${model.instancePath.pathNormalize()}`;
-          console.log(execCommand);
           await CalculationInstanceDBModel.findById(id).updateOne({
             processStatus: "RUN",
             lastProcessExecCommand: execCommand,

server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts

@@ -21,10 +21,13 @@ export class ExecInstanceScenario extends CallbackStrategyWithIdQuery {
       await new ReadByIdDataBaseModelUseCase<IDigitalTwinsInstanceModel>(DigitalTwinsInstanceDatabaseModel).call(id)
     ).map(
       (document) => (
-        console.log(JSON.stringify(document)),
+        console.log('DOCUMeNT PATH'),
+        console.log(document.instancePath.pathNormalize()),
         new ExecProcessUseCase().call(
           document.instancePath,
-          `python3 $GET_INTERFACES --path ${document.instancePath.pathNormalize()} --package '${JSON.stringify(document)}'`,
+          `python3 $GET_INTERFACES --path ${document.instancePath.pathNormalize()} --package '${JSON.stringify(
+            document
+          )}'`,
           "",
           new ExecInstanceTwinsProcessService(document.instancePath, document)
         )

server/src/features/projects/domain/robossembler_assets_absolute_path_mapper_scenario.ts

@@ -27,10 +27,11 @@ export class RobossemblerAssetsLocaleMapperScenario extends CallbackStrategyWith
       )
     ).map(async (projectModel) => {
       const { rootDir } = projectModel[0];
-      return (await new ReadFileAndParseJsonUseCase().call<Parts[]>(rootDir + StaticFilesProject.parts)).map(
+      return (await new ReadFileAndParseJsonUseCase().call<Parts[]>(rootDir + StaticFilesProject.parts)).map((model) =>
-        (model) => {
+        Result.ok(
           model.map((el) => {
-            const assetLibsAddress = rootDir + "/libs/objects/" + el.name;
+            const assetLibsAddress = rootDir + "/assets/libs/objects/" + el.name;
+            console.log(assetLibsAddress);
             el.fbx = `${assetLibsAddress}.fbx`;
             el.stlUrl = `${assetLibsAddress}${el.part_path}`;
             el.glUrl = `${assetLibsAddress}.glb`;
@@ -38,11 +39,11 @@ export class RobossemblerAssetsLocaleMapperScenario extends CallbackStrategyWith
             el.objUrl = `${assetLibsAddress}.obj`;
             el.image = `${assetLibsAddress}.png`;
             el.solidType = "active";
+
             return el;
-          });
+          })
-          return Result.ok(model);
+        )
-        }
       );
-      // );
+    
     });
 }

server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts

@@ -34,8 +34,8 @@ export class RobossemblerAssetsNetworkMapperScenario extends CallbackStrategyWit
             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/";
           model.map((el) => {
-            const assetLibsAddress = assetAddress + "libs/objects/" + el.name;
+            const assetLibsAddress = assetAddress + "/libs/objects/" + el.name;
-
+            console.log(assetLibsAddress);
             el.stlUrl = `${assetAddress}${el.part_path}`;
             el.glUrl = `${assetLibsAddress}.glb`;
             el.daeUrl = `${assetLibsAddress}.dae`;

server/src/features/runtime/domain/exec_bt_builder_usecase.ts

@@ -0,0 +1,7 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+
+export class ExecBtBuilderUseCase extends CallbackStrategyWithEmpty {
+  call(): ResponseBase {
+    throw new Error("Method not implemented.");
+  }
+}

server/src/features/runtime/domain/exec_simulation_usecase.ts

@@ -0,0 +1,21 @@
+import { App } from "../../../core/controllers/app";
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { SpawnProcessUseCase } from "../../../core/usecases/exec_process_usecase";
+import { ExecProcesssss } from "../model/exec_process";
+import { ProcessWatcher } from "../service/process_watcher";
+import { GetCommandScenario } from "./get_command_scenario";
+
+export class ExecSimulationUseCase extends CallbackStrategyWithValidationModel<ExecProcesssss> {
+  validationModel = new ExecProcesssss();
+  call = async (): ResponseBase =>
+    (await new GetCommandScenario().call("btBuilderProcess")).map((el) => {
+      new SpawnProcessUseCase().call(
+        App.staticFilesStoreDir(),
+        el.execCommand.replace("${dir_path}", "/Users/idontsudo/train"),
+        "btBuilder",
+        new ProcessWatcher(2000, "localhost")
+      );
+      return Result.ok("200");
+    });
+}

server/src/features/runtime/domain/get_bt_builder_status_usecase.ts

@@ -0,0 +1,7 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+
+export class GetBtBuilderStateUseCase extends CallbackStrategyWithEmpty {
+  call(): ResponseBase {
+    throw new Error("Method not implemented.");
+  }
+}

server/src/features/runtime/domain/get_command_scenario.ts

@@ -0,0 +1,14 @@
+import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json";
+import { Result } from "../../../core/helpers/result";
+import { Command, ExecProcess } from "../model/command";
+
+export class GetCommandScenario {
+  call = async (command: string): Promise<Result<unknown, ExecProcess>> =>
+    (
+      await new ReadFileAndParseJsonUseCase().call<Command>(
+        __filename.slice(0, __filename.lastIndexOf("/")).replace("/build/src/features/runtime/domain", "") +
+          "/" +
+          "command.json"
+      )
+    ).map((el) => Result.ok(el[command]));
+}

server/src/features/runtime/domain/get_simulation_state_usecase.ts

@@ -0,0 +1,10 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { SpawnProcessUseCase } from "../../../core/usecases/exec_process_usecase";
+import { GetCommandScenario } from "./get_command_scenario";
+import { ProcessWatcher } from "../service/process_watcher";
+import { App } from "../../../core/controllers/app";
+
+export class GetSimulationStateScenario extends CallbackStrategyWithEmpty {
+  call = async (): ResponseBase => Result.ok("");
+}

server/src/features/runtime/model/command.ts

@@ -0,0 +1,14 @@
+export interface Command {
+  tensorBoard: ExecProcess;
+  simulationProcess: ExecProcess;
+  btBuilderProcess: ExecProcess;
+}
+
+export interface ExecProcess {
+  execCommand: string;
+  date: null;
+  status: null | string;
+  delay: number;
+  checkCommand: null;
+  filter: null;
+}

server/src/features/runtime/model/exec_process.ts

@@ -0,0 +1,3 @@
+export class ExecProcesssss{
+
+}

server/src/features/runtime/model/run_time_database_model.ts

@@ -0,0 +1,23 @@
+import { Schema, model } from "mongoose";
+import { ExecRunTimeCommandValidationModel as ExecRunTimeCommandValidationModel } from "./run_time_validation_model";
+
+export interface IDigitalTwinsInstanceModel {
+  instancePath: string;
+  status?: string;
+}
+
+export const ExecRunTimeDataBaseSchema = new Schema({
+  execCommand: String,
+  date: String,
+  status: String,
+  delay: Number,
+  checkCommand: String,
+  filter: Array,
+}).plugin(require("mongoose-autopopulate"));
+
+export const ExecRuntimeSchema = "digital_twins_instance";
+
+export const ExecRuntimeDatabaseModel = model<ExecRunTimeCommandValidationModel>(
+  ExecRuntimeSchema,
+  ExecRunTimeDataBaseSchema
+);

server/src/features/runtime/model/run_time_validation_model.ts

@@ -0,0 +1,21 @@
+import { IsArray, IsEnum, IsNumber, IsString } from "class-validator";
+
+export enum Status {
+  OK = "Ok",
+  ERROR = "Error",
+}
+
+export class ExecRunTimeCommandValidationModel {
+  @IsString()
+  execCommand: string;
+  @IsString()
+  date: string = Date();
+  @IsEnum(Status)
+  status: Status;
+  @IsNumber()
+  delay: number;
+  @IsString()
+  checkCommand: string;
+  @IsArray()
+  filter: string[] = [];
+}

server/src/features/runtime/runtime_presentation.ts

@@ -0,0 +1,25 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { ExecRunTimeCommandValidationModel } from "./model/run_time_validation_model";
+import { ExecRuntimeDatabaseModel } from "./model/run_time_database_model";
+import { CoreHttpController, SubRouter, HttpMethodType } from "../../core/controllers/http_controller";
+import { ExecBtBuilderUseCase } from "./domain/exec_bt_builder_usecase";
+import { ExecSimulationUseCase } from "./domain/exec_simulation_usecase";
+import { GetBtBuilderStateUseCase } from "./domain/get_bt_builder_status_usecase";
+import { GetSimulationStateScenario } from "./domain/get_simulation_state_usecase";
+
+export class RunTimePresentation extends CoreHttpController<ExecRunTimeCommandValidationModel> {
+  constructor() {
+    super({
+      url: "run_time",
+    });
+
+    this.subRoutes.push(new SubRouter("POST", "/exec/bt/builder", new ExecBtBuilderUseCase()));
+    this.subRoutes.push(new SubRouter("POST", "/get/bt/builder/state", new GetBtBuilderStateUseCase()));
+    this.subRoutes.push(new SubRouter("POST", "/get/simulator/state", new GetSimulationStateScenario()));
+    this.subRoutes.push({
+      method: "POST",
+      subUrl: "/exec/simulation/",
+      fn: new ExecSimulationUseCase(),
+    });
+  }
+}

server/src/features/runtime/service/process_watcher.ts

@@ -0,0 +1,22 @@
+import { Result } from "../../../core/helpers/result";
+import { TypedEvent } from "../../../core/helpers/typed_event";
+import { ExecError, SpawnError } from "../../../core/models/exec_error_model";
+import { ExecutorResult } from "../../../core/models/executor_result";
+
+export class ProcessWatcher extends TypedEvent<Result<ExecError | SpawnError, ExecutorResult>> {
+  logs = "";
+  delay: number;
+  constructor(delay: number, pattern: string) {
+    super();
+    this.on(this.lister);
+    setTimeout(() => {
+      console.log(this.logs);
+    }, delay);
+  }
+
+  lister = (event: Result<ExecError | SpawnError, ExecutorResult>) => {
+    event.map(async (success) => {
+      this.logs += success.data;
+    });
+  };
+}

server/src/p.json

@@ -0,0 +1,10 @@
+{
+    "execCommand": "string",
+    "date": "date",
+    "status": "Fail,Ok",
+    "delay": 1000,
+    "checkCommand": "string",
+    "filter": [
+        "/assembly_config"
+    ]
+}

ui/package.json

@@ -21,6 +21,7 @@
     "react-dom": "^18.2.0",
     "react-i18next": "^13.3.1",
     "react-infinite-scroll-component": "^6.1.0",
+    "react-resizable-panels": "^2.1.7",
     "react-router-dom": "^6.18.0",
     "react-scripts": "5.0.1",
     "reflect-metadata": "^0.1.13",
@@ -39,7 +40,6 @@
     "ws": "^8.17.0",
     "xml-formatter": "^3.6.2"
   },
-   
   "overrides": {
     "typescript": "^5.0.2"
   },
@@ -76,4 +76,4 @@
     "@types/three": "^0.158.3",
     "@types/uuid": "^9.0.2"
   }
-}
+}

ui/public/index.html

@@ -23,7 +23,7 @@
     <title>Robossembler</title>
   </head>
 
-  <body>
+  <body style="overflow: auto;">
     <noscript>You need to enable JavaScript to run this app.</noscript>
     <div style="width: 100%; height: 100%" id="root"></div>
   </body>

ui/src/core/model/form_builder_validation_model.tsx

@@ -54,12 +54,72 @@ export class FormBuilderValidationModel
     new FormBuilderValidationModel("", simpleFormBuilder, [], "");
   static vision = () =>
     new FormBuilderValidationModel(
-      `ENUM PRETRAIN = "true","false";`,
+      `
-      `{
+      ENUM T = "ObjectDetection","PoseEstimation";
-          "numberOfEpochs": \${numberOfEpochs:number:10},
+      ENUM L = "POINT","SUN";
-          "selectDataset": \${<SelectDataset/>:OBJECT:{"dataset": {}},
+      ENUM F = "JPEG","PNG";
-          "pretrain": \${pretrain:Enum<PRETRAIN>:true}
+      ENUM COLLISION_SHAPE = "BOX","COLLISION";
-        }`,
+
+      type OBJECTS_SCENE = {
+      "name": \${NAME:string:default},
+      "collision_shape": \${collision_shape:Enum<COLLISION_SHAPE>:BOX},
+      "loc_xyz": [\${LOC_XYZ_1:number:0}, \${LOC_XYZ_2:number:0}, \${LOC_XYZ_3:number:0}],
+      "rot_euler": [\${ROT_EULER_1:number:0},\${ROT_EULER_2:number:0}, \${ROT_EULER_3:number:0}],
+      "material_randomization": {
+          "specular": [\${SPECULAR_1:number:0}, \${SPECULAR_2:number:1}],
+          "roughness": [\${ROUGHNESS_1:number:0}, \${ROUGHNESS_2:number:1}],
+          "metallic": [\${METALLIC_1:number:0}, \${METALLIC_2:number:1}],
+          "base_color": [
+              [
+                  \${BASE_COLOR_1:number:0},
+                  \${BASE_COLOR_2:number:0},
+                  \${BASE_COLOR_3:number:0},
+                  \${BASE_COLOR_4:number:1}
+              ],
+              [
+                  \${BASE_COLOR_5:number:1},
+                  \${BASE_COLOR_6:number:1},
+                  \${BASE_COLOR_7:number:1},
+                  \${BASE_COLOR_8:number:1}
+              ]
+          ]
+      }
+      };
+      type LIGHTS = {
+      "id": \${ID:number:1},
+      "type": \${type:Enum<L>:POINT},
+      "loc_xyz": [\${LOC_XYZ_1:number:5}, \${LOC_XYZ_2:number:5}, \${LOC_XYZ_3:number:5}],
+      "rot_euler": [\${ROT_EULER_1:number:-0.06}, \${ROT_EULER_2:number:0.61}, \${ROT_EULER_3:number:-0.19}],
+      "color_range_low": [\${COLOR_RANGE_LOW_1:number:0.5}, \${COLOR_RANGE_LOW_2:number:0.5}, \${COLOR_RANGE_LOW_3:number:0.5}],
+      "color_range_high":[\${COLOR_RANGE_HIGH_1:number:1}, \${COLOR_RANGE_HIGH_2:number:1}, $\{COLOR_RANGE_HIGH_3:number:1}],
+      "energy_range":[\${ENERGY_RANGE_1:number:400},\${ENERGY_RANGE_2:number:900}]
+      };`,
+      `
+      {
+        "datasetObjects":\${<SelectDetail/>:OBJECT:{"details": []},
+        "typedataset": \${typedataset:Enum<T>:ObjectDetection},
+        "models_randomization":{
+          "loc_range_low":  [\${LOC_RANGE_LOW_1:number:-1}, \${LOC_RANGE_LOW_2:number:-1},\${LOC_RANGE_LOW_3:number:0}],
+          "loc_range_high": [\${LOC_RANGE_HIGH_1:number:1}, \${LOC_RANGE_HIGH_2:number:1},\${LOC_RANGE_HIGH_3:number:2}]
+        },
+        "scene":{
+          "objects": \${OBJECTS_SCENE:Array<OBJECTS_SCENE>:[]},
+          "lights": \${LIGHTS:Array<LIGHTS>:[]}
+        },
+        "camera_position":{
+          "center_shell": [\${CENTER_SHELL_1:number:0}, \${CENTER_SHELL_2:number:0}, \${CENTER_SHELL_3:number:0}],
+          "radius_range": [\${RADIUS_RANGE_1:number:1}, \${RADIUS_RANGE_2:number:1.4}],
+          "elevation_range": [\${ELEVATION_RANGE_1:number:10}, \${ELEVATION_RANGE_2:number:90}]
+        },
+        "generation":{
+          "n_cam_pose": \${N_CAM_POSE:number:5},
+          "n_sample_on_pose": \${N_SAMPLE_ON_POSE:number:3},
+          "n_series": \${N_SERIES:number:100},
+          "image_format": \${image_format:Enum<F>:JPEG},
+          "image_size_wh": [\${IMAGE_SIZE_WH_1:number:640}, \${IMAGE_SIZE_WH_2:number:480}]
+        }
+      }
+      `,
       [],
       ""
     );

ui/src/core/ui/input/input_v2.tsx

@@ -8,6 +8,7 @@ interface InputV2Props {
   trim?: boolean;
   height?: number;
   onChange?: (text: string) => void;
+  
 }
 export const InputV2: React.FC<InputV2Props> = ({ label, height, value, onChange, trim }) => {
   return (

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

@@ -0,0 +1,21 @@
+import { IsArray, IsEnum, IsNumber, IsString } from "class-validator";
+import { ValidationModel } from "../../../core/model/validation_model";
+
+export enum Status {
+  OK = "Ok",
+  ERROR = "Error",
+}
+export class ExecRunTimeCommand extends ValidationModel {
+  @IsString()
+  execCommand: string;
+  @IsString()
+  date: string = Date();
+  @IsEnum(Status)
+  status: Status;
+  @IsNumber()
+  delay: number;
+  @IsString()
+  checkCommand: string;
+  @IsArray()
+  filter: string[] = [];
+}

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

@@ -17,8 +17,10 @@ import { InputV2 } from "../../../core/ui/input/input_v2";
 import { SelectV2 } from "../../../core/ui/select/select_v2";
 import { MainPageV2 } from "../../../core/ui/pages/main_page_v2";
 import { DrawerV2 } from "../../../core/ui/drawer/drawer";
+import { Panel, PanelGroup, PanelResizeHandle } from "react-resizable-panels";
 
 export const behaviorTreeBuilderScreenPath = "behavior/tree/screen/path";
+
 export interface DOMReact {
   x: number;
   y: number;
@@ -31,14 +33,17 @@ export interface DOMReact {
 }
 
 export const behaviorTreeBuilderStore = new BehaviorTreeBuilderStore();
+
 export const BehaviorTreeBuilderPath = (id?: string) => {
   if (id) {
     return `/behavior/tree/${id}`;
   }
   return `/behavior/tree/`;
 };
+
 export const isBtScreen = () =>
   Boolean(window.location.href.match(new RegExp(BehaviorTreeBuilderPath()))?.at(0)) ?? false;
+
 export const BehaviorTreeBuilderScreen = observer(() => {
   const navigate = useNavigate();
   const { id } = useParams();
@@ -54,9 +59,7 @@ export const BehaviorTreeBuilderScreen = observer(() => {
   }, [ref.current]);
 
   React.useEffect(() => {
-    store.init(navigate).then(() => {
+    store.init(navigate).then(() => store.initParam(id));
-      store.initParam(id);
-    });
     return () => {
       store.dispose();
     };
@@ -71,10 +74,11 @@ export const BehaviorTreeBuilderScreen = observer(() => {
               display: "flex",
               flexDirection: "row",
               justifyContent: "end",
+              paddingRight: 30,
               alignItems: "center",
             }}
           >
-            <ButtonV2 style={{ height: 40 }} onClick={() => {}} text="Запуск" textColor={themeStore.theme.black} />
+            {/* <ButtonV2 style={{ height: 40 }} onClick={() => {}} text="Запуск" textColor={themeStore.theme.black} />
             <div style={{ width: 10 }} />
             <ButtonV2
               style={{ height: 40 }}
@@ -83,21 +87,25 @@ export const BehaviorTreeBuilderScreen = observer(() => {
               type={ButtonV2Type.empty}
               textColor={themeStore.theme.greenWhite}
             />
-            <div style={{ width: 10 }} />
+            <div style={{ width: 10 }} /> */}
-            <div
+            {store.isNeedSaveBtn ? (
-              style={{
+              <div
-                backgroundColor: store.isNeedSaveBtn ? themeStore.theme.greenWhite : undefined,
+                style={{
-                height: 40,
+                  backgroundColor: store.isNeedSaveBtn ? themeStore.theme.greenWhite : undefined,
-                textAlign: "center",
+                  height: 40,
-                alignContent: "center",
+                  textAlign: "center",
-                width: 40,
+                  alignContent: "center",
-                borderRadius: 100,
+                  width: 40,
-              }}
+                  borderRadius: 100,
-            >
+                }}
-              {store.isNeedSaveBtn ? (
+              >
-                <Icon style={{ height: 21 }} onClick={() => store.onClickSaveBehaviorTree()} type="Floppy" />
+                {store.isNeedSaveBtn ? (
-              ) : undefined}
+                  <Icon style={{ height: 21 }} onClick={() => store.onClickSaveBehaviorTree()} type="Floppy" />
-            </div>
+                ) : undefined}
+              </div>
+            ) : (
+              <></>
+            )}
           </div>
         </>
       }
@@ -131,15 +139,33 @@ export const BehaviorTreeBuilderScreen = observer(() => {
                 {store.skillTemplates ? <SkillTree skills={store.skillTree} dragEnd={store.dragEnd} /> : null}
               </div>
             </div>
+
             <div
-              ref={ref}
-              className="dotted"
               style={{
-                width: "100%",
+                position: "absolute",
+                left: 300,
                 height: "100%",
-                backgroundSize: "20px 20px",
+                width: "calc(100% - 300px)",
               }}
-            />
+            >
+              <PanelGroup direction="horizontal" style={{ width: "100%" }}>
+                <Panel>
+                  <div
+                    ref={ref}
+                    className="dotted"
+                    style={{
+                      width: "100%",
+                      height: "100%",
+                      backgroundSize: "20px 20px",
+                    }}
+                  />
+                </Panel>
+                <PanelResizeHandle>
+                  <div style={{ width: 10, height: "100%", backgroundColor: "beige" }}></div>
+                </PanelResizeHandle>
+                <Panel defaultSize={0}> </Panel>
+              </PanelGroup>
+            </div>
           </>
 
           <DrawerV2

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

@@ -51,7 +51,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
   activeProject: string = "";
   behaviorTreeBuilderHttpRepository = new BehaviorTreeBuilderHttpRepository();
   canRun = true;
-  isNeedSaveBtn = true;
+  isNeedSaveBtn = false;
   selected: string = "";
   selectedSid: string = "";
   nodeBehaviorTree: NodeBehaviorTree[] = [];
@@ -207,7 +207,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
           )
         ).fold(
           (xml) => {
-            console.log(xml)
+            console.log(xml);
             this.behaviorTreeModel.skills = this.filledOutTemplates;
             this.behaviorTreeModel.scene = NodeBehaviorTree.fromReteScene(
               this.editor as NodeEditor<Schemes>,
@@ -230,7 +230,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     );
 
   validateBt() {}
-  
+
   setSelected = (label: string, selected: boolean, sid: string) => {
     this.selectedSid = sid;
     this.selected = label;

ui/src/index.tsx

@@ -9,6 +9,16 @@ import { configure } from "mobx";
 import { ThemeStore } from "./core/store/theme_store";
 import { FormBuilderValidationModel } from "./core/model/form_builder_validation_model";
 import { FormBuilder } from "./core/ui/form_builder/form_builder";
+import { observer } from "mobx-react-lite";
+import { useStore } from "./core/helper/use_store";
+import { LifeCycleStore, ModalStore } from "./core/store/base_store";
+import { CoreInput } from "./core/ui/input/input";
+import { InputV2 } from "./core/ui/input/input_v2";
+import { useState } from "react";
+import { Button, Modal } from "antd";
+import makeAutoObservable from "mobx-store-inheritance";
+import { CoreButton } from "./core/ui/button/button";
+import { SelectDetail } from "./core/ui/form_builder/forms/select_detail/presentation/select_detail_screen";
 
 configure({
   enforceActions: "never",
@@ -19,16 +29,55 @@ extensions();
 const root = ReactDOM.createRoot(document.getElementById("root") as HTMLElement);
 export const themeStore = new ThemeStore();
 
+class FormBuilderTextStore extends ModalStore {
+  viewModel = FormBuilderValidationModel.empty();
+  constructor() {
+    super();
+    makeAutoObservable(this);
+  }
+  init = undefined;
+}
+export const FormBuildTest = observer(() => {
+  const [store] = useState(new FormBuilderTextStore());
+
+  return (
+    <div>
+      <InputV2 label={"result"} onChange={(text) => (store.viewModel.result = text)} />
+      <InputV2 label={"context"} onChange={(text) => (store.viewModel.context = text)} />
+      <CoreButton text="click" onClick={() => (store.isModalOpen = true)} />
+      <Modal
+        destroyOnClose={true}
+        open={store.isModalOpen}
+        footer={null}
+        closable={false}
+        closeIcon={null}
+        onCancel={() => {
+          store.isModalOpen = false;
+        }}
+      >
+        <FormBuilder
+          formBuilder={store.viewModel}
+          onChange={(e) => {
+            console.log(e.output);
+            // console.log(JSON.stringify(e.output))
+          }}
+        />
+      </Modal>
+    </div>
+  );
+});
 root.render(
   <>
-    <SocketListener>
+    {/* <FormBuildTest /> */}
+    {/* <SocketListener>
       <RouterProvider router={router} />
-    </SocketListener>
+    </SocketListener> */}
-    {/* <FormBuilder
+    <SelectDetail
-      formBuilder={FormBuilderValidationModel.test()}
+    // @ts-expect-error
-      onChange={function (change: FormBuilderValidationModel): void {
+      dependency={{}}
-        console.log(JSON.stringify(change.output));
+      onChange={function (obj: any): void {
+        throw new Error("Function not implemented.");
       }}
-    /> */}
+    />
   </>
 );