Реализовать загрузку 3D-моделей в Scene manager и выгрузку файлов для запуска симуляции

server/src/core/models/robossembler_assets.ts

@@ -0,0 +1,160 @@
+import { IsArray, IsEnum, IsNumber, IsOptional, IsString, ValidateNested } from "class-validator";
+import { Type } from "class-transformer";
+
+export class Gravity {
+  @IsNumber()
+  x: number;
+  @IsNumber()
+  y: number;
+  @IsNumber()
+  z: number;
+}
+
+export class Pose {
+  @IsNumber()
+  x: number;
+  @IsNumber()
+  y: number;
+  @IsNumber()
+  z: number;
+  @IsNumber()
+  roll: number;
+  @IsNumber()
+  pitch: number;
+  @IsNumber()
+  yaw: number;
+}
+
+export class Position {
+  @IsNumber()
+  x: number;
+  @IsNumber()
+  y: number;
+  @IsNumber()
+  z: number;
+}
+
+export enum InstanceType {
+  RGB_CAMERA = "rgb_camera",
+  SCENE_SIMPLE_OBJECT = "scene_simple_object",
+}
+
+abstract class CoreInstances {}
+
+export class Instance extends CoreInstances {
+  @IsEnum(InstanceType)
+  instanceType: InstanceType;
+  @Type(() => Position)
+  position: Position;
+  @IsArray()
+  quaternion: number[];
+  @IsOptional()
+  @IsString()
+  instanceAt: null | string = null;
+}
+
+export class SceneSimpleObject extends Instance {}
+
+export class InstanceRgbCamera extends Instance {
+  @IsString()
+  cameraLink: string;
+  @IsString()
+  topicCameraInfo: string;
+  @IsOptional()
+  @IsString()
+  topicDepth: string | null;
+  @IsString()
+  topicImage: string;
+}
+export class Asset {
+  @IsString()
+  name: string;
+  @IsString()
+  ixx: string;
+  @IsString()
+  ixy: string;
+  @IsString()
+  ixz: string;
+  @IsString()
+  iyy: string;
+  @IsString()
+  izz: string;
+  @IsString()
+  mass: string;
+  @IsString()
+  posX: string;
+  @IsString()
+  posY: string;
+  @IsString()
+  posZ: string;
+  @IsString()
+  eulerX: string;
+  @IsString()
+  eulerY: string;
+  @IsString()
+  eulerZ: string;
+  @IsString()
+  iyz: string;
+  @IsString()
+  meshPath: string;
+  @IsString()
+  friction: string;
+  @IsString()
+  centerMassX: string;
+  @IsString()
+  centerMassY: string;
+  @IsString()
+  centerMassZ: string;
+}
+
+export class Physics {
+  @IsString()
+  engine_name: string;
+  @Type(() => Gravity)
+  gravity: Gravity;
+}
+
+export class RobossemblerAssets {
+  @ValidateNested()
+  @Type(() => Asset)
+  assets: Asset[];
+
+  @IsArray()
+  @Type(() => Instance, {
+    discriminator: {
+      property: "type",
+      subTypes: [
+        { value: InstanceRgbCamera, name: InstanceType.RGB_CAMERA },
+        { value: SceneSimpleObject, name: InstanceType.SCENE_SIMPLE_OBJECT },
+      ],
+    },
+    keepDiscriminatorProperty: true,
+  })
+  instances: Instance[];
+
+  @IsOptional()
+  @ValidateNested()
+  @Type(() => Physics)
+  physics: Physics;
+
+  convertLocalPathsToServerPaths(server_address: string): RobossemblerAssets {
+    this.assets = this.assets.map((el) => {
+      el.meshPath = server_address + el.meshPath;
+      return el;
+    });
+    return this;
+  }
+
+  getAssetPath(assetName: string): string {
+    const findElement = this.assets.find((el) => el.name === assetName);
+
+    if (findElement === undefined) {
+      throw new Error("RobossemblerAssets.getAssetPath not found asset by name:" + assetName);
+    }
+    return findElement.meshPath;
+  }
+
+  getAssetAtInstance(instanceAt: string): Asset {
+    return this.assets.filter((el) => el.name === instanceAt)[0];
+  }
+}