progress

server/src/core/repository/file_system_repository.ts

@@ -1,6 +1,6 @@
 import * as fs from "fs";
 import { promisify } from "node:util";
-import { rimraf } from 'rimraf'
+import { rimraf } from "rimraf";
 
 export class FileSystemRepository {
   public createDir = promisify(fs.mkdir);
@@ -8,6 +8,7 @@ export class FileSystemRepository {
   public writeFileAsync = promisify(fs.writeFile);
   public dirIsExists = promisify(fs.exists);
   public stat = promisify(fs.stat);
+  public deleteDir = promisify(fs.unlink);
   public readFileAsync = promisify(fs.readFile);
   public readdir = promisify(fs.readdir);
   public deleteDirRecursive = rimraf;
@@ -21,7 +22,9 @@ export class FileSystemRepository {
     }
     return await this.readFileAsync(path);
   }
-
+  deleteFile = async (path: string) => {
+    return await this.deleteDir(path);
+  };
   readDirRecursive(path: string, filesToDir: string[] = []): string[] {
     const files = fs.readdirSync(path);
     files.forEach((file) => {
@@ -41,5 +44,4 @@ export class FileSystemRepository {
     });
     return filesToDir;
   }
-   
 }

server/src/core/usecases/delete_file_usecase.ts

@@ -0,0 +1,14 @@
+import { Result } from "../helpers/result";
+import { FileSystemRepository } from "../repository/file_system_repository";
+
+export class DeleteFileUseCase {
+  fileSystemRepository = new FileSystemRepository();
+  call = (path: string) => {
+    try {
+      this.fileSystemRepository.deleteFile(path);
+      return Result.ok("file delete");
+    } catch {
+      return Result.error("Unknown error");
+    }
+  };
+}

server/src/features/scene/delete_scene_scenario.ts

@@ -0,0 +1,16 @@
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../../core/controllers/http_controller";
+import { Result } from "../../core/helpers/result";
+import { DeleteDataBaseModelUseCase } from "../../core/usecases/delete_database_model_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../../core/usecases/read_by_id_database_model_usecase";
+import { CoreValidation } from "../../core/validations/core_validation";
+import { MongoIdValidation } from "../../core/validations/mongo_id_validation";
+import { SceneModel } from "./create_new_scene_scenario";
+
+export class DeleteSceneScenario extends CallbackStrategyWithIdQuery {
+  idValidationExpression: CoreValidation = new MongoIdValidation();
+  call = async (id: string): ResponseBase =>
+    (await new ReadByIdDataBaseModelUseCase<SceneModel>(SceneModel).call(id)).map((sceneModel) => Result.ok()
+    //   (await new DeleteDataBaseModelUseCase(SceneModel).call(id)).map(() => DeleteF )
+    );
+}
+

ui/src/core/model/camera_model.ts

@@ -11,8 +11,8 @@ export class CameraModel implements Instance {
   type = SceneModelsTypes.CAMERA;
   jointType = 'fixed';
   constructor(
-    public quaternion: number[],
+    public orientation: number[],
-    public vector3: Vector3,
+    public position: Vector3,
     public name: string,
     public cameraType: CameraTypes,
     public width: number,
@@ -37,8 +37,8 @@ export class CameraModel implements Instance {
     }
     const perspectiveCamera = new PerspectiveCamera(this.fov, this.aspect, this.near, this.far);
     perspectiveCamera.name = this.name;
-    perspectiveCamera.position.copy(this.vector3);
+    perspectiveCamera.position.copy(this.position);
-    perspectiveCamera.quaternion.copy(new Quaternion().fromArray(this.quaternion));
+    perspectiveCamera.quaternion.copy(new Quaternion().fromArray(this.orientation));
     const cameraHelper = new CameraHelper(perspectiveCamera);
     cameraHelper.name = this.name + "camera_helper";
     perspectiveCamera.userData[UserData.selectedObject] = true;

ui/src/core/model/light_model.ts

@@ -21,8 +21,8 @@ export class LightModel implements Instance {
   penumbra: number;
   decay: number;
   @Type(() => Vector3)
-  vector3: Vector3;
+  position: Vector3;
-  quaternion: number[];
+  orientation: number[];
   constructor() {}
   update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository);
   icon: string = "Light";
@@ -48,8 +48,8 @@ export class LightModel implements Instance {
       );
 
     light!.castShadow = true;
-    light!.position.copy(this.vector3);
+    light!.position.copy(this.position);
-    light!.quaternion.copy(new Quaternion().fromArray(this.quaternion));
+    light!.quaternion.copy(new Quaternion().fromArray(this.orientation));
 
     coreThreeRepository.scene.add(light!);
   };

ui/src/core/model/point_model.ts

@@ -11,10 +11,10 @@ export class PointModel implements Instance {
   type = SceneModelsTypes.POINT;
   name: string;
   @Type(() => Vector3)
-  vector3: Vector3;
+  position: Vector3;
   color: string = "#E91E63";
   size: number = 0.01;
-  quaternion: number[];
+  orientation: number[];
   icon: string = "Point";
 
   constructor() {}
@@ -22,8 +22,8 @@ export class PointModel implements Instance {
   toWebGl = (coreThreeRepository: CoreThreeRepository) =>
     coreThreeRepository.makePoint(
       this.name,
-      this.vector3,
+      this.position,
-      new Quaternion().fromArray(this.quaternion),
+      new Quaternion().fromArray(this.orientation),
       this.color,
       this.size
     );
@@ -38,12 +38,12 @@ export class PointModel implements Instance {
   toDependency = (): Pose => {
     return {
       name: this.name,
-      position: this.vector3,
+      position: this.position,
       orientation: {
-        x: this.quaternion[0],
+        x: this.orientation[0],
-        y: this.quaternion[1],
+        y: this.orientation[1],
-        z: this.quaternion[2],
+        z: this.orientation[2],
-        w: this.quaternion[3],
+        w: this.orientation[3],
       },
     };
   };

ui/src/core/model/robot_model.ts

@@ -23,24 +23,24 @@ interface RobotJoint {
 export class RobotModel implements Instance {
   type = SceneModelsTypes.ROBOT;
   @Type(() => Vector3)
-  vector3: Vector3;
+  position: Vector3;
   jointPosition: RobotJoint[];
-  quaternion: number[];
+  orientation: number[];
   name: string;
   httpUrl: string;
   nDof: number;
   toolType: string;
   constructor(
-    vector3: Vector3,
+    position: Vector3,
-    quaternion: number[],
+    orientation: number[],
     name: string,
     httpUrl: string,
     nDof: number,
     toolType: string,
     jointPosition: RobotJoint[]
   ) {
-    this.quaternion = quaternion;
+    this.orientation = orientation;
-    this.vector3 = vector3;
+    this.position = position;
     this.name = name;
     this.httpUrl = httpUrl;
     this.nDof = nDof;
@@ -61,8 +61,8 @@ export class RobotModel implements Instance {
   };
   update = (coreThreeRepository: CoreThreeRepository) => {
     const robot = coreThreeRepository.scene.getObjectByName(this.name) as URDFRobot;
-    robot.position.copy(this.vector3);
+    robot.position.copy(this.position);
-    robot.quaternion.copy(new Quaternion().fromArray(this.quaternion));
+    robot.quaternion.copy(new Quaternion().fromArray(this.orientation));
     this.jointPosition.forEach((el) => {
       robot.setJointValue(el.name, el.angle);
     });

ui/src/core/model/scene_asset.ts

@@ -1,4 +1,4 @@
-import { IsArray, IsEnum, IsNumber, IsOptional, IsString, ValidateNested } from "class-validator";
+import { IsArray } from "class-validator";
 import { Type } from "class-transformer";
 import { CameraModel } from "./camera_model";
 import { SceneModelsTypes } from "./scene_models_type";
@@ -15,11 +15,11 @@ export abstract class Instance {
   type: string;
   abstract icon: string;
   @Type(() => Vector3)
-  vector3: Vector3;
+  position: Vector3;
-  quaternion: number[];
+  orientation: number[];
   name: string;
-  toWebGl = (coreThreeRepository: CoreThreeRepository) => {};
+  toWebGl = (_coreThreeRepository: CoreThreeRepository) => {};
-  update = (coreThreeRepository: CoreThreeRepository) => {};
+  update = (_coreThreeRepository: CoreThreeRepository) => {};
 }
 
 export class SceneAsset {

ui/src/core/model/solid_model.ts

@@ -10,17 +10,17 @@ export class SolidModel implements Instance {
   icon: string = "Solid";
   type = SceneModelsTypes.SOLID;
   @Type(() => Vector3)
-  public vector3: Vector3;
+  public position: Vector3;
   constructor(
     vector3: Vector3,
-    public quaternion: number[],
+    public orientation: number[],
     public name: string,
     public solidType: string,
     public mesh: string,
     public collisionMesh: string,
     public spawnType: string
   ) {
-    this.vector3 = vector3;
+    this.position = vector3;
   }
   toSceneItems = (): SceneItems => {
     return {
@@ -33,8 +33,8 @@ export class SolidModel implements Instance {
 
   update = (coreThreeRepository: CoreThreeRepository) => {
     const object = coreThreeRepository.getObjectsAtName(this.name) as Object3D<Object3DEventMap>;
-    object.position.copy(this.vector3)
+    object.position.copy(this.position)
-    object.quaternion.copy(new Quaternion().fromArray(this.quaternion))
+    object.quaternion.copy(new Quaternion().fromArray(this.orientation))
     
   };
 
@@ -45,12 +45,12 @@ export class SolidModel implements Instance {
           this.mesh,
           () => (
             coreThreeRepository.raiseAnObjectAboveZeroVector(this.name),
-            (this.quaternion = coreThreeRepository.scene.getObjectByName(this.name)!.quaternion.toArray()),
+            (this.orientation = coreThreeRepository.scene.getObjectByName(this.name)!.quaternion.toArray()),
-            (this.vector3 = coreThreeRepository.scene.getObjectByName(this.name)!.position)
+            (this.position = coreThreeRepository.scene.getObjectByName(this.name)!.position)
           ),
 
           this.name,
-          this.vector3
+          this.position
         ),
       () => console.log("UNKNOWN SPAWN TYPE SOLID MODEL")
     );

ui/src/core/model/zone_model.ts

@@ -9,17 +9,17 @@ export class ZoneModel implements Instance {
   type = SceneModelsTypes.ZONE;
   color: string = "#E91E63";
   @Type(() => Vector3)
-  vector3: Vector3;
+  position: Vector3;
 
   constructor(
     vector3: Vector3,
-    public quaternion: number[],
+    public orientation: number[],
     public name: string,
     public width: number,
     public height: number,
     public length: number
   ) {
-    this.vector3 = vector3;
+    this.position = vector3;
   }
   update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository)
   icon: string = "Zone";

ui/src/core/repository/core_three_repository.ts

@@ -140,8 +140,8 @@ export class CoreThreeRepository extends TypedEvent<any> {
     );
     mesh.name = zoneModel.name;
     mesh.userData[UserData.selectedObject] = "";
-    mesh.position.copy(zoneModel.vector3);
+    mesh.position.copy(zoneModel.position);
-    mesh.quaternion.copy(new Quaternion().fromArray(zoneModel.quaternion));
+    mesh.quaternion.copy(new Quaternion().fromArray(zoneModel.orientation));
     this.scene.add(mesh);
   };
   makeCube(inc: number, vector?: Vector3, color?: string, size?: number) {
@@ -188,8 +188,8 @@ export class CoreThreeRepository extends TypedEvent<any> {
     this.urdfLoader.load(robotModel.httpUrl, (robot) => {
       robot.userData[UserData.selectedObject] = true;
       robot.name = robotModel.name;
-      if (robotModel.vector3) robot.position.copy(robotModel.vector3);
+      if (robotModel.position) robot.position.copy(robotModel.position);
-      if (robotModel.quaternion) robot.quaternion.copy(new Quaternion().fromArray(robotModel.quaternion));
+      if (robotModel.orientation) robot.quaternion.copy(new Quaternion().fromArray(robotModel.orientation));
       if (robotModel.jointPosition.isNotEmpty()) {
         robotModel.jointPosition.forEach((el) => {
           robot.setJointValue(el.name, el.angle);
@@ -258,8 +258,8 @@ export class CoreThreeRepository extends TypedEvent<any> {
 
   updateSolidBody = (solidBodyModel: SolidModel) => {
     const mesh = this.scene.getObjectByName(solidBodyModel.name);
-    mesh?.position.copy(solidBodyModel.vector3);
+    mesh?.position.copy(solidBodyModel.position);
-    mesh?.quaternion.copy(new Quaternion().fromArray(solidBodyModel.quaternion));
+    mesh?.quaternion.copy(new Quaternion().fromArray(solidBodyModel.orientation));
   };
 
   disposeTransformControlsMode = () => this.transformControls.detach();

ui/src/core/ui/icons/icons.tsx

@@ -7,11 +7,12 @@ export interface IIconsProps extends IStyle {
   onClick?: Function;
   height?: number;
   width?: number;
+  color?: string;
   isNeedStopPropagation?: boolean;
 }
 
 export function Icon(props: IIconsProps) {
-  return getIconSvg(props.type, props.height, props.width).fold(
+  return getIconSvg(props.type, props.height, props.width, props.color).fold(
     (node) => {
       return (
         <div
@@ -47,7 +48,8 @@ export function Icon(props: IIconsProps) {
 const getIconSvg = (
   type: string,
   height: number | undefined,
-  width: number | undefined
+  width: number | undefined,
+  color: string | undefined
 ): Result<undefined, React.JSX.Element> => {
   switch (type) {
     case "":
@@ -385,7 +387,7 @@ const getIconSvg = (
             fillRule="evenodd"
             clipRule="evenodd"
             d="M10 0C4.47 0 0 4.47 0 10C0 15.53 4.47 20 10 20C15.53 20 20 15.53 20 10C20 4.47 15.53 0 10 0ZM10 18C5.59 18 2 14.41 2 10C2 5.59 5.59 2 10 2C14.41 2 18 5.59 18 10C18 14.41 14.41 18 10 18ZM10 8.59L13.59 5L15 6.41L11.41 10L15 13.59L13.59 15L10 11.41L6.41 15L5 13.59L8.59 10L5 6.41L6.41 5L10 8.59Z"
-            fill="#49454F"
+            fill={color ?? "#49454F"}
           />
         </svg>
       );

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

@@ -2,14 +2,15 @@ import { Type } from "class-transformer";
 import { Result } from "../../../core/helper/result";
 import { Skills } from "../../../core/model/skill_model";
 import { NodeBehaviorTree } from "./node_behavior_tree";
-import { IsOptional } from "class-validator";
+import { IsOptional, IsString } from "class-validator";
 import { BehaviorTreeBuilderHttpRepository } from "../data/behavior_tree_builder_repository";
 import { message } from "antd";
 
 export class BehaviorTreeModel {
+  @IsString()
+  public sceneId: string;
   @IsOptional()
   @Type(() => Skills)
-  public sceneId: string;
   public skills?: Skills;
   public scene: NodeBehaviorTree[] = [];
   public xml: string;

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

@@ -326,7 +326,6 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     );
   }
   isFilledInput = (type: string, sid: string): boolean => {
-    console.log(this.filledOutTemplates?.dependencyIsFilled)
     return this.filledOutTemplates?.dependencyIsFilled(type, sid) ?? false;
   };
   getInputs(name: string) {

ui/src/features/scene_manager/data/scene_http_repository.ts

@@ -7,10 +7,7 @@ import { SceneAsset } from "../../../core/model/scene_asset";
 
 export class SceneHttpRepository extends CoreHttpRepository {
   editScene = (scene: SceneAsset) => this._jsonRequest(HttpMethod.PUT, "/scenes", scene);
- 
+  deleteScene = (sceneId:string) => this._jsonRequest(HttpMethod.DELETE, '/scenes', )
-
-
-
   newScene = (sceneViewModel: SceneViewModel) =>
     this._jsonRequest(HttpMethod.POST, "/scenes", sceneViewModel) as unknown as Promise<Result<CoreError, void>>;
 }

ui/src/features/scene_manager/presentation/forms/point/point_store.ts

@@ -29,8 +29,8 @@ export class PointStore extends FormState<PointModel, CoreError> {
   clickLister = (event: MouseEvent) =>
     this.storeType.isEqualR(PointStoreType.awaitClick).map(() =>
       this.sceneMangerStore!.clickScene(event, this.sceneMangerStore!.canvasOffsetX).map((vector3) => {
-        this.viewModel.vector3 = vector3;
+        this.viewModel.position = vector3;
-        this.viewModel.quaternion = [0, 0, 0, 1];
+        this.viewModel.orientation = [0, 0, 0, 1];
         this.viewModel.toWebGl(this.sceneMangerStore.coreThreeRepository!);
         this.sceneMangerStore.activeFormType = undefined;
         this.sceneMangerStore.sceneItems.push(this.viewModel.toSceneItems(this.sceneMangerStore));

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

@@ -23,7 +23,7 @@ export class RobotFormStore extends FormState<RobotModel, CoreError> {
   clickLister = (event: MouseEvent) =>
     this.storeType.isEqualR(RobotStoreType.awaitMouseClick).map(() =>
       this.sceneMangerStore!.clickScene(event, this.sceneMangerStore!.canvasOffsetX).map((vector3) => {
-        this.viewModel.vector3 = vector3;
+        this.viewModel.position = vector3;
         this.viewModel.toWebGl(this.sceneMangerStore.coreThreeRepository!);
         this.sceneMangerStore.activeFormType = undefined;
         this.sceneMangerStore.sceneItems.push(this.viewModel.toSceneItems(this.sceneMangerStore));

ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_store.tsx

@@ -63,7 +63,7 @@ export class SolidBodyStore extends FormState<SolidModel, CoreError> {
   clickLister = (event: MouseEvent) =>
     this.solidBodyStoreType.isEqualR(SolidBodyStoreType.spawn2DVector).map(() =>
       this.sceneMangerStore!.clickScene(event, this.sceneMangerStore!.canvasOffsetX).map((vector3) => {
-        this.viewModel.vector3 = vector3;
+        this.viewModel.position = vector3;
         this.viewModel.spawnType = "BoundBox";
         this.viewModel.toWebGl(this.sceneMangerStore.coreThreeRepository!);
         this.sceneMangerStore.sceneItems.push(this.viewModel.toSceneItems());

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

@@ -209,14 +209,17 @@ export const SceneManger = observer(() => {
                         }}
                       >
                         <CoreText text={el.name} type={CoreTextType.large} color="white" />
-                        <CoreButton
+                        <div style={{ display: "flex", alignItems: "center", marginLeft: 10, marginRight: 10 }}>
-                          text="Перейти"
+                          <CoreButton
-                          onClick={() => {
+                            text="Перейти"
-                            navigate(`${SceneManagerPath}${el._id}`);
+                            onClick={() => {
-                          }}
+                              navigate(`${SceneManagerPath}${el._id}`);
-                          textStyle={{ color: "black", textAlign: "center" }}
+                            }}
-                          style={{ marginRight: 10, backgroundColor: "white", width: 126 }}
+                            textStyle={{ color: "black", textAlign: "center" }}
-                        />
+                            style={{ marginRight: 10, backgroundColor: "white", width: 126 }}
+                          />
+                          <Icon style={{ height: 20 }} type={"DeleteCircle"} color="red" />
+                        </div>
                       </div>
                     ))}
                   </div>

ui/src/features/scene_manager/presentation/scene_manager_store.ts

@@ -44,10 +44,9 @@ export interface SceneItems {
   icon: string;
 }
 
-
 export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpError> {
   activeFormType?: string;
-  activeSceneId?: string;
+  activeSceneId: string = "";
   selectedItemName?: string;
   activeFormDependency: Object = {};
   viewModel: SceneViewModel = SceneViewModel.empty();
@@ -183,8 +182,8 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
   };
 
   addNewCamera = (model: CameraModel) => {
-    model.vector3 = this.coreThreeRepository!.camera.position;
+    model.position = this.coreThreeRepository!.camera.position;
-    model.quaternion = this.coreThreeRepository!.camera.quaternion.toArray();
+    model.orientation = this.coreThreeRepository!.camera.quaternion.toArray();
     model.aspect = this.coreThreeRepository!.camera.aspect;
     this.sceneItems.push({ name: model.name, icon: "Camera", fn: () => {}, isSelected: false });
     this.scene.push(model);
@@ -207,6 +206,13 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
   errorHandingStrategy = (error: HttpError) =>
     error.status.isEqualR(404).map(() => this.errors.push(new UiBaseError(`not found to project`)));
 
+  clickDeleteScene = async () => {
+    await this.messageHttp(this.sceneHttpRepository.deleteScene(this.activeSceneId), {
+      successMessage: "сцена удалена",
+    });
+    this.mapOk("scenes", this.sceneHttpRepository.getAllScenes());
+  };
+
   loadScene = (canvasRef: HTMLCanvasElement) => {
     this.canvasRef = canvasRef;
     this.storeMode.isEqualR(StoreMode.sceneInstance).map(() => this.loadWebGl(canvasRef));
@@ -258,8 +264,8 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
     (this.scene = this.scene.map((el) =>
       el.name.isEqualR(mesh.name).fold(
         () => {
-          el.vector3 = mesh.position;
+          el.position = mesh.position;
-          el.quaternion = mesh.quaternion.toArray();
+          el.orientation = mesh.quaternion.toArray();
           return el;
         },
         () => el