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IDONTSUDO 2024-07-23 13:33:19 +03:00
parent d8b5018cb2
commit 318d0a7893
60 changed files with 746 additions and 524 deletions
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6
server/src/core/controllers/http_controller.ts
View file

@ -34,11 +34,11 @@ export abstract class CallbackStrategyWithFilesUploads {
abstract call(files: File[]): ResponseBase;
}
interface ISubSetFeatureRouter<T> {
interface ISubSetFeatureRouter<A> {
method: HttpMethodType;
subUrl: string;
fn:
| CallbackStrategyWithValidationModel<T>
| CallbackStrategyWithValidationModel<A>
| CallbackStrategyWithEmpty
| CallbackStrategyWithIdQuery
| CallBackStrategyWithQueryPage
@ -179,7 +179,7 @@ export class CoreHttpController<V> implements ICoreHttpController {
router: this.router,
};
}
public put(usecase: CallbackStrategyWithValidationModel<V>) {
public put(usecase: any) {
this.routes["PUT"] = usecase;
}
public delete(usecase: CallbackStrategyWithValidationModel<V>) {

4
server/src/core/models/static_files.ts
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@ -2,5 +2,7 @@ export enum StaticFiles {
robossembler_assets = "robossembler_assets.json",
assets = "/assets/assets.json",
parts = '/assets/parts.json',
robots = '/robots/'
robots = '/robots/',
scenes = '/scenes/',
behaviorTrees = 'behavior_trees'
}

57
server/src/features/behavior_trees/domain/get_bt_skills_templates_usecase.ts
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@ -5,6 +5,35 @@ export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithE
call = async (): ResponseBase => {
return Result.ok({
skills: [
{
SkillPackage: { name: "Robossembler", version: "1.0", format: "1" },
Module: { name: "MoveToPose", description: "Move to Pose skill with cartesian controllers" },
Launch: { package: "rbss_movetopose", executable: "mtp_cartesian.py", name: "mtp_cartesian" },
BTAction: [
{
name: "move",
type: "action",
param: [
{
type: "move_to_pose",
dependency: {},
},
],
},
],
Interface: {
Input: [
{ name: "robotName", type: "ROBOT" },
{ name: "pose", type: "POSE" },
],
Output: [],
},
Settings: [
{ name: "topicServer", value: "cartesian_move_to_pose" },
{ name: "end_effector_velocity", value: 1.0 },
{ name: "end_effector_acceleration", value: 1.0 },
],
},
{
SkillPackage: { name: "Robossembler", version: "1.0", format: "1", type: "Action" },
Module: { name: "PoseEstimation", description: "Pose Estimation skill with DOPE" },
@ -20,12 +49,12 @@ export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithE
},
{
type: "camera",
dependency: {}
dependency: {},
},
{
type: "topic",
dependency: {}
}
dependency: {},
},
],
result: ["POSE"],
},
@ -46,28 +75,6 @@ export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithE
{ name: "mesh_scale", value: 0.001 },
],
},
{
SkillPackage: { name: "Robossembler", version: "1.0", format: "1" },
Module: { name: "MoveToPose", description: "Move to Pose skill with ? controllers" },
Launch: { package: "rbss_movetopose", executable: "movetopose.py", name: "skill_move" },
BTAction: [
{
name: "move",
type: "action",
param: [{ type: "topic", dependency: { } }],
result: []
}
],
Interface: {
Input: [
{ name: "robotName", type: "ROBOT" },
{ name: "pose", type: "POSE" }
],
Output: []
},
Settings: []
}
],
});
};

9
server/src/features/behavior_trees/models/behavior_tree_database_model.ts
View file

@ -12,6 +12,10 @@ export const BehaviorTreeSchema = new Schema({
name: {
type: String,
},
scene: {
type: Schema.Types.Mixed,
default: [],
},
local_path: {
type: String,
},
@ -29,9 +33,8 @@ export const BehaviorTreeSchema = new Schema({
skills: {
type: Schema.Types.Mixed,
},
scene: {
type: Array,
default: null,
sceneId: {
type: String,
},
project: {
type: Schema.Types.ObjectId,

46
server/src/features/scene/create_new_scene_scenario.ts Normal file
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@ -0,0 +1,46 @@
import { IsString } from "class-validator";
import { CallbackStrategyWithValidationModel, ResponseBase } from "../../core/controllers/http_controller";
import { Result } from "../../core/helpers/result";
import { CreateFileUseCase } from "../../core/usecases/create_file_usecase";
import { GetActiveProjectIdScenario } from "../projects/domain/get_active_project_id_scenario";
import { model } from "mongoose";
import { SearchManyDataBaseModelUseCase } from "../../core/usecases/search_many_database_model_usecase";
import { IProjectModel, ProjectDBModel } from "../projects/models/project_model_database_model";
import { StaticFiles } from "../../core/models/static_files";
import { CreateDataBaseModelUseCase } from "../../core/usecases/create_database_model_usecase";
import { SceneDBModel } from "./scene_database_model";
import { SceneValidationModel } from "./scene_validation_model";
export class SceneModel {
@IsString()
name: string;
}
export class SceneAssets {
name: string;
scene: [] = [];
constructor(name: string) {
this.name = name;
}
static empty = () => new SceneAssets("");
}
export class CreateNewSceneScenario extends CallbackStrategyWithValidationModel<SceneModel> {
validationModel: SceneModel = SceneModel;
call = async (model: SceneModel): ResponseBase =>
(
await new SearchManyDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
{ isActive: true },
"is dont active projects"
)
).map(async (projectModel) => {
const { rootDir } = projectModel[0];
return (
await new CreateFileUseCase().call(
`${rootDir}${StaticFiles.scenes}${model.name}.json`,
Buffer.from(JSON.stringify(new SceneAssets(model.name)))
)
).map(async () =>
(await new CreateDataBaseModelUseCase(SceneDBModel).call(model)).map(() => Result.ok("Create"))
);
});
}

28
server/src/features/scene/edit_scene_scenario.ts Normal file
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@ -0,0 +1,28 @@
import { CallbackStrategyWithValidationModel, ResponseBase } from "../../core/controllers/http_controller";
import { Result } from "../../core/helpers/result";
import { StaticFiles } from "../../core/models/static_files";
import { CreateFileUseCase } from "../../core/usecases/create_file_usecase";
import { SearchManyDataBaseModelUseCase } from "../../core/usecases/search_many_database_model_usecase";
import { IProjectModel, ProjectDBModel } from "../projects/models/project_model_database_model";
import { SceneAssets } from "./create_new_scene_scenario";
import { SceneValidationModel } from "./scene_validation_model";
export class EditSceneScenario extends CallbackStrategyWithValidationModel<SceneValidationModel> {
validationModel: SceneValidationModel;
call = async (model: SceneValidationModel): ResponseBase =>
(
await new SearchManyDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
{ isActive: true },
"is dont active projects"
)
).map(async (projectModel) => {
const { rootDir } = projectModel[0];
return (
await new CreateFileUseCase().call(
`${rootDir}${StaticFiles.scenes}${model.name}.json`,
Buffer.from(JSON.stringify(model))
)
).map(async () => Result.ok("Edit"));
});
}

31
server/src/features/scene/read_scene_scenario.ts Normal file
View file

@ -0,0 +1,31 @@
import { CallbackStrategyWithIdQuery, ResponseBase } from "../../core/controllers/http_controller";
import { Result } from "../../core/helpers/result";
import { StaticFiles } from "../../core/models/static_files";
import { CreateFileUseCase } from "../../core/usecases/create_file_usecase";
import { ReadByIdDataBaseModelUseCase } from "../../core/usecases/read_by_id_database_model_usecase";
import { ReadFileAndParseJsonUseCase } from "../../core/usecases/read_file_and_parse_json";
import { SearchManyDataBaseModelUseCase } from "../../core/usecases/search_many_database_model_usecase";
import { CoreValidation } from "../../core/validations/core_validation";
import { MongoIdValidation } from "../../core/validations/mongo_id_validation";
import { IProjectModel, ProjectDBModel } from "../projects/models/project_model_database_model";
import { SceneAssets, SceneModel } from "./create_new_scene_scenario";
import { SceneDBModel } from "./scene_database_model";
export class ReadSceneScenario extends CallbackStrategyWithIdQuery {
idValidationExpression: CoreValidation = new MongoIdValidation();
call = async (id: string): ResponseBase =>
(await new ReadByIdDataBaseModelUseCase<SceneModel>(SceneDBModel).call(id)).map(async (model) =>
(
await new SearchManyDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
{ isActive: true },
"is dont active projects"
)
).map(async (projectModel) => {
const { rootDir } = projectModel[0];
return (await new ReadFileAndParseJsonUseCase().call(`${rootDir}${StaticFiles.scenes}${model.name}.json`)).map(
async (sceneAsset) => Result.ok(sceneAsset)
);
})
);
}

13
server/src/features/scene/scene_presentation.ts
View file

@ -1,5 +1,11 @@
import { CrudController } from "../../core/controllers/crud_controller";
import { ReadByIdDataBaseModelScenario } from "../../core/scenarios/read_by_id_database_model_scenario";
import { BehaviorTreeDBModel } from "../behavior_trees/models/behavior_tree_database_model";
import { BehaviorTreeValidationModel } from "../behavior_trees/models/behavior_tree_validation_model";
import { CreateNewSceneScenario } from "./create_new_scene_scenario";
import { CreateRobotScenario } from "./create_robot_scenario";
import { EditSceneScenario } from "./edit_scene_scenario";
import { ReadSceneScenario } from "./read_scene_scenario";
import { SceneDBModel } from "./scene_database_model";
import { SceneValidationModel } from "./scene_validation_model";
@ -10,10 +16,17 @@ export class ScenePresentation extends CrudController<SceneValidationModel, type
validationModel: SceneValidationModel,
databaseModel: SceneDBModel,
});
super.post(new CreateNewSceneScenario().call);
super.put(new EditSceneScenario().call);
this.subRoutes.push({
method: "POST",
subUrl: "create/robot",
fn: new CreateRobotScenario(),
});
this.subRoutes.push({
method: "GET",
subUrl: "by_id",
fn: new ReadSceneScenario(),
});
}
}