alexander bt fixed

2024-06-10 15:16:30 +03:00 · 2024-06-10 15:16:30 +03:00 · 8f8fc3107d
commit 8f8fc3107d
parent 61118a7423
46 changed files with 1109 additions and 304 deletions
--- a/server/src/features/behavior_trees/behavior_trees_presentation.ts
+++ b/server/src/features/behavior_trees/behavior_trees_presentation.ts
@ -5,6 +5,9 @@ import { BehaviorTreeDBModel } from "./models/behavior_tree_database_model";
 import { ReadByIdDataBaseModelScenario } from "../../core/scenarios/read_by_id_database_model_scenario";
 import { GetBehaviorTreeActiveProjectScenario } from "./domain/get_behavior_tree_active_project_scenario";
 import { SaveBtScenario as FillBtScenario } from "./domain/save_bt_scenario";
+import { GetCameraUseCase } from "./domain/get_cameras_usecase";
+import { GetRobotsUseCase } from "./domain/get_robots_usecase";
+import { GetTopicsUseCase } from "./domain/get_topics_usecase";

 export class BehaviorTreesPresentation extends CrudController<BehaviorTreeValidationModel, typeof BehaviorTreeDBModel> {
  constructor() {
@ -25,5 +28,21 @@ export class BehaviorTreesPresentation extends CrudController<BehaviorTreeValida
      subUrl: "by_id",
      fn: new ReadByIdDataBaseModelScenario<BehaviorTreeValidationModel>(BehaviorTreeDBModel),
    });
+    this.subRoutes.push({
+      method: "GET",
+      subUrl: "cameras",
+      fn: new GetCameraUseCase()
+    })
+    this.subRoutes.push({
+      method: "GET",
+      subUrl: "robots",
+      fn: new GetRobotsUseCase()
+    })
+    this.subRoutes.push({
+      method: "GET",
+      subUrl: "topics",
+      fn: new GetTopicsUseCase()
+    })
  }
 }
+
--- a/server/src/features/behavior_trees/domain/get_bt_skills_templates_usecase.ts
+++ b/server/src/features/behavior_trees/domain/get_bt_skills_templates_usecase.ts
@ -6,7 +6,7 @@ export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithE
    return Result.ok({
      skills: [
        {
-          SkillPackage: { name: "Robossembler", version: "1.0", format: "1" },
+          SkillPackage: { name: "Robossembler", version: "1.0", format: "1", type: "Action" },
          Module: { name: "PoseEstimation", description: "Pose Estimation skill with DOPE" },
          Launch: { package: "rbs_perception", executable: "pe_dope_lc.py", name: "lc_dope" },
          BTAction: [
@ -18,6 +18,14 @@ export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithE
                  type: "weights",
                  dependency: {},
                },
+                {
+                  type: "camera",
+                  dependency: {}
+                },
+                {
+                  type: "topic",
+                  dependency: {}
+                }
              ],
              result: ["POSE"],
            },
@ -38,6 +46,28 @@ 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: []
+        }
+
      ],
    });
  };
--- a/server/src/features/behavior_trees/domain/get_cameras_usecase.ts
+++ b/server/src/features/behavior_trees/domain/get_cameras_usecase.ts
@ -0,0 +1,120 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"
+import { Result } from "../../../core/helpers/result"
+
+export class GetCameraUseCase extends CallbackStrategyWithEmpty {
+    call = async (): ResponseBase => {
+        return Result.ok({
+            "camera": [
+                {
+                    "sid": "1",
+                    "DevicePackage": {
+                        "name": "Robossembler",
+                        "version": "1.0",
+                        "format": "1"
+                    },
+                    "Module": {
+                        "name": "RealSense Dxx",
+                        "description": "ROS Wrapper for Intel(R) RealSense(TM) Cameras"
+                    },
+                    "Launch": {
+                        "package": "realsense2_camera",
+                        "executable": "rs_launch.py"
+                    },
+                    "DTwin": [
+                        {
+                            "interface": {
+                                "input": [
+                                    {
+                                        "camera_namespace": "robot1"
+                                    },
+                                    {
+                                        "camera_name": "455_1"
+                                    },
+                                    {
+                                        "serial_port": "USB_1"
+                                    },
+                                    {
+                                        "pose": "[0.0,0.0,0.0,0.0,0.0,0.0]"
+                                    }
+                                ]
+                            }
+                        }
+                    ],
+                    "Interface": {
+                        "param": [
+                            {
+                                "type": "camera",
+                                "dependency": {}
+                            }
+                        ]
+                    },
+                    "Settings": [
+                        {
+                            "name": "camera_config",
+                            "description": "Camera Config",
+                            "type": "file",
+                            "defaultValue": "{ rgb_camera.profile: 1280x720x15 }"
+                        }
+                    ]
+                },
+                {
+                    "sid": "2",
+                    "DevicePackage": {
+                        "name": "Robossembler",
+                        "version": "1.0",
+                        "format": "1"
+                    },
+                    "Module": {
+                        "name": "RealSense Dxx",
+                        "description": "ROS Wrapper for Intel(R) RealSense(TM) Cameras"
+                    },
+                    "Launch": {
+                        "package": "realsense2_camera",
+                        "executable": "rs_launch.py"
+                    },
+                    
+                    "DTwin": [
+                        {
+                            "interface": {
+                                "input": [
+                                    {
+                                        "camera_namespace": "robot1"
+                                    },
+                                    {
+                                        "camera_name": "455_1"
+                                    },
+                                    {
+                                        "serial_port": "USB_1"
+                                    },
+                                    {
+                                        "pose": "[0.0,0.0,0.0,0.0,0.0,0.0]"
+                                    }
+                                ]
+                            }
+                        }
+                    ],
+                    "Interface": {
+                        "param": [
+                            {
+                                "type": "camera",
+                                "dependency": {}
+                            }
+                        ]
+                    },
+                    "Settings": [
+                        {
+                            "name": "camera_config",
+                            "description": "Camera Config",
+                            "type": "file",
+                            "defaultValue": "{ rgb_camera.profile: 1280x720x15 }"
+                        }
+                    ]
+                }
+            ]
+        })
+    }
+
+}
+
+
+ 
--- a/server/src/features/behavior_trees/domain/get_robots_usecase.ts
+++ b/server/src/features/behavior_trees/domain/get_robots_usecase.ts
@ -0,0 +1,50 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+
+export class GetRobotsUseCase extends CallbackStrategyWithEmpty {
+    call = async (): ResponseBase => {
+        return Result.ok({
+            "robots": [
+                {
+                    "sid": "1",
+                    "DevicePackage": {
+                        "name": "Robossembler",
+                        "version": "1.0",
+                        "format": "1"
+                    },
+                    "Module": {
+                        "name": "RBS",
+                        "description": "Main Robot"
+                    },
+                    "Launch": {
+                        "package": "rbs_bringup",
+                        "executable": "single_robot.launch.py"
+                    },
+                    "DTwin": [
+                        {
+                            "interface": {
+                                "input": [
+                                    {
+                                        "robot_namespace": "robot1"
+                                    },
+                                    {
+                                        "dof": 6
+                                    }
+                                ]
+                            }
+                        }
+                    ],
+                    "Settings": [
+                        {
+                            "name": "robot_type",
+                            "description": "Type of robot by name",
+                            "defaultValue": "rbs_arm"
+                        }
+                    ]
+                }
+            ]
+        })
+    }
+
+}
+
--- a/server/src/features/behavior_trees/domain/get_topics_usecase.ts
+++ b/server/src/features/behavior_trees/domain/get_topics_usecase.ts
@ -0,0 +1,23 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+
+export class GetTopicsUseCase extends CallbackStrategyWithEmpty {
+    call = async (): ResponseBase => {
+        return Result.ok({
+            "topics": [
+                {
+                    "sid": "1",
+                    "name": "topic camera 1",
+                    "type": "sensor_msgs/Image"
+                },
+                {
+                    "sid": "2",
+                    "name": "topic camera 2",
+                    "type": "sensor_msgs/Image"
+                }
+            ]
+        }
+        )
+
+    }
+}
--- a/ui/.mason/bricks.json
+++ b/ui/.mason/bricks.json
@ -0,0 +1 @@
+{"base_feature":"/Users/idontsudo/ozon/ui/bricks/base_feature","form":"/Users/idontsudo/webservice/ui/bricks/form"}
--- a/ui/bricks/base_feature/brick/{{name.snakeCase()}}/number_trivia.ts
+++ b/ui/bricks/base_feature/brick/{{name.snakeCase()}}/number_trivia.ts
@ -0,0 +1,11 @@
+import { Result } from "../../core/helper/result";
+
+export class NumberTriviaModel {
+  constructor() {}
+  isValid(): Result<string, void> {
+    return Result.ok();
+  }
+  static empty() {
+    return new NumberTriviaModel();
+  }
+}
--- a/ui/bricks/base_feature/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_repository.ts
+++ b/ui/bricks/base_feature/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_repository.ts
@ -0,0 +1,3 @@
+export class {{name.pascalCase()}}Repository {
+  
+}
--- a/ui/bricks/base_feature/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_screen.tsx
+++ b/ui/bricks/base_feature/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_screen.tsx
@ -0,0 +1,10 @@
+import { observer } from "mobx-react-lite";
+import { {{name.pascalCase()}}Store } from "./{{name.snakeCase()}}_store";
+import React from "react";
+ 
+export const {{name.pascalCase()}}ScreenPath = "/auth";
+
+export const {{name.pascalCase()}}Screen = observer(() => {
+  const [store] = React.useState(() => new {{name.pascalCase()}}Store());
+  return <></>;
+});
--- a/ui/bricks/base_feature/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts
+++ b/ui/bricks/base_feature/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts
@ -0,0 +1,7 @@
+import makeAutoObservable from "mobx-store-inheritance";
+
+export class {{name.pascalCase()}}Store {
+  constructor() {
+    makeAutoObservable(this);
+  }
+}
--- a/ui/bricks/base_feature/brick.yaml
+++ b/ui/bricks/base_feature/brick.yaml
@ -0,0 +1,16 @@
+name: base_feature
+description: A brick to create Clean Architecture Feature
+
+version: 0.0.1
+
+# The following defines the environment for the current brick.
+# It includes the version of mason that the brick requires.
+environment:
+  mason: ">=0.1.0-dev.26 <0.1.0"
+
+vars:
+  name:
+    type: string
+    description: The feature name
+    default: my feature
+    prompt: What's your feature name (e.g. dance school)
--- a/ui/bricks/form/brick/{{name.snakeCase()}}/number_trivia.ts
+++ b/ui/bricks/form/brick/{{name.snakeCase()}}/number_trivia.ts
@ -0,0 +1,11 @@
+import { Result } from "../../../../../../core/helper/result";
+
+export class NumberTriviaModel {
+  constructor() {}
+  isValid(): Result<string, void> {
+    return Result.ok();
+  }
+  static empty() {
+    return new NumberTriviaModel();
+  }
+}
--- a/ui/bricks/form/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_form.tsx
+++ b/ui/bricks/form/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_form.tsx
@ -0,0 +1,14 @@
+import React from "react";
+import { observer } from "mobx-react-lite";
+import { {{ name.pascalCase() }}Store } from "./{{name.snakeCase()}}_store";
+import { IPropsForm } from "../forms";
+import { NumberTriviaModel } from "./number_trivia";
+
+export const {{ name.pascalCase()}} = observer((props: IPropsForm<Partial<NumberTriviaModel>>) => {
+  const [store] = React.useState(() => new {{ name.pascalCase() }}Store());
+  React.useEffect(() => {
+    store.init();
+  }, [store]);
+
+  return <></>;
+});
--- a/ui/bricks/form/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_http_repository.ts
+++ b/ui/bricks/form/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_http_repository.ts
@ -0,0 +1,5 @@
+import { HttpRepository } from "../../../../../../core/repository/http_repository";
+
+export class {{name.pascalCase()}}HttpRepository extends HttpRepository {
+  
+}
--- a/ui/bricks/form/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts
+++ b/ui/bricks/form/brick/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts
@ -0,0 +1,19 @@
+import makeAutoObservable from "mobx-store-inheritance";
+import { NavigateFunction } from "react-router-dom";
+import { NumberTriviaModel } from "./number_trivia";
+import { FormState, CoreError } from "../../../../../../core/store/base_store";
+import { {{name.pascalCase()}}HttpRepository } from "./{{name.snakeCase()}}_http_repository";
+
+export class {{name.pascalCase()}}Store extends FormState<NumberTriviaModel, CoreError> {
+    constructor() {
+        super();
+        makeAutoObservable(this);
+    }
+    viewModel: NumberTriviaModel = NumberTriviaModel.empty();
+    cameraDeviceHttpRepository:  {{name.pascalCase()}}HttpRepository = new {{name.pascalCase()}}HttpRepository();
+    errorHandingStrategy = (error: CoreError) => { }
+    init = async (navigate?: NavigateFunction | undefined) => {
+      
+    }
+
+}
--- a/ui/bricks/form/brick.yaml
+++ b/ui/bricks/form/brick.yaml
@ -0,0 +1,16 @@
+name: form
+description: A brick to create form at behavior_tree_builder
+
+version: 0.0.1
+
+# The following defines the environment for the current brick.
+# It includes the version of mason that the brick requires.
+environment:
+  mason: ">=0.1.0-dev.26 <0.1.0"
+
+vars:
+  name:
+    type: string
+    description: The feature name
+    default: my feature
+    prompt: What's your feature name (e.g. dance school)
--- a/ui/mason-lock.json
+++ b/ui/mason-lock.json
@ -0,0 +1 @@
+{"bricks":{"base_feature":{"path":"bricks/base_feature"},"form":{"path":"bricks/form"}}}
--- a/ui/mason.yaml
+++ b/ui/mason.yaml
@ -0,0 +1,5 @@
+bricks:
+  base_feature:
+    path: base_feature
+  form:
+    path: form
--- a/ui/readme.md
+++ b/ui/readme.md
@ -0,0 +1,46 @@
+# Зависимости
+
+brew install mason
+
+### Инициализация
+
+В корне проекта вызовите команду `init`, которая создаст папку `.mason/`
+
+```
+mason init
+```
+
+### Использование 👷
+
+Все готовые `brick'и` хранятся в папке `/bricks`
+
+Для примера попробуем использовать `brick` под названием `base_feature`
+
+```
+# Добавляем `brick` себе в mason (посмотреть уже добавленные можно через `mason ls/list`, а удалить через `mason remove`)
+mason add base_feature --path bricks/base_feature
+
+# Используем `brick` для в интересующей нас папке (поскольку это шаблон фичи, выбрана папка src/features/)
+mason make base_feature -o lib/features
+```
+
+Далее необходимо ответить на вопросы задаваемые в CLI и на основе ответов `brick` сгенериует фичу
+
+### Разработка
+
+В папке `bricks/` вы можете создать свой `brick`
+
+```
+# создать hello brick
+mason new my_brick_name
+```
+
+Далее всю структуру папок и файлов необходимо описать в папке `__brick__`
+
+Для большей информации [читайте и смотрите примеры](https://github.com/felangel/mason/blob/master/packages/mason_cli/README.md)
+
+
+
+# Добавить новую форму
+mason make form  -o ./src/features/behavior_tree_builder/presentation/ui/forms 
+# Добавить новый экран
--- a/ui/src/core/model/cameras.ts
+++ b/ui/src/core/model/cameras.ts
@ -0,0 +1,63 @@
+export interface Cameras {
+    camera: Camera[];
+}
+
+export interface Camera {
+    sid: string;
+    DevicePackage: DevicePackage;
+    Module: Module;
+    Launch: Launch;
+    DTwin: DTwin[];
+    Interface: InterfaceClass;
+    Settings: Setting[];
+}
+
+export interface DTwin {
+    interface: Interface;
+}
+
+export interface Interface {
+    input: Input[];
+}
+
+export interface Input {
+    camera_namespace?: string;
+    camera_name?: string;
+    serial_port?: string;
+    pose?: string;
+}
+
+export interface DevicePackage {
+    name: string;
+    version: string;
+    format: string;
+}
+
+export interface InterfaceClass {
+    param: Param[];
+}
+
+export interface Param {
+    type: string;
+    dependency: Dependency;
+}
+
+export interface Dependency {
+}
+
+export interface Launch {
+    package: string;
+    executable: string;
+}
+
+export interface Module {
+    name: string;
+    description: string;
+}
+
+export interface Setting {
+    name: string;
+    description: string;
+    type: string;
+    defaultValue: string;
+}
--- a/ui/src/core/model/device_dependency_view_model.ts
+++ b/ui/src/core/model/device_dependency_view_model.ts
@ -0,0 +1,18 @@
+import { Result } from "../helper/result";
+import { IDeviceDependency } from "./skill_model";
+
+export class SidViewModel implements IDeviceDependency {
+    sid: string;
+    constructor(sid: string) {
+        this.sid = sid;
+    }
+    valid = (): Result<string, SidViewModel> => {
+        if (this.sid.isEmpty()) {
+            return Result.error('sid is empty')
+        }
+        return Result.ok(this)
+    }
+    static empty() {
+        return new SidViewModel('')
+    }
+}
--- a/ui/src/core/model/robots.ts
+++ b/ui/src/core/model/robots.ts
@ -0,0 +1,47 @@
+export interface Robots {
+    robots: Robot[];
+}
+
+export interface Robot {
+    sid: string;
+    DevicePackage: DevicePackage;
+    Module: Module;
+    Launch: Launch;
+    DTwin: DTwin[];
+    Settings: Setting[];
+}
+
+export interface DTwin {
+    interface: Interface;
+}
+
+export interface Interface {
+    input: Input[];
+}
+
+export interface Input {
+    robot_namespace?: string;
+    dof?: number;
+}
+
+export interface DevicePackage {
+    name: string;
+    version: string;
+    format: string;
+}
+
+export interface Launch {
+    package: string;
+    executable: string;
+}
+
+export interface Module {
+    name: string;
+    description: string;
+}
+
+export interface Setting {
+    name: string;
+    description: string;
+    defaultValue: string;
+}
--- a/ui/src/core/model/skill_model.ts
+++ b/ui/src/core/model/skill_model.ts
@ -26,11 +26,14 @@ export interface ISkill {
  xxx: IXxx;
 }
 export interface IWeightsDependency {
-  weights_name:string;
+  weights_name: string;
  object_name: string;
  weights_file: string;
  dimensions: number[];
 }
+export interface IDeviceDependency {
+  sid: string;
+}

 export interface IParam {
  type: string;
@ -195,7 +198,7 @@ export class SkillModel implements ISkill {
 }

 export class SkillDependency implements IDependency {
-  constructor(public skills: ISkillDependency[]) {}
+  constructor(public skills: ISkillDependency[]) { }
  static empty() {
    return new SkillDependency([]);
  }
--- a/ui/src/core/model/topics.ts
+++ b/ui/src/core/model/topics.ts
@ -0,0 +1,9 @@
+export interface Topics {
+    topics: Topic[];
+}
+
+export interface Topic {
+    sid: string;
+    name: string;
+    type: string;
+}
--- a/ui/src/core/store/base_store.ts
+++ b/ui/src/core/store/base_store.ts
@ -44,10 +44,10 @@ export abstract class UiLoader {
  };
  messageHttp = async <T>(callBack: Promise<Result<CoreError, T>>, report?: IMessage) => {
    return (await this.httpHelper(callBack)).fold(
-      (s) => {
+      (_s) => {
        if (report && report.successMessage) message.success(report.successMessage);
      },
-      (e) => {
+      (_e) => {
        if (report && report.errorMessage) message.error(report.errorMessage);
      }
    );
--- a/ui/src/core/ui/text/text.tsx
+++ b/ui/src/core/ui/text/text.tsx
@ -1,81 +1,75 @@
 import * as React from "react";
+import { IStyle } from "../../model/style";

 export enum CoreTextType {
-  header,
-  medium,
-  large,
-  small,
+  header = 'header',
+  medium = 'medium',
+  large = 'large',
+  small = 'small',
 }

-export interface ITextProps {
+export interface ITextProps extends IStyle {
  text: string;
  type: CoreTextType;
  color?: string;
 }

-export function CoreText(props: ITextProps) {
-  if (props.type === CoreTextType.small) {
-    return (
-      <div
-        style={{
-          color: props.color ?? "rgba(73, 69, 79, 1)",
-          fontSize: 12,
-          fontFamily: "Roboto",
-          fontWeight: 400,
-          fontSizeAdjust: 14,
-          textOverflow: "ellipsis",
-        }}
-      >
-        {props.text}
-      </div>
-    );
+const getStyle = (type: CoreTextType, color: string | undefined) => {
+  if (type.isEqual(CoreTextType.small)) return {
+    color: color ?? "rgba(73, 69, 79, 1)",
+    fontSize: 12,
+    fontFamily: "Roboto",
+    fontWeight: 400,
+    fontSizeAdjust: 14,
+    textOverflow: "ellipsis",
  }
-  if (props.type === CoreTextType.large) {
-    return (
-      <div
-        style={{
-          color: props.color ?? "#1D1B20",
-          fontSize: 16,
-          fontFamily: "Roboto",
-          fontWeight: 400,
-          fontSizeAdjust: 14,
-          textOverflow: "ellipsis",
-        }}
-      >
-        {props.text}
-      </div>
-    );
-  }
-  if (props.type === CoreTextType.medium)
-    return (
-      <div
-        style={{
-          color: props.color ?? "#1D1B20",
-          fontSize: 14,
-          fontFamily: "Roboto",
-          fontWeight: 400,
-          textOverflow: "ellipsis",
-          fontSizeAdjust: 14,
-        }}
-      >
-        {props.text}
-      </div>
-    );
-  if (props.type === CoreTextType.header)
-    return (
-      <div
-        style={{
-          color: props.color ?? "#1D1B20",
-          fontSize: 20,
-          fontFamily: "Roboto",
-          fontWeight: 500,
-          textOverflow: "ellipsis",

-          fontSizeAdjust: 16,
-        }}
-      >
-        {props.text}
-      </div>
-    );
-  return <div>{props.text}</div>;
+  if (type.isEqual(CoreTextType.large)) return {
+    color: color ?? "#1D1B20",
+    fontSize: 16,
+    fontFamily: "Roboto",
+    fontWeight: 400,
+    fontSizeAdjust: 14,
+    textOverflow: "ellipsis",
+  }
+  if (type.isEqual(CoreTextType.medium)) return {
+    color: color ?? "#1D1B20",
+    fontSize: 14,
+    fontFamily: "Roboto",
+    fontWeight: 400,
+    textOverflow: "ellipsis",
+    fontSizeAdjust: 14,
+  }
+  if (type.isEqual(CoreTextType.header)) return {
+    color: color ?? "#1D1B20",
+    fontSize: 20,
+    fontFamily: "Roboto",
+    fontWeight: 500,
+    textOverflow: "ellipsis",
+
+    fontSizeAdjust: 16,
+  }
+  return {
+    color: color ?? "rgba(73, 69, 79, 1)",
+    fontSize: 12,
+    fontFamily: "Roboto",
+    fontWeight: 400,
+    fontSizeAdjust: 14,
+    textOverflow: "ellipsis",
+  }
+}
+const appendStyle = (type: CoreTextType, color: string | undefined, style: React.CSSProperties | undefined) => {
+  return Object.assign(getStyle(type, color), style)
+}
+export function CoreText(props: ITextProps) {
+  return (
+    <div
+      style={appendStyle(props.type, props.color, props.style)}
+    >
+      {props.text}
+    </div>
+  );
+
+
+
 }
--- a/ui/src/features/behavior_tree_builder/model/primitive_view_model.ts
+++ b/ui/src/features/behavior_tree_builder/model/primitive_view_model.ts
@ -0,0 +1,80 @@
+import { extensions } from "../../../core/extensions/extensions";
+import { Form } from "../presentation/ui/forms/forms";
+import { ISkillView } from "../presentation/ui/skill_tree/skill_tree";
+
+extensions();
+
+export enum SystemPrimitive {
+    Sequence = 'Sequence',
+    Fallback = "Fallback",
+    ReactiveSequence = "ReactiveSequence",
+    SequenceWithMemory = 'SequenceWithMemory',
+    ReactiveFallback = "ReactiveFallback",
+    Decorator = "Decorator",
+    Inverter = "Inverter",
+    ForceSuccess = "ForceSuccess",
+    ForceFailure = "ForceFailure",
+    Repeat = "Repeat",
+    RetryUntilSuccessful = "RetryUntilSuccessful",
+    KeepRunningUntilFailure = "KeepRunningUntilFailure",
+    Delay = "Delay",
+    RunOnce = "RunOnce",
+}
+interface ISystemPrimitive {
+    label: string;
+    group: string;
+    css?: React.CSSProperties;
+    input: boolean;
+    output: boolean;
+
+}
+
+
+export class PrimitiveViewModel {
+    primitives: ISystemPrimitive[] = [
+        {
+            label: SystemPrimitive.Inverter,
+            group: SystemPrimitive.Decorator,
+            input: true,
+            output: true,
+            css: {
+                border: "1px solid #003E61",
+                borderRadius: 33,
+                background: "#BDE8AE",
+            },
+        },
+        {
+            label: SystemPrimitive.ForceSuccess,
+            group: SystemPrimitive.Decorator,
+            input: true,
+            output: true,
+            css: {
+                border: "1px solid #003E61",
+                borderRadius: 33,
+                background: "#BDE8AE",
+            },
+        },
+        { label: SystemPrimitive.ForceFailure, group: SystemPrimitive.Decorator, input: true, output: true },
+        { label: SystemPrimitive.Repeat, group: SystemPrimitive.Decorator, input: true, output: true },
+        { label: SystemPrimitive.RetryUntilSuccessful, group: SystemPrimitive.Decorator, input: true, output: true },
+        { label: SystemPrimitive.KeepRunningUntilFailure, group: SystemPrimitive.Decorator, input: true, output: true },
+        { label: SystemPrimitive.Delay, group: SystemPrimitive.Decorator, input: true, output: true },
+        { label: SystemPrimitive.RunOnce, group: SystemPrimitive.Decorator, input: true, output: true },
+        { label: SystemPrimitive.ReactiveSequence, group: SystemPrimitive.Sequence, input: true, output: true },
+        { label: SystemPrimitive.Sequence, group: SystemPrimitive.Sequence, input: true, output: true },
+        { label: SystemPrimitive.SequenceWithMemory, group: SystemPrimitive.Sequence, input: true, output: true },
+        { label: SystemPrimitive.ReactiveFallback, group: SystemPrimitive.Fallback, input: true, output: true },
+        { label: SystemPrimitive.Fallback, group: SystemPrimitive.Fallback, input: true, output: true },
+        
+    ];
+    getPrimitiveAtLabel = (name: string) => {
+        return this.primitives.find((el) => el.label.isEqual(name));
+    }
+    toSkillView = () => this.primitives.reduce<ISkillView[]>((acc, primitive) => {
+        acc.rFind<ISkillView>((el) => el.name.isEqual(primitive.group)).fold(() => {
+            acc.at(acc.findIndex((eeee) => eeee.name === primitive.group))?.children?.push({ name: primitive.label })
+        }, () => { acc.push({ name: primitive.group, children: [{ name: primitive.label }] }) })
+        return acc;
+    }, [])
+
+}
--- a/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_screen.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_screen.tsx
@ -169,3 +169,4 @@ export const BehaviorTreeBuilderScreen = observer(() => {
    />
  );
 });
+ 
--- a/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_store.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_store.tsx
@ -23,6 +23,8 @@ import { v4 } from "uuid";
 import { behaviorTreeBuilderStore } from "./behavior_tree_builder_screen";
 import clone from "just-clone";
 import { BehaviorTreeModel } from "../model/behavior_tree_model";
+import { PrimitiveViewModel, SystemPrimitive } from "../model/primitive_view_model";
+

 interface I2DArea {
  x: number;
@ -41,10 +43,6 @@ export enum StoreUIType {
  ViewBehaviorTree,
 }

-export enum SystemPrimitive {
-  Sequence = "Sequence",
-  Fallback = "Fallback",
-}

 export class BehaviorTreeBuilderStore extends UiFormState<BehaviorTreeViewModel, CoreError> {
  type: StoreUIType = StoreUIType.ViewBehaviorTree;
@ -67,6 +65,8 @@ export class BehaviorTreeBuilderStore extends UiFormState<BehaviorTreeViewModel,
  navigate?: NavigateFunction;
  editor?: NodeEditor<Schemes>;
  areaPlugin?: AreaPlugin<Schemes, AreaExtra>;
+  nodeUpdateObserver?: NodeRerenderObserver;
+  primitiveViewModel: PrimitiveViewModel;
  skillTree: ISkillView = {
    name: "",
    children: [
@ -74,20 +74,17 @@ export class BehaviorTreeBuilderStore extends UiFormState<BehaviorTreeViewModel,
        name: "Действия",
        children: [],
      },
-      {
-        name: "Примитивы BT",
-        children: [
-          { name: "Fallback", interface: "Vector3", out: "vo" },
-          { name: "Sequence", interface: "Vector3", out: "vo" },
-        ],
-      },
+
    ],
  };
-  nodeUpdateObserver?: NodeRerenderObserver;
+
  constructor() {
    super(DrawerState);
    makeAutoObservable(this);
    this.type = StoreUIType.SelectBehaviorTree;
+
+    this.primitiveViewModel = new PrimitiveViewModel()
+    this.skillTree.children?.push({ name: "Примитивы BT", children: this.primitiveViewModel.toSkillView() })
  }

  syncScene = async (editor: NodeEditor<Schemes>, area: AreaPlugin<Schemes, AreaExtra>) => {
@ -95,7 +92,7 @@ export class BehaviorTreeBuilderStore extends UiFormState<BehaviorTreeViewModel,
    this.areaPlugin = area;
  };

-  errorHandingStrategy = (_: CoreError) => {};
+  errorHandingStrategy = (_: CoreError) => { };

  dragEnd = (e: EventTarget) => {
    if (this.canRun) {
@ -205,8 +202,8 @@ export class BehaviorTreeBuilderStore extends UiFormState<BehaviorTreeViewModel,
    };
  }
  dispose(): void {
-    document.removeEventListener("keyup", () => {});
-    document.removeEventListener("keydown", () => {});
+    document.removeEventListener("keyup", () => { });
+    document.removeEventListener("keydown", () => { });
  }
  onClickSaveBehaviorTree = async (): Promise<void> => {
    this.filledOutTemplates.validation().fold(
@ -236,7 +233,7 @@ export class BehaviorTreeBuilderStore extends UiFormState<BehaviorTreeViewModel,
      async () => message.error(`Дерево поведения не заполнено`)
    );
  };
-  validateBt() {}
+  validateBt() { }
  createNewBehaviorTree = async () => {
    this.viewModel.project = this.activeProject;
    this.viewModel.valid().fold(
@ -267,7 +264,6 @@ export class BehaviorTreeBuilderStore extends UiFormState<BehaviorTreeViewModel,
    }
  };
  formUpdateDependency = (dependency: Object, formType: string) => {
-    this.edtDrawer(DrawerState.editThreadBehaviorTree, false);
    this.filledOutTemplates?.skillBySid(this.selectedSid ?? "").fold(
      (m) => {
        const model = clone(m);
@ -286,6 +282,7 @@ export class BehaviorTreeBuilderStore extends UiFormState<BehaviorTreeViewModel,
        });

        this.filledOutTemplates.updateSkill(model);
+        console.log(this.filledOutTemplates)
      },
      () => console.log("UNKNOWN SID: " + this.selectedSid)
    );
@ -293,7 +290,8 @@ export class BehaviorTreeBuilderStore extends UiFormState<BehaviorTreeViewModel,
    this.nodeUpdateObserver?.emit({ id: this.selectedSid, type: UpdateEvent.UPDATE });
  };
  getBodyNode(label: string, sid: string): React.ReactNode | null {
-    if (Object.keys(SystemPrimitive).includes(label)) {
+    const primitive = this.primitiveViewModel.getPrimitiveAtLabel(label);
+    if (primitive) {
      return null;
    }
    return (
@ -323,18 +321,24 @@ export class BehaviorTreeBuilderStore extends UiFormState<BehaviorTreeViewModel,
  }
  isFilledInput = (type: string, sid: string): boolean => this.filledOutTemplates?.dependencyIsFilled(type, sid);
  getInputs(name: string) {
-    if (Object.keys(SystemPrimitive).includes(name)) {
+    const result = this.primitiveViewModel.getPrimitiveAtLabel(name)
+    if (result) {
      return {
-        input: "a",
-        output: "a",
+        input: result.input ? "a" : null,
+        output: result.output ? "a" : null,
      };
    }
    return {
-      input: "a",
-      output: null,
-    };
+      input: 'a',
+      output: null
+    }
+
  }
  getStylesByLabelNode(label: string): React.CSSProperties | undefined {
+    const result = this.primitiveViewModel.getPrimitiveAtLabel(label)
+    if (result) {
+      return clone(result.css as Object);
+    }
    if (label.isEqual(SystemPrimitive.Fallback)) {
      return {
        border: "1px solid #003E61",
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/camera_device_form/camera_device_form_form.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/camera_device_form/camera_device_form_form.tsx
@ -0,0 +1,38 @@
+import React from "react"
+import { observer } from "mobx-react-lite"
+import { message } from "antd";
+import { CameraDeviceStore } from "./camera_device_store"
+import { IPropsForm } from "../forms";
+import { IDeviceDependency } from "../../../../../../core/model/skill_model";
+import { CoreButton } from "../../../../../../core/ui/button/button";
+import { CoreSelect } from "../../../../../../core/ui/select/select";
+import { CoreText, CoreTextType } from "../../../../../../core/ui/text/text";
+
+
+
+
+
+export const CameraDeviceForm = observer((props: IPropsForm<Partial<IDeviceDependency>>) => {
+    const [store] = React.useState(() => new CameraDeviceStore());
+    React.useEffect(() => {
+        store.init();
+    }, [store]);
+    return (
+        <div style={{ border: '1px solid', margin: 10, padding: 10 }}>
+            <CoreText text={"Cameras"} type={CoreTextType.header} style={{ padding: 10 }} />
+            <CoreSelect
+                items={store.cameras?.camera.map((el) => el.sid) ?? []}
+                value={props.dependency?.sid ?? ""}
+                label={'Выберите камеру'}
+                onChange={(value: string) =>
+                    store.updateForm({ sid: value })
+
+                } />
+            <CoreButton style={{ margin: 10, width: 100 }} text="OK" onClick={() => {
+                store.viewModel.valid().fold((s) => {
+                    props.onChange(s);
+                }, (e) => message.error(e))
+            }} />
+        </div>
+    )
+})
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/camera_device_form/camera_device_form_http_repository.ts
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/camera_device_form/camera_device_form_http_repository.ts
@ -0,0 +1,6 @@
+import { Cameras } from "../../../../../../core/model/cameras";
+import { HttpMethod, HttpRepository } from "../../../../../../core/repository/http_repository";
+
+export class CameraDeviceHttpRepository extends HttpRepository {
+    getAllCameras = () => this._jsonRequest<Cameras>(HttpMethod.GET, '/behavior/trees/cameras');
+}
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/camera_device_form/camera_device_store.ts
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/camera_device_form/camera_device_store.ts
@ -0,0 +1,21 @@
+import makeAutoObservable from "mobx-store-inheritance";
+import { NavigateFunction } from "react-router-dom";
+import { Cameras } from "../../../../../../core/model/cameras";
+import { SidViewModel } from "../../../../../../core/model/device_dependency_view_model";
+import { FormState, CoreError } from "../../../../../../core/store/base_store";
+import { CameraDeviceHttpRepository } from "./camera_device_form_http_repository";
+
+export class CameraDeviceStore extends FormState<SidViewModel, CoreError> {
+    constructor() {
+        super();
+        makeAutoObservable(this);
+    }
+    viewModel: SidViewModel = SidViewModel.empty();
+    cameras?: Cameras;
+    cameraDeviceHttpRepository: CameraDeviceHttpRepository = new CameraDeviceHttpRepository();
+    errorHandingStrategy = (error: CoreError) => { }
+    init = async (navigate?: NavigateFunction | undefined) => {
+        this.mapOk('cameras', this.cameraDeviceHttpRepository.getAllCameras())
+    }
+
+}
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/forms.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/forms.tsx
@ -1,6 +1,8 @@
-import { SimpleForm } from "./simple_form";
-import { TestForm } from "./test";
-import WeightsForm from "./weights_form";
+
+import { CameraDeviceForm } from "./camera_device_form/camera_device_form_form";
+import { RobotDeviceForm } from "./robot_device_form/robot_device_form_form";
+import { TopicsForm } from "./topics_form/topics_form";
+import { WeightsForm } from "./weights_form/weights_form";

 export interface IPropsForm<T> {
  dependency: T;
@ -11,9 +13,15 @@ export interface IForms {
  name: string;
  component: JSX.Element;
 }
-
+export enum Form {
+  weights = 'weights',
+  robotName = 'robot_name',
+  cameraDeviceForm = 'camera',
+  topic = 'topic'
+}
 export const forms = (props: any, onChange: (dependency: Object) => void): IForms[] => [
-  { name: "weights", component: <WeightsForm dependency={props} onChange={onChange} /> },
-  { name: "simple", component: <SimpleForm dependency={props} onChange={onChange} /> },
-  { name: "test", component: <TestForm dependency={props} onChange={onChange} /> },
+  { name: Form.weights, component: <WeightsForm dependency={props} onChange={onChange} /> },
+  { name: Form.robotName, component: <RobotDeviceForm dependency={props} onChange={onChange} /> },
+  { name: Form.cameraDeviceForm, component: <CameraDeviceForm dependency={props} onChange={onChange} /> },
+  { name: Form.topic, component: <TopicsForm dependency={props} onChange={onChange} /> }
 ];
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/robot_device_form/robot_device_form_form.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/robot_device_form/robot_device_form_form.tsx
@ -0,0 +1,14 @@
+import React from "react";
+import { observer } from "mobx-react-lite";
+import { RobotDeviceFormStore } from "./robot_device_form_store";
+import { IPropsForm } from "../forms";
+import { SidViewModel } from "../../../../../../core/model/device_dependency_view_model";
+ 
+export const RobotDeviceForm = observer((props: IPropsForm<Partial<SidViewModel>>) => {
+  const [store] = React.useState(() => new RobotDeviceFormStore());
+  React.useEffect(() => {
+    store.init();
+  }, [store]);
+
+  return <div></div>;
+});
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/robot_device_form/robot_device_form_http_repository.ts
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/robot_device_form/robot_device_form_http_repository.ts
@ -0,0 +1,5 @@
+import { HttpRepository } from "../../../../../../core/repository/http_repository";
+
+export class RobotDeviceFormHttpRepository extends HttpRepository {
+  
+}
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/robot_device_form/robot_device_form_store.ts
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/robot_device_form/robot_device_form_store.ts
@ -0,0 +1,19 @@
+import { makeAutoObservable } from "mobx";
+import { NavigateFunction } from "react-router-dom";
+import { FormState, CoreError } from "../../../../../../core/store/base_store";
+import { RobotDeviceFormHttpRepository } from "./robot_device_form_http_repository";
+import { SidViewModel } from "../../../../../../core/model/device_dependency_view_model";
+
+export class RobotDeviceFormStore extends FormState<SidViewModel, CoreError> {
+    constructor() {
+        super();
+        makeAutoObservable(this);
+    }
+    viewModel: SidViewModel = SidViewModel.empty();
+    cameraDeviceHttpRepository:  RobotDeviceFormHttpRepository = new RobotDeviceFormHttpRepository();
+    errorHandingStrategy = (error: CoreError) => { }
+    init = async (navigate?: NavigateFunction | undefined) => {
+      
+    }
+
+}
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/simple_form.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/simple_form.tsx
@ -1,14 +0,0 @@
-import { CoreButton } from "../../../../../core/ui/button/button";
-import { IPropsForm } from "./forms";
-
-export interface ISimpleFormDependency {
-  simple?: string;
-}
-
-export const SimpleForm = (props: IPropsForm<ISimpleFormDependency>) => {
-  return (
-    <div>
-      <CoreButton onClick={() => props.onChange({ simple: "132" })} text="OK" />
-    </div>
-  );
-};
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/test.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/test.tsx
@ -1,13 +0,0 @@
-import { CoreButton } from "../../../../../core/ui/button/button";
-import { CoreText, CoreTextType } from "../../../../../core/ui/text/text";
-import { IPropsForm } from "./forms";
-import { ISimpleFormDependency } from "./simple_form";
-
-export const TestForm = (props: IPropsForm<ISimpleFormDependency>) => {
-  return (
-    <div>
-      <CoreText text="Test Form" type={CoreTextType.header} />
-      <CoreButton onClick={() => props.onChange({ test: "132" })} text="OK" />
-    </div>
-  );
-};
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topic_dependency_view_model.ts
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topic_dependency_view_model.ts
@ -0,0 +1,18 @@
+import makeAutoObservable from "mobx-store-inheritance";
+import { Result } from "../../../../../../core/helper/result";
+import { SidViewModel } from "../../../../../../core/model/device_dependency_view_model";
+
+export class TopicDependencyViewModel extends SidViewModel {
+  axis: boolean;
+  constructor(sid: string, axis: boolean) {
+    super(sid);
+    this.axis = axis;
+    makeAutoObservable(this)
+  }
+  isValid = (): Result<string, void> => {
+    return Result.ok();
+  }
+  static empty() {
+    return new TopicDependencyViewModel('', false);
+  }
+}
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form.tsx
@ -0,0 +1,40 @@
+import React from "react";
+import { observer } from "mobx-react-lite";
+import { TopicsFormStore } from "./topics_form_store";
+import { IPropsForm } from "../forms";
+import { TopicDependencyViewModel } from "./topic_dependency_view_model";
+import { CoreText, CoreTextType } from "../../../../../../core/ui/text/text";
+import { CoreSwitch } from "../../../../../../core/ui/switch/switch";
+import { CoreSelect } from "../../../../../../core/ui/select/select";
+import { CoreButton } from "../../../../../../core/ui/button/button";
+import { message } from "antd";
+
+export const TopicsForm = observer((props: IPropsForm<Partial<TopicDependencyViewModel>>) => {
+  const [store] = React.useState(() => new TopicsFormStore());
+
+  React.useEffect(() => {
+    store.init();
+  }, [store, props]);
+
+  return <div style={{ border: '1px solid', margin: 10, padding: 10 }}>
+    <CoreText text={"Topics"} type={CoreTextType.header} style={{ padding: 10 }} />
+    <CoreSelect
+      items={store.topics?.topics?.map((el) => el.name) ?? []}
+      value={props.dependency?.sid ?? ""}
+      label={'Выберите топик'}
+      onChange={(value: string) =>
+        store.updateForm({ sid: value })
+      } />
+
+    <div>is input: <CoreSwitch isSelected={store.viewModel.axis} id={""} onChange={(status: boolean, id: string) => {
+      console.log(200)
+      store.updateForm({ axis: !status })
+
+    }} /></div>
+    <CoreButton style={{ margin: 10, width: 100 }} text="OK" onClick={() => {
+      store.viewModel.valid().fold((s) => {
+        props.onChange(s);
+      }, (e) => message.error(e))
+    }} />
+  </div>;
+});
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form_http_repository.ts
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form_http_repository.ts
@ -0,0 +1,6 @@
+import { Topics } from "../../../../../../core/model/topics";
+import { HttpMethod, HttpRepository } from "../../../../../../core/repository/http_repository";
+
+export class TopicsFormHttpRepository extends HttpRepository {
+    getAllTopics = () => this._jsonRequest<Topics>(HttpMethod.GET, '/behavior/trees/topics');
+}
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form_store.ts
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form_store.ts
@ -0,0 +1,21 @@
+import makeAutoObservable from "mobx-store-inheritance";
+import { NavigateFunction } from "react-router-dom";
+import { TopicDependencyViewModel } from "./topic_dependency_view_model";
+import { FormState, CoreError } from "../../../../../../core/store/base_store";
+import { TopicsFormHttpRepository } from "./topics_form_http_repository";
+import { Topics } from "../../../../../../core/model/topics";
+
+export class TopicsFormStore extends FormState<TopicDependencyViewModel, CoreError> {
+    constructor() {
+        super();
+        makeAutoObservable(this);
+    }
+    topics?: Topics;
+    viewModel: TopicDependencyViewModel = TopicDependencyViewModel.empty();
+    cameraDeviceHttpRepository: TopicsFormHttpRepository = new TopicsFormHttpRepository();
+    errorHandingStrategy = (error: CoreError) => { }
+    init = async (navigate?: NavigateFunction | undefined) => {
+        await this.mapOk('topics', this.cameraDeviceHttpRepository.getAllTopics())
+    }
+
+}
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form.tsx
@ -1,173 +0,0 @@
-import React from "react";
-import makeAutoObservable from "mobx-store-inheritance";
-import { IWeightsDependency } from "../../../../../core/model/skill_model";
-import { CoreError, FormState } from "../../../../../core/store/base_store";
-import { ISkils, SkillsHttpRepository } from "../../../../skils/skills_http_repository";
-import { observer } from "mobx-react-lite";
-import { CoreButton } from "../../../../../core/ui/button/button";
-import { Result } from "../../../../../core/helper/result";
-import { Select, message } from "antd";
-import { CoreInput } from "../../../../../core/ui/input/input";
-import { DataSetHttpRepository } from "../../../../dataset/dataset_http_repository";
-import { Assets } from "../../../../dataset/dataset_model";
-
-export class WeightsViewModel implements IWeightsDependency {
-  constructor(
-    public object_name: string = "",
-    public weights_file: string = "",
-    public dimensions: number[] = [],
-    public weights_name = ""
-  ) {}
-  static empty() {
-    return new WeightsViewModel();
-  }
-  isEmpty = (): Result<string, undefined> => {
-    if (this.weights_name.isEmpty()) {
-      return Result.error("weights_name is empty");
-    }
-    if (this.object_name.isEmpty()) {
-      return Result.error("object name is empty");
-    }
-    if (this.weights_file.isEmpty()) {
-      return Result.error("weights_file is empty");
-    }
-    if (this.dimensions.isEmpty()) {
-      return Result.error("dimensions is empty");
-    }
-    return Result.ok(undefined);
-  };
-}
-export class WeightsFormStore extends FormState<WeightsViewModel, CoreError> {
-  weights?: ISkils[];
-  assets?: Assets;
-  suitableWeights: string[] = [];
-  viewModel: WeightsViewModel = WeightsViewModel.empty();
-  skillsHttpRepository: SkillsHttpRepository = new SkillsHttpRepository();
-  datasetHttpRepository: DataSetHttpRepository = new DataSetHttpRepository();
-  constructor() {
-    super();
-    makeAutoObservable(this);
-  }
-  init = async () => {
-    await this.mapOk("weights", this.skillsHttpRepository.getAllSkills());
-    await this.mapOk("assets", this.datasetHttpRepository.getAssetsActiveProject());
-  };
-  changeDimensions = (index: number, value: number) => {
-    this.viewModel.dimensions[index] = value;
-  };
-  selectAsset = (): void => {
-    this.suitableWeights =
-      this.weights
-        ?.filter((el) =>
-          el.datasetId.dataSetObjects.filter((datasetObject: string) =>
-            this.viewModel.object_name.isEqual(datasetObject)
-          )
-        )
-        .map((el) => el.name) ?? [];
-  };
-  updateWeights = (text: string) => {
-    const model = this.weights
-      ?.filter((el) =>
-        el.datasetId.dataSetObjects.filter((datasetObject: string) => this.viewModel.object_name.isEqual(datasetObject))
-      )
-      .at(0);
-
-    this.updateForm({ weights_file: `${model?.datasetId.local_path}/weights/${model?.name}/${model?.name}.pt` });
-  };
-  errorHandingStrategy = (_: CoreError) => {};
-}
-
-interface IWeightsFormProps {
-  dependency?: IWeightsDependency;
-  onChange: (dependency: IWeightsDependency) => void;
-}
-
-const WeightsForm = observer((props: IWeightsFormProps) => {
-  const [store] = React.useState(() => new WeightsFormStore());
-  React.useEffect(() => {
-    store.init();
-  }, [store]);
-
-  return (
-    <div>
-      <Select
-        showSearch
-        placeholder="Выберите деталь"
-        optionFilterProp="children"
-        defaultValue={props.dependency?.object_name}
-        onChange={(e) => {
-          store.updateForm({ object_name: e });
-          store.selectAsset();
-        }}
-        filterOption={(input: string, option?: { label: string; value: string }) =>
-          (option?.label ?? "").toLowerCase().includes(input.toLowerCase())
-        }
-        style={{ width: "100%" }}
-        options={
-          store.assets?.assets.map((el) => {
-            return { label: el.name, value: el.name };
-          }) ?? []
-        }
-      />
-      <Select
-        showSearch
-        placeholder="Выберите деталь"
-        optionFilterProp="children"
-        defaultValue={props.dependency?.weights_name}
-        onChange={(e) => {
-          store.updateForm({ weights_name: e });
-          store.updateWeights(e);
-        }}
-        filterOption={(input: string, option?: { label: string; value: string }) =>
-          (option?.label ?? "").toLowerCase().includes(input.toLowerCase())
-        }
-        style={{ width: "100%" }}
-        options={
-          store.suitableWeights?.map((el) => {
-            return { label: el, value: el };
-          }) ?? []
-        }
-      />
-      <div style={{ height: 5 }} />
-      <CoreInput
-        label={"dimensions 1"}
-        onChange={(text) => store.changeDimensions(0, Number(text))}
-        validation={(text) => Number().isValid(text)}
-        value={props.dependency?.dimensions?.at(0)?.toString()}
-      />
-      <div style={{ height: 15 }} />
-
-      <CoreInput
-        label={"dimensions 2"}
-        onChange={(text) => store.changeDimensions(1, Number(text))}
-        validation={(text) => Number().isValid(text)}
-        value={props.dependency?.dimensions?.at(1)?.toString()}
-      />
-      <div style={{ height: 15 }} />
-
-      <CoreInput
-        label={"dimensions 3"}
-        onChange={(text) => store.changeDimensions(2, Number(text))}
-        validation={(text) => Number().isValid(text)}
-        value={props.dependency?.dimensions?.at(2)?.toString()}
-      />
-      <div style={{ height: 15 }} />
-      <CoreButton
-        onClick={() => {
-          store.viewModel.isEmpty().fold(
-            () => {
-              props.onChange(store.viewModel);
-            },
-            (e) => {
-              message.error(e);
-            }
-          );
-        }}
-        text="OK"
-        style={{ width: 100 }}
-      />
-    </div>
-  );
-});
-
-export default WeightsForm;
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form/weights_form.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form/weights_form.tsx
@ -0,0 +1,105 @@
+import { observer } from "mobx-react-lite";
+import React from "react";
+ 
+import { Select, message } from "antd";
+import { WeightsFormStore } from "./weights_store";
+import { IWeightsDependency } from "../../../../../../core/model/skill_model";
+import { CoreButton } from "../../../../../../core/ui/button/button";
+import { CoreInput } from "../../../../../../core/ui/input/input";
+import { CoreText, CoreTextType } from "../../../../../../core/ui/text/text";
+
+
+interface IWeightsFormProps {
+  dependency?: IWeightsDependency;
+  onChange: (dependency: IWeightsDependency) => void;
+}
+
+export const WeightsForm = observer((props: IWeightsFormProps) => {
+  const [store] = React.useState(() => new WeightsFormStore());
+  React.useEffect(() => {
+    store.init();
+  }, [store]);
+
+  return (
+    <div style={{ border: '1px solid', padding: 10, margin: 10 }}>
+      <CoreText text="Weights" type={CoreTextType.header} style={{ padding: 10 }} />
+      <Select
+        showSearch
+        placeholder="Выберите деталь"
+        optionFilterProp="children"
+        defaultValue={props.dependency?.object_name}
+        onChange={(e) => {
+          store.updateForm({ object_name: e });
+          store.selectAsset();
+        }}
+        filterOption={(input: string, option?: { label: string; value: string }) =>
+          (option?.label ?? "").toLowerCase().includes(input.toLowerCase())
+        }
+        style={{ width: "100%" }}
+        options={
+          store.assets?.assets.map((el) => {
+            return { label: el.name, value: el.name };
+          }) ?? []
+        }
+      />
+      <Select
+        showSearch
+        placeholder="Выберите деталь"
+        optionFilterProp="children"
+        defaultValue={props.dependency?.weights_name}
+        onChange={(e) => {
+          store.updateForm({ weights_name: e });
+          store.updateWeights(e);
+        }}
+        filterOption={(input: string, option?: { label: string; value: string }) =>
+          (option?.label ?? "").toLowerCase().includes(input.toLowerCase())
+        }
+        style={{ width: "100%" }}
+        options={
+          store.suitableWeights?.map((el) => {
+            return { label: el, value: el };
+          }) ?? []
+        }
+      />
+      <div style={{ height: 5 }} />
+      <CoreInput
+        label={"dimensions 1"}
+        onChange={(text) => store.changeDimensions(0, Number(text))}
+        validation={(text) => Number().isValid(text)}
+        value={props.dependency?.dimensions?.at(0)?.toString()}
+      />
+      <div style={{ height: 15 }} />
+
+      <CoreInput
+        label={"dimensions 2"}
+        onChange={(text) => store.changeDimensions(1, Number(text))}
+        validation={(text) => Number().isValid(text)}
+        value={props.dependency?.dimensions?.at(1)?.toString()}
+      />
+      <div style={{ height: 15 }} />
+
+      <CoreInput
+        label={"dimensions 3"}
+        onChange={(text) => store.changeDimensions(2, Number(text))}
+        validation={(text) => Number().isValid(text)}
+        value={props.dependency?.dimensions?.at(2)?.toString()}
+      />
+      <div style={{ height: 15 }} />
+      <CoreButton
+        onClick={() => {
+          store.viewModel.isEmpty().fold(
+            () => {
+              props.onChange(store.viewModel);
+            },
+            (e) => {
+              message.error(e);
+            }
+          );
+        }}
+        text="OK"
+        style={{ width: 100 }}
+      />
+    </div>
+  );
+});
+
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form/weights_store.ts
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form/weights_store.ts
@ -0,0 +1,48 @@
+import makeAutoObservable from "mobx-store-inheritance";
+import { FormState, CoreError } from "../../../../../../core/store/base_store";
+import { DataSetHttpRepository } from "../../../../../dataset/dataset_http_repository";
+import { Assets } from "../../../../../dataset/dataset_model";
+import { ISkils, SkillsHttpRepository } from "../../../../../skils/skills_http_repository";
+import { WeightsViewModel } from "./weights_view_model";
+
+export class WeightsFormStore extends FormState<WeightsViewModel, CoreError> {
+    weights?: ISkils[];
+    assets?: Assets;
+    suitableWeights: string[] = [];
+    viewModel: WeightsViewModel = WeightsViewModel.empty();
+    skillsHttpRepository: SkillsHttpRepository = new SkillsHttpRepository();
+    datasetHttpRepository: DataSetHttpRepository = new DataSetHttpRepository();
+    constructor() {
+      super();
+      makeAutoObservable(this);
+    }
+    init = async () => {
+      await this.mapOk("weights", this.skillsHttpRepository.getAllSkills());
+      await this.mapOk("assets", this.datasetHttpRepository.getAssetsActiveProject());
+    };
+    changeDimensions = (index: number, value: number) => {
+      this.viewModel.dimensions[index] = value;
+    };
+    selectAsset = (): void => {
+      this.suitableWeights =
+        this.weights
+          ?.filter((el) =>
+            el.datasetId.dataSetObjects.filter((datasetObject: string) =>
+              this.viewModel.object_name.isEqual(datasetObject)
+            )
+          )
+          .map((el) => el.name) ?? [];
+    };
+    updateWeights = (text: string) => {
+      const model = this.weights
+        ?.filter((el) =>
+          el.datasetId.dataSetObjects.filter((datasetObject: string) => this.viewModel.object_name.isEqual(datasetObject))
+        )
+        .at(0);
+  
+      this.updateForm({ weights_file: `${model?.datasetId.local_path}/weights/${model?.name}/${model?.name}.pt` });
+    };
+    errorHandingStrategy = (_: CoreError) => { };
+  }
+  
+  
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form/weights_view_model.ts
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form/weights_view_model.ts
@ -0,0 +1,30 @@
+import { Result } from "../../../../../../core/helper/result";
+import { IWeightsDependency } from "../../../../../../core/model/skill_model";
+
+export class WeightsViewModel implements IWeightsDependency {
+    constructor(
+      public object_name: string = "",
+      public weights_file: string = "",
+      public dimensions: number[] = [],
+      public weights_name = ""
+    ) { }
+    static empty() {
+      return new WeightsViewModel();
+    }
+    isEmpty = (): Result<string, undefined> => {
+      if (this.weights_name.isEmpty()) {
+        return Result.error("weights_name is empty");
+      }
+      if (this.object_name.isEmpty()) {
+        return Result.error("object name is empty");
+      }
+      if (this.weights_file.isEmpty()) {
+        return Result.error("weights_file is empty");
+      }
+      if (this.dimensions.isEmpty()) {
+        return Result.error("dimensions is empty");
+      }
+      return Result.ok(undefined);
+    };
+  }
+
				`@ -0,0 +1 @@`
				`{"base_feature":"/Users/idontsudo/ozon/ui/bricks/base_feature","form":"/Users/idontsudo/webservice/ui/bricks/form"}`
				`@ -0,0 +1 @@`
				`{"bricks":{"base_feature":{"path":"bricks/base_feature"},"form":{"path":"bricks/form"}}}`