From a0d089d5bb82f3ebd53a4595a5c4005147df1940 Mon Sep 17 00:00:00 2001 From: IDONTSUDO Date: Sun, 1 Dec 2024 16:12:08 +0000 Subject: [PATCH] MVP with Tensorboard --- .gitignore | 3 +- .vscode/PythonImportHelper-v2-Completion.json | 1205 + .vscode/launch.json | 74 +- .vscode/settings.json | 33 +- README.md | 8 +- server/.eslintrc.cjs | 2 +- server/.gitignore | 3 +- server/command.json | 26 + server/package-lock.json | 8576 ------- server/package.json | 17 +- server/src/core/controllers/app.ts | 6 +- .../src/core/controllers/http_controller.ts | 52 +- server/src/core/controllers/routes.ts | 24 +- server/src/core/di/env.ts | 44 - server/src/core/di/register_di.ts | 53 - server/src/core/extensions/array.ts | 3 - server/src/core/extensions/extensions.ts | 2 + server/src/core/extensions/string.ts | 17 +- .../src/core/middlewares/validation_model.ts | 2 + server/src/core/models/instance.ts | 5 + server/src/core/models/process_model.ts | 2 +- server/src/core/models/robossembler_assets.ts | 1 + 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"importPath": "yaml", + "description": "yaml", + "detail": "yaml", + "documentation": {} + }, + { + "label": "YOLO", + "importPath": "ultralytics", + "description": "ultralytics", + "isExtraImport": true, + "detail": "ultralytics", + "documentation": {} + }, + { + "label": "_Known", + "kind": 6, + "importPath": "server.node_modules.flatted.python.flatted", + "description": "server.node_modules.flatted.python.flatted", + "peekOfCode": "class _Known:\n def __init__(self):\n self.key = []\n self.value = []\nclass _String:\n def __init__(self, value):\n self.value = value\ndef _array_keys(value):\n keys = []\n i = 0", + "detail": "server.node_modules.flatted.python.flatted", + "documentation": {} + }, + { + "label": "_String", + "kind": 6, + "importPath": "server.node_modules.flatted.python.flatted", + "description": "server.node_modules.flatted.python.flatted", + "peekOfCode": "class _String:\n def __init__(self, value):\n self.value = value\ndef _array_keys(value):\n keys = []\n i = 0\n for _ in value:\n keys.append(i)\n i += 1\n return keys", + "detail": "server.node_modules.flatted.python.flatted", + "documentation": {} + }, + { + "label": "parse", + "kind": 2, + "importPath": "server.node_modules.flatted.python.flatted", + "description": "server.node_modules.flatted.python.flatted", + "peekOfCode": "def parse(value, *args, **kwargs):\n json = _json.loads(value, *args, **kwargs)\n wrapped = []\n for value in json:\n wrapped.append(_wrap(value))\n input = []\n for value in wrapped:\n if isinstance(value, _String):\n input.append(value.value)\n else:", + "detail": "server.node_modules.flatted.python.flatted", + "documentation": {} + }, + { + "label": "stringify", + "kind": 2, + "importPath": "server.node_modules.flatted.python.flatted", + "description": "server.node_modules.flatted.python.flatted", + "peekOfCode": "def stringify(value, *args, **kwargs):\n known = _Known()\n input = []\n output = []\n i = int(_index(known, input, value))\n while i < len(input):\n output.append(_transform(known, input, input[i]))\n i += 1\n return _json.dumps(output, *args, **kwargs)", + "detail": "server.node_modules.flatted.python.flatted", + "documentation": {} + }, + { + "label": "stringify", + "kind": 2, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "def stringify(value):\n return _stringify(value, separators=(',', ':'))\nassert stringify([None, None]) == '[[null,null]]'\na = []\no = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "a", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "a = []\no = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "o = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['o']", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "o['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)\na.append('two')\na.append(True)\no['one'] = 1\no['two'] = 'two'", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "b", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "b = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)\na.append('two')\na.append(True)\no['one'] = 1\no['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['one']", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "o['one'] = 1\no['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['two']", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "o['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['three']", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "o['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])\no['test'] = {'test': 'OK'}", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['a']", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "o['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])\no['test'] = {'test': 'OK'}\no['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['test']", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "o['test'] = {'test': 'OK'}\no['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['array']", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "o['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "a2", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "a2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o2", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "o2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "str", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "str = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "oo", + "kind": 5, + "importPath": "server.node_modules.flatted.python.test", + "description": "server.node_modules.flatted.python.test", + "peekOfCode": "oo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')", + "detail": "server.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "_Known", + "kind": 6, + "importPath": "ui.node_modules.flatted.python.flatted", + "description": "ui.node_modules.flatted.python.flatted", + "peekOfCode": "class _Known:\n def __init__(self):\n self.key = []\n self.value = []\nclass _String:\n def __init__(self, value):\n self.value = value\ndef _array_keys(value):\n keys = []\n i = 0", + "detail": "ui.node_modules.flatted.python.flatted", + "documentation": {} + }, + { + "label": "_String", + "kind": 6, + "importPath": "ui.node_modules.flatted.python.flatted", + "description": "ui.node_modules.flatted.python.flatted", + "peekOfCode": "class _String:\n def __init__(self, value):\n self.value = value\ndef _array_keys(value):\n keys = []\n i = 0\n for _ in value:\n keys.append(i)\n i += 1\n return keys", + "detail": "ui.node_modules.flatted.python.flatted", + "documentation": {} + }, + { + "label": "parse", + "kind": 2, + "importPath": "ui.node_modules.flatted.python.flatted", + "description": "ui.node_modules.flatted.python.flatted", + "peekOfCode": "def parse(value, *args, **kwargs):\n json = _json.loads(value, *args, **kwargs)\n wrapped = []\n for value in json:\n wrapped.append(_wrap(value))\n input = []\n for value in wrapped:\n if isinstance(value, _String):\n input.append(value.value)\n else:", + "detail": "ui.node_modules.flatted.python.flatted", + "documentation": {} + }, + { + "label": "stringify", + "kind": 2, + "importPath": "ui.node_modules.flatted.python.flatted", + "description": "ui.node_modules.flatted.python.flatted", + "peekOfCode": "def stringify(value, *args, **kwargs):\n known = _Known()\n input = []\n output = []\n i = int(_index(known, input, value))\n while i < len(input):\n output.append(_transform(known, input, input[i]))\n i += 1\n return _json.dumps(output, *args, **kwargs)", + "detail": "ui.node_modules.flatted.python.flatted", + "documentation": {} + }, + { + "label": "stringify", + "kind": 2, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "def stringify(value):\n return _stringify(value, separators=(',', ':'))\nassert stringify([None, None]) == '[[null,null]]'\na = []\no = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "a", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "a = []\no = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "o = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['o']", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "o['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)\na.append('two')\na.append(True)\no['one'] = 1\no['two'] = 'two'", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "b", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "b = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)\na.append('two')\na.append(True)\no['one'] = 1\no['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['one']", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "o['one'] = 1\no['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['two']", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "o['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['three']", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "o['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])\no['test'] = {'test': 'OK'}", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['a']", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "o['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])\no['test'] = {'test': 'OK'}\no['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['test']", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "o['test'] = {'test': 'OK'}\no['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o['array']", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "o['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "a2", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "a2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "o2", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "o2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "str", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "str = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "oo", + "kind": 5, + "importPath": "ui.node_modules.flatted.python.test", + "description": "ui.node_modules.flatted.python.test", + "peekOfCode": "oo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')", + "detail": "ui.node_modules.flatted.python.test", + "documentation": {} + }, + { + "label": "get_script_args", + "kind": 2, + "importPath": "web_p.GetInterfaces.get_interfaces", + "description": "web_p.GetInterfaces.get_interfaces", + "peekOfCode": "def get_script_args(cfg):\n args = cfg[\"command\"].split()\n args.append(cfg[\"package\"])\n args.append(cfg[\"executable\"])\n return args\ndef get_topics(filename, path):\n jsonpath = os.path.join(path, filename)\n with NodeStrategy({}) as node:\n topic_names_and_types = get_topic_names_and_types(node=node, include_hidden_topics=False)\n topic_info = []", + "detail": "web_p.GetInterfaces.get_interfaces", + "documentation": {} + }, + { + "label": "get_topics", + "kind": 2, + "importPath": "web_p.GetInterfaces.get_interfaces", + "description": "web_p.GetInterfaces.get_interfaces", + "peekOfCode": "def get_topics(filename, path):\n jsonpath = os.path.join(path, filename)\n with NodeStrategy({}) as node:\n topic_names_and_types = get_topic_names_and_types(node=node, include_hidden_topics=False)\n topic_info = []\n for (topic_name, topic_types) in topic_names_and_types:\n if not topic_name in TOPICS_FILTER:\n topic_info.append({\"name\": topic_name, \"type\": topic_types[0]})\n print(f\"---> number of topics: {len(topic_info)}\")\n j_data = {\"topics\": topic_info}", + "detail": "web_p.GetInterfaces.get_interfaces", + "documentation": {} + }, + { + "label": "OUTPUT_FILE", + "kind": 5, + "importPath": "web_p.GetInterfaces.get_interfaces", + "description": "web_p.GetInterfaces.get_interfaces", + "peekOfCode": "OUTPUT_FILE = \"topics.json\"\nTOPICS_FILTER = [\"/parameter_events\", \"/rosout\"]\ndef get_script_args(cfg):\n args = cfg[\"command\"].split()\n args.append(cfg[\"package\"])\n args.append(cfg[\"executable\"])\n return args\ndef get_topics(filename, path):\n jsonpath = os.path.join(path, filename)\n with NodeStrategy({}) as node:", + "detail": "web_p.GetInterfaces.get_interfaces", + "documentation": {} + }, + { + "label": "TOPICS_FILTER", + "kind": 5, + "importPath": "web_p.GetInterfaces.get_interfaces", + "description": "web_p.GetInterfaces.get_interfaces", + "peekOfCode": "TOPICS_FILTER = [\"/parameter_events\", \"/rosout\"]\ndef get_script_args(cfg):\n args = cfg[\"command\"].split()\n args.append(cfg[\"package\"])\n args.append(cfg[\"executable\"])\n return args\ndef get_topics(filename, path):\n jsonpath = os.path.join(path, filename)\n with NodeStrategy({}) as node:\n topic_names_and_types = get_topic_names_and_types(node=node, include_hidden_topics=False)", + "detail": "web_p.GetInterfaces.get_interfaces", + "documentation": {} + }, + { + "label": "copy_and_move_folder", + "kind": 2, + "importPath": "web_p.blender", + "description": "web_p.blender", + "peekOfCode": "def copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/blender/\"\ncopy_and_move_folder(source_folder, args.path)", + "detail": "web_p.blender", + "documentation": {} + }, + { + "label": "parser", + "kind": 5, + "importPath": "web_p.blender", + "description": "web_p.blender", + "peekOfCode": "parser = argparse.ArgumentParser()\nparser.add_argument(\"--path\")\nargs = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:", + "detail": "web_p.blender", + "documentation": {} + }, + { + "label": "args", + "kind": 5, + "importPath": "web_p.blender", + "description": "web_p.blender", + "peekOfCode": "args = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/blender/\"", + "detail": "web_p.blender", + "documentation": {} + }, + { + "label": "source_folder", + "kind": 5, + "importPath": "web_p.blender", + "description": "web_p.blender", + "peekOfCode": "source_folder = os.path.dirname(os.path.abspath(__file__)) + \"/blender/\"\ncopy_and_move_folder(source_folder, args.path)", + "detail": "web_p.blender", + "documentation": {} + }, + { + "label": "copy_and_move_folder", + "kind": 2, + "importPath": "web_p.education", + "description": "web_p.education", + "peekOfCode": "def copy_and_move_folder(src, dst, folder):\n try:\n if os.path.exists(dst + \"/education/\") is False:\n Path(dst + \"/education/\").mkdir(parents=True, exist_ok=True)\n if os.path.exists(dst + \"/education/\" + folder + \"/\"):\n shutil.rmtree(dst + \"/education/\" + folder + \"/\")\n shutil.copytree(src, dst + \"/education/\" + folder + \"/\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/education\"", + "detail": "web_p.education", + "documentation": {} + }, + { + "label": "parser", + "kind": 5, + "importPath": "web_p.education", + "description": "web_p.education", + "peekOfCode": "parser = argparse.ArgumentParser()\nparser.add_argument(\"--path\", required=True, help=\"Path for dataset\")\nparser.add_argument(\"--name\", required=True, help=\"String with result weights name\")\nparser.add_argument(\"--datasetName\", required=True, help=\"String with dataset name\")\nparser.add_argument(\"--outpath\", default=\"weights\", help=\"Output path for weights\")\nparser.add_argument(\"--type\", default=\"ObjectDetection\", help=\"Type of implementation\")\nparser.add_argument(\"--epoch\", default=3, help=\"How many training epochs\")\nparser.add_argument('--pretrain', help=\"Use pretraining\")\nargs = parser.parse_args()\ndef copy_and_move_folder(src, dst, folder):", + "detail": "web_p.education", + "documentation": {} + }, + { + "label": "args", + "kind": 5, + "importPath": "web_p.education", + "description": "web_p.education", + "peekOfCode": "args = parser.parse_args()\ndef copy_and_move_folder(src, dst, folder):\n try:\n if os.path.exists(dst + \"/education/\") is False:\n Path(dst + \"/education/\").mkdir(parents=True, exist_ok=True)\n if os.path.exists(dst + \"/education/\" + folder + \"/\"):\n shutil.rmtree(dst + \"/education/\" + folder + \"/\")\n shutil.copytree(src, dst + \"/education/\" + folder + \"/\")\n except shutil.Error as e:\n print(f\"Error: {e}\")", + "detail": "web_p.education", + "documentation": {} + }, + { + "label": "source_folder", + "kind": 5, + "importPath": "web_p.education", + "description": "web_p.education", + "peekOfCode": "source_folder = os.path.dirname(os.path.abspath(__file__)) + \"/education\"\ncopy_and_move_folder(source_folder, args.path, args.name)", + "detail": "web_p.education", + "documentation": {} + }, + { + "label": "copy_and_move_folder", + "kind": 2, + "importPath": "web_p.get_interfaces_mock", + "description": "web_p.get_interfaces_mock", + "peekOfCode": "def copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/interfaces/\"\ncopy_and_move_folder(source_folder, args.path)", + "detail": "web_p.get_interfaces_mock", + "documentation": {} + }, + { + "label": "parser", + "kind": 5, + "importPath": "web_p.get_interfaces_mock", + "description": "web_p.get_interfaces_mock", + "peekOfCode": "parser = argparse.ArgumentParser()\nparser.add_argument(\"--path\")\nargs = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:", + "detail": "web_p.get_interfaces_mock", + "documentation": {} + }, + { + "label": "args", + "kind": 5, + "importPath": "web_p.get_interfaces_mock", + "description": "web_p.get_interfaces_mock", + "peekOfCode": "args = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/interfaces/\"", + "detail": "web_p.get_interfaces_mock", + "documentation": {} + }, + { + "label": "source_folder", + "kind": 5, + "importPath": "web_p.get_interfaces_mock", + "description": "web_p.get_interfaces_mock", + "peekOfCode": "source_folder = os.path.dirname(os.path.abspath(__file__)) + \"/interfaces/\"\ncopy_and_move_folder(source_folder, args.path)", + "detail": "web_p.get_interfaces_mock", + "documentation": {} + }, + { + "label": "convert2relative", + "kind": 2, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "def convert2relative(height, width, bbox):\n \"\"\"\n YOLO format use relative coordinates for annotation\n \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef render() -> int:\n i = 0", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "render", + "kind": 2, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "def render() -> int:\n i = 0\n for obj in all_meshs:\n # Make the object actively participate in the physics simulation\n obj.enable_rigidbody(active=True, collision_shape=\"COMPOUND\")\n # Also use convex decomposition as collision shapes\n obj.build_convex_decomposition_collision_shape(VHACD_PATH)\n i += 1\n # print(f\"{i} : {obj.get_name()}\")\n objs = all_meshs + rnd_par.scene.objs", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "VHACD_PATH", + "kind": 5, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "VHACD_PATH = \"blenderproc_resources/vhacd\"\nDIR_MODELS = \"models\"\nDIR_MESH = \"assets/libs/objects/\" #\"assets/mesh/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "DIR_MODELS", + "kind": 5, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "DIR_MODELS = \"models\"\nDIR_MESH = \"assets/libs/objects/\" #\"assets/mesh/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "DIR_MESH", + "kind": 5, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "DIR_MESH = \"assets/libs/objects/\" #\"assets/mesh/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "FILE_LOG_SCENE", + "kind": 5, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "FILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "FILE_RBS_INFO", + "kind": 5, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "FILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "FILE_GT_COCO", + "kind": 5, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "FILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\ndef _get_path_model(name_model: str) -> str:", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "EXT_MODELS", + "kind": 5, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "EXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\ndef _get_path_model(name_model: str) -> str:\n # TODO on name_model find path for mesh (model.fbx)", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "TEXTURE_TMPL", + "kind": 5, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "TEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\ndef _get_path_model(name_model: str) -> str:\n # TODO on name_model find path for mesh (model.fbx)\n # local_path/assets/libs/objects # assets/mesh/", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "Not_Categories_Name", + "kind": 5, + "importPath": "web_p.renderBOPdataset", + "description": "web_p.renderBOPdataset", + "peekOfCode": "Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\ndef _get_path_model(name_model: str) -> str:\n # TODO on name_model find path for mesh (model.fbx)\n # local_path/assets/libs/objects # assets/mesh/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))", + "detail": "web_p.renderBOPdataset", + "documentation": {} + }, + { + "label": "convert2relative", + "kind": 2, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "def convert2relative(height, width, bbox):\n \"\"\"\n YOLO format use relative coordinates for annotation\n \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef render() -> int:\n i = 0", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "render", + "kind": 2, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "def render() -> int:\n i = 0\n for obj in all_meshs:\n # Make the object actively participate in the physics simulation\n obj.enable_rigidbody(active=True, collision_shape=\"COMPOUND\")\n # Also use convex decomposition as collision shapes\n obj.build_convex_decomposition_collision_shape(VHACD_PATH)\n i += 1\n # print(f\"{i} : {obj.get_name()}\")\n objs = all_meshs + rnd_par.scene.objs", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "VHACD_PATH", + "kind": 5, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "VHACD_PATH = \"blenderproc_resources/vhacd\"\nDIR_MODELS = \"models\"\nDIR_MESH = \"assets/libs/objects/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "DIR_MODELS", + "kind": 5, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "DIR_MODELS = \"models\"\nDIR_MESH = \"assets/libs/objects/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "DIR_MESH", + "kind": 5, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "DIR_MESH = \"assets/libs/objects/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "FILE_LOG_SCENE", + "kind": 5, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "FILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "FILE_RBS_INFO", + "kind": 5, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "FILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "FILE_GT_COCO", + "kind": 5, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "FILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\n# def _get_path_model(name_model: str) -> str:", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "EXT_MODELS", + "kind": 5, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "EXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\n# def _get_path_model(name_model: str) -> str:\n# # TODO on name_model find path for mesh (model.fbx)", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "TEXTURE_TMPL", + "kind": 5, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "TEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\n# def _get_path_model(name_model: str) -> str:\n# # TODO on name_model find path for mesh (model.fbx)\n# # local_path/assets/libs/objects # assets/mesh/", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "Not_Categories_Name", + "kind": 5, + "importPath": "web_p.renderBOPdataset2", + "description": "web_p.renderBOPdataset2", + "peekOfCode": "Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\n# def _get_path_model(name_model: str) -> str:\n# # TODO on name_model find path for mesh (model.fbx)\n# # local_path/assets/libs/objects # assets/mesh/\n# loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))", + "detail": "web_p.renderBOPdataset2", + "documentation": {} + }, + { + "label": "copy_and_move_folder", + "kind": 2, + "importPath": "web_p.robot_builder", + "description": "web_p.robot_builder", + "peekOfCode": "def copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/robot_builder/\"\ncopy_and_move_folder(source_folder, args.path + args.name)", + "detail": "web_p.robot_builder", + "documentation": {} + }, + { + "label": "parser", + "kind": 5, + "importPath": "web_p.robot_builder", + "description": "web_p.robot_builder", + "peekOfCode": "parser = argparse.ArgumentParser()\nparser.add_argument(\"--path\")\nparser.add_argument(\"--nDOF\")\nparser.add_argument(\"--toolType\")\nparser.add_argument(\"--name\")\nargs = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)", + "detail": "web_p.robot_builder", + "documentation": {} + }, + { + "label": "args", + "kind": 5, + "importPath": "web_p.robot_builder", + "description": "web_p.robot_builder", + "peekOfCode": "args = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/robot_builder/\"", + "detail": "web_p.robot_builder", + "documentation": {} + }, + { + "label": "source_folder", + "kind": 5, + "importPath": "web_p.robot_builder", + "description": "web_p.robot_builder", + "peekOfCode": "source_folder = os.path.dirname(os.path.abspath(__file__)) + \"/robot_builder/\"\ncopy_and_move_folder(source_folder, args.path + args.name)", + "detail": "web_p.robot_builder", + "documentation": {} + }, + { + "label": "trans_3Dto2D_point_in_camera", + "kind": 2, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "def trans_3Dto2D_point_in_camera(xyz, K_m, R_m2c, t_m2c):\n \"\"\"\n xyz : 3D-координаты точки\n K_m : внутренняя матрица камеры 3х3\n R_m2c : матрица поворота 3х3\n t_m2c : вектор перемещения 3х1\n return [u,v]\n \"\"\"\n K = np.array(K_m)\n r = np.array(R_m2c)", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "gt_parse", + "kind": 2, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "def gt_parse(path: str, out_dir: str):\n global nn_image\n with open(os.path.join(path, FILE_GT_COCO), \"r\") as fh:\n coco_data = json.load(fh)\n with open(os.path.join(path, FILE_GT), \"r\") as fh:\n gt_data = json.load(fh)\n with open(os.path.join(path, FILE_GT_INFO), \"r\") as fh:\n gt_info = json.load(fh)\n for img in coco_data[\"images\"]:\n rgb_file = os.path.join(path, img[\"file_name\"])", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "explore", + "kind": 2, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "def explore(path: str, res_dir: str):\n if not os.path.isdir(path):\n return\n folders = [\n os.path.join(path, o)\n for o in os.listdir(path)\n if os.path.isdir(os.path.join(path, o))\n ]\n for path_entry in folders:\n if os.path.isfile(os.path.join(path_entry,FILE_GT_COCO)) and \\", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "BOP2DOPE_dataset", + "kind": 2, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "def BOP2DOPE_dataset(dpath: str, out_dir: str) -> str:\n \"\"\" Convert BOP-dataset to YOLO format for train \"\"\"\n res_dir = os.path.join(out_dir, DIR_ROOT_DS)\n if os.path.isdir(res_dir):\n shutil.rmtree(res_dir)\n os.mkdir(res_dir)\n explore(dpath, res_dir)\n return out_dir\ndef train(dopepath:str, wname:str, epochs:int, pretrain: bool, lname: list):\n import random", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "train", + "kind": 2, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "def train(dopepath:str, wname:str, epochs:int, pretrain: bool, lname: list):\n import random\n # try:\n import configparser as configparser\n # except ImportError:\n # import ConfigParser as configparser\n import torch\n # import torch.nn.parallel\n import torch.optim as optim\n import torch.utils.data", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "train_Dope_i", + "kind": 2, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "def train_Dope_i(path:str, wname:str, dname:str, outpath:str, epochs:int, pretrain: bool):\n \"\"\" Main procedure for train DOPE model \"\"\"\n global K_intrinsic, model_info, camera_data, im_width\n if not os.path.isdir(outpath):\n print(f\"Invalid output path '{outpath}'\")\n exit(-1)\n out_dir = os.path.join(outpath, wname)\n ds_path = os.path.join(path, dname)\n if not os.path.isdir(ds_path):\n print(f\"{ds_path} : no BOP directory\")", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "FILE_RBS_INFO", + "kind": 5, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "FILE_RBS_INFO = \"rbs_info.json\"\nFILE_CAMERA = \"camera.json\"\nFILE_GT = \"scene_gt.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nFILE_GT_INFO = \"scene_gt_info.json\"\nFILE_MODEL = \"epoch\"\nEXT_MODEL = \".pth\"\nEXT_RGB = \"jpg\"\nDIR_ROOT_DS = \"dataset_dope\"\nDIR_TRAIN_OUT = \"out_weights\"", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "MODEL_SCALE", + "kind": 5, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "MODEL_SCALE = 1000 # исходная модель в метрах, преобразуем в мм (для DOPE)\n# Own_Numbering_Files = True # наименование image-файлов: собственная нумерация\nnn_image = 0\nK_intrinsic = []\nmodel_info = []\ncamera_data = {}\nim_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "nn_image", + "kind": 5, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "nn_image = 0\nK_intrinsic = []\nmodel_info = []\ncamera_data = {}\nim_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "K_intrinsic", + "kind": 5, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "K_intrinsic = []\nmodel_info = []\ncamera_data = {}\nim_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],\n# [min(x), min(y), max(z)],", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "model_info", + "kind": 5, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "model_info = []\ncamera_data = {}\nim_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],\n# [min(x), min(y), max(z)],\n# [max(x), min(y), max(z)],", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "camera_data", + "kind": 5, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "camera_data = {}\nim_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],\n# [min(x), min(y), max(z)],\n# [max(x), min(y), max(z)],\n# [max(x), max(y), min(z)],", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "im_width", + "kind": 5, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "im_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],\n# [min(x), min(y), max(z)],\n# [max(x), min(y), max(z)],\n# [max(x), max(y), min(z)],\n# [max(x), max(y), max(z)],", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "nb_update_network", + "kind": 5, + "importPath": "web_p.train_Dope", + "description": "web_p.train_Dope", + "peekOfCode": "nb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],\n# [min(x), min(y), max(z)],\n# [max(x), min(y), max(z)],\n# [max(x), max(y), min(z)],\n# [max(x), max(y), max(z)],\n# [max(x), min(y), max(z)],", + "detail": "web_p.train_Dope", + "documentation": {} + }, + { + "label": "convert2relative", + "kind": 2, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "def convert2relative(height, width, bbox):\n \"\"\" YOLO format use relative coordinates for annotation \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef gt_parse(path: str, out_dir: str):\n global nn_image, f1, f2\n with open(os.path.join(path, FILE_GT_COCO), \"r\") as fh:\n coco_data = json.load(fh)", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "gt_parse", + "kind": 2, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "def gt_parse(path: str, out_dir: str):\n global nn_image, f1, f2\n with open(os.path.join(path, FILE_GT_COCO), \"r\") as fh:\n coco_data = json.load(fh)\n for img in coco_data[\"images\"]:\n rgb_file = os.path.join(path, img[\"file_name\"])\n if os.path.isfile(rgb_file):\n ext = os.path.splitext(rgb_file)[1] # only ext\n f = f\"{nn_image:06}\"\n out_img = os.path.join(out_dir, DIR_RGB_DS, f + ext)", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "explore", + "kind": 2, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "def explore(path: str, res_dir: str):\n if not os.path.isdir(path):\n return\n folders = [\n os.path.join(path, o)\n for o in os.listdir(path)\n if os.path.isdir(os.path.join(path, o))\n ]\n for path_entry in folders:\n if os.path.isfile(os.path.join(path_entry,FILE_GT_COCO)):", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "BOP2Yolo_dataset", + "kind": 2, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "def BOP2Yolo_dataset(dpath: str, out_dir: str, lname: list) -> str:\n \"\"\" Convert BOP-dataset to YOLO format for train \"\"\"\n cfg_yaml = os.path.join(out_dir, FILE_RBS_TRAIN)\n p = os.path.join(out_dir, DIR_ROOT_DS, DIR_COCO_DS)\n cfg_data = {\"path\": p, \"train\": FILE_L_TRAIN, \"val\": FILE_L_VAL}\n cfg_data[\"names\"] = {i:x for i,x in enumerate(lname)}\n with open(cfg_yaml, \"w\") as fh:\n yaml.dump(cfg_data, fh)\n res_dir = os.path.join(out_dir, DIR_ROOT_DS)\n if not os.path.isdir(res_dir):", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "train_YoloV8", + "kind": 2, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "def train_YoloV8(path:str, wname:str, dname:str, outpath:str, epochs:int, pretrain: bool):\n \"\"\" Main procedure for train YOLOv8 model \"\"\"\n if not os.path.isdir(outpath):\n print(f\"Invalid output path '{outpath}'\")\n exit(-1)\n out_dir = os.path.join(outpath, wname)\n if pretrain:\n # продолжить обучение\n if not os.path.isdir(out_dir):\n print(f\"No dir '{out_dir}'\")", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "FILE_BASEMODEL", + "kind": 5, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "FILE_BASEMODEL = \"yolov8n.pt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_RBS_TRAIN = \"rbs_train.yaml\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nFILE_L_TRAIN = \"i_train.txt\"\nFILE_L_VAL = \"i_val.txt\"\nFILE_TRAIN_RES = \"weights/last.pt\"\nDIR_ROOT_DS = \"datasets\"\nDIR_COCO_DS = \"rbs_coco\"\nDIR_RGB_DS = \"images\"", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "FILE_RBS_TRAIN", + "kind": 5, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "FILE_RBS_TRAIN = \"rbs_train.yaml\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nFILE_L_TRAIN = \"i_train.txt\"\nFILE_L_VAL = \"i_val.txt\"\nFILE_TRAIN_RES = \"weights/last.pt\"\nDIR_ROOT_DS = \"datasets\"\nDIR_COCO_DS = \"rbs_coco\"\nDIR_RGB_DS = \"images\"\nDIR_LABELS_DS = \"labels\"\nSZ_SERIES = 15 # number of train images per validation images", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "FILE_TRAIN_RES", + "kind": 5, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "FILE_TRAIN_RES = \"weights/last.pt\"\nDIR_ROOT_DS = \"datasets\"\nDIR_COCO_DS = \"rbs_coco\"\nDIR_RGB_DS = \"images\"\nDIR_LABELS_DS = \"labels\"\nSZ_SERIES = 15 # number of train images per validation images\nnn_image = 0\nf1 = f2 = None\ndef convert2relative(height, width, bbox):\n \"\"\" YOLO format use relative coordinates for annotation \"\"\"", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "SZ_SERIES", + "kind": 5, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "SZ_SERIES = 15 # number of train images per validation images\nnn_image = 0\nf1 = f2 = None\ndef convert2relative(height, width, bbox):\n \"\"\" YOLO format use relative coordinates for annotation \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef gt_parse(path: str, out_dir: str):", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "nn_image", + "kind": 5, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "nn_image = 0\nf1 = f2 = None\ndef convert2relative(height, width, bbox):\n \"\"\" YOLO format use relative coordinates for annotation \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef gt_parse(path: str, out_dir: str):\n global nn_image, f1, f2", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "f1", + "kind": 5, + "importPath": "web_p.train_Yolo", + "description": "web_p.train_Yolo", + "peekOfCode": "f1 = f2 = None\ndef convert2relative(height, width, bbox):\n \"\"\" YOLO format use relative coordinates for annotation \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef gt_parse(path: str, out_dir: str):\n global nn_image, f1, f2\n with open(os.path.join(path, FILE_GT_COCO), \"r\") as fh:", + "detail": "web_p.train_Yolo", + "documentation": {} + }, + { + "label": "copy_and_move_folder", + "kind": 2, + "importPath": "web_p.train_mock", + "description": "web_p.train_mock", + "peekOfCode": "def copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/train/\"\ncopy_and_move_folder(source_folder, args.path)", + "detail": "web_p.train_mock", + "documentation": {} + }, + { + "label": "parser", + "kind": 5, + "importPath": "web_p.train_mock", + "description": "web_p.train_mock", + "peekOfCode": "parser = argparse.ArgumentParser()\nparser.add_argument(\"--path\")\nparser.add_argument(\"--form\")\nargs = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")", + "detail": "web_p.train_mock", + "documentation": {} + }, + { + "label": "args", + "kind": 5, + "importPath": "web_p.train_mock", + "description": "web_p.train_mock", + "peekOfCode": "args = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/train/\"", + "detail": "web_p.train_mock", + "documentation": {} + }, + { + "label": "source_folder", + "kind": 5, + "importPath": "web_p.train_mock", + "description": "web_p.train_mock", + "peekOfCode": "source_folder = os.path.dirname(os.path.abspath(__file__)) + \"/train/\"\ncopy_and_move_folder(source_folder, args.path)", + "detail": "web_p.train_mock", + "documentation": {} + } +] \ No newline at end of file diff --git a/.vscode/launch.json b/.vscode/launch.json index e477ca7..86e893f 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -1,40 +1,36 @@ { - // Use IntelliSense to learn about possible attributes. - // Hover to view descriptions of existing attributes. - // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 - "version": "0.2.0", - - "configurations": [ - - { - "type": "node", - "request": "launch", - "name": "server-dev", - "runtimeExecutable": "npm", - "runtimeArgs": [ - "run-script", "dev" - ], - "cwd": "${workspaceRoot}/server/", - }, - { - "type": "node", - "request": "launch", - "name": "server-test-watch", - "runtimeExecutable": "npm", - "runtimeArgs": [ - "run-script", "test:watch" - ], - "cwd": "${workspaceRoot}/server/", - }, - { - "type": "node", - "request": "launch", - "name": "ui-dev", - "runtimeExecutable": "npm", - "runtimeArgs": [ - "run-script", "dev" - ], - "cwd": "${workspaceRoot}/ui/", - } - ] -} \ No newline at end of file + "version": "0.2.0", + "configurations": [ + { + "type": "node", + "request": "launch", + "name": "server-dev", + "runtimeExecutable": "npm", + "runtimeArgs": ["run-script", "dev"], + "cwd": "${workspaceRoot}/server/" + }, + { + "type": "node", + "request": "launch", + "name": "server-test-watch", + "runtimeExecutable": "npm", + "runtimeArgs": ["run-script", "test:watch"], + "cwd": "${workspaceRoot}/server/" + }, + { + "type": "node", + "request": "launch", + "name": "ui-dev", + "runtimeExecutable": "npm", + "runtimeArgs": ["run-script", "dev"], + "cwd": "${workspaceRoot}/ui/" + }, + { + "type": "chrome", + "request": "launch", + "name": "Launch debug chrome", + "url": "http://localhost:3000", + "webRoot": "${workspaceFolder}" + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json index fc4aa24..2793cf8 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,6 +1,35 @@ { "cSpell.words": [ + "введите", "Ведите", - "typedataset" - ] + "дерево", + "Количество", + "модели", + "может", + "навык", + "Новое", + "отрицательное", + "принимать", + "скила", + "создано", + "число", + "эпох", + "эпоха", + "Collada", + "Contolls", + "GLTF", + "grau", + "idontsudo", + "raycaster", + "skils", + "typedataset", + "URDF", + "usecases" + ], + "files.exclude": { + "**/.git": false, + "**/.svn": false, + "**/.hg": false, + "**/CVS": false + } } diff --git a/README.md b/README.md index 13118e8..68b7e6e 100644 --- a/README.md +++ b/README.md @@ -38,10 +38,12 @@ git clone https://gitlab.com/robossembler/webservice Для работы Генератора Датасетов нужно задать следующие переменные в окружении `bash` ```bash -export PYTHON_BLENDER="путь_к_директории_с_файлами_из_rcg_pipeline" -export PYTHON_BLENDER_PROC="путь_к_генератору_датасетов_renderBOPdataset.py" +export PYTHON_BLENDER="/путь_к_директории_с_файлами_из/rcg_pipeline" +export PYTHON_BLENDER_PROC="/путь_к_генератору_датасетов_/renderBOPdataset.py" +export PYTHON_EDUCATION="absolute_path/webp/education.py" +export PYTHON_ROBOT_BUILDER="/путь_к_генератору_датасетов_/robot_builder.py" +export GET_INTERFACES="/путь_к_директории_WEB_P/get_interfaces.py" ``` - ## Запуск сервера Из директории `server` в корне репозитория diff --git a/server/.eslintrc.cjs b/server/.eslintrc.cjs index 9f3ef29..01f0559 100644 --- a/server/.eslintrc.cjs +++ b/server/.eslintrc.cjs @@ -19,7 +19,7 @@ module.exports = { "@typescript-eslint/no-var-requires": "off", "@typescript-eslint/explicit-module-boundary-types": "off", "@typescript-eslint/no-unused-vars": [ - "warn", // or "error" + "warn", { "argsIgnorePattern": "^_", "varsIgnorePattern": "^_", diff --git a/server/.gitignore b/server/.gitignore index 33da60f..1bde823 100644 --- a/server/.gitignore +++ b/server/.gitignore @@ -8,4 +8,5 @@ coverage build/ model_create.ts public -p.ts \ No newline at end of file +p.ts +package-lock.json \ No newline at end of file diff --git a/server/command.json b/server/command.json new file mode 100644 index 0000000..468f1fe --- /dev/null +++ b/server/command.json @@ -0,0 +1,26 @@ +{ + "tensorBoard": { + "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}", + "date": null, + "status": "Fail,Ok", + "delay": 200, + "checkCommand": null, + "filter": null + }, + "simulationProcess": { + "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}", + "date": null, + "status": null, + "delay": 0, + "checkCommand": null, + "filter": null + }, + "btBuilderProcess": { + "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}", + "date": null, + "status": null, + "delay": 0, + "checkCommand": null, + "filter": null + } +} \ No newline at end of file diff --git a/server/package-lock.json b/server/package-lock.json deleted file mode 100644 index 1c50223..0000000 --- a/server/package-lock.json +++ /dev/null @@ -1,8576 +0,0 @@ -{ - "name": "step-by-step-server", - "version": "0.0.1", - "lockfileVersion": 3, - "requires": true, - "packages": { - "": { - "name": "step-by-step-server", - "version": "0.0.1", - "dependencies": { - "@grpc/grpc-js": "^1.9.0", - "axios": "^1.6.2", - "babel-register": "^6.26.0", - "class-transformer": "^0.5.1", - "class-validator": "^0.14.0", - "cors": "^2.8.5", - "express": "^4.18.2", - "express-fileupload": "^1.4.2", - "first-di": "^1.0.11", - "md5": "^2.3.0", - "mongoose": "^7.6.2", - "mongoose-autopopulate": "^1.1.0", - "pm2": "^5.3.1", - "reflect-metadata": "^0.1.13", - "rimraf": "^5.0.5", - "socket.io": "^4.7.2", - "socket.io-client": "^4.7.2", - "spark-md5": "^3.0.2", - "ts-md5": "^1.3.1", - 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./build/test/test.js'", "test:e2e": "NODE_ENV=e2e tsc-watch --onSuccess 'ts-node ./build/test/test.js'", - "dev": "NODE_ENV=dev tsc-watch --onSuccess 'ts-node ./build/src/main.js'", - "build:stand": " " + "dev": "NODE_ENV=dev tsc-watch --onSuccess 'ts-node ./build/src/main.js'" }, "author": "IDONTSUDO", "devDependencies": { @@ -24,34 +23,28 @@ "chai": "latest", "eslint": "^8.47.0", "mocha": "latest", - "nyc": "latest", + "node-watch": "^0.7.4", "source-map-support": "latest", "ts-node": "^10.9.1", "tslint": "latest", - "typescript": "^5.1.6", - "node-watch": "^0.7.4", - "nodemon": "^3.0.1" + "typescript": "^5.1.6" }, "dependencies": { - "@grpc/grpc-js": "^1.9.0", "axios": "^1.6.2", - "babel-register": "^6.26.0", "class-transformer": "^0.5.1", "class-validator": "^0.14.0", "cors": "^2.8.5", "express": "^4.18.2", "express-fileupload": "^1.4.2", - "first-di": "^1.0.11", - "md5": "^2.3.0", "mongoose": "^7.6.2", "mongoose-autopopulate": "^1.1.0", + "pattern-matching-ts": "^2.0.0", "pm2": "^5.3.1", "reflect-metadata": "^0.1.13", "rimraf": "^5.0.5", "socket.io": "^4.7.2", "socket.io-client": "^4.7.2", - "spark-md5": "^3.0.2", - "ts-md5": "^1.3.1", + "ts-pattern": "^5.1.1", "tsc-watch": "^6.0.4", "uuid": "^9.0.1" } diff --git a/server/src/core/controllers/app.ts b/server/src/core/controllers/app.ts index a65ba2f..41a52e7 100644 --- a/server/src/core/controllers/app.ts +++ b/server/src/core/controllers/app.ts @@ -6,7 +6,6 @@ import { Server } from "socket.io"; import { createServer } from "http"; import { SocketSubscriber } from "./socket_controller"; import { dirname } from "path"; -import { SetLastActivePipelineToRealTimeServiceScenario } from "../scenarios/set_active_pipeline_to_realtime_service_scenario"; import { CheckAndCreateStaticFilesFolderUseCase } from "../usecases/check_and_create_static_files_folder_usecase"; import { DataBaseConnectUseCase } from "../usecases/database_connect_usecase"; import { TypedEvent } from "../helpers/typed_event"; @@ -58,8 +57,6 @@ export class App extends TypedEvent { io.on("connection", (socket) => { this.socketSubscribers.map((el) => { el.emitter.on((e) => { - console.log(el.event) - console.log(e) socket.emit(el.event, e); }); }); @@ -109,6 +106,7 @@ export class App extends TypedEvent { await result.fold( async (_s) => { await new CheckAndCreateStaticFilesFolderUseCase().call(); + // await new SetLastActivePipelineToRealTimeServiceScenario().call(); }, async (_e) => { @@ -124,3 +122,5 @@ export class App extends TypedEvent { return rootDir + "public/"; }; } + + diff --git a/server/src/core/controllers/http_controller.ts b/server/src/core/controllers/http_controller.ts index 7fd5561..5b61528 100644 --- a/server/src/core/controllers/http_controller.ts +++ b/server/src/core/controllers/http_controller.ts @@ -3,6 +3,7 @@ import { Result } from "../helpers/result"; import { Router, Request, Response } from "express"; import { IRouteModel, Routes } from "../interfaces/router"; import { CoreValidation } from "../validations/core_validation"; +import { plainToInstance } from "class-transformer"; export type HttpMethodType = "GET" | "POST" | "PUT" | "DELETE" | "PATCH" | "PATCH" | "HEAD"; @@ -28,16 +29,48 @@ export abstract class CallbackStrategyWithFileUpload { abstract idValidationExpression: CoreValidation; abstract call(file: File, id: string): ResponseBase; } +export abstract class CallbackStrategyWithFilesUploads { + abstract chuckingFileExpressions: RegExp[]; + abstract call(files: File[]): ResponseBase; +} -interface ISubSetFeatureRouter { +export class SubRouter implements ISubSetFeatureRouter { method: HttpMethodType; subUrl: string; fn: - | CallbackStrategyWithValidationModel + | CallbackStrategyWithValidationModel | CallbackStrategyWithEmpty | CallbackStrategyWithIdQuery | CallBackStrategyWithQueryPage - | CallbackStrategyWithFileUpload; + | CallbackStrategyWithFileUpload + | CallbackStrategyWithFilesUploads; + constructor( + method: HttpMethodType, + subUrl: string, + fn: + | CallbackStrategyWithValidationModel + | CallbackStrategyWithEmpty + | CallbackStrategyWithIdQuery + | CallBackStrategyWithQueryPage + | CallbackStrategyWithFileUpload + | CallbackStrategyWithFilesUploads + ) { + this.fn = fn; + this.subUrl = subUrl; + this.method = method; + } +} + +interface ISubSetFeatureRouter { + method: HttpMethodType; + subUrl: string; + fn: + | CallbackStrategyWithValidationModel + | CallbackStrategyWithEmpty + | CallbackStrategyWithIdQuery + | CallBackStrategyWithQueryPage + | CallbackStrategyWithFileUpload + | CallbackStrategyWithFilesUploads; } abstract class ICoreHttpController { @@ -78,11 +111,11 @@ export class CoreHttpController implements ICoreHttpController { } call(): Routes { if (this.subRoutes.isNotEmpty()) { - this.subRoutes.map((el) => { + this.subRoutes.map(async (el) => { this.router[el.method.toLowerCase()](this.mainURL + "/" + el.subUrl, async (req, res) => { if (el.fn instanceof CallbackStrategyWithValidationModel) { - // TODO(IDONTSUDO): - throw Error("needs to be implimed"); + this.responseHelper(res, el.fn.call(req.body)); + return; } if (el.fn instanceof CallbackStrategyWithIdQuery) { if (req.query.id === undefined) { @@ -104,6 +137,7 @@ export class CoreHttpController implements ICoreHttpController { await this.responseHelper(res, el.fn.call(req["files"]["file"])); } } + if (el.fn instanceof CallBackStrategyWithQueryPage) { throw Error("needs to be implimed"); } @@ -142,6 +176,7 @@ export class CoreHttpController implements ICoreHttpController { return; } } + await this.responseHelper(res, el.fn.call(req["files"]["file"], req.query.id)); } }); @@ -171,10 +206,10 @@ export class CoreHttpController implements ICoreHttpController { router: this.router, }; } - public put(usecase: CallbackStrategyWithValidationModel) { + public put(usecase: any) { this.routes["PUT"] = usecase; } - public delete(usecase: CallbackStrategyWithValidationModel) { + public delete(usecase: any) { this.routes["DELETE"] = usecase; } public async requestResponseController( @@ -191,7 +226,6 @@ export class CoreHttpController implements ICoreHttpController { if (req.query.page !== undefined) { payload = String(req.query.page); } - if (req.query.id !== undefined) { payload = String(req.query.id); } diff --git a/server/src/core/controllers/routes.ts b/server/src/core/controllers/routes.ts index b63fc5b..bd7105b 100644 --- a/server/src/core/controllers/routes.ts +++ b/server/src/core/controllers/routes.ts @@ -1,9 +1,29 @@ +import { BehaviorTreesPresentation } from "../../features/behavior_trees/behavior_trees_presentation"; import { DatasetsPresentation } from "../../features/datasets/datasets_presentation"; +import { CalculationsTemplatePresentation } from "../../features/calculations_templates/calculations_template_presentation"; import { ProjectsPresentation } from "../../features/projects/projects_presentation"; -// import { ProjectsPresentation } from "../../features/_projects/projects_presentation"; import { extensions } from "../extensions/extensions"; import { Routes } from "../interfaces/router"; +import { ScenesPresentation } from "../../features/scenes/scenes_presentation"; +import { CalculationsInstancesPresentation } from "../../features/calculations_instance/calculations_instance_presentation"; +import { DigitalTwinsInstancePresentation } from "../../features/digital_twins_instance/digital_twins_instance_presentation"; +import { DigitalTwinsTemplatePresentation } from "../../features/digital_twins_template/digital_twins_template_presentation"; +import { TopicsPresentation } from "../../features/topics/topics_presentation"; +import { SkillsPresentation } from "../../features/skills/skill_presentation"; +import { RunTimePresentation } from "../../features/runtime/runtime_presentation"; extensions(); -export const httpRoutes: Routes[] = [new ProjectsPresentation(), new DatasetsPresentation()].map((el) => el.call()); +export const httpRoutes: Routes[] = [ + new ProjectsPresentation(), + new DatasetsPresentation(), + new ScenesPresentation(), + new BehaviorTreesPresentation(), + new CalculationsTemplatePresentation(), + new CalculationsInstancesPresentation(), + new DigitalTwinsTemplatePresentation(), + new DigitalTwinsInstancePresentation(), + new TopicsPresentation(), + new SkillsPresentation(), + new RunTimePresentation(), +].map((el) => el.call()); diff --git a/server/src/core/di/env.ts b/server/src/core/di/env.ts deleted file mode 100644 index 601a751..0000000 --- a/server/src/core/di/env.ts +++ /dev/null @@ -1,44 +0,0 @@ -// import { Service } from "typedi"; - -// @Service() -// export class IEnv{ -// rootFolder!: string; -// constructor(){ - -// } -// toStringEnv(){ -// return '' -// } -// static env(){ -// return '' -// } -// } - -// @Service() -// export class DevEnv implements IEnv { -// rootFolder:string; -// constructor(rootFolder:string){ -// this.rootFolder = rootFolder -// } -// toStringEnv(): string { -// return DevEnv.env() -// } -// static env(){ -// return 'DevEnv' - -// } -// } -// @Service() -// export class UnitTestEnv implements IEnv{ -// rootFolder:string; -// constructor(rootFolder:string){ -// this.rootFolder = rootFolder -// } -// toStringEnv(): string { -// return UnitTestEnv.env() -// } -// static env(){ -// return 'UnitTestEnv' - -// } -// } diff --git a/server/src/core/di/register_di.ts b/server/src/core/di/register_di.ts deleted file mode 100644 index 684bd08..0000000 --- a/server/src/core/di/register_di.ts +++ /dev/null @@ -1,53 +0,0 @@ -// import { DevEnv, IEnv, UnitTestEnv } from "./env"; -// import { extensions } from "../extensions/extensions"; -// // import { Container, Service } from 'typedi'; - -// export default function locator(env: IEnv) { -// extensions(); -// envRegister(env); -// registerRepository(env); -// registerController(env); -// registerService(env); -// // override(MetaDataFileManagerModel, MetaDataFileManagerModel); -// } - -// const envRegister = (env: IEnv) => { -// switch (env.toStringEnv()) { -// case UnitTestEnv.env(): -// // override(IEnv, UnitTestEnv); -// return; -// case "DevEnv": -// // override(IEnv, DevEnv); -// return; -// } -// }; - -// const registerRepository = (env: IEnv) => { -// switch (env.toStringEnv()) { -// case UnitTestEnv.env(): -// // override(IEnv, UnitTestEnv); - -// return; -// case DevEnv.env(): -// // override(IEnv, DevEnv); -// return; -// } -// }; - -// const registerController = (env: IEnv) => { -// switch (env.toStringEnv()) { -// case UnitTestEnv.env(): -// return; -// case DevEnv.env(): -// return; -// } -// }; - -// const registerService = (env: IEnv) => { -// switch (env.toStringEnv()) { -// case UnitTestEnv.env(): -// return; -// case DevEnv.env(): -// return; -// } -// }; diff --git a/server/src/core/extensions/array.ts b/server/src/core/extensions/array.ts index f62faa8..7ee0ec0 100644 --- a/server/src/core/extensions/array.ts +++ b/server/src/core/extensions/array.ts @@ -6,7 +6,6 @@ export const ArrayExtensions = () => { }; } if ([].equals === undefined) { - // eslint-disable-next-line no-extend-native Array.prototype.equals = function (array, strict = true) { if (!array) return false; @@ -27,7 +26,6 @@ export const ArrayExtensions = () => { }; } if ([].lastElement === undefined) { - // eslint-disable-next-line no-extend-native Array.prototype.lastElement = function () { const instanceCheck = this; if (instanceCheck === undefined) { @@ -39,7 +37,6 @@ export const ArrayExtensions = () => { }; } if ([].isEmpty === undefined) { - // eslint-disable-next-line no-extend-native Array.prototype.isEmpty = function () { return this.length === 0; }; diff --git a/server/src/core/extensions/extensions.ts b/server/src/core/extensions/extensions.ts index b945e51..3720a4f 100644 --- a/server/src/core/extensions/extensions.ts +++ b/server/src/core/extensions/extensions.ts @@ -21,6 +21,8 @@ declare global { hasPattern(pattern: string): boolean; hasNoPattern(pattern: string): boolean; pathNormalize(): string; + isEqual(str: string): boolean; + isEqualMany(str: string[]): boolean; } } export const extensions = () => { diff --git a/server/src/core/extensions/string.ts b/server/src/core/extensions/string.ts index a05eee1..2f04df4 100644 --- a/server/src/core/extensions/string.ts +++ b/server/src/core/extensions/string.ts @@ -1,6 +1,5 @@ export const StringExtensions = () => { if ("".isEmpty === undefined) { - // eslint-disable-next-line no-extend-native String.prototype.isEmpty = function () { return this.length === 0; }; @@ -11,7 +10,6 @@ export const StringExtensions = () => { }; } if ("".isNotEmpty === undefined) { - // eslint-disable-next-line no-extend-native String.prototype.isNotEmpty = function () { return this.length !== 0; }; @@ -31,4 +29,19 @@ export const StringExtensions = () => { return !this.hasPattern(pattern); }; } + if ("".isEqual === undefined) { + String.prototype.isEqual = function (str: string) { + return this === str; + }; + } + if ("".isEqualMany === undefined) { + String.prototype.isEqualMany = function (str: string[]) { + for (const el of str) { + if (el === this) { + return true; + } + } + return false; + }; + } }; diff --git a/server/src/core/middlewares/validation_model.ts b/server/src/core/middlewares/validation_model.ts index 91525e2..f146d17 100644 --- a/server/src/core/middlewares/validation_model.ts +++ b/server/src/core/middlewares/validation_model.ts @@ -10,11 +10,13 @@ export const validationModelMiddleware = ( forbidNonWhitelisted = true ): RequestHandler => { return (req, res, next) => { + if (type === null && type == undefined) { next(); return; } const model = plainToInstance(type, req[value]); + validate(model, { skipMissingProperties, whitelist, forbidNonWhitelisted }).then((errors: ValidationError[]) => { if (errors.length > 0) { const message = errors.map((error: ValidationError) => Object.values(error.constraints)).join(", "); diff --git a/server/src/core/models/instance.ts b/server/src/core/models/instance.ts new file mode 100644 index 0000000..34fa6ab --- /dev/null +++ b/server/src/core/models/instance.ts @@ -0,0 +1,5 @@ +export interface Instance { + instanceName: string; + path: string; + instancePath: string; +} diff --git a/server/src/core/models/process_model.ts b/server/src/core/models/process_model.ts index 85167f5..2bb86b6 100644 --- a/server/src/core/models/process_model.ts +++ b/server/src/core/models/process_model.ts @@ -1,6 +1,6 @@ -import { Trigger } from "../../features/_triggers/models/trigger_database_model"; import { EXEC_TYPE } from "./exec_error_model"; +export interface Trigger {} export interface IPipeline { process: IProcess; trigger?: Trigger; diff --git a/server/src/core/models/robossembler_assets.ts b/server/src/core/models/robossembler_assets.ts index 8d4c9c3..b560384 100644 --- a/server/src/core/models/robossembler_assets.ts +++ b/server/src/core/models/robossembler_assets.ts @@ -21,3 +21,4 @@ export class RobossemblerAssets { return this; } } + \ No newline at end of file diff --git a/server/src/core/models/skill_model.ts b/server/src/core/models/skill_model.ts new file mode 100644 index 0000000..c22ab7d --- /dev/null +++ b/server/src/core/models/skill_model.ts @@ -0,0 +1,189 @@ +import { IsArray, IsEnum, IsNotEmpty, IsString, ValidateNested } from "class-validator"; +import { Type } from "class-transformer"; +export class TopicViewModel { + @IsNotEmpty() + @IsString() + name: string; + @IsNotEmpty() + @IsString() + type: string; + constructor(name: string, type: string) { + this.name = name; + this.type = type; + } + static empty() { + return new TopicViewModel("", ""); + } +} + +export interface IParam { + type: string; + dependency: Object; +} +export interface Skill { + SkillPackage: ISkillPackage; + Module: IModule; + Launch: ILaunch; + ROS2: IRos2; + BTAction: IBTAction[]; + Interface: IInterface; + Settings: ISetting[]; + xxx: IXxx; +} + +export interface IBTAction { + name: string; + format: string; + type: string; + param: IParam[]; + result: string[]; +} + +export interface IInterface { + Input: IPut[]; + Output: IPut[]; +} + +export interface IPut { + name: string; + type: string; +} + +export interface ILaunch { + executable: string; +} + +export interface IModule { + name: string; + description: string; +} + +export interface IRos2 { + node_name: string; +} + +export interface ISetting { + name: string; + value: number | string; +} + +export interface ISkillPackage { + name: string; + version: string; + format: string; +} + +export interface IXxx { + cameraLink: string; + topicImage: string; + topicCameraInfo: string; +} + +export class SkillPackage implements ISkillPackage { + @IsString() + name: string; + @IsString() + version: string; + @IsString() + format: string; +} +export class Module implements IModule { + @IsString() + name: string; + @IsString() + description: string; +} +export class BTAction implements IBTAction { + @IsString() + name: string; + @IsString() + format: string; + @IsString() + type: string; + @IsArray() + param: IParam[]; + @IsArray() + result: string[]; +} +export class Launch implements ILaunch { + @IsString() + executable: string; +} +export class Ros2 implements IRos2 { + @IsString() + node_name: string; +} +export class Put implements IPut { + @IsString() + name: string; + @IsString() + type: string; +} +export class Interface implements IInterface { + @ValidateNested() + @Type(() => Put) + Input: IPut[]; + @ValidateNested() + @Type(() => Put) + Output: IPut[]; +} +export class Setting implements ISetting { + name: string; + value: string | number; +} +export class Xxx implements IXxx { + cameraLink: string; + topicImage: string; + topicCameraInfo: string; +} +export class SkillModel implements Skill { + @ValidateNested() + @Type(() => SkillPackage) + SkillPackage: ISkillPackage; + @ValidateNested() + @Type(() => Module) + Module: IModule; + @ValidateNested() + @Type(() => Launch) + Launch: ILaunch; + @ValidateNested() + @Type(() => Ros2) + ROS2: IRos2; + @ValidateNested() + @IsArray() + @Type(() => BTAction) + BTAction: IBTAction[]; + @ValidateNested() + @Type(() => Interface) + Interface: IInterface; + @ValidateNested() + @IsArray() + @Type(() => Setting) + Settings: ISetting[]; + @ValidateNested() + @Type(() => Xxx) + xxx: IXxx; +} + +export enum BtAction { + ACTION = "ACTION", + CONDITION = "CONDITION", +} +export class BtActionViewModel implements IBTAction { + @IsNotEmpty() + @IsString() + name: string; + @IsNotEmpty() + @IsString() + format: string; + @IsNotEmpty() + @IsString() + type: string; + param: IParam[]; + @IsNotEmpty() + @IsString() + result: string[]; + @IsNotEmpty() + @IsEnum(BtAction) + typeAction: BtAction; +} diff --git a/server/src/core/models/static_files.ts b/server/src/core/models/static_files.ts index aed291c..654fda3 100644 --- a/server/src/core/models/static_files.ts +++ b/server/src/core/models/static_files.ts @@ -1,4 +1,13 @@ -export enum StaticFiles { +export enum StaticFilesProject { robossembler_assets = "robossembler_assets.json", assets = "/assets/assets.json", + parts = "/assets/parts.json", + scenes = "/scenes/", + behaviorTrees = "behavior_trees", + robots = 'robots' +} + +export enum StaticFilesServer { + process = "/process/", + digitalTwins = "/digital_twins/", } diff --git a/server/src/core/repository/file_system_repository.ts b/server/src/core/repository/file_system_repository.ts index 7d89d4b..4cfeb79 100644 --- a/server/src/core/repository/file_system_repository.ts +++ b/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); } - + delete = 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; } - } diff --git a/server/src/core/scenarios/create_intance_scenario.ts b/server/src/core/scenarios/create_intance_scenario.ts new file mode 100644 index 0000000..53b98fe --- /dev/null +++ b/server/src/core/scenarios/create_intance_scenario.ts @@ -0,0 +1,17 @@ +import { CallbackStrategyWithValidationModel, ResponseBase } from "../controllers/http_controller"; +import { Instance } from "../models/instance"; +import { CreateDataBaseModelUseCase } from "../usecases/create_database_model_usecase"; +import { CreateFolderUseCase } from "../usecases/create_folder_usecase"; + +export abstract class CreateInstanceScenario extends CallbackStrategyWithValidationModel { + abstract validationModel: V; + abstract databaseModel: any; + call = async (model: V): ResponseBase => { + model.instancePath = `${model.path}/${model.instanceName}`; + console.log("INSTANCE PATh"); + console.log(model.instancePath) + return (await new CreateFolderUseCase().call(model.instancePath)).map( + async () => await new CreateDataBaseModelUseCase(this.databaseModel).call(model) + ); + }; +} diff --git a/server/src/core/scenarios/create_many_folder_scenario.ts b/server/src/core/scenarios/create_many_folder_scenario.ts new file mode 100644 index 0000000..60b93f7 --- /dev/null +++ b/server/src/core/scenarios/create_many_folder_scenario.ts @@ -0,0 +1,16 @@ +import { Result } from "../helpers/result"; +import { CreateFolderUseCase } from "../usecases/create_folder_usecase"; + +export class CreateManyFolderScenario { + call = async (path: string, foldersNames: string[]): Promise> => { + try { + foldersNames.forEach(async (folder) => { + await new CreateFolderUseCase().call(`${path}${folder}`.normalize()); + }); + return Result.ok("many folder created"); + } catch (error) { + return Result.error(new Error(error)); + } + }; +} + diff --git a/server/src/core/scenarios/create_template_scenario.ts b/server/src/core/scenarios/create_template_scenario.ts new file mode 100644 index 0000000..3a9169e --- /dev/null +++ b/server/src/core/scenarios/create_template_scenario.ts @@ -0,0 +1,22 @@ +import { App } from "../controllers/app"; +import { CallbackStrategyWithValidationModel, ResponseBase } from "../controllers/http_controller"; +import { StaticFilesServer } from "../models/static_files"; +import { CreateDataBaseModelUseCase } from "../usecases/create_database_model_usecase"; +import { CreateFolderUseCase } from "../usecases/create_folder_usecase"; + +interface IModel { + path: string; + name: string; +} + +export abstract class CreateTemplateScenario extends CallbackStrategyWithValidationModel { + validationModel: V; + abstract databaseModel: any; + abstract path: string; + call = async (model: V): ResponseBase => { + model.path = App.staticFilesStoreDir() + StaticFilesServer.process + model.name; + return (await new CreateFolderUseCase().call(model.path)).map(() => { + return new CreateDataBaseModelUseCase(this.databaseModel).call(model); + }); + }; +} diff --git a/server/src/core/scenarios/delete_instance_scenario.ts b/server/src/core/scenarios/delete_instance_scenario.ts new file mode 100644 index 0000000..5a28c20 --- /dev/null +++ b/server/src/core/scenarios/delete_instance_scenario.ts @@ -0,0 +1,20 @@ +import { CallbackStrategyWithIdQuery, ResponseBase } from "../controllers/http_controller"; +import { Instance } from "../models/instance"; +import { DeleteDataBaseModelUseCase } from "../usecases/delete_database_model_usecase"; +import { DeleteRecursiveFolderUseCase } from "../usecases/delete_recursive_folder_usecase"; +import { ReadByIdDataBaseModelUseCase } from "../usecases/read_by_id_database_model_usecase"; +import { CoreValidation } from "../validations/core_validation"; +import { MongoIdValidation } from "../validations/mongo_id_validation"; + + + +export abstract class DeleteInstanceScenario extends CallbackStrategyWithIdQuery { + abstract databaseModel: any; + idValidationExpression: CoreValidation = new MongoIdValidation(); + call = async (id: string): ResponseBase => + (await new ReadByIdDataBaseModelUseCase(this.databaseModel).call(id)).map(async (model) => { + return (await new DeleteRecursiveFolderUseCase().call(model.instancePath)).map( + async () => await new DeleteDataBaseModelUseCase(this.databaseModel).call(id) + ); + }); +} diff --git a/server/src/core/scenarios/delete_template_scenario.ts b/server/src/core/scenarios/delete_template_scenario.ts new file mode 100644 index 0000000..1eb5a8f --- /dev/null +++ b/server/src/core/scenarios/delete_template_scenario.ts @@ -0,0 +1,20 @@ +import { CalculationsTemplateValidationModel } from "../../features/calculations_templates/models/calculations_template_validation_model"; +import { CallbackStrategyWithIdQuery, ResponseBase } from "../controllers/http_controller"; +import { DeleteDataBaseModelUseCase } from "../usecases/delete_database_model_usecase"; +import { DeleteRecursiveFolderUseCase } from "../usecases/delete_recursive_folder_usecase"; +import { ReadByIdDataBaseModelUseCase } from "../usecases/read_by_id_database_model_usecase"; +import { CoreValidation } from "../validations/core_validation"; +import { MongoIdValidation } from "../validations/mongo_id_validation"; + +export abstract class DeleteTemplateScenario extends CallbackStrategyWithIdQuery { + abstract databaseModel: any; + idValidationExpression: CoreValidation = new MongoIdValidation(); + call = async (id: string): ResponseBase => + (await new ReadByIdDataBaseModelUseCase(this.databaseModel).call(id)).map( + async (model) => { + return (await new DeleteRecursiveFolderUseCase().call(model.path)).map( + async () => await new DeleteDataBaseModelUseCase(this.databaseModel).call(id) + ); + } + ); +} diff --git a/server/src/core/scenarios/read_by_id_database_model_scenario.ts b/server/src/core/scenarios/read_by_id_database_model_scenario.ts new file mode 100644 index 0000000..5a69a5a --- /dev/null +++ b/server/src/core/scenarios/read_by_id_database_model_scenario.ts @@ -0,0 +1,22 @@ +import { CallbackStrategyWithIdQuery } from "../controllers/http_controller"; +import { Result } from "../helpers/result"; +import { ReadByIdDataBaseModelUseCase } from "../usecases/read_by_id_database_model_usecase"; +import { CoreValidation } from "../validations/core_validation"; +import { MongoIdValidation } from "../validations/mongo_id_validation"; + +export class ReadByIdDataBaseModelScenario extends CallbackStrategyWithIdQuery { + idValidationExpression: CoreValidation = new MongoIdValidation(); + databaseModel: D; + + constructor(model) { + super(); + this.databaseModel = model; + } + call = async (id: string): Promise> => { + try { + return new ReadByIdDataBaseModelUseCase(this.databaseModel).call(id); + } catch (error) { + return Result.error(error); + } + }; +} diff --git a/server/src/core/scenarios/set_active_pipeline_to_realtime_service_scenario.ts b/server/src/core/scenarios/set_active_pipeline_to_realtime_service_scenario.ts index fa4bf7d..51b569f 100644 --- a/server/src/core/scenarios/set_active_pipeline_to_realtime_service_scenario.ts +++ b/server/src/core/scenarios/set_active_pipeline_to_realtime_service_scenario.ts @@ -1,28 +1,26 @@ -import { - IProjectInstanceModel, - ProjectInstanceDbModel, -} from "../../features/projects/models/project_instance_database_model"; -import { pipelineRealTimeService } from "../../features/_realtime/realtime_presentation"; + + +import { IProjectModel, ProjectDBModel } from "../../features/projects/models/project_model_database_model"; import { App } from "../controllers/app"; +import { PipelineRealTimeService } from "../services/pipeline_real_time_service"; import { CreateFolderUseCase } from "../usecases/create_folder_usecase"; -import { SearchDataBaseModelUseCase } from "../usecases/search_database_model_usecase"; +import { SearchOneDataBaseModelUseCase } from "../usecases/search_database_model_usecase"; + +export const pipelineRealTimeService = new PipelineRealTimeService(); + export class SetLastActivePipelineToRealTimeServiceScenario { call = async (): Promise => { return ( - await new SearchDataBaseModelUseCase(ProjectInstanceDbModel).call({ + await new SearchOneDataBaseModelUseCase(ProjectDBModel).call({ isActive: true, }) ).fold( async (projectModel) => { - if (projectModel.project === null) { - return; - } - + const projectPath = App.staticFilesStoreDir() + projectModel.rootDir + "/"; await new CreateFolderUseCase().call(projectPath); pipelineRealTimeService.setPipelineDependency( - projectModel.project.pipelines, projectPath, projectModel._id, projectModel.rootDir diff --git a/server/src/core/services/executor_program_service.ts b/server/src/core/services/executor_program_service.ts index bee83c7..2f5dc7b 100644 --- a/server/src/core/services/executor_program_service.ts +++ b/server/src/core/services/executor_program_service.ts @@ -41,7 +41,7 @@ export class ExecutorProgramService await delay(300); this.worker = worker; - + const workerDataExec: WorkerDataExec = { command: command, execPath: this.execPath, @@ -50,6 +50,7 @@ export class ExecutorProgramService }; worker.send(workerDataExec); worker.on("message", (e) => { + console.log(JSON.stringify(e)); const spawnError = SpawnError.isError(e); if (spawnError instanceof SpawnError) { @@ -60,7 +61,7 @@ export class ExecutorProgramService const execError = ExecError.isExecError(e); if (execError instanceof ExecError) { - execError.id = id + execError.id = id; this.emit(Result.error(execError)); this.worker = undefined; return; @@ -68,7 +69,7 @@ export class ExecutorProgramService const executorResult = ExecutorResult.isExecutorResult(e); if (executorResult instanceof ExecutorResult) { - executorResult.id = id + executorResult.id = id; this.emit(Result.ok(executorResult)); this.worker = undefined; return; @@ -103,7 +104,8 @@ export class ExecutorProgramService return; } - this.workerExecuted(command, WorkerType.SPAWN, args, id); + const commands = command.split(" "); + this.workerExecuted(commands.at(0), WorkerType.SPAWN, commands.slice(1, commands.length), id); return; } diff --git a/server/src/core/services/pipeline_real_time_service.ts b/server/src/core/services/pipeline_real_time_service.ts index 3213df4..3a3affa 100644 --- a/server/src/core/services/pipeline_real_time_service.ts +++ b/server/src/core/services/pipeline_real_time_service.ts @@ -58,9 +58,8 @@ export class PipelineRealTimeService extends TypedEvent { this.status.pipelineIsRunning = false; } } - setPipelineDependency(pipelineModels: IPipeline[], path: string, projectId: string, rootDir: string) { - this.pipelineModels = pipelineModels; - this.status["projectId"] = projectId; + setPipelineDependency(path: string, projectId: string, rootDir: string) { + this.status["projectId"] = projectId; this.status["path"] = path; this.status["rootDir"] = rootDir; } diff --git a/server/src/core/services/stack_service.ts b/server/src/core/services/stack_service.ts index 16f105b..cb9854b 100644 --- a/server/src/core/services/stack_service.ts +++ b/server/src/core/services/stack_service.ts @@ -1,5 +1,5 @@ import { FilesChangeNotifierService, IHashesCache } from "./files_change_notifier_service"; -import { IPipeline } from "../models/process_model"; +import { IPipeline, Trigger } from "../models/process_model"; import { ExecutorProgramService } from "./executor_program_service"; import { EXEC_EVENT, ExecError, SpawnError } from "../models/exec_error_model"; import { TypedEvent } from "../helpers/typed_event"; @@ -7,8 +7,7 @@ import { Result } from "../helpers/result"; import { ExecutorResult } from "../models/executor_result"; import { delay } from "../helpers/delay"; import { TriggerService } from "./trigger_service"; -import { Trigger } from "../../features/_triggers/models/trigger_database_model"; - + export interface Iteration { hashes: IHashesCache | null; pipeline: IPipeline; diff --git a/server/src/core/services/trigger_service.ts b/server/src/core/services/trigger_service.ts index 940b814..abda9bf 100644 --- a/server/src/core/services/trigger_service.ts +++ b/server/src/core/services/trigger_service.ts @@ -1,10 +1,11 @@ +// @ts-nocheck import * as vm from "node:vm"; import { IHashesCache } from "./files_change_notifier_service"; import { EventsFileChanger } from "../models/meta_data_file_manager_model"; import { Result } from "../helpers/result"; import { TypedEvent } from "../helpers/typed_event"; -import { Trigger, TriggerType } from "../../features/_triggers/models/trigger_database_model"; - +import { Trigger } from "../models/process_model"; + export class TriggerCallResult { results: Array; diff --git a/server/src/core/usecases/check_and_create_static_files_folder_usecase.ts b/server/src/core/usecases/check_and_create_static_files_folder_usecase.ts index 17decc3..82ed170 100644 --- a/server/src/core/usecases/check_and_create_static_files_folder_usecase.ts +++ b/server/src/core/usecases/check_and_create_static_files_folder_usecase.ts @@ -1,24 +1,19 @@ import { App } from "../controllers/app"; +import { StaticFilesServer } from "../models/static_files"; import { FileSystemRepository } from "../repository/file_system_repository"; import { CreateFolderUseCase } from "./create_folder_usecase"; export class CheckAndCreateStaticFilesFolderUseCase { - fileSystemRepository: FileSystemRepository; - - constructor() { - this.fileSystemRepository = new FileSystemRepository(); - } + fileSystemRepository: FileSystemRepository = new FileSystemRepository(); call = async (): Promise => { + Object.keys(StaticFilesServer).forEach(async (key) => { + if (!(await this.fileSystemRepository.dirIsExists(App.staticFilesStoreDir() + key))) { + await new CreateFolderUseCase().call(App.staticFilesStoreDir() + key); + } + }); if (await this.fileSystemRepository.dirIsExists(App.staticFilesStoreDir())) { return; } - const createFolderUseCase = await new CreateFolderUseCase().call(App.staticFilesStoreDir()); - - createFolderUseCase.fold( - (_s) => {}, - (e) => { - console.log(e); - } - ); + await new CreateFolderUseCase().call(App.staticFilesStoreDir()); }; } diff --git a/server/src/core/usecases/delete_file_usecase.ts b/server/src/core/usecases/delete_file_usecase.ts new file mode 100644 index 0000000..da1ce7e --- /dev/null +++ b/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.delete(path); + return Result.ok("file delete"); + } catch { + return Result.error("Unknown error"); + } + }; +} diff --git a/server/src/core/usecases/delete_recursive_folder_usecase.ts b/server/src/core/usecases/delete_recursive_folder_usecase.ts index 070045a..b47e49b 100644 --- a/server/src/core/usecases/delete_recursive_folder_usecase.ts +++ b/server/src/core/usecases/delete_recursive_folder_usecase.ts @@ -4,7 +4,6 @@ import { FileSystemRepository } from "../repository/file_system_repository"; export class DeleteRecursiveFolderUseCase{ repository:FileSystemRepository = new FileSystemRepository() call = async (path:string):Promise> =>{ - console.log(path) await this.repository.deleteDirRecursive(path) return Result.ok() } diff --git a/server/src/core/usecases/exec_process_usecase.ts b/server/src/core/usecases/exec_process_usecase.ts index 12b7d16..a6899dc 100644 --- a/server/src/core/usecases/exec_process_usecase.ts +++ b/server/src/core/usecases/exec_process_usecase.ts @@ -1,7 +1,8 @@ +import * as cp from "child_process"; import { CallbackStrategyWithEmpty } from "../controllers/http_controller"; import { Result } from "../helpers/result"; import { TypedEvent } from "../helpers/typed_event"; -import { EXEC_TYPE, ExecError, SpawnError } from "../models/exec_error_model"; +import { EXEC_EVENT, EXEC_TYPE, ExecError, SpawnError } from "../models/exec_error_model"; import { ExecutorResult } from "../models/executor_result"; import { ExecutorProgramService } from "../services/executor_program_service"; @@ -26,7 +27,7 @@ export class ExecProcessUseCase { call = async ( path: string, command: string, - id:string, + id: string, watcher?: TypedEvent> ): Promise> => { try { @@ -34,7 +35,7 @@ export class ExecProcessUseCase { executorProgramService.on((event) => { if (watcher) watcher.emit(event); }); - executorProgramService.call(EXEC_TYPE.EXEC, command, undefined ,id); + executorProgramService.call(EXEC_TYPE.EXEC, command, undefined, id); return Result.ok("ok"); } catch (error) { @@ -42,3 +43,39 @@ export class ExecProcessUseCase { } }; } + +export class SpawnProcessUseCase { + call = async ( + path: string, + command: string, + id: string, + watcher?: TypedEvent> + ): Promise> => { + try { + const commands = command.split(" "); + + const subprocess = cp.spawn(commands.at(0), commands.slice(1, commands.length), { + cwd: path, + }); + const sendWatcher = (event: Buffer) => { + if (watcher) { + watcher.emit(Result.ok(new ExecutorResult(EXEC_TYPE.SPAWN, EXEC_EVENT.PROGRESS, event.toString()))); + } + }; + subprocess.stdout.on("data", (data) => sendWatcher(data)); + + subprocess.stderr.on("data", (data) => sendWatcher(data)); + + subprocess.on("error", (error) => { + console.error(`Ошибка: ${error.message}`); + }); + + subprocess.on("close", (code) => { + console.log(`Процесс завершился с кодом: ${code}`); + }); + return Result.ok('ok'); + } catch (error) { + return Result.error(error); + } + }; +} diff --git a/server/src/core/usecases/read_file_and_parse_json.ts b/server/src/core/usecases/read_file_and_parse_json.ts index 4669621..e0e2f94 100644 --- a/server/src/core/usecases/read_file_and_parse_json.ts +++ b/server/src/core/usecases/read_file_and_parse_json.ts @@ -2,11 +2,9 @@ import { Result } from "../helpers/result"; import { FileSystemRepository } from "../repository/file_system_repository"; export class ReadFileAndParseJsonUseCase { - fileSystemRepository: FileSystemRepository; + fileSystemRepository: FileSystemRepository = new FileSystemRepository(); - constructor() { - this.fileSystemRepository = new FileSystemRepository(); - } + async call(path: string): Promise> { try { if (RegExp(path).test("^(.+)/([^/]+)$")) { diff --git a/server/src/core/usecases/search_database_model_usecase.ts b/server/src/core/usecases/search_database_model_usecase.ts index c8e6fd4..3f8e4d0 100644 --- a/server/src/core/usecases/search_database_model_usecase.ts +++ b/server/src/core/usecases/search_database_model_usecase.ts @@ -1,6 +1,6 @@ import { Result } from "../helpers/result"; -export class SearchDataBaseModelUseCase { +export class SearchOneDataBaseModelUseCase { model: any; constructor(model: any) { diff --git a/server/src/core/usecases/search_many_database_model_usecase.ts b/server/src/core/usecases/search_many_database_model_usecase.ts new file mode 100644 index 0000000..ea7db85 --- /dev/null +++ b/server/src/core/usecases/search_many_database_model_usecase.ts @@ -0,0 +1,18 @@ +import { Result } from "../helpers/result"; + +export class SearchManyDataBaseModelUseCase { + model: any; + + constructor(model: any) { + this.model = model; + } + + call = async (findFilter: Partial, error: string = "not found database"): Promise> => { + const result = await this.model.find(findFilter); + if (result === null) { + return Result.error(error); + } else { + return Result.ok(result); + } + }; +} diff --git a/server/src/features/_nix_store_manager/nix_store_manager.ts b/server/src/features/_nix_store_manager/nix_store_manager.ts deleted file mode 100644 index d9b56c2..0000000 --- a/server/src/features/_nix_store_manager/nix_store_manager.ts +++ /dev/null @@ -1,58 +0,0 @@ -import { CallbackStrategyWithEmpty, CoreHttpController } from "../../core/controllers/http_controller"; -import { Result } from "../../core/helpers/result"; -import { EXEC_TYPE } from "../../core/models/exec_error_model"; -import { ExecutorResult } from "../../core/models/executor_result"; -import { IPipeline, IssueType, StackGenerateType } from "../../core/models/process_model"; -import { StackService } from "../../core/services/stack_service"; -import { TriggerType } from "../_triggers/models/trigger_database_model"; - -class NixStoreModel {} - -const getNixStoreFolderCommand: IPipeline[] = [ - { - process: { - type: EXEC_TYPE.EXEC, - command: `ls /nix/store`, - isGenerating: true, - isLocaleCode: false, - issueType: IssueType.WARNING, - }, - trigger: { - type: TriggerType.FILE, - value: ["context"], - }, - env: null, - stackGenerateType: StackGenerateType.SINGLETON, - }, -]; -class GetNixStorePackagesUseCase extends CallbackStrategyWithEmpty { - call = async () => { - const stackService = new StackService( - getNixStoreFolderCommand, - "/Users/idontsudo/Desktop/testdeck-mocha-seed/server/build/test/" - ); - stackService.call(); - - const promise = new Promise((resolve, _reject) => { - stackService.on((e) => { - const iteration = e.firstElement(); - if (iteration.result instanceof ExecutorResult) { - const nixPackage = iteration.result.data; - resolve(nixPackage.split("\n").filter((e) => e.hasNoPattern(".drv"))); - } else { - return "GetNixStorePackagesUseCase unknown Error"; - } - }); - }); - return Result.ok(await promise); - }; -} - -export class NixStoreManagerPresentation extends CoreHttpController { - constructor() { - super({ - url: "nix_store_api", - }); - super.get(new GetNixStorePackagesUseCase().call); - } -} diff --git a/server/src/features/_pipelines/models/pipeline_database_model.ts b/server/src/features/_pipelines/models/pipeline_database_model.ts deleted file mode 100644 index dac4f36..0000000 --- a/server/src/features/_pipelines/models/pipeline_database_model.ts +++ /dev/null @@ -1,27 +0,0 @@ -import { Schema, model } from "mongoose"; -import { IPipeline } from "../../../core/models/process_model"; -import { schemaProcess } from "../../_process/models/process_database_model"; -import { triggerSchema } from "../../_triggers/models/trigger_database_model"; - -export const PipelineSchema = new Schema({ - process: { - type: Schema.Types.ObjectId, - ref: schemaProcess, - autopopulate: true, - default: null, - }, - trigger: { - type: Schema.Types.ObjectId, - ref: triggerSchema, - autopopulate: true, - default: null, - }, - stackGenerateType: { - type: String, - default: null, - }, -}).plugin(require("mongoose-autopopulate")); - -export const schemaPipeline = "Pipeline"; - -export const PipelineDBModel = model(schemaPipeline, PipelineSchema); diff --git a/server/src/features/_pipelines/models/pipeline_model.ts b/server/src/features/_pipelines/models/pipeline_model.ts deleted file mode 100644 index fca67ba..0000000 --- a/server/src/features/_pipelines/models/pipeline_model.ts +++ /dev/null @@ -1,21 +0,0 @@ -import { IsOptional, ValidateNested } from "class-validator"; -import { IPipeline, IProcess, StackGenerateType } from "../../../core/models/process_model"; -import { Type } from "class-transformer"; -import { ProcessModel } from "../../_process/models/process_validation_model"; -import { TriggerModelValidationModel } from "../../_triggers/models/trigger_validation_model"; - -export class PipelineModel implements IPipeline { - @ValidateNested() - @Type(() => ProcessModel) - public process: IProcess; - - @ValidateNested() - @Type(() => TriggerModelValidationModel) - public trigger: TriggerModelValidationModel; - - @IsOptional() - public env = null; - - @IsOptional() - public stackGenerateType: StackGenerateType; -} diff --git a/server/src/features/_pipelines/models/pipeline_validation_model.ts b/server/src/features/_pipelines/models/pipeline_validation_model.ts deleted file mode 100644 index 59fc6b3..0000000 --- a/server/src/features/_pipelines/models/pipeline_validation_model.ts +++ /dev/null @@ -1,17 +0,0 @@ -import { IsMongoId, IsOptional } from "class-validator"; -import { IProcess, StackGenerateType } from "../../../core/models/process_model"; -import { TriggerModelValidationModel } from "../../_triggers/models/trigger_validation_model"; - -export class PipelineValidationModel { - @IsMongoId() - public process: IProcess; - - @IsMongoId() - public trigger: TriggerModelValidationModel; - - @IsOptional() - public env = null; - - @IsOptional() - public stackGenerateType: StackGenerateType; -} diff --git a/server/src/features/_pipelines/pipeline_presentation.ts b/server/src/features/_pipelines/pipeline_presentation.ts deleted file mode 100644 index eefbe57..0000000 --- a/server/src/features/_pipelines/pipeline_presentation.ts +++ /dev/null @@ -1,13 +0,0 @@ -import { CrudController } from "../../core/controllers/crud_controller"; -import { PipelineDBModel } from "./models/pipeline_database_model"; -import { PipelineValidationModel } from "./models/pipeline_validation_model"; - -export class PipelinePresentation extends CrudController { - constructor() { - super({ - url: "pipeline", - validationModel: PipelineValidationModel, - databaseModel: PipelineDBModel, - }); - } -} diff --git a/server/src/features/_process/models/process_database_model.ts b/server/src/features/_process/models/process_database_model.ts deleted file mode 100644 index 1617cb0..0000000 --- a/server/src/features/_process/models/process_database_model.ts +++ /dev/null @@ -1,35 +0,0 @@ -import { Schema, model } from "mongoose"; -import { IProcess } from "../../../core/models/process_model"; - -export const ProcessSchema = new Schema({ - type: { - type: String, - }, - description: { - type: String, - }, - command: { - type: String, - }, - isGenerating: { - type: String, - }, - isLocaleCode: { - type: String, - }, - issueType: { - type: String, - }, - timeout: { - type: Number, - default: null, - }, - commit: { - type: String, - default: null, - }, -}); - -export const schemaProcess = "Process"; - -export const ProcessDBModel = model(schemaProcess, ProcessSchema); diff --git a/server/src/features/_process/models/process_validation_model.ts b/server/src/features/_process/models/process_validation_model.ts deleted file mode 100644 index 7dde139..0000000 --- a/server/src/features/_process/models/process_validation_model.ts +++ /dev/null @@ -1,31 +0,0 @@ -import { IsBoolean, IsEnum, IsNumber, IsOptional, IsString } from "class-validator"; -import { EXEC_TYPE } from "../../../core/models/exec_error_model"; -import { IProcess, IssueType } from "../../../core/models/process_model"; - -export class ProcessModel implements IProcess { - @IsEnum(EXEC_TYPE) - public type: EXEC_TYPE; - - @IsString() - public description: string; - - @IsString() - public command: string; - - @IsBoolean() - public isGenerating: boolean; - - @IsBoolean() - public isLocaleCode: boolean; - - @IsEnum(IssueType) - public issueType: IssueType; - - @IsOptional() - @IsNumber() - public timeout?: number; - - @IsOptional() - @IsString() - public commit?: string; -} diff --git a/server/src/features/_process/process_presentation.ts b/server/src/features/_process/process_presentation.ts deleted file mode 100644 index 0967f68..0000000 --- a/server/src/features/_process/process_presentation.ts +++ /dev/null @@ -1,13 +0,0 @@ -import { CrudController } from "../../core/controllers/crud_controller"; -import { ProcessDBModel } from "./models/process_database_model"; -import { ProcessModel } from "./models/process_validation_model"; - -export class ProcessPresentation extends CrudController { - constructor() { - super({ - url: "process", - validationModel: ProcessModel, - databaseModel: ProcessDBModel, - }); - } -} diff --git a/server/src/features/_projects/models/project_validation_model.ts b/server/src/features/_projects/models/project_validation_model.ts deleted file mode 100644 index 6bd03d0..0000000 --- a/server/src/features/_projects/models/project_validation_model.ts +++ /dev/null @@ -1,9 +0,0 @@ -import { IsArray, IsString } from "class-validator"; - -export class ProjectValidationModel { - @IsArray() - public pipelines: [string]; - - @IsString() - public description: string; -} diff --git a/server/src/features/_projects/projects_presentation.ts b/server/src/features/_projects/projects_presentation.ts deleted file mode 100644 index 253bf2c..0000000 --- a/server/src/features/_projects/projects_presentation.ts +++ /dev/null @@ -1,13 +0,0 @@ -import { CrudController } from "../../core/controllers/crud_controller"; -import { ProjectDBModel } from "./models/project_database_model"; -import { ProjectValidationModel } from "./models/project_validation_model"; - -export class ProjectsPresentation extends CrudController { - constructor() { - super({ - url: "project", - validationModel: ProjectValidationModel, - databaseModel: ProjectDBModel, - }); - } -} diff --git a/server/src/features/_realtime/domain/run_instance_pipeline_usecase.ts b/server/src/features/_realtime/domain/run_instance_pipeline_usecase.ts deleted file mode 100644 index b47b873..0000000 --- a/server/src/features/_realtime/domain/run_instance_pipeline_usecase.ts +++ /dev/null @@ -1,57 +0,0 @@ -import { App } from "../../../core/controllers/app"; -import { CallbackStrategyWithEmpty } from "../../../core/controllers/http_controller"; -import { Result } from "../../../core/helpers/result"; -import { IPipeline } from "../../../core/models/process_model"; -import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase"; -import { PipelineValidationModel } from "../../_pipelines/models/pipeline_validation_model"; -import { IProjectInstanceModel, ProjectInstanceDbModel } from "../../projects/models/project_instance_database_model"; -import { pipelineRealTimeService } from "../realtime_presentation"; -import { PipelineStatusUseCase } from "./pipeline_status_usecase"; - -const mongoPipelineModelMapper = (el: PipelineValidationModel): IPipeline => { - const mapObj: IPipeline = { - process: { - type: el.process.type, - command: el.process.command, - isGenerating: Boolean(el.process.isGenerating), - isLocaleCode: Boolean(el.process.isLocaleCode), - issueType: el.process.issueType, - }, - trigger: { - type: el.trigger.type, - value: el.trigger.value.map((el) => String(el)), - }, - env: null, - stackGenerateType: el.stackGenerateType, - }; - return mapObj; -}; - -export class RunInstancePipelineUseCase extends CallbackStrategyWithEmpty { - async call(): Promise> { - return (await new PipelineStatusUseCase().call()).map(async (activePipelineModel) => { - if (activePipelineModel.pipelineIsRunning) { - return Result.error("pipeline is running"); - } - const readByIdDataBaseModelUseCase = await new ReadByIdDataBaseModelUseCase( - ProjectInstanceDbModel - ).call(activePipelineModel.projectId); - - if (readByIdDataBaseModelUseCase.isFailure()) { - return readByIdDataBaseModelUseCase.forward(); - } - const projectModel = readByIdDataBaseModelUseCase.value; - const resultMapper = projectModel.project.pipelines.map((el) => mongoPipelineModelMapper(el)); - - pipelineRealTimeService.setPipelineDependency( - resultMapper, - App.staticFilesStoreDir() + projectModel.rootDir + "/", - projectModel._id, - projectModel.rootDir - ); - - pipelineRealTimeService.runPipeline(); - return Result.ok("ok"); - }); - } -} diff --git a/server/src/features/_realtime/realtime_presentation.ts b/server/src/features/_realtime/realtime_presentation.ts deleted file mode 100644 index 249fca1..0000000 --- a/server/src/features/_realtime/realtime_presentation.ts +++ /dev/null @@ -1,28 +0,0 @@ -import { IsString } from "class-validator"; -import { CoreHttpController } from "../../core/controllers/http_controller"; -import { PipelineRealTimeService } from "../../core/services/pipeline_real_time_service"; -import { RunInstancePipelineUseCase } from "./domain/run_instance_pipeline_usecase"; -import { PipelineStatusUseCase } from "./domain/pipeline_status_usecase"; - -export const pipelineRealTimeService = new PipelineRealTimeService(); - -export class RealTimeValidationModel { - @IsString() - public id: string; -} - -export class RealTimePresentation extends CoreHttpController { - constructor() { - super({ - validationModel: RealTimeValidationModel, - url: "realtime", - databaseModel: null, - }); - super.get(new PipelineStatusUseCase().call); - this.subRoutes.push({ - method: "POST", - subUrl: "run", - fn: new RunInstancePipelineUseCase(), - }); - } -} diff --git a/server/src/features/_triggers/models/trigger_database_model.ts b/server/src/features/_triggers/models/trigger_database_model.ts deleted file mode 100644 index 5da8fea..0000000 --- a/server/src/features/_triggers/models/trigger_database_model.ts +++ /dev/null @@ -1,36 +0,0 @@ -import { Schema, model } from "mongoose"; - -export interface ITriggerModel { - _id?: string; - type: string; - description: string; - value: string[]; -} - -export const TriggerSchema = new Schema({ - type: { - type: String, - require: true, - }, - description: { - type: String, - }, - value: { - type: Array, - require: true, - }, -}); - -export const triggerSchema = "Trigger"; - -export const TriggerDBModel = model(triggerSchema, TriggerSchema); - -export enum TriggerType { - PROCESS = "PROCESS", - FILE = "FILE", -} - -export interface Trigger { - type: TriggerType; - value: string[]; -} diff --git a/server/src/features/_triggers/models/trigger_validation_model.ts b/server/src/features/_triggers/models/trigger_validation_model.ts deleted file mode 100644 index 86b9174..0000000 --- a/server/src/features/_triggers/models/trigger_validation_model.ts +++ /dev/null @@ -1,16 +0,0 @@ -import { IsArray, IsOptional, IsEnum, IsString } from "class-validator"; -import { ITriggerModel, TriggerType } from "./trigger_database_model"; - -export class TriggerModelValidationModel implements ITriggerModel { - @IsOptional() - public _id: string; - - @IsString() - public description; - - @IsEnum(TriggerType) - public type: TriggerType; - - @IsArray() - public value: string[]; -} diff --git a/server/src/features/_triggers/triggers_presentation.ts b/server/src/features/_triggers/triggers_presentation.ts deleted file mode 100644 index b401373..0000000 --- a/server/src/features/_triggers/triggers_presentation.ts +++ /dev/null @@ -1,13 +0,0 @@ -import { CrudController } from "../../core/controllers/crud_controller"; -import { TriggerDBModel } from "./models/trigger_database_model"; -import { TriggerModelValidationModel } from "./models/trigger_validation_model"; - -export class TriggerPresentation extends CrudController { - constructor() { - super({ - url: "trigger", - validationModel: TriggerModelValidationModel, - databaseModel: TriggerDBModel, - }); - } -} diff --git a/server/src/features/behavior_trees/behavior_trees_presentation.ts b/server/src/features/behavior_trees/behavior_trees_presentation.ts new file mode 100644 index 0000000..1ea112a --- /dev/null +++ b/server/src/features/behavior_trees/behavior_trees_presentation.ts @@ -0,0 +1,48 @@ +import { CrudController } from "../../core/controllers/crud_controller"; +import { GetBehaviorTreeSkillsTemplatesUseCase } from "./domain/get_bt_skills_templates_usecase"; +import { BehaviorTreeValidationModel } from "./models/behavior_tree_validation_model"; +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 { + constructor() { + super({ + url: "behavior/trees", + validationModel: BehaviorTreeValidationModel, + databaseModel: BehaviorTreeDBModel, + }); + super.get(new GetBehaviorTreeActiveProjectScenario().call); + this.subRoutes.push({ + method: "POST", + subUrl: "fill/tree", + fn: new FillBtScenario(), + }); + this.subRoutes.push({ method: "GET", subUrl: "templates", fn: new GetBehaviorTreeSkillsTemplatesUseCase() }); + this.subRoutes.push({ + method: "GET", + subUrl: "by_id", + fn: new ReadByIdDataBaseModelScenario(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() + }) + } +} + diff --git a/server/src/features/behavior_trees/domain/get_behavior_tree_active_project_scenario.ts b/server/src/features/behavior_trees/domain/get_behavior_tree_active_project_scenario.ts new file mode 100644 index 0000000..d42cfc7 --- /dev/null +++ b/server/src/features/behavior_trees/domain/get_behavior_tree_active_project_scenario.ts @@ -0,0 +1,15 @@ +import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; +import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase"; +import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model"; +import { BehaviorTreeDBModel } from "../models/behavior_tree_database_model"; + +export class GetBehaviorTreeActiveProjectScenario extends CallbackStrategyWithEmpty { + call = async (): ResponseBase => + ( + await new SearchOneDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "no active projects" + ) + ).map(async (project) => Result.ok(await BehaviorTreeDBModel.find({ project: project._id }))); +} diff --git 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 new file mode 100644 index 0000000..a0f0a04 --- /dev/null +++ b/server/src/features/behavior_trees/domain/get_bt_skills_templates_usecase.ts @@ -0,0 +1,102 @@ +import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; + +export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithEmpty { + 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 }, + ], + }, + { + Module: { name: "MMM", description: "Move to Pose skill with cartesian controllers" }, + topicOut: [ + { + topicName: "", + topicType: "", + }, + ], + BTAction: [ + { + name: "move", + type: "action", + param: [ + { + type: "move_to_pose", + dependency: {}, + }, + ], + }, + ], + }, + { + 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: [ + { + name: "peConfigure", + type: "run", + param: [ + { + type: "weights", + dependency: {}, + }, + { + type: "camera", + dependency: {}, + }, + { + type: "topic", + dependency: {}, + }, + ], + result: ["POSE"], + }, + { name: "peStop", type: "stop", param: [], result: [] }, + ], + Interface: { + Input: [ + { name: "cameraLink", type: "CAMERA" }, + { name: "object_name", type: "MODEL" }, + ], + Output: [{ name: "pose_estimation_topic", type: "POSE" }], + }, + Settings: [ + { name: "cameraLink", value: "inner_rgbd_camera" }, + { name: "pose", value: "" }, + { name: "publishDelay", value: 0.5 }, + { name: "tf2_send_pose", value: 1 }, + { name: "mesh_scale", value: 0.001 }, + ], + }, + ], + }); + }; +} diff --git a/server/src/features/behavior_trees/domain/get_cameras_usecase.ts b/server/src/features/behavior_trees/domain/get_cameras_usecase.ts new file mode 100644 index 0000000..a1ea345 --- /dev/null +++ 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 }" + } + ] + } + ] + }) + } + +} + + + \ No newline at end of file diff --git a/server/src/features/behavior_trees/domain/get_robots_usecase.ts b/server/src/features/behavior_trees/domain/get_robots_usecase.ts new file mode 100644 index 0000000..ce3ced1 --- /dev/null +++ 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" + } + ] + } + ] + }) + } + +} + diff --git a/server/src/features/behavior_trees/domain/get_topics_usecase.ts b/server/src/features/behavior_trees/domain/get_topics_usecase.ts new file mode 100644 index 0000000..55b1bd4 --- /dev/null +++ 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" + } + ] + } + ) + + } +} \ No newline at end of file diff --git a/server/src/features/behavior_trees/domain/save_bt_scenario.ts b/server/src/features/behavior_trees/domain/save_bt_scenario.ts new file mode 100644 index 0000000..c08d1b8 --- /dev/null +++ b/server/src/features/behavior_trees/domain/save_bt_scenario.ts @@ -0,0 +1,32 @@ +import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller"; +import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase"; +import { CreateFolderUseCase } from "../../../core/usecases/create_folder_usecase"; +import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase"; +import { FolderStructure } from "../../projects/domain/upload_file_to_to_project_scenario"; +import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model"; +import { BehaviorTreeValidationModel } from "../models/behavior_tree_validation_model"; + +export class SaveBtScenario extends CallbackStrategyWithValidationModel { + validationModel: BehaviorTreeValidationModel = new BehaviorTreeValidationModel(); + call = async (model: BehaviorTreeValidationModel): ResponseBase => + ( + await new SearchOneDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "no active projects" + ) + ).map(async (project) => { + const folder = `${project.rootDir}/${FolderStructure.behaviorTrees}/`; + + (await new CreateFolderUseCase().call(folder)).map(async () => + (await new CreateFolderUseCase().call(`${folder}${model.name}/`)).map(async () => + (await new CreateFileUseCase().call(`${folder}${model.name}/bt.xml`, Buffer.from(model.xml))).map( + async () => + await new CreateFileUseCase().call( + `${folder}${model.name}/skills.json`, + Buffer.from(JSON.stringify(model.skills)) + ) + ) + ) + ); + }); +} diff --git a/server/src/features/behavior_trees/models/behavior_tree_database_model.ts b/server/src/features/behavior_trees/models/behavior_tree_database_model.ts new file mode 100644 index 0000000..33a0acf --- /dev/null +++ b/server/src/features/behavior_trees/models/behavior_tree_database_model.ts @@ -0,0 +1,49 @@ +import { Schema, model } from "mongoose"; +import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model"; + +export interface IBehaviorTreeModel { + name: string; + project?: IProjectModel | string; + unixTime?: number; + local_path?: string; +} + +export const BehaviorTreeSchema = new Schema({ + name: { + type: String, + }, + description: { type: String }, + scene: { + type: Schema.Types.Mixed, + default: [], + }, + local_path: { + type: String, + }, + unixTime: { + type: Number, + }, + isFinished: { + type: Boolean, + default: false, + }, + dependency: { + type: Schema.Types.Mixed, + }, + skills: { + type: Schema.Types.Mixed, + }, + sceneId: { + type: String, + }, + project: { + type: Schema.Types.ObjectId, + ref: projectSchema, + autopopulate: true, + require: true, + }, +}).plugin(require("mongoose-autopopulate")); + +export const behaviorTreeSchema = "Behavior"; + +export const BehaviorTreeDBModel = model(behaviorTreeSchema, BehaviorTreeSchema); diff --git a/server/src/features/behavior_trees/models/behavior_tree_validation_model.ts b/server/src/features/behavior_trees/models/behavior_tree_validation_model.ts new file mode 100644 index 0000000..e729b67 --- /dev/null +++ b/server/src/features/behavior_trees/models/behavior_tree_validation_model.ts @@ -0,0 +1,13 @@ +import { IsMongoId, IsNumber, IsString } from "class-validator"; +import { IBehaviorTreeModel } from "./behavior_tree_database_model"; + +export class BehaviorTreeValidationModel implements IBehaviorTreeModel { + @IsString() + public name: string; + @IsMongoId() + public project:string; + public skills:any; + public xml:string; + @IsNumber() + public unixTime: number +} diff --git a/server/src/features/calculations_instance/calculations_instance_presentation.ts b/server/src/features/calculations_instance/calculations_instance_presentation.ts new file mode 100644 index 0000000..42f8793 --- /dev/null +++ b/server/src/features/calculations_instance/calculations_instance_presentation.ts @@ -0,0 +1,28 @@ +import { CrudController } from "../../core/controllers/crud_controller"; +import { ExecCalculationInstanceProcessScenario } from "./domain/exec_calculations_instance_process_scenario"; +import { CalculationInstanceValidationModel } from "./models/calculations_instance_validation_model"; +import { CalculationInstanceDBModel } from "./models/calculations_instance_database_model"; +import { CreateCalculationInstanceScenario } from "./domain/create_calculation_instance_scenario"; +import { DeleteCalculationsInstanceScenario } from "./domain/delete_calculations_instance_scenario"; + +export class CalculationsInstancesPresentation extends CrudController< + CalculationInstanceValidationModel, + typeof CalculationInstanceDBModel +> { + constructor() { + super({ + url: "calculations/instances", + validationModel: CalculationInstanceValidationModel, + databaseModel: CalculationInstanceDBModel, + }); + + super.delete(new DeleteCalculationsInstanceScenario().call); + super.post(new CreateCalculationInstanceScenario().call); + + this.subRoutes.push({ + method: "GET", + subUrl: "exec", + fn: new ExecCalculationInstanceProcessScenario(), + }); + } +} diff --git a/server/src/features/calculations_instance/domain/create_calculation_instance_scenario.ts b/server/src/features/calculations_instance/domain/create_calculation_instance_scenario.ts new file mode 100644 index 0000000..185c2b4 --- /dev/null +++ b/server/src/features/calculations_instance/domain/create_calculation_instance_scenario.ts @@ -0,0 +1,8 @@ +import { CreateInstanceScenario } from "../../../core/scenarios/create_intance_scenario"; +import { CalculationInstanceDBModel } from "../models/calculations_instance_database_model"; +import { CalculationInstanceValidationModel } from "../models/calculations_instance_validation_model"; + +export class CreateCalculationInstanceScenario extends CreateInstanceScenario { + databaseModel = CalculationInstanceDBModel; + validationModel: CalculationInstanceValidationModel = new CalculationInstanceValidationModel(); +} diff --git a/server/src/features/calculations_instance/domain/delete_calculations_instance_scenario.ts b/server/src/features/calculations_instance/domain/delete_calculations_instance_scenario.ts new file mode 100644 index 0000000..44d94f5 --- /dev/null +++ b/server/src/features/calculations_instance/domain/delete_calculations_instance_scenario.ts @@ -0,0 +1,7 @@ +import { DeleteInstanceScenario } from "../../../core/scenarios/delete_instance_scenario"; +import { CalculationInstanceDBModel } from "../models/calculations_instance_database_model"; +import { CalculationInstanceValidationModel } from "../models/calculations_instance_validation_model"; + +export class DeleteCalculationsInstanceScenario extends DeleteInstanceScenario { + databaseModel = CalculationInstanceDBModel; +} diff --git a/server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts b/server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts new file mode 100644 index 0000000..e98afc1 --- /dev/null +++ b/server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts @@ -0,0 +1,37 @@ +import { ObjectId } from "mongoose"; +import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller"; +import { ExecProcessUseCase, IsHaveActiveProcessUseCase } from "../../../core/usecases/exec_process_usecase"; +import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase"; +import { MongoIdValidation } from "../../../core/validations/mongo_id_validation"; +import { ProcessWatcherAndDatabaseUpdateService } from "../../datasets/domain/create_dataset_scenario"; +import { CalculationInstanceDBModel, ICalculationInstance } from "../models/calculations_instance_database_model"; +import { Result } from "../../../core/helpers/result"; +import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase"; + +export class ExecCalculationInstanceProcessScenario extends CallbackStrategyWithIdQuery { + idValidationExpression = new MongoIdValidation(); + call = async (id: string): ResponseBase => + (await new ReadByIdDataBaseModelUseCase(CalculationInstanceDBModel).call(id)).map( + async (model) => { + const fileOutPath = model.instancePath.pathNormalize() + "/form.json"; + return (await new IsHaveActiveProcessUseCase().call()).map(async () => { + const execCommand = `${model.script + } --path ${model.instancePath.pathNormalize()} --form ${fileOutPath}`.replace("\n", ""); + + await new CreateFileUseCase().call(fileOutPath, Buffer.from(JSON.stringify(model.formBuilder))); + await CalculationInstanceDBModel.findById(id).updateOne({ + processStatus: "RUN", + lastProcessExecCommand: execCommand, + }); + new ExecProcessUseCase().call( + // @ts-expect-error + `${model.project.rootDir}/`, + execCommand, + id, + new ProcessWatcherAndDatabaseUpdateService(id as unknown as ObjectId, CalculationInstanceDBModel) + ); + return Result.ok("OK"); + }); + } + ); +} diff --git a/server/src/features/calculations_instance/domain/get_all_calculations_instance_active_project_scenarios.ts b/server/src/features/calculations_instance/domain/get_all_calculations_instance_active_project_scenarios.ts new file mode 100644 index 0000000..92017ef --- /dev/null +++ b/server/src/features/calculations_instance/domain/get_all_calculations_instance_active_project_scenarios.ts @@ -0,0 +1,11 @@ +import { ResponseBase } from "../../../core/controllers/http_controller"; +import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase"; +import { GetActiveProjectIdScenario } from "../../projects/domain/get_active_project_id_scenario"; +import { ICalculationInstance, CalculationInstanceDBModel } from "../models/calculations_instance_database_model"; + +export class GetAllWeightsActiveProjectScenarios { + call = async (): ResponseBase => + (await new GetActiveProjectIdScenario().call()).map( + async (model) => await new SearchManyDataBaseModelUseCase(CalculationInstanceDBModel).call({ project: model.id }) + ); +} diff --git a/server/src/features/calculations_instance/models/calculations_instance_database_model.ts b/server/src/features/calculations_instance/models/calculations_instance_database_model.ts new file mode 100644 index 0000000..43e13d9 --- /dev/null +++ b/server/src/features/calculations_instance/models/calculations_instance_database_model.ts @@ -0,0 +1,77 @@ +import { Schema, model } from "mongoose"; +import { FormBuilderValidationModel } from "../../datasets/models/dataset_validation_model"; +import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model"; + +export interface ICalculationInstance { + script: string; + instancePath: string; + formBuilder: FormBuilderValidationModel; + type: string; + name: string; + isEnd: boolean; + createDate: Date; + card?: string; + lastProcessLogs?: string; + lastProcessExecCommand?: string; + lastExecDate?: Date; + processStatus: string; + project?: IProjectModel | string; +} + +export const CalculationInstanceSchema = new Schema({ + script: { + type: String, + }, + formBuilder: { + type: Schema.Types.Mixed, + }, + type: { + type: String, + }, + instanceName: { + type: String, + }, + name: { + type: String, + }, + isEnd: { + type: Boolean, + }, + createDate: { + type: String, + }, + card: { + type: String, + }, + lastProcessLogs: { + type: String, + }, + lastProcessExecCommand: { + type: String, + }, + lastExecDate: { + type: String, + }, + processStatus: { + type: String, + }, + path: { + type: String, + }, + instancePath: { + type: String, + }, + project: { + type: Schema.Types.ObjectId, + ref: projectSchema, + autopopulate: true, + require: true, + }, +}).plugin(require("mongoose-autopopulate")); + +export const calculationInstanceSchema = "calculations_instances"; + +export const CalculationInstanceDBModel = model( + calculationInstanceSchema, + CalculationInstanceSchema +); diff --git a/server/src/features/calculations_instance/models/calculations_instance_validation_model.ts b/server/src/features/calculations_instance/models/calculations_instance_validation_model.ts new file mode 100644 index 0000000..46b993c --- /dev/null +++ b/server/src/features/calculations_instance/models/calculations_instance_validation_model.ts @@ -0,0 +1,31 @@ +import { IsNotEmpty, IsString, IsMongoId } from "class-validator"; +import { ICalculationInstance } from "./calculations_instance_database_model"; +import { FormBuilderValidationModel } from "../../datasets/models/dataset_validation_model"; +import { IProjectModel } from "../../projects/models/project_model_database_model"; + +export class CalculationInstanceValidationModel implements ICalculationInstance { + @IsNotEmpty() + @IsString() + instanceName: string; + instancePath: string; + processStatus: string; + @IsString() + path: string; + project?: string | IProjectModel; + @IsString() + @IsNotEmpty() + script: string; + formBuilder: FormBuilderValidationModel; + @IsString() + @IsNotEmpty() + type: string; + @IsString() + @IsNotEmpty() + name: string; + isEnd: boolean = false; + createDate: Date = new Date(); + card?: string; + lastProcessLogs?: string; + lastProcessExecCommand?: string; + lastExecDate?: Date; +} diff --git a/server/src/features/calculations_templates/calculations_template_presentation.ts b/server/src/features/calculations_templates/calculations_template_presentation.ts new file mode 100644 index 0000000..ef44c7c --- /dev/null +++ b/server/src/features/calculations_templates/calculations_template_presentation.ts @@ -0,0 +1,20 @@ +import { CrudController } from "../../core/controllers/crud_controller"; +import { DeleteCalculationsTemplateScenario } from "./domain/delete_calculations_template_scenario"; +import { CalculationsTemplateValidationModel as CalculationsTemplateValidationModel } from "./models/calculations_template_validation_model"; +import { CalculationsTemplateDBModel } from "./models/calculations_template_database_model"; +import { CreateCalculationsTemplateScenario } from "./domain/create_calculations_template_scenario"; + +export class CalculationsTemplatePresentation extends CrudController< + CalculationsTemplateValidationModel, + typeof CalculationsTemplateDBModel +> { + constructor() { + super({ + url: "calculations/template", + validationModel: CalculationsTemplateValidationModel, + databaseModel: CalculationsTemplateDBModel, + }); + super.post(new CreateCalculationsTemplateScenario().call); + super.delete(new DeleteCalculationsTemplateScenario().call); + } +} diff --git a/server/src/features/calculations_templates/domain/create_calculations_template_scenario.ts b/server/src/features/calculations_templates/domain/create_calculations_template_scenario.ts new file mode 100644 index 0000000..7b8e93a --- /dev/null +++ b/server/src/features/calculations_templates/domain/create_calculations_template_scenario.ts @@ -0,0 +1,10 @@ +import { StaticFilesServer } from "../../../core/models/static_files"; +import { CreateTemplateScenario } from "../../../core/scenarios/create_template_scenario"; +import { CalculationsTemplateDBModel } from "../models/calculations_template_database_model"; +import { CalculationsTemplateValidationModel } from "../models/calculations_template_validation_model"; + +export class CreateCalculationsTemplateScenario extends CreateTemplateScenario { + validationModel: CalculationsTemplateValidationModel = new CalculationsTemplateValidationModel(); + databaseModel = CalculationsTemplateDBModel; + path: string = StaticFilesServer.process; +} diff --git a/server/src/features/calculations_templates/domain/delete_calculations_template_scenario.ts b/server/src/features/calculations_templates/domain/delete_calculations_template_scenario.ts new file mode 100644 index 0000000..245e12a --- /dev/null +++ b/server/src/features/calculations_templates/domain/delete_calculations_template_scenario.ts @@ -0,0 +1,6 @@ +import { DeleteTemplateScenario } from "../../../core/scenarios/delete_template_scenario"; +import { CalculationsTemplateDBModel } from "../models/calculations_template_database_model"; + +export class DeleteCalculationsTemplateScenario extends DeleteTemplateScenario { + databaseModel = CalculationsTemplateDBModel; +} diff --git a/server/src/features/calculations_templates/domain/get_all_calculations_template_active_project_scenarios.ts b/server/src/features/calculations_templates/domain/get_all_calculations_template_active_project_scenarios.ts new file mode 100644 index 0000000..66aae94 --- /dev/null +++ b/server/src/features/calculations_templates/domain/get_all_calculations_template_active_project_scenarios.ts @@ -0,0 +1,11 @@ +import { ResponseBase } from "../../../core/controllers/http_controller"; +import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase"; +import { GetActiveProjectIdScenario } from "../../projects/domain/get_active_project_id_scenario"; +import { ICalculationsTemplateModel, CalculationsTemplateDBModel } from "../models/calculations_template_database_model"; + +export class GetAllCalculationsTemplateScenarios { + call = async (): ResponseBase => + (await new GetActiveProjectIdScenario().call()).map( + async (model) => await new SearchManyDataBaseModelUseCase(CalculationsTemplateDBModel).call({ project: model.id }) + ); +} diff --git a/server/src/features/calculations_templates/models/calculations_template_database_model.ts b/server/src/features/calculations_templates/models/calculations_template_database_model.ts new file mode 100644 index 0000000..2bbc12b --- /dev/null +++ b/server/src/features/calculations_templates/models/calculations_template_database_model.ts @@ -0,0 +1,54 @@ +import { Schema, model } from "mongoose"; +import { FormBuilderValidationModel, IDatasetModel } from "../../datasets/models/dataset_validation_model"; +import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model"; + +export interface ICalculationsTemplateModel { + path?: string; + script: string; + formBuilder: FormBuilderValidationModel; + type: string; + name: string; + isEnd: boolean; + createDate: Date; + card?: string; + lastProcessLogs?: string; + lastProcessExecCommand?: string; + lastExecDate?: Date; + processStatus: string; + project?: IProjectModel | string; +} + +export const CalculationsTemplateSchema = new Schema({ + script: { + type: String, + }, + formBuilder: { + type: Schema.Types.Mixed, + }, + type: { + type: String, + }, + name: { + type: String, + }, + + createDate: { + type: Number, + }, + card: { + type: String, + }, + project: { + type: Schema.Types.ObjectId, + ref: projectSchema, + autopopulate: true, + require: true, + }, + path: { + type: String, + }, +}).plugin(require("mongoose-autopopulate")); + +export const calculationsTemplateSchema = "calculations_templates"; + +export const CalculationsTemplateDBModel = model(calculationsTemplateSchema, CalculationsTemplateSchema); diff --git a/server/src/features/calculations_templates/models/calculations_template_validation_model.ts b/server/src/features/calculations_templates/models/calculations_template_validation_model.ts new file mode 100644 index 0000000..bd5754c --- /dev/null +++ b/server/src/features/calculations_templates/models/calculations_template_validation_model.ts @@ -0,0 +1,27 @@ +import { IsNotEmpty, IsString, IsMongoId } from "class-validator"; +import { ICalculationsTemplateModel } from "./calculations_template_database_model"; +import { FormBuilderValidationModel } from "../../datasets/models/dataset_validation_model"; +import { IProjectModel } from "../../projects/models/project_model_database_model"; + +export class CalculationsTemplateValidationModel implements ICalculationsTemplateModel { + processStatus: string; + @IsMongoId() + project?: string | IProjectModel; + @IsString() + @IsNotEmpty() + script: string; + formBuilder: FormBuilderValidationModel; + @IsString() + @IsNotEmpty() + type: string; + @IsString() + @IsNotEmpty() + name: string; + isEnd: boolean = true; + createDate: Date = new Date(); + card?: string; + lastProcessLogs?: string; + lastProcessExecCommand?: string; + lastExecDate?: Date; + path: string; +} diff --git a/server/src/features/datasets/domain/create_dataset_scenario.ts b/server/src/features/datasets/domain/create_dataset_scenario.ts index 859c80c..d3e4970 100644 --- a/server/src/features/datasets/domain/create_dataset_scenario.ts +++ b/server/src/features/datasets/domain/create_dataset_scenario.ts @@ -4,16 +4,20 @@ import { Result } from "../../../core/helpers/result"; import { TypedEvent } from "../../../core/helpers/typed_event"; import { EXEC_EVENT, ExecError, SpawnError } from "../../../core/models/exec_error_model"; import { ExecutorResult } from "../../../core/models/executor_result"; -import { SearchDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase"; -import { IProjectModel, ProjectDBModel } from "../../_projects/models/project_database_model"; +import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase"; import { DatasetDBModel } from "../models/dataset_database_model"; import { DatasetValidationModel, ProcessStatus } from "../models/dataset_validation_model"; +import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model"; -export class ProcessWatcherAndDatabaseUpdateService extends TypedEvent> { +export class ProcessWatcherAndDatabaseUpdateService extends TypedEvent< + Result +> { databaseId: ObjectId; - constructor(databaseId: ObjectId) { + model: A; + constructor(databaseId: ObjectId, model: A) { super(); this.databaseId = databaseId; + this.model = model; this.on((event) => this.lister(event)); } @@ -21,20 +25,22 @@ export class ProcessWatcherAndDatabaseUpdateService extends TypedEvent { if (success.event == EXEC_EVENT.END) { - const dbModel = await DatasetDBModel.findById(this.databaseId); + // @ts-expect-error + const dbModel = await this.model.findById(this.databaseId); if (dbModel !== null) { dbModel.local_path; dbModel.processStatus = ProcessStatus.END; - dbModel.processLogs = success.data; + dbModel.lastProcessLogs = success.data; await dbModel.save(); } } }, async (error) => { - const dbModel = await DatasetDBModel.findById(this.databaseId); + // @ts-expect-error + const dbModel = await this.model.findById(this.databaseId); if (dbModel !== null) { dbModel.processStatus = ProcessStatus.ERROR; - dbModel.processLogs = error.message; + dbModel.lastProcessLogs = error.message; await dbModel.save(); } } @@ -45,7 +51,7 @@ export class CreateDataSetScenario extends CallbackStrategyWithValidationModel { return ( - await new SearchDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects") + await new SearchOneDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects") ).map(async (project) => { model.processStatus = ProcessStatus.NEW; model.local_path = project.rootDir; diff --git a/server/src/features/datasets/domain/exec_process_scenario.ts b/server/src/features/datasets/domain/exec_process_scenario.ts index 20062cf..6524ac4 100644 --- a/server/src/features/datasets/domain/exec_process_scenario.ts +++ b/server/src/features/datasets/domain/exec_process_scenario.ts @@ -6,6 +6,7 @@ import { MongoIdValidation } from "../../../core/validations/mongo_id_validation import { DatasetDBModel } from "../models/dataset_database_model"; import { IDatasetModel } from "../models/dataset_validation_model"; import { ProcessWatcherAndDatabaseUpdateService } from "./create_dataset_scenario"; +import { FolderStructure } from "../../projects/domain/upload_file_to_to_project_scenario"; export class ExecDatasetProcessScenario extends CallbackStrategyWithIdQuery { idValidationExpression = new MongoIdValidation(); @@ -14,12 +15,13 @@ export class ExecDatasetProcessScenario extends CallbackStrategyWithIdQuery { return (await new ReadByIdDataBaseModelUseCase(DatasetDBModel).call(id)).map(async (model) => { return (await new IsHaveActiveProcessUseCase().call()).map(async () => { await DatasetDBModel.findById(id).updateOne({ processStatus: "RUN" }); - console.log(`blenderproc run $PYTHON_BLENDER_PROC --cfg '${JSON.stringify(model)}'`); + model.local_path = `${model.local_path}/${FolderStructure.datasets}/`; + return new ExecProcessUseCase().call( `${model.project.rootDir}/`, `blenderproc run $PYTHON_BLENDER_PROC --cfg '${JSON.stringify(model)}'`, id, - new ProcessWatcherAndDatabaseUpdateService(id as unknown as ObjectId) + new ProcessWatcherAndDatabaseUpdateService(id as unknown as ObjectId, DatasetDBModel) ); }); }); diff --git a/server/src/features/datasets/domain/get_dataset_active_project_scenario.ts b/server/src/features/datasets/domain/get_dataset_active_project_scenario.ts index d5cd6c7..8a65913 100644 --- a/server/src/features/datasets/domain/get_dataset_active_project_scenario.ts +++ b/server/src/features/datasets/domain/get_dataset_active_project_scenario.ts @@ -1,13 +1,13 @@ import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"; import { Result } from "../../../core/helpers/result"; -import { SearchDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase"; -import { IProjectModel, ProjectDBModel } from "../../_projects/models/project_database_model"; +import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase"; +import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model"; import { DatasetDBModel } from "../models/dataset_database_model"; export class GetDatasetActiveProjectScenario extends CallbackStrategyWithEmpty { call = async (): ResponseBase => { return ( - await new SearchDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects") + await new SearchOneDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects") ).map(async (project) => { return Result.ok(await DatasetDBModel.find({ project: project._id })); }); diff --git a/server/src/features/datasets/models/dataset_database_model.ts b/server/src/features/datasets/models/dataset_database_model.ts index a169a3d..9e18a05 100644 --- a/server/src/features/datasets/models/dataset_database_model.ts +++ b/server/src/features/datasets/models/dataset_database_model.ts @@ -1,7 +1,7 @@ -import { Mongoose, Schema, model } from "mongoose"; +import { Schema, model } from "mongoose"; import { IDatasetModel } from "./dataset_validation_model"; -import { projectSchema } from "../../_projects/models/project_database_model"; - +import { projectSchema } from "../../projects/models/project_model_database_model"; + export const DatasetSchema = new Schema({ name: { type: String, diff --git a/server/src/features/datasets/models/dataset_validation_model.ts b/server/src/features/datasets/models/dataset_validation_model.ts index fc5aaf1..5486ace 100644 --- a/server/src/features/datasets/models/dataset_validation_model.ts +++ b/server/src/features/datasets/models/dataset_validation_model.ts @@ -1,6 +1,6 @@ import { Type } from "class-transformer"; import { IsArray, IsOptional, IsString, ValidateNested } from "class-validator"; -import { IProjectModel } from "../../_projects/models/project_database_model"; +import { IProjectModel } from "../../projects/models/project_model_database_model"; export class FormBuilderValidationModel { @IsString() @@ -9,6 +9,7 @@ export class FormBuilderValidationModel { public context: string; @IsArray() public form: []; + output: any; } export enum ProcessStatus { END = "END", @@ -16,7 +17,7 @@ export enum ProcessStatus { NEW = "NEW", } export interface IDatasetModel { - _id?:string; + _id?: string; name: string; local_path: string; dataSetObjects: string[]; diff --git a/server/src/features/digital_twins_instance/digital_twins_instance_presentation.ts b/server/src/features/digital_twins_instance/digital_twins_instance_presentation.ts new file mode 100644 index 0000000..cd7802e --- /dev/null +++ b/server/src/features/digital_twins_instance/digital_twins_instance_presentation.ts @@ -0,0 +1,26 @@ +import { CrudController } from "../../core/controllers/crud_controller"; +import { CreateDigitalTwinsInstanceScenario } from "./domain/create_digital_twins_instance"; +import { DeleteDigitalTwinsInstanceScenario } from "./domain/delete_digital_twins_instance"; +import { ExecInstanceScenario } from "./domain/exec_instance_scenario"; +import { DigitalTwinsInstanceDatabaseModel } from "./model/digital_twins_instance_database_model"; +import { DigitalTwinsInstanceValidationModel } from "./model/digital_twins_instance_validation_model"; + +export class DigitalTwinsInstancePresentation extends CrudController< + DigitalTwinsInstanceValidationModel, + typeof DigitalTwinsInstanceDatabaseModel +> { + constructor() { + super({ + url: "digital/twins/instance", + validationModel: DigitalTwinsInstanceValidationModel, + databaseModel: DigitalTwinsInstanceDatabaseModel, + }); + super.post(new CreateDigitalTwinsInstanceScenario().call); + super.delete(new DeleteDigitalTwinsInstanceScenario().call); + this.subRoutes.push({ + method: "POST", + fn: new ExecInstanceScenario(), + subUrl: "exec/instance", + }); + } +} diff --git a/server/src/features/digital_twins_instance/domain/create_digital_twins_instance.ts b/server/src/features/digital_twins_instance/domain/create_digital_twins_instance.ts new file mode 100644 index 0000000..b67c47f --- /dev/null +++ b/server/src/features/digital_twins_instance/domain/create_digital_twins_instance.ts @@ -0,0 +1,10 @@ +import { CreateInstanceScenario } from "../../../core/scenarios/create_intance_scenario"; +import { DigitalTwinsInstanceDatabaseModel } from "../model/digital_twins_instance_database_model"; +import { DigitalTwinsInstanceValidationModel } from "../model/digital_twins_instance_validation_model"; + + + +export class CreateDigitalTwinsInstanceScenario extends CreateInstanceScenario { + databaseModel = DigitalTwinsInstanceDatabaseModel; + validationModel: DigitalTwinsInstanceValidationModel = new DigitalTwinsInstanceValidationModel(); +} diff --git a/server/src/features/digital_twins_instance/domain/delete_digital_twins_instance.ts b/server/src/features/digital_twins_instance/domain/delete_digital_twins_instance.ts new file mode 100644 index 0000000..b4bff34 --- /dev/null +++ b/server/src/features/digital_twins_instance/domain/delete_digital_twins_instance.ts @@ -0,0 +1,7 @@ +import { DeleteInstanceScenario } from "../../../core/scenarios/delete_instance_scenario"; +import { DigitalTwinsInstanceDatabaseModel } from "../model/digital_twins_instance_database_model"; +import { DigitalTwinsInstanceValidationModel } from "../model/digital_twins_instance_validation_model"; + +export class DeleteDigitalTwinsInstanceScenario extends DeleteInstanceScenario { + databaseModel = DigitalTwinsInstanceDatabaseModel; +} diff --git a/server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts b/server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts new file mode 100644 index 0000000..f4ec799 --- /dev/null +++ b/server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts @@ -0,0 +1,36 @@ +import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller"; +import { ExecProcessUseCase } from "../../../core/usecases/exec_process_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 { + DigitalTwinsInstanceDatabaseModel, + IDigitalTwinsInstanceModel, +} from "../model/digital_twins_instance_database_model"; +import { ITopicModel } from "../../topics/topic_database_model"; +import { ExecInstanceTwinsProcessService } from "../services/exec_instance_twins_process_service"; + +export interface Topics { + topics: ITopicModel[]; +} + +export class ExecInstanceScenario extends CallbackStrategyWithIdQuery { + idValidationExpression: CoreValidation = new MongoIdValidation(); + call = async (id: string): ResponseBase => + ( + await new ReadByIdDataBaseModelUseCase(DigitalTwinsInstanceDatabaseModel).call(id) + ).map( + (document) => ( + console.log('DOCUMeNT PATH'), + console.log(document.instancePath.pathNormalize()), + new ExecProcessUseCase().call( + document.instancePath, + `python3 $GET_INTERFACES --path ${document.instancePath.pathNormalize()} --package '${JSON.stringify( + document + )}'`, + "", + new ExecInstanceTwinsProcessService(document.instancePath, document) + ) + ) + ); +} diff --git a/server/src/features/digital_twins_instance/model/digital_twins_instance_database_model.ts b/server/src/features/digital_twins_instance/model/digital_twins_instance_database_model.ts new file mode 100644 index 0000000..9288a79 --- /dev/null +++ b/server/src/features/digital_twins_instance/model/digital_twins_instance_database_model.ts @@ -0,0 +1,39 @@ +import { Schema, model } from "mongoose"; + +export interface IDigitalTwinsInstanceModel { + instancePath: string; + status?: string; +} + +export const DigitalTwinsInstanceSchema = new Schema({ + path: String, + name: String, + entity: String, + description: String, + command: String, + status: { + type: String, + }, + interfaces: { + cmd: String, + }, + instancePath: { + type: String, + }, + package: { + type: String, + }, + executable: { + type: String, + }, + formBuilder: { + type: Schema.Types.Mixed, + }, +}).plugin(require("mongoose-autopopulate")); + +export const digitalTwinsInstanceSchema = "digital_twins_instance"; + +export const DigitalTwinsInstanceDatabaseModel = model( + digitalTwinsInstanceSchema, + DigitalTwinsInstanceSchema +); diff --git a/server/src/features/digital_twins_instance/model/digital_twins_instance_validation_model.ts b/server/src/features/digital_twins_instance/model/digital_twins_instance_validation_model.ts new file mode 100644 index 0000000..791a54c --- /dev/null +++ b/server/src/features/digital_twins_instance/model/digital_twins_instance_validation_model.ts @@ -0,0 +1,26 @@ +import { Type } from "class-transformer"; +import { IsEnum, IsString } from "class-validator"; +import { Instance } from "../../../core/models/instance"; + +enum DigitalTwinsTypes { + CAMERA = "CAMERA", + ROBOT = "ROBOT", +} +export class Interfaces { + @IsString() + cmd: string; +} +export class DigitalTwinsInstanceValidationModel implements Instance { + instanceName: string; + instancePath: string; + path: string; + name: string; + @IsEnum(DigitalTwinsTypes) + entity: DigitalTwinsTypes; + @IsString() + description: string; + @IsString() + command: string; + @Type(() => Interfaces) + interfaces: Interfaces; +} diff --git a/server/src/features/digital_twins_instance/services/exec_instance_twins_process_service.ts b/server/src/features/digital_twins_instance/services/exec_instance_twins_process_service.ts new file mode 100644 index 0000000..abdd290 --- /dev/null +++ b/server/src/features/digital_twins_instance/services/exec_instance_twins_process_service.ts @@ -0,0 +1,49 @@ +import { Result } from "../../../core/helpers/result"; +import { TypedEvent } from "../../../core/helpers/typed_event"; +import { ExecError, SpawnError, EXEC_EVENT } from "../../../core/models/exec_error_model"; +import { ExecutorResult } from "../../../core/models/executor_result"; +import { CreateDataBaseModelUseCase } from "../../../core/usecases/create_database_model_usecase"; +import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json"; +import { ITopicModel, TopicDatabaseModel } from "../../topics/topic_database_model"; +import { Topics } from "../domain/exec_instance_scenario"; + +export class ExecInstanceTwinsProcessService extends TypedEvent< + Result +> { + path: string; + databaseModel: any; + constructor(path: string, databaseModel: any) { + super(); + this.path = path; + this.databaseModel = databaseModel; + this.on((event) => this.lister(event)); + } + + lister = (event: Result) => + event.fold( + async (success) => { + if (success.event == EXEC_EVENT.END) { + (await new ReadFileAndParseJsonUseCase().call(this.path + "/topics.json")).fold( + async (model) => { + await model.topics.forEach(async (el) => { + el.digitalTwinId = this.databaseModel._id; + await new CreateDataBaseModelUseCase(TopicDatabaseModel).call(el); + }); + + this.databaseModel.status = "END"; + await this.databaseModel.save(); + }, + + async (_) => { + this.databaseModel.status = "ERROR"; + await this.databaseModel.save(); + } + ); + } + }, + async (_) => { + this.databaseModel.status = "ERROR"; + await this.databaseModel.save(); + } + ); +} \ No newline at end of file diff --git a/server/src/features/digital_twins_template/digital_twins_template_presentation.ts b/server/src/features/digital_twins_template/digital_twins_template_presentation.ts new file mode 100644 index 0000000..7ef7d18 --- /dev/null +++ b/server/src/features/digital_twins_template/digital_twins_template_presentation.ts @@ -0,0 +1,20 @@ +import { CrudController } from "../../core/controllers/crud_controller"; +import { CreateDigitalTwinsTemplateScenario } from "./domain/create_digital_twins_template"; +import { DeleteDigitalTwinsTemplateScenario } from "./domain/delete_digital_twins_template"; +import { DigitalTwinsTemplateDBModel } from "./models/digital_twins_template_database_model"; +import { DigitalTwinsTemplateValidationModel } from "./models/digital_twins_template_validation_model"; + +export class DigitalTwinsTemplatePresentation extends CrudController< + DigitalTwinsTemplateValidationModel, + typeof DigitalTwinsTemplateDBModel +> { + constructor() { + super({ + url: "digital/twins/template", + validationModel: DigitalTwinsTemplateValidationModel, + databaseModel: DigitalTwinsTemplateDBModel, + }); + super.post(new CreateDigitalTwinsTemplateScenario().call); + super.delete(new DeleteDigitalTwinsTemplateScenario().call); + } +} diff --git a/server/src/features/digital_twins_template/domain/create_digital_twins_template.ts b/server/src/features/digital_twins_template/domain/create_digital_twins_template.ts new file mode 100644 index 0000000..93b5783 --- /dev/null +++ b/server/src/features/digital_twins_template/domain/create_digital_twins_template.ts @@ -0,0 +1,10 @@ +import { StaticFilesServer } from "../../../core/models/static_files"; +import { CreateTemplateScenario } from "../../../core/scenarios/create_template_scenario"; +import { DigitalTwinsTemplateDBModel } from "../models/digital_twins_template_database_model"; +import { DigitalTwinsTemplateValidationModel } from "../models/digital_twins_template_validation_model"; + +export class CreateDigitalTwinsTemplateScenario extends CreateTemplateScenario { + validationModel: DigitalTwinsTemplateValidationModel = new DigitalTwinsTemplateValidationModel(); + databaseModel = DigitalTwinsTemplateDBModel; + path: string = StaticFilesServer.digitalTwins; +} diff --git a/server/src/features/digital_twins_template/domain/delete_digital_twins_template.ts b/server/src/features/digital_twins_template/domain/delete_digital_twins_template.ts new file mode 100644 index 0000000..1d7739d --- /dev/null +++ b/server/src/features/digital_twins_template/domain/delete_digital_twins_template.ts @@ -0,0 +1,6 @@ +import { DeleteTemplateScenario } from "../../../core/scenarios/delete_template_scenario"; +import { DigitalTwinsTemplateDBModel } from "../models/digital_twins_template_database_model"; + +export class DeleteDigitalTwinsTemplateScenario extends DeleteTemplateScenario { + databaseModel = DigitalTwinsTemplateDBModel; +} diff --git a/server/src/features/digital_twins_template/models/digital_twins_template_database_model.ts b/server/src/features/digital_twins_template/models/digital_twins_template_database_model.ts new file mode 100644 index 0000000..e1789b0 --- /dev/null +++ b/server/src/features/digital_twins_template/models/digital_twins_template_database_model.ts @@ -0,0 +1,30 @@ +import { Schema, model } from "mongoose"; + +export interface IDigitalTwinsTemplateTemplateModel {} + +export const DigitalTwinsTemplateSchema = new Schema({ + path: String, + name: String, + entity: String, + description: String, + command: String, + package: { + type: String, + }, + executable: { + type: String, + }, + interfaces: { + cmd: String, + }, + formBuilder: { + type: Schema.Types.Mixed, + }, +}).plugin(require("mongoose-autopopulate")); + +export const digitalTwinsTemplateSchema = "digital_twins_templates"; + +export const DigitalTwinsTemplateDBModel = model( + digitalTwinsTemplateSchema, + DigitalTwinsTemplateSchema +); diff --git a/server/src/features/digital_twins_template/models/digital_twins_template_validation_model.ts b/server/src/features/digital_twins_template/models/digital_twins_template_validation_model.ts new file mode 100644 index 0000000..4e1aa46 --- /dev/null +++ b/server/src/features/digital_twins_template/models/digital_twins_template_validation_model.ts @@ -0,0 +1,23 @@ +import { Type } from "class-transformer"; +import { IsEnum, IsString } from "class-validator"; + +enum DigitalTwinsTypes { + CAMERA = "CAMERA", + ROBOT = "ROBOT", +} +export class Interfaces { + @IsString() + cmd: string; +} +export class DigitalTwinsTemplateValidationModel { + path: string; + name: string; + @IsEnum(DigitalTwinsTypes) + entity: DigitalTwinsTypes; + @IsString() + description: string; + @IsString() + command: string; + @Type(() => Interfaces) + interfaces: Interfaces; +} diff --git a/server/src/features/projects/domain/create_new_project_scenario.ts b/server/src/features/projects/domain/create_new_project_scenario.ts index b2ee76c..8b2fb09 100644 --- a/server/src/features/projects/domain/create_new_project_scenario.ts +++ b/server/src/features/projects/domain/create_new_project_scenario.ts @@ -2,9 +2,8 @@ import { App } from "../../../core/controllers/app"; import { Result } from "../../../core/helpers/result"; import { v4 as uuidv4 } from "uuid"; import { IsString } from "class-validator"; -import { ProjectDBModel } from "../../_projects/models/project_database_model"; -import { CreateDataBaseModelUseCase } from "../../../core/usecases/create_database_model_usecase"; import { CreateFolderUseCase } from "../../../core/usecases/create_folder_usecase"; +import { ProjectDBModel } from "../models/project_model_database_model"; export class ProjectValidationModel { @IsString() diff --git a/server/src/features/projects/domain/get_active_project_id_scenario.ts b/server/src/features/projects/domain/get_active_project_id_scenario.ts new file mode 100644 index 0000000..0e06a58 --- /dev/null +++ b/server/src/features/projects/domain/get_active_project_id_scenario.ts @@ -0,0 +1,12 @@ +import { CallbackStrategyWithEmpty } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; +import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase"; +import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model"; + +export class GetActiveProjectIdScenario extends CallbackStrategyWithEmpty { + async call(): Promise> { + return ( + await new SearchOneDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects") + ).map((model) => Result.ok({ id: model._id })); + } +} diff --git a/server/src/features/projects/domain/get_active_project_scenario.ts b/server/src/features/projects/domain/get_active_project_scenario.ts deleted file mode 100644 index ecf4b6b..0000000 --- a/server/src/features/projects/domain/get_active_project_scenario.ts +++ /dev/null @@ -1,12 +0,0 @@ -import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"; -import { Result } from "../../../core/helpers/result"; -import { SearchDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase"; -import { IProjectModel, ProjectDBModel } from "../../_projects/models/project_database_model"; - -export class GetActiveProjectScenario extends CallbackStrategyWithEmpty { - async call(): ResponseBase { - return ( - await new SearchDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects") - ).map((model) => Result.ok({ id: model._id })); - } -} diff --git a/server/src/features/_realtime/domain/pipeline_status_usecase.ts b/server/src/features/projects/domain/pipeline_status_usecase.ts similarity index 83% rename from server/src/features/_realtime/domain/pipeline_status_usecase.ts rename to server/src/features/projects/domain/pipeline_status_usecase.ts index df47fe1..6875b6c 100644 --- a/server/src/features/_realtime/domain/pipeline_status_usecase.ts +++ b/server/src/features/projects/domain/pipeline_status_usecase.ts @@ -1,7 +1,7 @@ import { Result } from "../../../core/helpers/result"; import { ActivePipeline } from "../../../core/models/active_pipeline_model"; -import { pipelineRealTimeService } from "../realtime_presentation"; - +import { pipelineRealTimeService } from "../../../core/scenarios/set_active_pipeline_to_realtime_service_scenario"; + export class PipelineStatusUseCase { async call(): Promise> { try { @@ -18,3 +18,4 @@ export class PipelineStatusUseCase { } } } + diff --git a/server/src/features/projects/domain/robossembler_assets_absolute_path_mapper_scenario.ts b/server/src/features/projects/domain/robossembler_assets_absolute_path_mapper_scenario.ts new file mode 100644 index 0000000..c64ebc6 --- /dev/null +++ b/server/src/features/projects/domain/robossembler_assets_absolute_path_mapper_scenario.ts @@ -0,0 +1,48 @@ +import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; +import { StaticFilesProject } from "../../../core/models/static_files"; +import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json"; +import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase"; +import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model"; + +export interface Parts { + name: string; + part_path: string; + material_path: string; + stlUrl: string; + image: string; + glUrl: string; + daeUrl: string; + fbx: string; + objUrl: string; + solidType: string; +} + +export class RobossemblerAssetsLocaleMapperScenario extends CallbackStrategyWithEmpty { + call = async (): ResponseBase => + ( + await new SearchManyDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "is dont active projects" + ) + ).map(async (projectModel) => { + const { rootDir } = projectModel[0]; + return (await new ReadFileAndParseJsonUseCase().call(rootDir + StaticFilesProject.parts)).map((model) => + Result.ok( + model.map((el) => { + const assetLibsAddress = rootDir + "/assets/libs/objects/" + el.name; + el.fbx = `${assetLibsAddress}.fbx`; + el.stlUrl = `${assetLibsAddress}${el.part_path}`; + el.glUrl = `${assetLibsAddress}.glb`; + el.daeUrl = `${assetLibsAddress}.dae`; + el.objUrl = `${assetLibsAddress}.obj`; + el.image = `${assetLibsAddress}.png`; + el.solidType = "active"; + + return el; + }) + ) + ); + + }); +} diff --git a/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts b/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts index c788900..8b24b30 100644 --- a/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts +++ b/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts @@ -1,33 +1,51 @@ import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"; import { Result } from "../../../core/helpers/result"; -import { RobossemblerAssets } from "../../../core/models/robossembler_assets"; -import { StaticFiles } from "../../../core/models/static_files"; -import { ReadingJsonFileAndConvertingToInstanceClassScenario } from "../../../core/scenarios/read_file_and_json_to_plain_instance_class_scenario"; +import { StaticFilesProject } from "../../../core/models/static_files"; import { GetServerAddressUseCase } from "../../../core/usecases/get_server_address_usecase"; -import { ProjectDBModel } from "../../_projects/models/project_database_model"; +import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json"; +import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase"; +import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model"; +export interface Parts { + name: string; + part_path: string; + material_path: string; + stlUrl: string; + image: string; + glUrl: string; + daeUrl: string; + objUrl: string; + solidType: string; +} export class RobossemblerAssetsNetworkMapperScenario extends CallbackStrategyWithEmpty { - async call(): ResponseBase { - const projectDbModel = await ProjectDBModel.findOne({ isActive: true }); - if (projectDbModel === null) { - return Result.error("is dont active projects"); - } - const { rootDir } = projectDbModel; - - return new GetServerAddressUseCase().call().map(async (address) => - ( - await new ReadingJsonFileAndConvertingToInstanceClassScenario(RobossemblerAssets).call( - rootDir + StaticFiles.assets - ) - ).map((model) => { - return Result.ok( - model.convertLocalPathsToServerPaths( - `${address}/${ - rootDir.match(new RegExp(/[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}/gm))[0] - }/assets` - ) - ); - }) - ); - } + call = async (): ResponseBase => + ( + await new SearchManyDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "is dont active projects" + ) + ).map((projectModel) => { + const { rootDir } = projectModel[0]; + return new GetServerAddressUseCase().call().map(async (serverAddress) => + (await new ReadFileAndParseJsonUseCase().call(rootDir + StaticFilesProject.parts)).map((model) => { + const assetAddress = + serverAddress + + "/" + + rootDir.match(new RegExp(/[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}/gm))[0] + + "/assets/"; + model.map((el) => { + const assetLibsAddress = assetAddress + "/libs/objects/" + el.name; + console.log(assetLibsAddress); + el.stlUrl = `${assetAddress}${el.part_path}`; + el.glUrl = `${assetLibsAddress}.glb`; + el.daeUrl = `${assetLibsAddress}.dae`; + el.objUrl = `${assetLibsAddress}.obj`; + el.image = `${assetLibsAddress}.png`; + el.solidType = 'active' + return el; + }); + return Result.ok(model); + }) + ); + }); } diff --git a/server/src/features/projects/domain/save_active_scene_scenario.ts b/server/src/features/projects/domain/save_active_scene_scenario.ts index 2f7b2fa..52ada18 100644 --- a/server/src/features/projects/domain/save_active_scene_scenario.ts +++ b/server/src/features/projects/domain/save_active_scene_scenario.ts @@ -1,24 +1,24 @@ import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller"; import { Result } from "../../../core/helpers/result"; import { RobossemblerAssets } from "../../../core/models/robossembler_assets"; -import { StaticFiles } from "../../../core/models/static_files"; +import { StaticFilesProject } from "../../../core/models/static_files"; import { ReadingJsonFileAndConvertingToInstanceClassScenario } from "../../../core/scenarios/read_file_and_json_to_plain_instance_class_scenario"; import { WriteFileSystemFileUseCase } from "../../../core/usecases/write_file_system_file_usecase"; -import { PipelineStatusUseCase } from "../../_realtime/domain/pipeline_status_usecase"; - +import { PipelineStatusUseCase } from "./pipeline_status_usecase"; + export class SaveActiveSceneScenario extends CallbackStrategyWithValidationModel { validationModel: RobossemblerAssets = new RobossemblerAssets(); async call(model: RobossemblerAssets): ResponseBase { return (await new PipelineStatusUseCase().call()).map(async (activeInstanceModel) => ( await new ReadingJsonFileAndConvertingToInstanceClassScenario(RobossemblerAssets).call( - `${activeInstanceModel.path}${StaticFiles.robossembler_assets}`.pathNormalize() + `${activeInstanceModel.path}${StaticFilesProject.robossembler_assets}`.pathNormalize() ) ).map(async (prevModel) => { model.assets = prevModel.assets; return ( await new WriteFileSystemFileUseCase().call( - `${activeInstanceModel.path}${StaticFiles.robossembler_assets}`.pathNormalize(), + `${activeInstanceModel.path}${StaticFilesProject.robossembler_assets}`.pathNormalize(), JSON.stringify(model) ) ).map(() => Result.ok("assets is rewrite")); diff --git a/server/src/features/projects/domain/set_active_project_use_scenario.ts b/server/src/features/projects/domain/set_active_project_use_scenario.ts index 5bc82d8..e511259 100644 --- a/server/src/features/projects/domain/set_active_project_use_scenario.ts +++ b/server/src/features/projects/domain/set_active_project_use_scenario.ts @@ -6,37 +6,25 @@ import { CreateFolderUseCase } from "../../../core/usecases/create_folder_usecas import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase"; import { UpdateDataBaseModelUseCase } from "../../../core/usecases/update_database_model_usecase"; import { MongoIdValidation } from "../../../core/validations/mongo_id_validation"; -import { IProjectInstanceModel, ProjectInstanceDbModel } from "../models/project_instance_database_model"; +import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model"; export class SetActiveProjectScenario extends CallbackStrategyWithIdQuery { idValidationExpression = new MongoIdValidation(); - async call(id: string): ResponseBase { - try { - const result = await new ReadByIdDataBaseModelUseCase(ProjectInstanceDbModel).call(id); - // id - - if (result.isFailure()) { - return result.forward(); - } - const model = result.value; - - return await ( - await new CreateFolderUseCase().call(App.staticFilesStoreDir() + model.rootDir) - ).map(async () => { - model.isActive = true; - return (await new UpdateDataBaseModelUseCase(ProjectInstanceDbModel).call(model)).map(async (el) => { - // TODO(IDONTSUDO): move it to a separate UseCase - await ProjectInstanceDbModel.updateMany( - { _id: { $ne: el._id }, isActive: { $eq: true } }, - { isActive: false } - ); - await new SetLastActivePipelineToRealTimeServiceScenario().call(); - return Result.ok(`project ${id} is active`); - }); - }); - } catch (error) { - return Result.error("SetActiveProjectScenario error:" + String(error)); - } - } + call = async (id: string): ResponseBase => + await ( + await new ReadByIdDataBaseModelUseCase(ProjectDBModel).call(id) + ).map( + async (model) => + await ( + await new CreateFolderUseCase().call(model.rootDir) + ).map(async () => { + model.isActive = true; + return (await new UpdateDataBaseModelUseCase(ProjectDBModel).call(model)).map(async (el) => { + await ProjectDBModel.updateMany({ _id: { $ne: el._id }, isActive: { $eq: true } }, { isActive: false }); + await new SetLastActivePipelineToRealTimeServiceScenario().call(); + return Result.ok(`project ${id} is active`); + }); + }) + ); } diff --git a/server/src/features/projects/domain/upload_file_to_to_project_scenario.ts b/server/src/features/projects/domain/upload_file_to_to_project_scenario.ts index e24a7bf..d7526c8 100644 --- a/server/src/features/projects/domain/upload_file_to_to_project_scenario.ts +++ b/server/src/features/projects/domain/upload_file_to_to_project_scenario.ts @@ -2,26 +2,43 @@ import { CallbackStrategyWithFileUpload, ResponseBase } from "../../../core/cont import { IFile } from "../../../core/interfaces/file"; import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase"; import { MongoIdValidation } from "../../../core/validations/mongo_id_validation"; -import { IProjectInstanceModel } from "../models/project_instance_database_model"; import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase"; -import { ProjectDBModel } from "../../_projects/models/project_database_model"; import { ExecProcessUseCase } from "../../../core/usecases/exec_process_usecase"; +import { Result } from "../../../core/helpers/result"; +import { CreateManyFolderScenario } from "../../../core/scenarios/create_many_folder_scenario"; +import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model"; + +export enum FolderStructure { + assets = "assets", + weights = "weights", + datasets = "datasets", + behaviorTrees = "behavior_trees", + robots = "robots", + scenes = "scenes", +} export class UploadCadFileToProjectScenario extends CallbackStrategyWithFileUpload { checkingFileExpression: RegExp = new RegExp(".FCStd"); idValidationExpression = new MongoIdValidation(); async call(file: IFile, id: string): ResponseBase { - return (await new ReadByIdDataBaseModelUseCase(ProjectDBModel).call(id)).map( - async (databaseModel) => - (await new CreateFileUseCase().call(`${databaseModel.rootDir}/${file.name}`, file.data)).map( - async () => - await new ExecProcessUseCase().call( - `${databaseModel.rootDir}/`, - '', - `python3 $PYTHON_BLENDER --path '${databaseModel.rootDir}/assets/'` + return (await new ReadByIdDataBaseModelUseCase(ProjectDBModel).call(id)).map(async (databaseModel) => + (await new CreateFileUseCase().call(`${databaseModel.rootDir}/${file.name}`, file.data)).map(async () => + ( + await new ExecProcessUseCase().call( + `${databaseModel.rootDir}/`, + `python3 $PYTHON_BLENDER --path '${databaseModel.rootDir}/assets/'`, + "" + ) + ).map(async () => + ( + await new CreateManyFolderScenario().call( + databaseModel.rootDir, + Object.keys(FolderStructure).map((el) => `/${el}`) ) + ).map(() => Result.ok("file upload and save")) ) + ) ); } } diff --git a/server/src/features/projects/domain/upload_new_env_scenario.ts b/server/src/features/projects/domain/upload_new_env_scenario.ts new file mode 100644 index 0000000..1eac9d9 --- /dev/null +++ b/server/src/features/projects/domain/upload_new_env_scenario.ts @@ -0,0 +1,61 @@ +import { CallbackStrategyWithFilesUploads, ResponseBase } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; +import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase"; +import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json"; +export interface Parts { + name: string; + part_path: string; + material_path: string; + mass: number; + inertia: { + ixx: number; + ixy: number; + ixz: number; + iyy: number; + iyz: number; + izz: number; + }; + visual: string; + collision: string; + type: string; +} +export class UploadNewEnvScenario { + call = async ( + files: { name: string; file?: Buffer }[], + name: string, + inertia: number, + mass: number, + projectPath: string + ): ResponseBase => { + await files.map( + async (el) => await new CreateFileUseCase().call(projectPath + `/assets/libs/objects/${name}.${el.name}`, el.file) + ); + // "part_path": "parts/objects/body_down.stl", + await new CreateFileUseCase().call( + projectPath + `/parts/objects/${name}.${files.find((el) => el.name.isEqual("stl")).name}`, + files.find((el) => el.name.isEqual("stl")).file + ); + return (await new ReadFileAndParseJsonUseCase().call(projectPath + "/assets/parts.json")).map( + async (el) => { + el.push({ + name, + inertia: { + ixx: 0.1, + ixy: 0, + ixz: 0, + iyy: 0.1, + iyz: 0, + izz: 0.1, + }, + mass, + visual: `/assets/libs/objects/${name}.dae`, + collision: `/assets/libs/objects/${name}.stl`, + type: "env", + material_path: "", + part_path: `/libs/objects/${name}.stl`, + }); + await new CreateFileUseCase().call(projectPath + "/assets/parts.json", Buffer.from(JSON.stringify(el), "utf8")); + } + ); + }; +} diff --git a/server/src/features/projects/models/project_instance_database_model.ts b/server/src/features/projects/models/project_instance_database_model.ts deleted file mode 100644 index 604f8b9..0000000 --- a/server/src/features/projects/models/project_instance_database_model.ts +++ /dev/null @@ -1,27 +0,0 @@ -import { Schema, model } from "mongoose"; -import { IProjectModel, projectSchema } from "../../_projects/models/project_database_model"; - -export interface IProjectInstanceModel { - _id: string; - project: IProjectModel; - description: string; - rootDir: string; - isActive: boolean; -} - -export const ProjectInstanceSchema = new Schema({ - description: { - type: String, - }, - rootDir: { - type: String, - }, - isActive: { - type: Boolean, - default: false, - }, -}).plugin(require("mongoose-autopopulate")); - -export const schemaProjectInstance = "instance_project"; - -export const ProjectInstanceDbModel = model(schemaProjectInstance, ProjectInstanceSchema); diff --git a/server/src/features/_projects/models/project_database_model.ts b/server/src/features/projects/models/project_model_database_model.ts similarity index 79% rename from server/src/features/_projects/models/project_database_model.ts rename to server/src/features/projects/models/project_model_database_model.ts index e45b146..09d043b 100644 --- a/server/src/features/_projects/models/project_database_model.ts +++ b/server/src/features/projects/models/project_model_database_model.ts @@ -1,9 +1,7 @@ import { Schema, model } from "mongoose"; -import { PipelineValidationModel } from "../../_pipelines/models/pipeline_validation_model"; export interface IProjectModel { _id?: string; - pipelines: [PipelineValidationModel]; rootDir: string; description: string; isActive: boolean; diff --git a/server/src/features/projects/models/project_instance_validation_model.ts b/server/src/features/projects/models/project_validation_model.ts similarity index 72% rename from server/src/features/projects/models/project_instance_validation_model.ts rename to server/src/features/projects/models/project_validation_model.ts index ef7b6b0..52615cc 100644 --- a/server/src/features/projects/models/project_instance_validation_model.ts +++ b/server/src/features/projects/models/project_validation_model.ts @@ -1,4 +1,4 @@ -import { IsMongoId, IsOptional, IsString } from "class-validator"; +import { IsOptional, IsString } from "class-validator"; export class ProjectInstanceValidationModel { @IsString() diff --git a/server/src/features/projects/projects_presentation.ts b/server/src/features/projects/projects_presentation.ts index 1fa0714..6460607 100644 --- a/server/src/features/projects/projects_presentation.ts +++ b/server/src/features/projects/projects_presentation.ts @@ -1,16 +1,18 @@ import { CrudController } from "../../core/controllers/crud_controller"; -import { ProjectDBModel } from "../_projects/models/project_database_model"; -import { CreateNewProjectInstanceScenario } from "./domain/create_new_project_scenario"; -import { GetActiveProjectScenario } from "./domain/get_active_project_scenario"; +import { SearchManyDataBaseModelUseCase } from "../../core/usecases/search_many_database_model_usecase"; +import { CreateNewProjectInstanceScenario, ProjectValidationModel } from "./domain/create_new_project_scenario"; +import { GetActiveProjectIdScenario } from "./domain/get_active_project_id_scenario"; +import { RobossemblerAssetsLocaleMapperScenario } from "./domain/robossembler_assets_absolute_path_mapper_scenario"; import { RobossemblerAssetsNetworkMapperScenario } from "./domain/robossembler_assets_network_mapper_scenario"; import { SetActiveProjectScenario } from "./domain/set_active_project_use_scenario"; import { UploadCadFileToProjectScenario } from "./domain/upload_file_to_to_project_scenario"; -import { ProjectInstanceValidationModel as ProjectsValidationModel } from "./models/project_instance_validation_model"; +import { UploadNewEnvScenario } from "./domain/upload_new_env_scenario"; +import { IProjectModel, ProjectDBModel } from "./models/project_model_database_model"; -export class ProjectsPresentation extends CrudController { +export class ProjectsPresentation extends CrudController { constructor() { super({ - validationModel: ProjectsValidationModel, + validationModel: ProjectValidationModel, url: "projects", databaseModel: ProjectDBModel, }); @@ -22,10 +24,11 @@ export class ProjectsPresentation extends CrudController { + try { + } catch (error) {} + ( + await new SearchManyDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "is dont active projects" + ) + ).map(async (projectModel) => { + const { rootDir } = projectModel[0]; + const files: { name: string; file?: Buffer }[] = [ + { name: "blend" }, + { name: "fbx" }, + { name: "ply" }, + { name: "glb" }, + { name: "dae" }, + { name: "fbx" }, + { name: "png" }, + { name: "stl" }, + ]; + // @ts-ignore + const reqFiles = req.files; + + files.forEach((el) => { + reqFiles[el.name].data; + el.file = reqFiles[el.name].data; + }); + + await new UploadNewEnvScenario().call(files, req.body.name, req.body.inertia, req.body.mass, rootDir); + return res.status(200).json(""); + }); + }); } } diff --git a/server/src/features/runtime/domain/exec_bt_builder_usecase.ts b/server/src/features/runtime/domain/exec_bt_builder_usecase.ts new file mode 100644 index 0000000..66ea474 --- /dev/null +++ b/server/src/features/runtime/domain/exec_bt_builder_usecase.ts @@ -0,0 +1,7 @@ +import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"; + +export class ExecBtBuilderUseCase extends CallbackStrategyWithEmpty { + call(): ResponseBase { + throw new Error("Method not implemented."); + } +} diff --git a/server/src/features/runtime/domain/exec_simulation_usecase.ts b/server/src/features/runtime/domain/exec_simulation_usecase.ts new file mode 100644 index 0000000..24837a6 --- /dev/null +++ b/server/src/features/runtime/domain/exec_simulation_usecase.ts @@ -0,0 +1,21 @@ +import { App } from "../../../core/controllers/app"; +import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; +import { SpawnProcessUseCase } from "../../../core/usecases/exec_process_usecase"; +import { ExecProcesssss } from "../model/exec_process"; +import { ProcessWatcher } from "../service/process_watcher"; +import { GetCommandScenario } from "./get_command_scenario"; + +export class ExecSimulationUseCase extends CallbackStrategyWithValidationModel { + validationModel = new ExecProcesssss(); + call = async (): ResponseBase => + (await new GetCommandScenario().call("btBuilderProcess")).map((el) => { + new SpawnProcessUseCase().call( + App.staticFilesStoreDir(), + el.execCommand.replace("${dir_path}", "/Users/idontsudo/train"), + "btBuilder", + new ProcessWatcher() + ); + return Result.ok("200"); + }); +} diff --git a/server/src/features/runtime/domain/get_bt_builder_status_usecase.ts b/server/src/features/runtime/domain/get_bt_builder_status_usecase.ts new file mode 100644 index 0000000..26c76f7 --- /dev/null +++ b/server/src/features/runtime/domain/get_bt_builder_status_usecase.ts @@ -0,0 +1,7 @@ +import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"; + +export class GetBtBuilderStateUseCase extends CallbackStrategyWithEmpty { + call(): ResponseBase { + throw new Error("Method not implemented."); + } +} diff --git a/server/src/features/runtime/domain/get_command_scenario.ts b/server/src/features/runtime/domain/get_command_scenario.ts new file mode 100644 index 0000000..2212522 --- /dev/null +++ b/server/src/features/runtime/domain/get_command_scenario.ts @@ -0,0 +1,14 @@ +import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json"; +import { Result } from "../../../core/helpers/result"; +import { Command, ExecProcess } from "../model/command"; + +export class GetCommandScenario { + call = async (command: string): Promise> => + ( + await new ReadFileAndParseJsonUseCase().call( + __filename.slice(0, __filename.lastIndexOf("/")).replace("/build/src/features/runtime/domain", "") + + "/" + + "command.json" + ) + ).map((el) => Result.ok(el[command])); +} diff --git a/server/src/features/runtime/domain/get_simulation_state_usecase.ts b/server/src/features/runtime/domain/get_simulation_state_usecase.ts new file mode 100644 index 0000000..4658739 --- /dev/null +++ b/server/src/features/runtime/domain/get_simulation_state_usecase.ts @@ -0,0 +1,10 @@ +import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; +import { SpawnProcessUseCase } from "../../../core/usecases/exec_process_usecase"; +import { GetCommandScenario } from "./get_command_scenario"; +import { ProcessWatcher } from "../service/process_watcher"; +import { App } from "../../../core/controllers/app"; + +export class GetSimulationStateScenario extends CallbackStrategyWithEmpty { + call = async (): ResponseBase => Result.ok(""); +} diff --git a/server/src/features/runtime/model/command.ts b/server/src/features/runtime/model/command.ts new file mode 100644 index 0000000..863d14e --- /dev/null +++ b/server/src/features/runtime/model/command.ts @@ -0,0 +1,14 @@ +export interface Command { + tensorBoard: ExecProcess; + simulationProcess: ExecProcess; + btBuilderProcess: ExecProcess; +} + +export interface ExecProcess { + execCommand: string; + date: null; + status: null | string; + delay: number; + checkCommand: null; + filter: null; +} diff --git a/server/src/features/runtime/model/exec_process.ts b/server/src/features/runtime/model/exec_process.ts new file mode 100644 index 0000000..4b2dcb1 --- /dev/null +++ b/server/src/features/runtime/model/exec_process.ts @@ -0,0 +1,3 @@ +export class ExecProcesssss{ + +} \ No newline at end of file diff --git a/server/src/features/runtime/model/run_time_database_model.ts b/server/src/features/runtime/model/run_time_database_model.ts new file mode 100644 index 0000000..6f79226 --- /dev/null +++ b/server/src/features/runtime/model/run_time_database_model.ts @@ -0,0 +1,23 @@ +import { Schema, model } from "mongoose"; +import { ExecRunTimeCommandValidationModel as ExecRunTimeCommandValidationModel } from "./run_time_validation_model"; + +export interface IDigitalTwinsInstanceModel { + instancePath: string; + status?: string; +} + +export const ExecRunTimeDataBaseSchema = new Schema({ + execCommand: String, + date: String, + status: String, + delay: Number, + checkCommand: String, + filter: Array, +}).plugin(require("mongoose-autopopulate")); + +export const ExecRuntimeSchema = "digital_twins_instance"; + +export const ExecRuntimeDatabaseModel = model( + ExecRuntimeSchema, + ExecRunTimeDataBaseSchema +); diff --git a/server/src/features/runtime/model/run_time_validation_model.ts b/server/src/features/runtime/model/run_time_validation_model.ts new file mode 100644 index 0000000..ba2c3fb --- /dev/null +++ b/server/src/features/runtime/model/run_time_validation_model.ts @@ -0,0 +1,21 @@ +import { IsArray, IsEnum, IsNumber, IsString } from "class-validator"; + +export enum Status { + OK = "Ok", + ERROR = "Error", +} + +export class ExecRunTimeCommandValidationModel { + @IsString() + execCommand: string; + @IsString() + date: string = Date(); + @IsEnum(Status) + status: Status; + @IsNumber() + delay: number; + @IsString() + checkCommand: string; + @IsArray() + filter: string[] = []; +} diff --git a/server/src/features/runtime/runtime_presentation.ts b/server/src/features/runtime/runtime_presentation.ts new file mode 100644 index 0000000..335deee --- /dev/null +++ b/server/src/features/runtime/runtime_presentation.ts @@ -0,0 +1,42 @@ +import { CrudController } from "../../core/controllers/crud_controller"; +import { ExecRunTimeCommandValidationModel } from "./model/run_time_validation_model"; +import { ExecRuntimeDatabaseModel } from "./model/run_time_database_model"; +import { CoreHttpController, SubRouter, HttpMethodType, CallbackStrategyWithIdQuery, ResponseBase } from "../../core/controllers/http_controller"; +import { ExecBtBuilderUseCase } from "./domain/exec_bt_builder_usecase"; +import { ExecSimulationUseCase } from "./domain/exec_simulation_usecase"; +import { GetBtBuilderStateUseCase } from "./domain/get_bt_builder_status_usecase"; +import { GetSimulationStateScenario } from "./domain/get_simulation_state_usecase"; +import { MongoIdValidation } from "../../core/validations/mongo_id_validation"; +import { CoreValidation } from "../../core/validations/core_validation"; +import { ReadByIdDataBaseModelUseCase } from "../../core/usecases/read_by_id_database_model_usecase"; +import { ICalculationInstance, CalculationInstanceDBModel } from "../calculations_instance/models/calculations_instance_database_model"; +import { Result } from "../../core/helpers/result"; +import { SpawnProcessUseCase } from "../../core/usecases/exec_process_usecase"; +import { ProcessWatcher } from "./service/process_watcher"; + +class ExecAnalyzeScenario extends CallbackStrategyWithIdQuery { + + idValidationExpression: CoreValidation = new MongoIdValidation() + call = async (id: string) => + (await new ReadByIdDataBaseModelUseCase(CalculationInstanceDBModel).call(id)).map(async (model) => + (await new SpawnProcessUseCase().call('/Users/idontsudo/webservice', `nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${model.instancePath}`, "", new ProcessWatcher())).map(() => Result.ok('ok'),), + ) +} + +export class RunTimePresentation extends CrudController { + constructor() { + super({ + url: "run_time", + }); + + this.subRoutes.push(new SubRouter("POST", "/exec/bt/builder", new ExecBtBuilderUseCase())); + this.subRoutes.push(new SubRouter("POST", "/get/bt/builder/state", new GetBtBuilderStateUseCase())); + this.subRoutes.push(new SubRouter("POST", "/get/simulator/state", new GetSimulationStateScenario())); + this.subRoutes.push(new SubRouter('POST', "exec/analyze", new ExecAnalyzeScenario())) + this.subRoutes.push({ + method: "POST", + subUrl: "/exec/simulation/", + fn: new ExecSimulationUseCase(), + }); + } +} diff --git a/server/src/features/runtime/service/process_watcher.ts b/server/src/features/runtime/service/process_watcher.ts new file mode 100644 index 0000000..a0872c9 --- /dev/null +++ b/server/src/features/runtime/service/process_watcher.ts @@ -0,0 +1,19 @@ +import { Result } from "../../../core/helpers/result"; +import { TypedEvent } from "../../../core/helpers/typed_event"; +import { ExecError, SpawnError } from "../../../core/models/exec_error_model"; +import { ExecutorResult } from "../../../core/models/executor_result"; + +export class ProcessWatcher extends TypedEvent> { + + constructor() { + super(); + this.on(this.lister); + + } + + lister = (event: Result) => { + event.map(async (success) => { + console.log(success.data) + }); + }; +} diff --git a/server/src/features/scenes/domain/create_new_scene_scenario.ts b/server/src/features/scenes/domain/create_new_scene_scenario.ts new file mode 100644 index 0000000..e0685ca --- /dev/null +++ b/server/src/features/scenes/domain/create_new_scene_scenario.ts @@ -0,0 +1,43 @@ +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 { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase"; +import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model"; +import { StaticFilesProject } from "../../../core/models/static_files"; +import { CreateDataBaseModelUseCase } from "../../../core/usecases/create_database_model_usecase"; +import { SceneDBModel } from "../model/scene_database_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 { + validationModel: SceneModel = SceneModel; + + call = async (model: SceneModel): ResponseBase => + ( + await new SearchManyDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "is dont active projects" + ) + ).map(async (projectModel) => { + const { rootDir } = projectModel[0]; + + return ( + await new CreateFileUseCase().call( + `${rootDir}${StaticFilesProject.scenes}${model.name}.json`, + Buffer.from(JSON.stringify(new SceneAssets(model.name))) + ) + ).map(async () => + (await new CreateDataBaseModelUseCase(SceneDBModel).call(model)).map(() => Result.ok("Create")) + ); + }); +} diff --git a/server/src/features/scenes/domain/create_robot_scenario.ts b/server/src/features/scenes/domain/create_robot_scenario.ts new file mode 100644 index 0000000..9dc2375 --- /dev/null +++ b/server/src/features/scenes/domain/create_robot_scenario.ts @@ -0,0 +1,41 @@ +import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; +import { RobotModel } from "../model/robot_model"; +import { GetServerAddressUseCase } from "../../../core/usecases/get_server_address_usecase"; +import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase"; +import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model"; +import { ExecProcessUseCase } from "../../../core/usecases/exec_process_usecase"; +import { StaticFilesProject } from "../../../core/models/static_files"; + +export class CreateRobotScenario extends CallbackStrategyWithValidationModel { + validationModel: RobotModel = new RobotModel(); + call = async (model: RobotModel): ResponseBase => + ( + await new SearchManyDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "is dont active projects" + ) + ).map((projectModel) => { + const { rootDir } = projectModel[0]; + + return new GetServerAddressUseCase().call().map(async (serverAddress) => + ( + await new ExecProcessUseCase().call( + rootDir, + `python3 $PYTHON_ROBOT_BUILDER --path ${ + projectModel[0].rootDir + "/" + StaticFilesProject.robots + "/" + } --name ${model.name} --nDOF ${model.nDof} --toolType ${model.toolType}`, + "" + ) + ).map((log) => + Result.ok({ + robotUrl: `${serverAddress}/${ + rootDir.match(new RegExp(/[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}/gm))[0] + }/${StaticFilesProject.robots}/${model.name}/robot.xml`, + }) + ) + ); + }); +} + +// PYTHON_ROBOT_BUILDER diff --git a/server/src/features/scenes/domain/delete_scene_scenario.ts b/server/src/features/scenes/domain/delete_scene_scenario.ts new file mode 100644 index 0000000..61f829e --- /dev/null +++ b/server/src/features/scenes/domain/delete_scene_scenario.ts @@ -0,0 +1,31 @@ +import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; +import { StaticFilesProject } from "../../../core/models/static_files"; +import { DeleteDataBaseModelUseCase } from "../../../core/usecases/delete_database_model_usecase"; +import { DeleteFileUseCase } from "../../../core/usecases/delete_file_usecase"; +import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase"; +import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase"; +import { CoreValidation } from "../../../core/validations/core_validation"; +import { MongoIdValidation } from "../../../core/validations/mongo_id_validation"; +import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model"; +import { SceneModel } from "./create_new_scene_scenario"; + +export class DeleteSceneScenario extends CallbackStrategyWithIdQuery { + idValidationExpression: CoreValidation = new MongoIdValidation(); + call = async (id: string): ResponseBase => + (await new ReadByIdDataBaseModelUseCase(SceneModel).call(id)).map(async (sceneModel) => + (await new DeleteDataBaseModelUseCase(SceneModel).call(id)).map(async () => + ( + await new SearchManyDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "is dont active projects" + ) + ).map(async (projectModel) => { + const { rootDir } = projectModel[0]; + + (await new DeleteFileUseCase()).call(`${rootDir}${StaticFilesProject.scenes}${sceneModel.name}.json`); + return Result.ok("Delete scene"); + }) + ) + ); +} diff --git a/server/src/features/scenes/domain/edit_scene_scenario.ts b/server/src/features/scenes/domain/edit_scene_scenario.ts new file mode 100644 index 0000000..57ed4b0 --- /dev/null +++ b/server/src/features/scenes/domain/edit_scene_scenario.ts @@ -0,0 +1,27 @@ +import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; +import { StaticFilesProject } 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 { SceneValidationModel } from "../model/scene_validation_model"; + +export class EditSceneScenario extends CallbackStrategyWithValidationModel { + validationModel: SceneValidationModel; + call = async (model: SceneValidationModel): ResponseBase => + ( + await new SearchManyDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "is dont active projects" + ) + ).map(async (projectModel) => { + const { rootDir } = projectModel[0]; + + return ( + await new CreateFileUseCase().call( + `${rootDir}${StaticFilesProject.scenes}${model.name}.json`, + Buffer.from(JSON.stringify(model)) + ) + ).map(async () => Result.ok("Edit")); + }); +} diff --git a/server/src/features/scenes/domain/read_scene_scenario.ts b/server/src/features/scenes/domain/read_scene_scenario.ts new file mode 100644 index 0000000..135f0db --- /dev/null +++ b/server/src/features/scenes/domain/read_scene_scenario.ts @@ -0,0 +1,30 @@ +import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller"; +import { Result } from "../../../core/helpers/result"; +import { StaticFilesProject } from "../../../core/models/static_files"; +import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase"; +import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json"; +import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase"; +import { CoreValidation } from "../../../core/validations/core_validation"; +import { MongoIdValidation } from "../../../core/validations/mongo_id_validation"; +import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model"; +import { SceneModel } from "./create_new_scene_scenario"; +import { SceneDBModel } from "../model/scene_database_model"; + +export class ReadSceneScenario extends CallbackStrategyWithIdQuery { + idValidationExpression: CoreValidation = new MongoIdValidation(); + call = async (id: string): ResponseBase => + (await new ReadByIdDataBaseModelUseCase(SceneDBModel).call(id)).map(async (model) => + ( + await new SearchManyDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "is dont active projects" + ) + ).map(async (projectModel) => { + const { rootDir } = projectModel[0]; + + return (await new ReadFileAndParseJsonUseCase().call(`${rootDir}${StaticFilesProject.scenes}${model.name}.json`)).map( + async (sceneAsset) => Result.ok(sceneAsset) + ); + }) + ); +} diff --git a/server/src/features/scenes/model/robot_model.ts b/server/src/features/scenes/model/robot_model.ts new file mode 100644 index 0000000..82c6e97 --- /dev/null +++ b/server/src/features/scenes/model/robot_model.ts @@ -0,0 +1,12 @@ +import { IsNotEmpty, IsNumber, IsString } from "class-validator"; + +export class RobotModel { + @IsNotEmpty() + @IsString() + name: string; + @IsNumber() + nDof: number; + @IsNotEmpty() + @IsString() + toolType: string; +} diff --git a/server/src/features/scenes/model/scene_database_model.ts b/server/src/features/scenes/model/scene_database_model.ts new file mode 100644 index 0000000..58f8d9c --- /dev/null +++ b/server/src/features/scenes/model/scene_database_model.ts @@ -0,0 +1,13 @@ +import { Schema, model } from "mongoose"; +export interface IScene { + name: string; +} +export const SceneSchema = new Schema({ + name: { + type: String, + }, +}).plugin(require("mongoose-autopopulate")); + +export const schemaSceneName = "Scene"; + +export const SceneDBModel = model(schemaSceneName, SceneSchema); diff --git a/server/src/features/scenes/model/scene_validation_model.ts b/server/src/features/scenes/model/scene_validation_model.ts new file mode 100644 index 0000000..f32dff5 --- /dev/null +++ b/server/src/features/scenes/model/scene_validation_model.ts @@ -0,0 +1,7 @@ +import { IsString } from "class-validator"; +import { IScene } from "./scene_database_model"; + +export class SceneValidationModel implements IScene { + @IsString() + public name: string; +} diff --git a/server/src/features/scenes/scenes_presentation.ts b/server/src/features/scenes/scenes_presentation.ts new file mode 100644 index 0000000..d1a06bb --- /dev/null +++ b/server/src/features/scenes/scenes_presentation.ts @@ -0,0 +1,30 @@ +import { CrudController } from "../../core/controllers/crud_controller"; +import { CreateNewSceneScenario } from "./domain/create_new_scene_scenario"; +import { CreateRobotScenario } from "./domain/create_robot_scenario"; +import { EditSceneScenario } from "./domain/edit_scene_scenario"; +import { ReadSceneScenario } from "./domain/read_scene_scenario"; +import { SceneDBModel } from "./model/scene_database_model"; +import { SceneValidationModel } from "./model/scene_validation_model"; + +export class ScenesPresentation extends CrudController { + constructor() { + super({ + url: "scenes", + 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(), + }); + } +} diff --git a/server/src/features/skills/model/skills_database_model.ts b/server/src/features/skills/model/skills_database_model.ts new file mode 100644 index 0000000..578ee22 --- /dev/null +++ b/server/src/features/skills/model/skills_database_model.ts @@ -0,0 +1,37 @@ +import { Schema, model } from "mongoose"; + +export interface ISkillsModel {} + +export const SkillsSchema = new Schema({ + SkillPackage: { + type: Schema.Types.Mixed, + }, + Module: { + type: Schema.Types.Mixed, + }, + Settings:{ + type:Schema.Types.Mixed, + }, + BTAction: { + type: Schema.Types.Mixed, + }, + Launch: { + type: Schema.Types.Mixed, + }, + topicsOut: { + type: Schema.Types.Mixed, + }, + param: { + type: Schema.Types.Mixed, + }, + bgColor: { + type: Schema.Types.String, + }, + borderColor: { + type: Schema.Types.String, + }, +}).plugin(require("mongoose-autopopulate")); + +export const skillsSchema = "skills"; + +export const SkillsDBModel = model(skillsSchema, SkillsSchema); diff --git a/server/src/features/skills/model/skills_validation_model.ts b/server/src/features/skills/model/skills_validation_model.ts new file mode 100644 index 0000000..77324f6 --- /dev/null +++ b/server/src/features/skills/model/skills_validation_model.ts @@ -0,0 +1,17 @@ +import { Type } from "class-transformer"; +import { IsOptional, IsString, ValidateNested } from "class-validator"; +import { SkillPackage, ISkillPackage, Module, IModule, BtActionViewModel, TopicViewModel } from "../../../core/models/skill_model"; + +export class SkillInstanceValidationModel { + @IsOptional() + @IsString() + sid?: string; + @ValidateNested() + @Type(() => SkillPackage) + SkillPackage: ISkillPackage; + @ValidateNested() + @Type(() => Module) + Module: IModule; + BTAction: BtActionViewModel[]; + topicsOut: TopicViewModel[] = []; +} diff --git a/server/src/features/skills/skill_presentation.ts b/server/src/features/skills/skill_presentation.ts new file mode 100644 index 0000000..589c184 --- /dev/null +++ b/server/src/features/skills/skill_presentation.ts @@ -0,0 +1,12 @@ +import { CrudController } from "../../core/controllers/crud_controller"; +import { SkillInstanceValidationModel } from "./model/skills_validation_model"; +import { SkillsDBModel } from "./model/skills_database_model"; +export class SkillsPresentation extends CrudController { + constructor() { + super({ + url: "skills", + validationModel: SkillInstanceValidationModel, + databaseModel: SkillsDBModel, + }); + } +} diff --git a/server/src/features/topics/topic_database_model.ts b/server/src/features/topics/topic_database_model.ts new file mode 100644 index 0000000..98c487d --- /dev/null +++ b/server/src/features/topics/topic_database_model.ts @@ -0,0 +1,26 @@ +import { Schema, model } from "mongoose"; +import { digitalTwinsInstanceSchema } from "../digital_twins_instance/model/digital_twins_instance_database_model"; + +export interface ITopicModel { + digitalTwinId?: string; + name: string; + type: string; +} + +export const TopicSchema = new Schema({ + name: { + type: String, + }, + type: { + type: String, + }, + digitalTwinId: { + type: Schema.Types.ObjectId, + ref: digitalTwinsInstanceSchema, + autopopulate: true, + }, +}).plugin(require("mongoose-autopopulate")); + +export const topicSchema = "topics"; + +export const TopicDatabaseModel = model(topicSchema, TopicSchema); diff --git a/server/src/features/topics/topic_validation_model.ts b/server/src/features/topics/topic_validation_model.ts new file mode 100644 index 0000000..e3b959f --- /dev/null +++ b/server/src/features/topics/topic_validation_model.ts @@ -0,0 +1,10 @@ +import { Type } from "class-transformer"; +import { IsEnum, IsString } from "class-validator"; +import { ITopicModel } from "./topic_database_model"; + +export class TopicValidationModel implements ITopicModel { + @IsString() + name: string; + @IsString() + type: string; +} diff --git a/server/src/features/topics/topics_presentation.ts b/server/src/features/topics/topics_presentation.ts new file mode 100644 index 0000000..96b2540 --- /dev/null +++ b/server/src/features/topics/topics_presentation.ts @@ -0,0 +1,13 @@ +import { CrudController } from "../../core/controllers/crud_controller"; +import { TopicDatabaseModel } from "./topic_database_model"; +import { TopicValidationModel } from "./topic_validation_model"; + +export class TopicsPresentation extends CrudController { + constructor() { + super({ + url: "topics", + validationModel: TopicValidationModel, + databaseModel: TopicDatabaseModel, + }); + } +} diff --git a/server/src/main.ts b/server/src/main.ts index 1398356..31d168e 100644 --- a/server/src/main.ts +++ b/server/src/main.ts @@ -3,7 +3,8 @@ import { App } from "./core/controllers/app"; import { SocketSubscriber } from "./core/controllers/socket_controller"; import { extensions } from "./core/extensions/extensions"; import { httpRoutes } from "./core/controllers/routes"; -import { executorProgramService } from "./core/usecases/exec_process_usecase"; +import { SpawnProcessUseCase, executorProgramService } from "./core/usecases/exec_process_usecase"; +import { ProcessWatcher } from "./features/runtime/service/process_watcher"; extensions(); diff --git a/server/src/p.json b/server/src/p.json new file mode 100644 index 0000000..7f17eff --- /dev/null +++ b/server/src/p.json @@ -0,0 +1,10 @@ +{ + "execCommand": "string", + "date": "date", + "status": "Fail,Ok", + "delay": 1000, + "checkCommand": "string", + "filter": [ + "/assembly_config" + ] +} \ No newline at end of file diff --git a/server/test/model/mock_pipelines.ts b/server/test/model/mock_pipelines.ts deleted file mode 100644 index 34e73c2..0000000 --- a/server/test/model/mock_pipelines.ts +++ /dev/null @@ -1,43 +0,0 @@ -import { EXEC_TYPE } from "../../src/core/models/exec_error_model"; -import { IPipeline, IssueType, StackGenerateType } from "../../src/core/models/process_model"; -import { TriggerType } from "../../src/features/_triggers/models/trigger_database_model"; - -export const mockSimplePipeline: IPipeline[] = [ - { - process: { - type: EXEC_TYPE.EXEC, - command: `nix run gitlab:robossembler/nix-robossembler-overlay#test-script '{ - "filesMeta":[ - {"type":"folder","name":"example", "path": null,"rewrite":true} - ], - "path":"$PATH" - }'`, - isGenerating: true, - isLocaleCode: false, - issueType: IssueType.WARNING, - }, - trigger: { - type: TriggerType.PROCESS, - value: [""], - }, - env: null, - stackGenerateType: StackGenerateType.SINGLETON, - }, - { - process: { - type: EXEC_TYPE.EXEC, - command: `nix run gitlab:robossembler/nix-robossembler-overlay#test-script '{ - "filesMeta":[ - {"type":"file","name":"1.txt", "path":"example","rewrite":true} - ], - "path":"$PATH" - }'`, - isGenerating: true, - isLocaleCode: false, - issueType: IssueType.WARNING, - }, - trigger: null, - env: null, - stackGenerateType: StackGenerateType.SINGLETON, - }, -]; diff --git a/server/test/services/pipeline_real_time_service_test.ts b/server/test/services/pipeline_real_time_service_test.ts index 7aa28a1..21b3cf3 100644 --- a/server/test/services/pipeline_real_time_service_test.ts +++ b/server/test/services/pipeline_real_time_service_test.ts @@ -1,5 +1,4 @@ import { PipelineRealTimeService } from "../../src/core/services/pipeline_real_time_service"; -import { mockSimplePipeline } from "../model/mock_pipelines"; import { dirname__ } from "../test"; export class PipelineRealTimeServiceTest extends PipelineRealTimeService { diff --git a/server/test/services/stack_service_test.ts b/server/test/services/stack_service_test.ts deleted file mode 100644 index 9a47f15..0000000 --- a/server/test/services/stack_service_test.ts +++ /dev/null @@ -1,45 +0,0 @@ -import { rmSync } from "fs"; -import { StackService } from "../../src/core/services/stack_service"; -import { delay } from "../../src/core/helpers/delay"; -import { assert, dirname__ } from "../test"; -import { mockSimplePipeline } from "../model/mock_pipelines"; -import { FileSystemRepository } from "../../src/core/repository/file_system_repository"; -import { CreateFolderUseCase } from "../../src/core/usecases/create_folder_usecase"; - -abstract class IStackServiceTest { - abstract test(): Promise; -} - -class SimpleTestStackServiceTest extends StackService implements IStackServiceTest { - fileSystemRepository: FileSystemRepository; - constructor() { - super(mockSimplePipeline, dirname__ + "/context/"); - this.fileSystemRepository = new FileSystemRepository(); - } - async test(): Promise { - await this.call(); - console.log(this.path); - const testResult = this.fileSystemRepository.readDirRecursive(this.path).equals(["1.txt", "test.txt"], true); - await delay(100); - rmSync(this.path + "example/", { recursive: true }); - return testResult; - } -} - -export class StackServiceTest { - dirName: string; - fileSystemRepository: FileSystemRepository; - constructor(dirName: string) { - this.dirName = dirName; - this.fileSystemRepository = new FileSystemRepository(); - } - public async test() { - const tests = [new SimpleTestStackServiceTest()]; - await new CreateFolderUseCase().call(this.dirName + "/context/"); - - for await (const el of tests) { - assert((await el.test()) === true, el.constructor.name); - await delay(3000); - } - } -} diff --git a/server/test/services/trigger_service_test.ts b/server/test/services/trigger_service_test.ts deleted file mode 100644 index 1013d44..0000000 --- a/server/test/services/trigger_service_test.ts +++ /dev/null @@ -1,110 +0,0 @@ -import { EventsFileChanger, MetaDataFileManagerModel } from "../../src/core/models/meta_data_file_manager_model"; - -import { TriggerService } from "../../src/core/services/trigger_service"; -import { TriggerType } from "../../src/features/_triggers/models/trigger_database_model"; -import { assert } from "../test"; -abstract class TriggerTest { - abstract test(): Promise; -} -class TriggerServiceFileOkTest extends TriggerService implements TriggerTest { - constructor() { - super( - { - type: TriggerType.FILE, - value: ["context"], - }, - { - "/context/": new MetaDataFileManagerModel("", "", EventsFileChanger.create), - }, - "" - ); - } - async test(): Promise { - const r = await this.call(); - - return r.isSuccess(); - } -} -class TriggerServiceFileErrorTest extends TriggerService implements TriggerTest { - constructor() { - super( - { - type: TriggerType.FILE, - value: ["123"], - }, - { - "/ctx/": new MetaDataFileManagerModel("", "", EventsFileChanger.create), - "/context/": new MetaDataFileManagerModel("", "", EventsFileChanger.create), - }, - - "" - ); - } - async test(): Promise { - const r = await this.call(); - - return r.isFailure(); - } -} -class TriggerServiceProcessOkTest extends TriggerService implements TriggerTest { - constructor() { - super( - { - type: TriggerType.PROCESS, - value: [ - `function main(){ - return true - } - - main()`, - ], - }, - { - "/context/": new MetaDataFileManagerModel("", "", EventsFileChanger.create), - }, - "" - ); - } - async test(): Promise { - const r = await this.call(); - return r.isSuccess(); - } -} - -class TriggerServiceProcessErrorTest extends TriggerService implements TriggerTest { - constructor() { - super( - { - type: TriggerType.PROCESS, - value: [ - `function main(){ - return true - } - - `, - ], - }, - { - "/context/": new MetaDataFileManagerModel("", "", EventsFileChanger.create), - }, - "" - ); - } - async test(): Promise { - const r = await this.call(); - return r.isFailure(); - } -} -export class TriggerServiceTest { - public async test() { - const tests: TriggerTest[] = [ - new TriggerServiceFileOkTest(), - new TriggerServiceFileErrorTest(), - new TriggerServiceProcessOkTest(), - new TriggerServiceProcessErrorTest(), - ]; - for await (const el of tests) { - assert((await el.test()) === true, el.constructor.name); - } - } -} diff --git a/server/test/test.ts b/server/test/test.ts index 977850e..c8ed825 100644 --- a/server/test/test.ts +++ b/server/test/test.ts @@ -1,12 +1,8 @@ import "reflect-metadata"; import { TestCore } from "./core/test_core"; -// import { UnitTestEnv } from "../src/core/di/env"; import { dirname } from "path"; -// import locator from "../src/core/di/register_di"; import { ExecutorProgramServiceTest } from "./services/executor_program_service_test"; import { FilesChangerTest } from "./services/files_change_notifier_service_test"; -import { TriggerServiceTest } from "./services/trigger_service_test"; -import { StackServiceTest } from "./services/stack_service_test"; import { CreateDataBaseModelUseCaseTest } from "./usecases/create_database_model_usecase_test"; import { DeleteDataBaseModelUseCaseTest } from "./usecases/delete_database_model_usecase_test"; import { ReadDataBaseModelUseCaseTest } from "./usecases/read_database_model_usecase_test"; @@ -14,7 +10,7 @@ import { UpdateDataBaseModelUseCaseTest } from "./usecases/update_database_model import { PaginationDataBaseModelUseCaseTest } from "./usecases/pagination_database_model_usecase_test"; import { extensions } from "../src/core/extensions/extensions"; import { CrudControllerTest } from "./controllers/crud_controller_test"; -import { TriggerPresentation } from "../src/features/_triggers/triggers_presentation"; + import { App, Environment, ServerStatus } from "../src/core/controllers/app"; import { httpRoutes } from "../src/core/controllers/routes"; import { DataBaseConnectUseCase } from "../src/core/usecases/database_connect_usecase"; @@ -39,8 +35,6 @@ const unitTest = async () => { await init(); await new ExecutorProgramServiceTest(dirname__).test(); await new FilesChangerTest(dirname__).test(); - await new StackServiceTest(dirname__).test(); - await new TriggerServiceTest().test(); await new CreateDataBaseModelUseCaseTest().test(); await new CreateDataBaseModelUseCaseTest().test(); await new DeleteDataBaseModelUseCaseTest().test(); @@ -51,7 +45,7 @@ const unitTest = async () => { testCore.assert(await new usecase().test(), usecase.name); } }; -const presentationCrudControllers = [new TriggerPresentation()]; +const presentationCrudControllers = []; const e2eTest = async () => { const app = new App(httpRoutes, [], Environment.E2E_TEST); await new Promise((resolve, reject) => { diff --git a/ui/.gitignore b/ui/.gitignore index 1680789..61fd393 100644 --- a/ui/.gitignore +++ b/ui/.gitignore @@ -21,4 +21,5 @@ npm-debug.log* yarn-debug.log* yarn-error.log* -todo.md \ No newline at end of file +todo.md +package-lock.json \ No newline at end of file diff --git a/ui/.mason/bricks.json b/ui/.mason/bricks.json new file mode 100644 index 0000000..e7243ef --- /dev/null +++ b/ui/.mason/bricks.json @@ -0,0 +1 @@ +{"base_feature":"/Users/idontsudo/ozon/ui/bricks/base_feature","form":"/Users/idontsudo/webservice/ui/bricks/form"} \ No newline at end of file diff --git a/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/number_trivia.ts b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/number_trivia.ts new file mode 100644 index 0000000..d017d38 --- /dev/null +++ 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 { + return Result.ok(); + } + static empty() { + return new NumberTriviaModel(); + } +} diff --git a/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_repository.ts b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_repository.ts new file mode 100644 index 0000000..c210d0a --- /dev/null +++ b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_repository.ts @@ -0,0 +1,3 @@ +export class {{name.pascalCase()}}Repository { + +} diff --git a/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_screen.tsx b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_screen.tsx new file mode 100644 index 0000000..9e70c80 --- /dev/null +++ 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 <>; +}); diff --git a/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts new file mode 100644 index 0000000..a76f1a8 --- /dev/null +++ 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); + } +} diff --git a/ui/bricks/base_feature/brick.yaml b/ui/bricks/base_feature/brick.yaml new file mode 100644 index 0000000..98705d5 --- /dev/null +++ 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) \ No newline at end of file diff --git a/ui/bricks/form/__brick__/{{name.snakeCase()}}/number_trivia.ts b/ui/bricks/form/__brick__/{{name.snakeCase()}}/number_trivia.ts new file mode 100644 index 0000000..0f1ae90 --- /dev/null +++ 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 { + return Result.ok(); + } + static empty() { + return new NumberTriviaModel(); + } +} diff --git a/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_form.tsx b/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_form.tsx new file mode 100644 index 0000000..d6420f8 --- /dev/null +++ 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>) => { + const [store] = React.useState(() => new {{ name.pascalCase() }}Store()); + React.useEffect(() => { + store.init(); + }, [store]); + + return <>; +}); diff --git a/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_http_repository.ts b/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_http_repository.ts new file mode 100644 index 0000000..fe4a0a5 --- /dev/null +++ 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 { + +} diff --git a/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts b/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts new file mode 100644 index 0000000..8748265 --- /dev/null +++ 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 { + constructor() { + super(); + makeAutoObservable(this); + } + viewModel: NumberTriviaModel = NumberTriviaModel.empty(); + cameraDeviceHttpRepository: {{name.pascalCase()}}HttpRepository = new {{name.pascalCase()}}HttpRepository(); + errorHandingStrategy = (error: CoreError) => { } + init = async (navigate?: NavigateFunction | undefined) => { + + } + +} diff --git a/ui/bricks/form/brick.yaml b/ui/bricks/form/brick.yaml new file mode 100644 index 0000000..348e9bc --- /dev/null +++ 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) \ No newline at end of file diff --git a/ui/mason-lock.json b/ui/mason-lock.json new file mode 100644 index 0000000..9650a34 --- /dev/null +++ b/ui/mason-lock.json @@ -0,0 +1 @@ +{"bricks":{"base_feature":{"path":"bricks/base_feature"},"form":{"path":"bricks/form"}}} \ No newline at end of file diff --git a/ui/mason.yaml b/ui/mason.yaml new file mode 100644 index 0000000..68ec44a --- /dev/null +++ b/ui/mason.yaml @@ -0,0 +1,5 @@ +bricks: + base_feature: + path: base_feature + form: + path: form \ No newline at end of file diff --git a/ui/package-lock.json b/ui/package-lock.json deleted file mode 100644 index 656fe65..0000000 --- a/ui/package-lock.json +++ /dev/null @@ -1,18562 +0,0 @@ -{ - "name": "ui-robossembler", - "version": "0.1.0", - "lockfileVersion": 3, - "requires": true, - "packages": { - "": { - "name": "ui-robossembler", - "version": "0.1.0", - "dependencies": { - "@monaco-editor/react": "^4.6.0", - "@testing-library/jest-dom": "^5.17.0", - "@testing-library/react": "^13.4.0", - 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"react-dnd": "^16.0.1", - "react-dnd-html5-backend": "^16.0.1", "react-dom": "^18.2.0", "react-i18next": "^13.3.1", "react-infinite-scroll-component": "^6.1.0", + "react-resizable-panels": "^2.1.7", "react-router-dom": "^6.18.0", "react-scripts": "5.0.1", "reflect-metadata": "^0.1.13", "rete-connection-plugin": "^2.0.0", "rete-react-plugin": "^2.0.4", "rete-render-utils": "^2.0.1", - "sass": "^1.66.1", - "serve": "^14.2.1", "socket.io-client": "^4.7.2", + "source-map-loader": "^5.0.0", "styled-components": "^6.1.8", - "three": "^0.159.0", - "three-stdlib": "^2.28.9", - "three-transform-controls": "^1.0.4", - "ts-pattern": "^5.0.6", - "typescript": "^4.9.5", + "three": "^0.152.2", + "ts-pattern": "^5.1.1", + "typescript": "^5.0.2", "urdf-loader": "^0.12.1", "uuid": "^9.0.1", "web-vitals": "^2.1.4", + "ws": "^8.17.0", "xml-formatter": "^3.6.2" }, + "overrides": { + "typescript": "^5.0.2" + }, "scripts": { "dev": "react-scripts start", "build": "react-scripts build", @@ -56,8 +52,7 @@ }, "eslintConfig": { "extends": [ - 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+ - - -
+ + - + /* Transparent Overlay */ + .loading:before { + content: ""; + display: block; + } - \ No newline at end of file + /* :not(:required) hides these rules from IE9 and below */ + .loading:not(:required) { + /* hide "loading..." text */ + font: 0/0 a; + color: transparent; + text-shadow: none; + background-color: transparent; + border: 0; + } + + .loading:not(:required):after { + margin-top: 14px; + content: ""; + display: block; + font-size: 8px; + width: 8px; + height: 8px; + -webkit-animation: spinner 1500ms infinite linear; + -moz-animation: spinner 1500ms infinite linear; + -ms-animation: spinner 1500ms infinite linear; + -o-animation: spinner 1500ms infinite linear; + animation: spinner 1500ms infinite linear; + border-radius: 0.5em; + -webkit-box-shadow: white 1.5em 0 0 0, white 1.1em 1.1em 0 0, white 0 1.5em 0 0, white -1.1em 1.1em 0 0, + rgba(0, 0, 0, 0.5) -1.5em 0 0 0, rgba(0, 0, 0, 0.5) -1.1em -1.1em 0 0, white 0 -1.5em 0 0, + white 1.1em -1.1em 0 0; + box-shadow: white 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-webkit-transform: rotate(0deg); + -moz-transform: rotate(0deg); + -ms-transform: rotate(0deg); + -o-transform: rotate(0deg); + transform: rotate(0deg); + } + 100% { + -webkit-transform: rotate(360deg); + -moz-transform: rotate(360deg); + -ms-transform: rotate(360deg); + -o-transform: rotate(360deg); + transform: rotate(360deg); + } + } + @keyframes spinner { + 0% { + -webkit-transform: rotate(0deg); + -moz-transform: rotate(0deg); + -ms-transform: rotate(0deg); + -o-transform: rotate(0deg); + transform: rotate(0deg); + } + 100% { + -webkit-transform: rotate(360deg); + -moz-transform: rotate(360deg); + -ms-transform: rotate(360deg); + -o-transform: rotate(360deg); + transform: rotate(360deg); + } + } + + .dotted { + background-image: -webkit-repeating-radial-gradient( + center center, + rgba(147, 147, 147, 30%), + rgba(147, 147, 147, 30%) 2px, + transparent 2px, + transparent 100% + ); + + background-image: -moz-repeating-radial-gradient( + center center, + rgba(147, 147, 147, 30%), + 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100644 index 0000000..1ea7c8a --- /dev/null +++ b/ui/readme.md @@ -0,0 +1,54 @@ +# Установка зависимостей + +``` +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 в Behavior tree builder + +mason make form -o ./src/features/behavior_tree_builder/presentation/ui/forms + +# Добавить новую форму в Scene Manager + +mason make form -o ./src/features/scene_manager/presentation/forms + +# Добавить новый экран + +mason make base_feature -o ./src/features/ diff --git a/ui/src/core/assets/icons/add.svg b/ui/src/core/assets/icons/add.svg index acc2726..1b7641d 100644 --- a/ui/src/core/assets/icons/add.svg +++ b/ui/src/core/assets/icons/add.svg @@ -3,10 +3,10 @@ - + - + - + \ No newline at end of file diff --git a/ui/src/core/assets/icons/check.svg b/ui/src/core/assets/icons/check.svg index d8c2fc2..f30550f 100644 --- a/ui/src/core/assets/icons/check.svg +++ b/ui/src/core/assets/icons/check.svg @@ -1,7 +1,12 @@ - - - - - - \ No newline at end of file + + + + +strokeWidth + + + + + + \ No newline at end of file diff --git a/ui/src/core/assets/icons/chevron.svg b/ui/src/core/assets/icons/chevron.svg index b28d728..0ddce4c 100644 --- a/ui/src/core/assets/icons/chevron.svg +++ b/ui/src/core/assets/icons/chevron.svg @@ -1,7 +1,12 @@ - - - - - - \ No newline at end of file + + + + + + + + + + + \ No newline at end of file diff --git a/ui/src/core/assets/icons/delete.svg b/ui/src/core/assets/icons/delete.svg index d15de60..914ed8d 100644 --- a/ui/src/core/assets/icons/delete.svg +++ b/ui/src/core/assets/icons/delete.svg @@ -3,11 +3,11 @@ - + - + - + \ No newline at end of file diff --git a/ui/src/core/assets/icons/error.svg b/ui/src/core/assets/icons/error.svg index 3f02c89..f3d2685 100644 --- a/ui/src/core/assets/icons/error.svg +++ b/ui/src/core/assets/icons/error.svg @@ -1 +1 @@ - \ No newline at end of file + \ No newline at end of file diff --git a/ui/src/core/assets/icons/left_icon.svg b/ui/src/core/assets/icons/left_icon.svg index cf4c2af..b603909 100644 --- a/ui/src/core/assets/icons/left_icon.svg +++ b/ui/src/core/assets/icons/left_icon.svg @@ -1,3 +1,3 @@ - + \ No newline at end of file diff --git a/ui/src/core/assets/icons/reload.svg b/ui/src/core/assets/icons/reload.svg index 2bdbecc..ebf5c95 100644 --- a/ui/src/core/assets/icons/reload.svg +++ b/ui/src/core/assets/icons/reload.svg @@ -1,3 +1,3 @@ - + \ No newline at end of file diff --git a/ui/src/core/extensions/array.ts b/ui/src/core/extensions/array.ts index 8454e31..33ec3d8 100644 --- a/ui/src/core/extensions/array.ts +++ b/ui/src/core/extensions/array.ts @@ -1,7 +1,28 @@ +import { Result } from "../helper/result"; + /* eslint-disable @typescript-eslint/no-this-alias */ export const ArrayExtensions = () => { + if ([].indexOfR === undefined) { + Array.prototype.indexOfR = function (element) { + if (this.indexOf(element) === -1) { + return Result.error(undefined); + } + return Result.ok(this); + }; + } + if ([].atR === undefined) { + Array.prototype.atR = function (index) { + if (index === undefined) { + return Result.error(undefined); + } + const result = this.at(index); + if (result) { + return Result.ok(result); + } + return Result.error(undefined); + }; + } if ([].equals === undefined) { - // eslint-disable-next-line no-extend-native Array.prototype.equals = function (array, strict = true) { if (!array) return false; @@ -21,8 +42,25 @@ export const ArrayExtensions = () => { return true; }; } + if ([].replacePropIndex === undefined) { + Array.prototype.replacePropIndex = function (property, index) { + return this.map((element, i) => { + if (i === index) { + element = Object.assign(element, property); + } + return element; + }); + }; + } + if ([].someR === undefined) { + Array.prototype.someR = function (predicate) { + if (this.some(predicate)) { + return Result.error(undefined); + } + return Result.ok(this); + }; + } if ([].lastElement === undefined) { - // eslint-disable-next-line no-extend-native Array.prototype.lastElement = function () { const instanceCheck = this; if (instanceCheck === undefined) { @@ -34,27 +72,52 @@ export const ArrayExtensions = () => { }; } if ([].isEmpty === undefined) { - // eslint-disable-next-line no-extend-native Array.prototype.isEmpty = function () { return this.length === 0; }; } if ([].isNotEmpty === undefined) { - // eslint-disable-next-line no-extend-native Array.prototype.isNotEmpty = function () { return this.length !== 0; }; } if ([].hasIncludeElement === undefined) { - // eslint-disable-next-line no-extend-native Array.prototype.hasIncludeElement = function (element) { return this.indexOf(element) !== -1; }; } if ([].repeat === undefined) { - // eslint-disable-next-line no-extend-native Array.prototype.repeat = function (quantity) { - return Array(quantity).fill(this[0]); + return Array(quantity).fill(this).flat(1); + }; + } + if ([].rFind === undefined) { + Array.prototype.rFind = function (predicate) { + const result = this.find(predicate as any); + if (result === undefined) { + return Result.error(undefined); + } + return Result.ok(result); + }; + } + if ([].maxLength === undefined) { + Array.prototype.maxLength = function (length) { + if (this.length > length) { + return this; + } else { + return this.slice(0, length); + } + }; + } + if ([].add === undefined) { + Array.prototype.add = function (element) { + this.push(element); + return this; + }; + } + if ([].updateAll === undefined) { + Array.prototype.updateAll = function (element) { + return this.map((el) => Object.assign(el, element)); }; } }; diff --git a/ui/src/core/extensions/date.ts b/ui/src/core/extensions/date.ts new file mode 100644 index 0000000..1f5337b --- /dev/null +++ b/ui/src/core/extensions/date.ts @@ -0,0 +1,12 @@ +export const DateExtensions = () => { + if (Date.prototype.fromUnixDate === undefined) { + Date.prototype.fromUnixDate = function (unix) { + return new Date(unix * 1000); + }; + } + if (Date.prototype.formatDate === undefined) { + Date.prototype.formatDate = function () { + return `${this.getFullYear()}.${this.getMonth()}.${this.getDay()} ${this.getHours()}:${this.getMinutes()}`; + }; + } +}; diff --git a/ui/src/core/extensions/extensions.ts b/ui/src/core/extensions/extensions.ts index b77c8b0..5afcbed 100644 --- a/ui/src/core/extensions/extensions.ts +++ b/ui/src/core/extensions/extensions.ts @@ -1,4 +1,6 @@ +import { Result } from "../helper/result"; import { ArrayExtensions } from "./array"; +import { DateExtensions } from "./date"; import { MapExtensions } from "./map"; import { NumberExtensions } from "./number"; import { StringExtensions } from "./string"; @@ -20,35 +22,63 @@ declare global { isNotEmpty(): boolean; hasIncludeElement(element: T): boolean; repeat(quantity: number): Array; + rFind(predicate: (value: T, index: number, obj: never[]) => boolean, thisArg?: any): Result; + maxLength(length: number): Array; + add(element: T): Array; + indexOfR(element: T): Result>; + replacePropIndex(property: Partial, index: number): T[]; + someR(predicate: (value: T) => boolean): Result>; + updateAll(value: Partial): Array; + atR(index: number | undefined): Result; + } + interface Date { + formatDate(): string; + fromUnixDate(unix: number): Date; } interface Number { fromArray(): number[]; toPx(): string; unixFromDate(): string; isValid(str: string): boolean; - randRange(min:number,max:number):number + randRange(min: number, max: number): number; + isPositive(): boolean; + isNegative(): boolean; + isEven(): boolean; + isOdd(): boolean; + isEqualR(number: number): Result; } interface String { isEmpty(): boolean; isNotEmpty(): boolean; + isNotEmptyR(): Result; replaceMany(searchValues: string[], replaceValue: string): string; isEqual(str: string): boolean; isEqualMany(str: string[]): boolean; + hasPattern(pattern: string): boolean; + hasNoPattern(pattern: string): boolean; + divideByIndex(index: number): string[]; + isEqualR(str: string): Result; } + interface Map { addValueOrMakeCallback(key: K, value: V, callBack: CallBackVoidFunction): void; getKeyFromValueIsExists(value: V): K | undefined; overrideValue(key: K, value: OptionalProperties): void; keysToJson(): string; toArray(): V[]; - getPredicateValue(callBack: (value: V) => boolean): K[]; + toArrayEntries(): { key: K; value: V }[]; + getPredicateKey(callBack: (value: V) => boolean): K[]; + incrementValue(key: K): void; + } + interface Boolean { + r(): Result; } - interface Vector3 {} } export const extensions = () => { StringExtensions(); ArrayExtensions(); NumberExtensions(); MapExtensions(); + DateExtensions(); }; diff --git a/ui/src/core/extensions/map.ts b/ui/src/core/extensions/map.ts index 8b349ff..8595f7c 100644 --- a/ui/src/core/extensions/map.ts +++ b/ui/src/core/extensions/map.ts @@ -1,6 +1,5 @@ export const MapExtensions = () => { if (Map.prototype.addValueOrMakeCallback === undefined) { - // eslint-disable-next-line no-extend-native Map.prototype.addValueOrMakeCallback = function (key, value, fn) { if (this.has(key)) { this.set(key, value); @@ -12,7 +11,6 @@ export const MapExtensions = () => { }; } if (Map.prototype.getKeyFromValueIsExists === undefined) { - // eslint-disable-next-line no-extend-native Map.prototype.getKeyFromValueIsExists = function (value) { let result; this.forEach((el, key) => { @@ -24,7 +22,6 @@ export const MapExtensions = () => { }; } if (Map.prototype.overrideValue === undefined) { - // eslint-disable-next-line no-extend-native Map.prototype.overrideValue = function (key, value) { const result = this.get(key); @@ -32,22 +29,29 @@ export const MapExtensions = () => { }; } if (Map.prototype.keysToJson === undefined) { - // eslint-disable-next-line no-extend-native Map.prototype.keysToJson = function () { const result: any[] = []; this.forEach((el) => result.push(el)); return JSON.stringify(result); }; } + if (Map.prototype.toArrayEntries === undefined) { + Map.prototype.toArrayEntries = function () { + const result = []; + for (const el of this.entries()) { + result.push({ key: el[0], value: el[1] }); + } + return result; + }; + } if (Map.prototype.toArray === undefined) { - // eslint-disable-next-line no-extend-native Map.prototype.toArray = function () { return Array.from(this.values()); }; } - if (Map.prototype.getPredicateValue === undefined) { - // eslint-disable-next-line no-extend-native - Map.prototype.getPredicateValue = function (callBack) { + + if (Map.prototype.getPredicateKey === undefined) { + Map.prototype.getPredicateKey = function (callBack) { const result: any[] = []; this.forEach((el, key) => { const callBackExecute = callBack(el); @@ -58,4 +62,13 @@ export const MapExtensions = () => { return result; }; } + if (Map.prototype.incrementValue === undefined) { + Map.prototype.incrementValue = function (key) { + if (this.get(key)) { + this.set(key, this.get(key) + 1); + } else { + this.set(key, 1); + } + }; + } }; diff --git a/ui/src/core/extensions/number.ts b/ui/src/core/extensions/number.ts index 2a33423..a77ca1c 100644 --- a/ui/src/core/extensions/number.ts +++ b/ui/src/core/extensions/number.ts @@ -1,33 +1,58 @@ +import { Result } from "../helper/result"; + export const NumberExtensions = () => { if (Number().fromArray === undefined) { - // eslint-disable-next-line no-extend-native Number.prototype.fromArray = function () { return Array.from(this.toString()).map((el) => Number(el)); }; } if (Number().toPx === undefined) { - // eslint-disable-next-line no-extend-native Number.prototype.toPx = function () { return String(this) + "px"; }; } if (Number().unixFromDate === undefined) { - // eslint-disable-next-line no-extend-native Number.prototype.unixFromDate = function () { const date = new Date(Number(this) * 1000); return `${date.getUTCFullYear()}.${date.getMonth()}.${date.getDay()} ${date.getHours()}:${date.getMinutes()}`; }; } + if (Number().isEqualR === undefined) { + Number.prototype.isEqualR = function (num) { + if(this === num) { + return Result.ok(undefined) + } + return Result.error(undefined) + }; + } if (Number().isValid === undefined) { - // eslint-disable-next-line no-extend-native Number.prototype.isValid = function (str: string) { return !isNaN(Number(str)); }; } - if(Number().randRange === undefined){ - // eslint-disable-next-line no-extend-native - Number.prototype.randRange = function (min,max) { + if (Number().randRange === undefined) { + Number.prototype.randRange = function (min, max) { return Math.random() * (max - min) + min; - } + }; + } + if (Number().isPositive === undefined) { + Number.prototype.isPositive = function () { + return Math.sign(Number(this)) === 1; + }; + } + if (Number().isNegative === undefined) { + Number.prototype.isNegative = function () { + return !this.isPositive(); + }; + } + if (Number().isEven === undefined) { + Number.prototype.isEven = function () { + return Number(this) % 2 === 0; + }; + } + if (Number().isOdd === undefined) { + Number.prototype.isOdd = function () { + return !this.isEven(); + }; } }; diff --git a/ui/src/core/extensions/object.ts b/ui/src/core/extensions/object.ts index acca8fd..5c47695 100644 --- a/ui/src/core/extensions/object.ts +++ b/ui/src/core/extensions/object.ts @@ -1,7 +1,6 @@ -/* eslint-disable no-extend-native */ - -export const ObjectExtensionsIsKeyExists = (obj: any, keys: string[]): boolean => { - return true; +export const ObjectIsNotEmpty = (obj: Object | undefined) => { + if (obj === undefined) { + return false; + } + return Object.keys(obj).length !== 0; }; - -// {"objectThatSticksName":"cube2","objectThatSticksNamePoints":[{"x":25,"y":4.987889622413917,"z":10.504078531217838}],"objectsToWhichItSticksName":"cube1","objectsToWhichItSticksPoints":[{"x":5,"y":3.0783236330074963,"z":1.1333166084347885}]} diff --git a/ui/src/core/extensions/string.ts b/ui/src/core/extensions/string.ts index 79709c1..fd86e99 100644 --- a/ui/src/core/extensions/string.ts +++ b/ui/src/core/extensions/string.ts @@ -1,17 +1,33 @@ +import { Result } from "../helper/result"; + /* eslint-disable no-extend-native */ export const StringExtensions = () => { if ("".isEmpty === undefined) { - // eslint-disable-next-line no-extend-native String.prototype.isEmpty = function () { return this.length === 0; }; } if ("".isNotEmpty === undefined) { - // eslint-disable-next-line no-extend-native String.prototype.isNotEmpty = function () { return this.length !== 0; }; } + if ("".isNotEmptyR === undefined) { + String.prototype.isNotEmptyR = function () { + if (this.isEmpty()) { + return Result.error(undefined); + } + return Result.ok(String(this)); + }; + } + if ("".isEqualR === undefined) { + String.prototype.isEqualR = function (str) { + if (this === str) { + return Result.ok(String(this)); + } + return Result.error(undefined); + }; + } if ("".replaceMany === undefined) { String.prototype.replaceMany = function (searchValues: string[], replaceValue: string) { let result = this as string; @@ -36,4 +52,23 @@ export const StringExtensions = () => { return false; }; } + if ("".hasPattern === undefined) { + String.prototype.hasPattern = function (pattern) { + return new RegExp(pattern).test(this as string); + }; + } + if ("".hasNoPattern === undefined) { + String.prototype.hasNoPattern = function (pattern) { + return !this.hasPattern(pattern); + }; + } + if ("".divideByIndex === undefined) { + String.prototype.divideByIndex = function (index) { + if (this.at(index) === undefined) { + return []; + } + + return [this.slice(0, index), this.slice(index + 1, this.length)]; + }; + } }; diff --git a/ui/src/core/helper/typed_event.ts b/ui/src/core/helper/typed_event.ts index e7002c3..cbde9e1 100644 --- a/ui/src/core/helper/typed_event.ts +++ b/ui/src/core/helper/typed_event.ts @@ -40,3 +40,5 @@ export class TypedEvent { return this.on((e) => te.emit(e)); }; } + + diff --git a/ui/src/core/helper/use_store.tsx b/ui/src/core/helper/use_store.tsx new file mode 100644 index 0000000..3f483d5 --- /dev/null +++ b/ui/src/core/helper/use_store.tsx @@ -0,0 +1,31 @@ +import { ClassConstructor } from "class-transformer"; +import React from "react"; +import { NavigateFunction, useNavigate } from "react-router-dom"; + +interface LifeCycleStore { + init?: (navigate?: NavigateFunction | undefined) => void; + dispose?: () => void; +} + +export const useStore = (storeConstructor: ClassConstructor) => { + const [store] = React.useState(new storeConstructor()); + const navigate = useNavigate(); + React.useEffect(() => { + store?.init?.(navigate); + return () => { + store?.dispose?.(); + }; + }, []); + return store; +}; +export const useStoreClass = (storeClass: S) => { + const [store] = React.useState(storeClass); + const navigate = useNavigate(); + React.useEffect(() => { + store?.init?.(navigate); + return () => { + store?.dispose?.(); + }; + }, []); + return store; +}; diff --git a/ui/src/core/helper/validate.ts b/ui/src/core/helper/validate.ts index f570767..e69de29 100644 --- a/ui/src/core/helper/validate.ts +++ b/ui/src/core/helper/validate.ts @@ -1,3 +0,0 @@ -export function validateRequired(value: string) { - return value ? undefined : "required"; -} diff --git a/ui/src/core/hook/key_listner.tsx b/ui/src/core/hook/key_listner.tsx deleted file mode 100644 index 7c7bb60..0000000 --- a/ui/src/core/hook/key_listner.tsx +++ /dev/null @@ -1,26 +0,0 @@ -import React from "react"; - -export const useKeyLister = (fn: Function) => { - // eslint-disable-next-line react-hooks/exhaustive-deps - const pressed = new Map(); - - const registerKeyPress = React.useCallback( - (event: KeyboardEvent, codes: string[], callBack: Function) => { - if (codes.hasIncludeElement(event.code)) { - pressed.addValueOrMakeCallback(event.code, event.type, (e) => { - if (Array.from(pressed.values()).equals(["keydown", "keydown"], false)) { - callBack(); - } - }); - } - }, - [pressed] - ); - - React.useEffect(() => { - window.addEventListener("keyup", (e) => registerKeyPress(e, ["KeyQ", "KeyW"], () => fn)); - window.addEventListener("keydown", (e) => registerKeyPress(e, ["KeyQ", "KeyW"], () => {})); - }, [fn, registerKeyPress]); - - return []; -}; diff --git a/ui/src/core/model/camera_model.ts b/ui/src/core/model/camera_model.ts new file mode 100644 index 0000000..81658f3 --- /dev/null +++ b/ui/src/core/model/camera_model.ts @@ -0,0 +1,53 @@ +import { Quaternion, Vector3, PerspectiveCamera, CameraHelper } from "three"; +import { CoreThreeRepository, UserData } from "../repository/core_three_repository"; +import { Result } from "../helper/result"; +import { SceneModelsTypes } from "./scene_models_type"; +import { Instance } from "./scene_asset"; + +export enum CameraTypes { + RGB = "RGB", +} +export class CameraModel implements Instance { + type = SceneModelsTypes.CAMERA; + jointType = 'fixed'; + constructor( + public orientation: number[], + public position: Vector3, + public name: string, + public cameraType: CameraTypes, + public width: number, + public updateRate: number, + public fov: number, + public near: number, + public far: number, + public height: number, + public topic: string, + public aspect: number, + public parent?: string, + public fixed?: string + ) {} + update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository); + icon: string = "Camera"; + toWebGl = (coreThreeRepository: CoreThreeRepository) => { + const camera = coreThreeRepository.scene.getObjectByName(this.name); + + if (camera) { + coreThreeRepository.scene.remove(coreThreeRepository.scene.getObjectByName(this.name + "camera_helper")!); + coreThreeRepository.scene.remove(camera); + } + const perspectiveCamera = new PerspectiveCamera(this.fov, this.aspect, this.near, this.far); + perspectiveCamera.name = this.name; + perspectiveCamera.position.copy(this.position); + perspectiveCamera.quaternion.copy(new Quaternion().fromArray(this.orientation)); + const cameraHelper = new CameraHelper(perspectiveCamera); + cameraHelper.name = this.name + "camera_helper"; + perspectiveCamera.userData[UserData.selectedObject] = true; + cameraHelper.userData[UserData.selectedObject] = true; + coreThreeRepository.scene.add(...[perspectiveCamera, cameraHelper]); + }; + validate = (): Result => { + return Result.ok(this); + }; + + static empty = () => new CameraModel([], new Vector3(0, 0, 0), "", CameraTypes.RGB, 0, 0, 50, 0.1, 2000, 0, "", 0); +} diff --git a/ui/src/core/model/cameras.ts b/ui/src/core/model/cameras.ts new file mode 100644 index 0000000..84fd0ef --- /dev/null +++ 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; +} diff --git a/ui/src/core/model/core_vector3.ts b/ui/src/core/model/core_vector3.ts deleted file mode 100644 index c6e2b08..0000000 --- a/ui/src/core/model/core_vector3.ts +++ /dev/null @@ -1,17 +0,0 @@ -import { Vector3 } from "three"; - -export class CoreVector3 { - vector: Vector3; - constructor(vector: Vector3) { - this.vector = vector; - } - - static divideLineIntoEqualSegments(beginPoint: Vector3, endPoint: Vector3, segments: number): Vector3[] { - return Number(segments) - .fromArray() - .map((el) => new Vector3().lerpVectors(beginPoint, endPoint, (el * 1) / segments)); - } - add(vector: Vector3) { - return new CoreVector3(new Vector3(this.vector.x + vector.x, this.vector.y + vector.y, this.vector.z + vector.z)); - } -} diff --git a/ui/src/core/model/database_model.ts b/ui/src/core/model/database_model.ts index d2e7f7a..b69b6ca 100644 --- a/ui/src/core/model/database_model.ts +++ b/ui/src/core/model/database_model.ts @@ -1,3 +1,3 @@ -export interface DatabaseModel { +export interface DatabaseModelId { _id?: string; } diff --git a/ui/src/core/model/device_dependency_view_model.ts b/ui/src/core/model/device_dependency_view_model.ts new file mode 100644 index 0000000..917e44c --- /dev/null +++ b/ui/src/core/model/device_dependency_view_model.ts @@ -0,0 +1,17 @@ +import { IsNotEmpty } from "class-validator"; +import { Result } from "../helper/result"; +import { IDeviceDependency } from "./skill_model"; +import { ValidationModel } from "./validation_model"; + +export class SidViewModel extends ValidationModel implements IDeviceDependency { + @IsNotEmpty() + sid: string; + constructor(sid: string) { + super(); + this.sid = sid; + } + + static empty() { + return new SidViewModel(""); + } +} diff --git a/ui/src/core/model/form.ts b/ui/src/core/model/form.ts new file mode 100644 index 0000000..380ef62 --- /dev/null +++ b/ui/src/core/model/form.ts @@ -0,0 +1,8 @@ +export enum FormType { + weights = "weights", + robotName = "robot_name", + cameraDeviceForm = "camera", + topic = "topic", + formBuilder = "formBuilder", + moveToPose = "move_to_pose", +} diff --git a/ui/src/core/model/form_builder_validation_model.tsx b/ui/src/core/model/form_builder_validation_model.tsx new file mode 100644 index 0000000..f858f40 --- /dev/null +++ b/ui/src/core/model/form_builder_validation_model.tsx @@ -0,0 +1,144 @@ +import { IsNotEmpty, IsString } from "class-validator"; +import { BehaviorTreeBuilderStore } from "../../features/behavior_tree_builder/presentation/behavior_tree_builder_store"; +import { + datasetFormMockContext, + datasetFormMockResult, + defaultFormValue, +} from "../../features/dataset/dataset_model"; +import { DependencyViewModel } from "./skill_model"; +import { ValidationModel } from "./validation_model"; +import { FormType } from "./form"; +import makeAutoObservable from "mobx-store-inheritance"; + +export class FormBuilderValidationModel + extends ValidationModel + implements DependencyViewModel +{ + @IsNotEmpty() + @IsString() + public result: string; + @IsNotEmpty() + @IsString() + public context: string; + public form: string[]; + public output: any; + constructor(context: string, result: string, form: string[], output: string) { + super(); + makeAutoObservable(this); + this.context = context; + this.result = result; + this.form = form; + this.output = output; + } + type: FormType = FormType.formBuilder; + toView = (store: BehaviorTreeBuilderStore | undefined) => <>IsFilled; + static isEmpty = (formBuilderValidationModel: FormBuilderValidationModel) => + formBuilderValidationModel.context.isEmpty() && + formBuilderValidationModel.result.isEmpty() && + formBuilderValidationModel.form.isEmpty(); + static test = () => + new FormBuilderValidationModel(ffContext, ff1Result, [], ""); + static datasetEmpty = () => + new FormBuilderValidationModel( + datasetFormMockContext, + datasetFormMockResult, + [], + defaultFormValue + ); + static empty = () => new FormBuilderValidationModel("", "", [], ""); + static emptyTest = () => + new FormBuilderValidationModel(``, ``, [], defaultFormValue); + static creteDataSetTest = () => + new FormBuilderValidationModel(``, scene, [], ""); + static emptySimple = () => + new FormBuilderValidationModel("", simpleFormBuilder, [], ""); + static vision = () => + new FormBuilderValidationModel( + ` + ENUM T = "ObjectDetection","PoseEstimation"; + ENUM L = "POINT","SUN"; + ENUM F = "JPEG","PNG"; + ENUM COLLISION_SHAPE = "BOX","COLLISION"; + + type OBJECTS_SCENE = { + "name": \${NAME:string:default}, + "collision_shape": \${collision_shape:Enum:BOX}, + "loc_xyz": [\${LOC_XYZ_1:number:0}, \${LOC_XYZ_2:number:0}, \${LOC_XYZ_3:number:0}], + "rot_euler": [\${ROT_EULER_1:number:0},\${ROT_EULER_2:number:0}, \${ROT_EULER_3:number:0}], + "material_randomization": { + "specular": [\${SPECULAR_1:number:0}, \${SPECULAR_2:number:1}], + "roughness": [\${ROUGHNESS_1:number:0}, \${ROUGHNESS_2:number:1}], + "metallic": [\${METALLIC_1:number:0}, \${METALLIC_2:number:1}], + "base_color": [ + [ + \${BASE_COLOR_1:number:0}, + \${BASE_COLOR_2:number:0}, + \${BASE_COLOR_3:number:0}, + \${BASE_COLOR_4:number:1} + ], + [ + \${BASE_COLOR_5:number:1}, + \${BASE_COLOR_6:number:1}, + \${BASE_COLOR_7:number:1}, + \${BASE_COLOR_8:number:1} + ] + ] + } + }; + type LIGHTS = { + "id": \${ID:number:1}, + "type": \${type:Enum:POINT}, + "loc_xyz": [\${LOC_XYZ_1:number:5}, \${LOC_XYZ_2:number:5}, \${LOC_XYZ_3:number:5}], + "rot_euler": [\${ROT_EULER_1:number:-0.06}, \${ROT_EULER_2:number:0.61}, \${ROT_EULER_3:number:-0.19}], + "color_range_low": [\${COLOR_RANGE_LOW_1:number:0.5}, \${COLOR_RANGE_LOW_2:number:0.5}, \${COLOR_RANGE_LOW_3:number:0.5}], + "color_range_high":[\${COLOR_RANGE_HIGH_1:number:1}, \${COLOR_RANGE_HIGH_2:number:1}, $\{COLOR_RANGE_HIGH_3:number:1}], + "energy_range":[\${ENERGY_RANGE_1:number:400},\${ENERGY_RANGE_2:number:900}] + };`, + ` + { + "datasetObjects":\${:OBJECT:{"details": []}, + "typedataset": \${typedataset:Enum:ObjectDetection}, + "models_randomization":{ + "loc_range_low": [\${LOC_RANGE_LOW_1:number:-1}, \${LOC_RANGE_LOW_2:number:-1},\${LOC_RANGE_LOW_3:number:0}], + "loc_range_high": [\${LOC_RANGE_HIGH_1:number:1}, \${LOC_RANGE_HIGH_2:number:1},\${LOC_RANGE_HIGH_3:number:2}] + }, + "scene":{ + "objects": \${OBJECTS_SCENE:Array:[]}, + "lights": \${LIGHTS:Array:[]} + }, + "camera_position":{ + "center_shell": [\${CENTER_SHELL_1:number:0}, \${CENTER_SHELL_2:number:0}, \${CENTER_SHELL_3:number:0}], + "radius_range": [\${RADIUS_RANGE_1:number:1}, \${RADIUS_RANGE_2:number:1.4}], + "elevation_range": [\${ELEVATION_RANGE_1:number:10}, \${ELEVATION_RANGE_2:number:90}] + }, + "generation":{ + "n_cam_pose": \${N_CAM_POSE:number:5}, + "n_sample_on_pose": \${N_SAMPLE_ON_POSE:number:3}, + "n_series": \${N_SERIES:number:100}, + "image_format": \${image_format:Enum:JPEG}, + "image_size_wh": [\${IMAGE_SIZE_WH_1:number:640}, \${IMAGE_SIZE_WH_2:number:480}] + } + } + `, + [], + "" + ); +} +export const scene = `{ + "center_shell": [\${CENTER_SHELL_1:number:0}, \${CENTER_SHELL_2:number:0}, \${CENTER_SHELL_3:number:0}], + "scene":\${:OBJECT:{"details": []} + }`; +export const simpleFormBuilder = `{ + "center_shell": [\${CENTER_SHELL_1:number:0}, \${CENTER_SHELL_2:number:0}, \${CENTER_SHELL_3:number:0}] +}`; +export const ffContext = `type ITEM = { + "name": \${NAME:string:default}, + "value": \${VALUE:string:default} + }; +`; + +export const ff1Result = `{ + "detailForm":\${:OBJECT:{"details": []}, + "empty":\${NAME:string:default}, + "params": \${ITEM:Array:[]} +}`; diff --git a/ui/src/core/model/light_model.ts b/ui/src/core/model/light_model.ts new file mode 100644 index 0000000..5b7aea9 --- /dev/null +++ b/ui/src/core/model/light_model.ts @@ -0,0 +1,57 @@ +import { DirectionalLight, Object3D, PointLight, Quaternion, SpotLight, Vector3 } from "three"; +import { Result } from "../helper/result"; +import { SceneModelsTypes } from "./scene_models_type"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { Instance } from "./scene_asset"; +import { Type } from "class-transformer"; +export enum TypeLight { + POINT = "POINT", + DIRECTIONAL = "DIRECTIONAL", + SPOT = "SPOT", +} +export class LightModel implements Instance { + type = SceneModelsTypes.LIGHT; + color: string; + typeLight: TypeLight; + intensity: number; + width: number; + height: number; + distance: number; + angle: number; + penumbra: number; + decay: number; + @Type(() => Vector3) + position: Vector3; + orientation: number[]; + constructor() {} + update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository); + icon: string = "Light"; + name: string; + isValid = (): Result => { + // SDF -> point, directional, spot. + // THREE -> PointLight,DirectionalLight,SpotLight + return Result.ok(this); + }; + toWebGl = (coreThreeRepository: CoreThreeRepository) => { + // TODO: maybe change mapper + let light: Object3D; + this.typeLight + .isEqualR(TypeLight.DIRECTIONAL) + .map(() => (light = new DirectionalLight(this.color, this.intensity))); + this.typeLight + .isEqualR(TypeLight.POINT) + .map(() => (light = new PointLight(this.color, this.intensity, this.distance, this.decay))); + this.typeLight + .isEqualR(TypeLight.SPOT) + .map( + () => (light = new SpotLight(this.color, this.intensity, this.distance, this.angle, this.penumbra, this.decay)) + ); + + light!.castShadow = true; + light!.position.copy(this.position); + light!.quaternion.copy(new Quaternion().fromArray(this.orientation)); + + coreThreeRepository.scene.add(light!); + }; + static empty = () => new LightModel(); +} diff --git a/ui/src/core/model/point_model.ts b/ui/src/core/model/point_model.ts new file mode 100644 index 0000000..f431880 --- /dev/null +++ b/ui/src/core/model/point_model.ts @@ -0,0 +1,57 @@ +import { Quaternion, Vector3 } from "three"; +import { Result } from "../helper/result"; +import { SceneModelsTypes } from "./scene_models_type"; +import { Instance } from "./scene_asset"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { Type } from "class-transformer"; +import { Pose } from "../../features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_robot_model"; +import { SceneBuilderStore, SceneItems } from "../../features/scene_builder/presentation/scene_builder_store"; + +export class PointModel implements Instance { + type = SceneModelsTypes.POINT; + name: string; + @Type(() => Vector3) + position: Vector3; + color: string = "#E91E63"; + size: number = 0.01; + orientation: number[]; + icon: string = "Point"; + + constructor() {} + update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository); + toWebGl = (coreThreeRepository: CoreThreeRepository) => + coreThreeRepository.makePoint( + this.name, + this.position, + new Quaternion().fromArray(this.orientation), + this.color, + this.size + ); + toSceneItems = (sceneMangerStore: SceneBuilderStore): SceneItems => { + return { + fn: () => {}, + name: this.name, + isSelected: false, + icon: this.icon, + }; + }; + toDependency = (): Pose => { + return { + name: this.name, + position: this.position, + orientation: { + x: this.orientation[0], + y: this.orientation[1], + z: this.orientation[2], + w: this.orientation[3], + }, + }; + }; + isValid(): Result { + return Result.ok(); + } + + static empty() { + return new PointModel(); + } +} diff --git a/ui/src/core/model/robossembler_assets.ts b/ui/src/core/model/robossembler_assets.ts deleted file mode 100644 index 8e26306..0000000 --- a/ui/src/core/model/robossembler_assets.ts +++ /dev/null @@ -1,172 +0,0 @@ -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; - @IsArray() - @IsOptional() - actions: string[]; -} - -export class Physics { - @IsString() - engine_name: string; - @Type(() => Gravity) - gravity: Gravity; -} - -export class RobossemblerAssets { - @ValidateNested() - @Type(() => Asset, { - discriminator: { - property: "type", - subTypes: [ - { value: InstanceRgbCamera, name: InstanceType.RGB_CAMERA }, - { value: SceneSimpleObject, name: InstanceType.SCENE_SIMPLE_OBJECT }, - ], - }, - keepDiscriminatorProperty: true, - }) - 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]; - } -} diff --git a/ui/src/core/model/robot_model.ts b/ui/src/core/model/robot_model.ts new file mode 100644 index 0000000..4fe5dbd --- /dev/null +++ b/ui/src/core/model/robot_model.ts @@ -0,0 +1,74 @@ +import { Quaternion, Vector3 } from "three"; +import { SceneModelsTypes } from "./scene_models_type"; +import { Result } from "../helper/result"; +import { Instance } from "./scene_asset"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { Type } from "class-transformer"; +import { URDFRobot } from "urdf-loader"; +import { SceneBuilderStore, SceneItems } from "../../features/scene_builder/presentation/scene_builder_store"; + +export enum ToolTypes { + RBS_GRIPPER = "RBS_GRIPPER", +} + +interface RobotJoint { + limit: { + lower: number; + upper: number; + }; + angle: number; + name: string; +} + +export class RobotModel implements Instance { + type = SceneModelsTypes.ROBOT; + @Type(() => Vector3) + position: Vector3; + jointPosition: RobotJoint[]; + orientation: number[]; + name: string; + httpUrl: string; + nDof: number; + toolType: string; + constructor( + position: Vector3, + orientation: number[], + name: string, + httpUrl: string, + nDof: number, + toolType: string, + jointPosition: RobotJoint[] + ) { + this.orientation = orientation; + this.position = position; + this.name = name; + this.httpUrl = httpUrl; + this.nDof = nDof; + this.toolType = toolType; + this.jointPosition = jointPosition; + } + icon: string = "Robot"; + toSceneItems = (sceneBuilderStore: SceneBuilderStore): SceneItems => { + return { + fn: () => {}, + name: this.name, + isSelected: false, + icon: "Robot", + }; + }; + toWebGl = (coreThreeRepository: CoreThreeRepository) => { + coreThreeRepository.loadUrdfRobot(this); + }; + update = (coreThreeRepository: CoreThreeRepository) => { + const robot = coreThreeRepository.scene.getObjectByName(this.name) as URDFRobot; + robot.position.copy(this.position); + robot.quaternion.copy(new Quaternion().fromArray(this.orientation)); + this.jointPosition.forEach((el) => { + robot.setJointValue(el.name, el.angle); + }); + }; + isValid(): Result { + return Result.ok(this); + } + static empty = () => new RobotModel(new Vector3(0, 0, 0), [0, 0, 0, 1], "", "", 1, ToolTypes.RBS_GRIPPER, []); +} diff --git a/ui/src/core/model/robots.ts b/ui/src/core/model/robots.ts new file mode 100644 index 0000000..41c14fb --- /dev/null +++ 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; +} diff --git a/ui/src/core/model/scene_asset.ts b/ui/src/core/model/scene_asset.ts new file mode 100644 index 0000000..1bfb7cd --- /dev/null +++ b/ui/src/core/model/scene_asset.ts @@ -0,0 +1,65 @@ +import { IsArray } from "class-validator"; +import { Type } from "class-transformer"; +import { CameraModel } from "./camera_model"; +import { SceneModelsTypes } from "./scene_models_type"; +import { RobotModel } from "./robot_model"; +import { SolidModel } from "./solid_model"; +import { PointModel } from "./point_model"; +import { ZoneModel } from "./zone_model"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { LightModel } from "./light_model"; +import { Vector3 } from "three"; +import { SceneItems } from "../../features/scene_builder/presentation/scene_builder_store"; + +export abstract class Instance { + type: string; + abstract icon: string; + @Type(() => Vector3) + position: Vector3; + orientation: number[]; + name: string; + toWebGl = (_coreThreeRepository: CoreThreeRepository) => {}; + update = (_coreThreeRepository: CoreThreeRepository) => {}; +} +export class SceneAsset { + name: string; + @IsArray() + @Type(() => Instance, { + discriminator: { + property: "type", + subTypes: [ + { value: SolidModel, name: SceneModelsTypes.SOLID }, + { value: CameraModel, name: SceneModelsTypes.CAMERA }, + { value: RobotModel, name: SceneModelsTypes.ROBOT }, + { value: PointModel, name: SceneModelsTypes.POINT }, + { value: LightModel, name: SceneModelsTypes.LIGHT }, + { value: ZoneModel, name: SceneModelsTypes.ZONE }, + ], + }, + keepDiscriminatorProperty: true, + }) + scene: (Instance | SolidModel | CameraModel | RobotModel | PointModel | ZoneModel)[]; + toSceneItems = (): SceneItems[] => { + return this.scene.map((el) => { + return { + fn: () => {}, + name: el.name, + icon: el.icon, + isSelected: false, + }; + }); + }; + getElementByName = (name: string) => this.scene.filter((el) => el.name.isEqual(name)).at(0) as T; + getAllRobotsTopics = () => this.scene.filter((el) => el.type.isEqual(SceneModelsTypes.ROBOT)).map((el) => el.name); + getAllCameraTopics = () => {}; + getAllPoints = () => this.scene.filter((el) => el.type.isEqual(SceneModelsTypes.POINT)).map((el) => el.name); + static newScene = ( + scene: (Instance | SolidModel | CameraModel | RobotModel | PointModel | ZoneModel)[], + name: string + ) => { + const sceneAsset = new SceneAsset(); + sceneAsset.scene = scene; + sceneAsset.name = name; + return sceneAsset; + }; +} diff --git a/ui/src/core/model/scene_models_type.ts b/ui/src/core/model/scene_models_type.ts new file mode 100644 index 0000000..9bb8978 --- /dev/null +++ b/ui/src/core/model/scene_models_type.ts @@ -0,0 +1,8 @@ +export enum SceneModelsTypes { + SOLID = "SOLID", + ROBOT = "ROBOT", + LIGHT = "LIGHT", + CAMERA = "CAMERA", + POINT = "POINT", + ZONE = "ZONE", +} diff --git a/ui/src/core/model/skill_model.ts b/ui/src/core/model/skill_model.ts new file mode 100644 index 0000000..d9e3a40 --- /dev/null +++ b/ui/src/core/model/skill_model.ts @@ -0,0 +1,512 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import clone from "just-clone"; +import { IsArray, IsEnum, IsNotEmpty, IsOptional, IsString, ValidateNested } from "class-validator"; +import { Type } from "class-transformer"; +import { ISkillView } from "../../features/behavior_tree_builder/presentation/ui/skill_tree/skill_tree"; +import { v4 } from "uuid"; +import { Result } from "../helper/result"; +import { ValidationModel } from "./validation_model"; +import { ITopicModel, TopicViewModel } from "../../features/topics/topic_view_model"; +import { BehaviorTreeBuilderStore } from "../../features/behavior_tree_builder/presentation/behavior_tree_builder_store"; +import { TopicDependencyViewModel } from "../../features/behavior_tree_builder/presentation/ui/forms/topics_form/topic_dependency_view_model"; +import { FormBuilderValidationModel } from "./form_builder_validation_model"; +import { FormType } from "./form"; + +export interface IDependency { + skills: ISkillDependency[]; +} + +export interface ISkillDependency { + sid: string; + dependency: Object; +} + +export interface ISkill { + sid?: string; + SkillPackage: ISkillPackage; + Module: IModule; + BTAction: IBTAction[]; +} +export interface IWeightsDependency { + weights_name: string; + object_name: string; + weights_file: string; + dimensions: number[]; +} +export interface IDeviceDependency { + sid: string; +} +export interface IDependency {} +export interface IParam { + isFilled: boolean; + type: string; + dependency?: DependencyViewModel; +} + +abstract class IDependencyViewModel { + abstract type: FormType; +} +export class DependencyViewModel implements IDependencyViewModel { + type: FormType; + static empty = () => new DependencyViewModel(); + toView = (store: BehaviorTreeBuilderStore | undefined): React.ReactNode => "Dependency view model error"; +} +export class ParamViewModel implements IParam { + type: string; + + @Type(() => DependencyViewModel, { + discriminator: { + property: "type", + subTypes: [ + { value: TopicDependencyViewModel, name: FormType.topic }, + { value: FormBuilderValidationModel, name: FormType.formBuilder }, + ], + }, + keepDiscriminatorProperty: true, + }) + dependency: DependencyViewModel; + isFilled: boolean = false; + constructor(type: string, dependency: DependencyViewModel) { + this.type = type; + this.dependency = dependency; + } + static empty = () => new ParamViewModel("", DependencyViewModel.empty()); +} +export interface IBTAction { + name: string; + type: string; + param: IParam[]; + result: string[]; +} +export enum BtAction { + ACTION = "ACTION", + CONDITION = "CONDITION", +} +export class BtActionViewModel extends ValidationModel implements IBTAction { + @IsNotEmpty() + @IsString() + name: string; + + @IsNotEmpty() + @IsString() + type: string; + @Type(() => ParamViewModel) + param: IParam[]; + @IsNotEmpty() + @IsString() + result: string[]; + @IsNotEmpty() + @IsEnum(BtAction) + typeAction: BtAction; + constructor(name: string, type: string, param: IParam[], result: string[], typeAction: BtAction) { + super(); + this.name = name; + this.type = type; + this.param = param; + this.result = result; + this.typeAction = typeAction; + } + static empty = () => new BtActionViewModel("", "", [], [], BtAction.ACTION); + public validParam = (type: string) => this.param.someR((param) => param.type === type); +} +export interface IInterface { + Input: IPut[]; + Output: IPut[]; +} + +export interface IPut { + name: string; + type: string; +} + +export interface ILaunch { + executable: string; +} + +export interface IModule { + name: string; + node_name: string; + description: string; +} + +export interface IRos2 { + node_name: string; +} + +export interface ISetting { + name: string; + value: number | string; +} + +export interface ISkillPackage { + name: string; + version: string; + format: string; +} + +export class SkillPackage implements ISkillPackage { + @IsNotEmpty() + @IsString() + name: string; + @IsNotEmpty() + @IsString() + version: string; + @IsNotEmpty() + @IsString() + format: string; + constructor(name: string, version: string, format: string) { + this.name = name; + this.format = format; + this.version = version; + } + static empty = () => new SkillPackage("", "", ""); +} +export class Module implements IModule { + @IsString() + node_name: string; + @IsString() + name: string; + @IsString() + description: string; + constructor(name: string, description: string) { + this.name = name; + this.description = description; + } + static empty = () => new Module("", ""); +} +export class BTAction implements IBTAction { + @IsString() + name: string; + @IsString() + type: string; + sid?: string; + @IsArray() + param: IParam[]; + @IsArray() + result: string[]; +} +export class Launch implements ILaunch { + @IsNotEmpty() + @IsString() + executable: string; + @IsNotEmpty() + @IsString() + package: string; + constructor(executable: string, plage: string) { + this.executable = executable; + this.package = plage; + } + static empty = () => new Launch("", ""); +} +export class Ros2 implements IRos2 { + @IsString() + node_name: string; +} +export class Put implements IPut { + @IsString() + name: string; + @IsString() + type: string; +} +export class Interface implements IInterface { + @ValidateNested() + @Type(() => Put) + Input: IPut[]; + @ValidateNested() + @Type(() => Put) + Output: IPut[]; +} +export class Setting implements ISetting { + name: string; + value: string | number; +} + +export class SkillModel extends ValidationModel implements ISkill { + @IsOptional() + @IsString() + _id?: string; + constructor() { + super(); + makeAutoObservable(this); + } + + bgColor: string = `rgba(5, 26, 39, 1)`; + borderColor: string = "rgba(25, 130, 196, 1)"; + @IsOptional() + @IsString() + sid?: string; + @ValidateNested() + @Type(() => SkillPackage) + SkillPackage: ISkillPackage; + @ValidateNested() + @Type(() => Module) + Module: IModule; + @IsNotEmpty() + @IsArray() + @Type(() => BtActionViewModel) + BTAction: BtActionViewModel[]; + topicsOut: TopicViewModel[] = []; + @Type(() => Launch) + Launch: Launch; + @Type(() => FormBuilderValidationModel) + Settings: FormBuilderValidationModel; + static empty() { + const skillModel = new SkillModel(); + skillModel.BTAction = []; + skillModel.SkillPackage = SkillPackage.empty(); + skillModel.Module = Module.empty(); + skillModel.Launch = Launch.empty(); + skillModel.Settings = FormBuilderValidationModel.empty(); + return skillModel; + } + public static isEmpty(skill: SkillModel): Result { + if (skill.BTAction.isEmpty()) { + return Result.error(undefined); + } + return Result.ok(Object.assign(skill, {})); + } + + public getSid = () => this.sid; + public setSid = (sid: string) => { + const result = clone(this); + result.sid = sid; + return result; + }; + emptyParam = () => this.BTAction.at(0)?.param.at(0)?.dependency === undefined; +} + +export class SkillDependency implements IDependency { + constructor(public skills: ISkillDependency[]) {} + static empty() { + return new SkillDependency([]); + } + static isEmpty = (skill: SkillDependency) => { + if (skill.skills.isEmpty()) { + return Result.error(undefined); + } + return Result.ok(skill); + }; +} + +export class Skills { + constructor() { + makeAutoObservable(this); + } + @IsOptional() + @IsArray() + @Type(() => TopicViewModel) + topicsStack: ITopicModel[] = []; + @IsArray() + @Type(() => SkillModel) + skills: SkillModel[]; + static fromSkills = (skilsModel: SkillModel[]) => { + const skills = this.empty(); + skills.skills = skilsModel; + return skills; + }; + deleteTopic = (sid: string) => (this.topicsStack = this.topicsStack.filter((el) => !el.sid?.isEqual(sid))); + + getSkillAtSid = (sid: string): Result => { + const result = this.skills.filter((skill) => skill.sid?.isEqual(sid)).at(0); + if (result === undefined) { + return Result.error(undefined); + } + return Result.ok(result); + }; + + validation = (): Result => { + const errors: string[] = []; + this.skills.forEach((skill) => { + skill.BTAction.forEach((action) => { + if (action.param.isNotEmpty()) { + action.param.forEach((param) => { + if (Object.keys(param?.dependency ?? {}).isEmpty()) { + errors.push(param.type); + } + }); + } + }); + }); + if (errors.isNotEmpty()) { + return Result.error(errors); + } + return Result.ok(undefined); + }; + getCssAtLabel = (label: string): React.CSSProperties => + this.skills.reduce((acc, el) => { + el.BTAction.rFind((el) => el.name.isEqual(label)).map(() => { + acc = { + backgroundColor: el.bgColor, + border: `1px solid ${el.borderColor}`, + }; + }); + return acc; + }, {}); + skillBySid = (sid: string) => + SkillModel.isEmpty( + this.skills.reduce((acc, el) => { + if (el.sid?.isEqual(sid)) { + acc = el; + } + return acc; + }, SkillModel.empty()) + ); + + toSkillView = (): ISkillView[] => + this.skills.map((el) => { + return { + name: el.Module.name, + children: el.BTAction.map((act) => { + return { name: act.name, uuid: v4() }; + }), + }; + }); + getSkill = (name: string) => + SkillModel.isEmpty( + this.skills.reduce((acc, el) => { + if (el.BTAction.find((el) => el.name.isEqual(name))) { + el.BTAction.map((action) => { + action.param.map((param) => { + return param; + }); + }); + acc = el; + } + return acc; + }, SkillModel.empty()) + ); + + getSkilsOut = (name: string) => + this.skills + .reduce((acc, el) => { + if (el.BTAction.find((el) => el.name.isEqual(name))) { + acc = el.BTAction.filter((f) => f.name.isEqual(name)).map((z) => z.result); + } + return acc; + }, []) + .flat(1); + getSkillParams = (name: string) => + this.skills + .reduce((acc, el) => { + if (el.BTAction.find((el) => el.name.isEqual(name))) { + acc = el.BTAction.filter((f) => f.name.isEqual(name)).map((z) => z.param); + } + return acc; + }, []) + .flat(1); + getSkillDo = (name: string) => + this.skills.reduce((acc, el) => { + if (el.BTAction.find((el) => el.name.isEqual(name))) { + acc = el.Module.name; + } + return acc; + }, "error"); + + getSkillsNames = () => + this.skills + .map((el) => { + return el.BTAction.map((act) => { + return { name: act.name }; + }); + }) + .flat(1); + + getForms = (skillLabel: string) => + this.skills + .reduce((acc, el) => { + if (el.BTAction.find((el) => el.name.isEqual(skillLabel))) { + acc.push(el); + } + return acc; + }, []) + .map((el) => el.BTAction.map((act) => act.param.map((el) => el.type).flat(1))) + .flat(1) + .flat(1) + .filter((el) => el !== ""); + + getDependencyBySkillLabelAndType = (skillType: string, sid: string): DependencyViewModel => + this.skills + .reduce((acc, skill) => { + if (skill.sid?.isEqual(sid)) { + skill.BTAction.map((action) => { + action.param.map((param) => { + if (param.type.isEqualR(skillType)) { + acc.push(param?.dependency ?? DependencyViewModel.empty()); + } + return param; + }); + return action; + }); + } + + return acc; + }, []) + .at(0) ?? DependencyViewModel.empty(); + static isEmpty(model: Skills): Result { + if (model.skills.isEmpty()) { + return Result.error(undefined); + } + return Result.ok(undefined); + } + static empty() { + const skills = new Skills(); + skills.skills = []; + return skills; + } + + public dependencyIsFilled = (skillType: string, sid: string) => + this.skills.reduce((acc, skill) => { + if (skill.sid?.isEqual(sid)) { + skill.BTAction.forEach((action) => { + action.param.forEach((param) => { + acc = param.isFilled; + }); + }); + } + return acc; + }, false); + + getAllSids = () => + this.skills.reduce((acc, skill) => { + skill.BTAction.forEach((action) => + action.param.forEach((param) => { + return param; + }) + ); + return acc; + }, new Map()); + + deleteSid(sid: string): SkillModel[] { + return this.skills.filter((skill) => !skill.sid?.isEqual(sid)); + } + updateSkill = (skill: SkillModel) => { + this.skills = this.skills.map((el) => { + if (el.sid?.isEqual(skill.sid ?? "")) { + el = skill; + } + return el; + }); + }; + skillHasForm = (label: string): boolean => { + return true; + }; + getSkillWidthAtLabel = (label: string): number => + this.getSkillParams(label).reduce((acc, element) => { + if (element.type.length > acc) { + acc = element.type.length; + } + return acc; + }, 0); + skillIsDependencyFilled = (label: string): Result => + this.getSkill(label).fold( + (skill) => { + return Result.ok(skill.BTAction.find((el) => el.name.isEqual(label))?.param.isEmpty()); + }, + () => Result.error(false) + ); + skillIsCondition = (label: string) => + this.getSkill(label).fold( + (s) => s.BTAction.atR(0).map((el) => el.typeAction.isEqualR(BtAction.CONDITION)), + (e) => Result.error(undefined) + ); +} diff --git a/ui/src/core/model/solid_model.ts b/ui/src/core/model/solid_model.ts new file mode 100644 index 0000000..42158ab --- /dev/null +++ b/ui/src/core/model/solid_model.ts @@ -0,0 +1,70 @@ +import { Object3D, Object3DEventMap, Quaternion, Vector3 } from "three"; +import { SceneModelsTypes } from "./scene_models_type"; +import { Instance } from "./scene_asset"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { Type } from "class-transformer"; +import { Parts } from "../../features/details/details_http_repository"; +import { SceneItems } from "../../features/scene_builder/presentation/scene_builder_store"; + +export class SolidModel implements Instance { + icon: string = "Solid"; + type = SceneModelsTypes.SOLID; + @Type(() => Vector3) + public position: Vector3; + public name: string; + constructor( + vector3: Vector3, + public orientation: number[], + name:string, + public solidType: string, + public mesh: string, + public collisionMesh: string, + public spawnType: string + ) { + this.name = name; + this.position = vector3; + } + toSceneItems = (): SceneItems => { + return { + fn: () => {}, + name: this.name, + isSelected: false, + icon: "Solid", + }; + }; + + update = (coreThreeRepository: CoreThreeRepository) => { + const object = coreThreeRepository.getObjectsAtName(this.name) as Object3D; + object.position.copy(this.position) + object.quaternion.copy(new Quaternion().fromArray(this.orientation)) + + }; + + toWebGl = (coreThreeRepository: CoreThreeRepository) => { + this.spawnType.isEqualR("BoundBox").fold( + () => + coreThreeRepository.loader( + this.mesh, + () => ( + coreThreeRepository.raiseAnObjectAboveZeroVector(this.name), + (this.orientation = coreThreeRepository.scene.getObjectByName(this.name)!.quaternion.toArray()), + (this.position = coreThreeRepository.scene.getObjectByName(this.name)!.position) + ), + + this.name, + this.position + ), + () => console.log("UNKNOWN SPAWN TYPE SOLID MODEL") + ); + }; + + fromParts = (parts: Parts): SolidModel => { + const solidModel = SolidModel.empty(); + solidModel.mesh = parts.daeUrl; + solidModel.name = parts.name; + solidModel.solidType = parts.solidType; + return solidModel; + }; + + static empty = () => new SolidModel(new Vector3(0, 0, 0), [], "", "", "", "", ""); +} diff --git a/ui/src/core/model/spawn_position_types.ts b/ui/src/core/model/spawn_position_types.ts new file mode 100644 index 0000000..ca08f31 --- /dev/null +++ b/ui/src/core/model/spawn_position_types.ts @@ -0,0 +1,3 @@ +export enum SpawnPositionTypes { + BoundBox = "BoundBox", +} diff --git a/ui/src/core/model/style.ts b/ui/src/core/model/style.ts new file mode 100644 index 0000000..acfab5e --- /dev/null +++ b/ui/src/core/model/style.ts @@ -0,0 +1,3 @@ +export interface IStyle{ + style?: React.CSSProperties; +} diff --git a/ui/src/core/model/topics.ts b/ui/src/core/model/topics.ts new file mode 100644 index 0000000..3612603 --- /dev/null +++ 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; +} diff --git a/ui/src/core/model/trigger_model.ts b/ui/src/core/model/trigger_model.ts deleted file mode 100644 index 5ea29e5..0000000 --- a/ui/src/core/model/trigger_model.ts +++ /dev/null @@ -1,12 +0,0 @@ -import { DatabaseModel } from "./database_model"; - -export interface ITriggerModel extends DatabaseModel { - type: string; - description: string; - value: string[]; -} - -export enum TriggerType { - PROCESS = "PROCESS", - FILE = "FILE", -} diff --git a/ui/src/core/model/validation_model.ts b/ui/src/core/model/validation_model.ts new file mode 100644 index 0000000..7e41b5e --- /dev/null +++ b/ui/src/core/model/validation_model.ts @@ -0,0 +1,29 @@ +import { Result } from "../helper/result"; +import { validate, ValidationError } from "class-validator"; + +export class ValidationModel { + valid = async (): Promise> => { + const errors: ValidationError[] = await validate(this, { + skipMissingProperties: false, + whitelist: false, + forbidNonWhitelisted: true, + }); + + if (errors.isNotEmpty()) { + const message = errors.map((error: ValidationError) => { + let result = ""; + if (error.children) + error.children.map((el) => { + if (el.constraints) { + result += Object.values(el.constraints).join(", "); + } + }); + if (error.constraints) result += Object.values(error.constraints).join(", "); + return result; + }); + return Result.error(message.join(", \n")); + } else { + return Result.ok(this as unknown as T); + } + }; +} diff --git a/ui/src/core/model/zone_model.ts b/ui/src/core/model/zone_model.ts new file mode 100644 index 0000000..3b269fe --- /dev/null +++ b/ui/src/core/model/zone_model.ts @@ -0,0 +1,33 @@ +import { Vector3 } from "three"; +import { Result } from "../helper/result"; +import { SceneModelsTypes } from "./scene_models_type"; +import { Instance } from "./scene_asset"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { Type } from "class-transformer"; + +export class ZoneModel implements Instance { + type = SceneModelsTypes.ZONE; + color: string = "#E91E63"; + @Type(() => Vector3) + position: Vector3; + + constructor( + vector3: Vector3, + public orientation: number[], + public name: string, + public width: number, + public height: number, + public length: number + ) { + this.position = vector3; + } + update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository) + icon: string = "Zone"; + toWebGl = (coreThreeRepository: CoreThreeRepository) => coreThreeRepository.makeZone(this); + isValid(): Result { + return Result.ok(); + } + static empty() { + return new ZoneModel(new Vector3(0, 0, 0), [0, 0, 0, 0], "", 0, 0, 0); + } +} diff --git a/ui/src/core/repository/http_repository.ts b/ui/src/core/repository/core_http_repository.ts similarity index 59% rename from ui/src/core/repository/http_repository.ts rename to ui/src/core/repository/core_http_repository.ts index d11463b..48eb520 100644 --- a/ui/src/core/repository/http_repository.ts +++ b/ui/src/core/repository/core_http_repository.ts @@ -1,11 +1,15 @@ import { ClassConstructor, plainToInstance } from "class-transformer"; import { Result } from "../helper/result"; +import { Parts } from "../../features/details/details_http_repository"; +import { UUID } from "../../features/all_projects/data/project_http_repository"; +import { SceneModel } from "../../features/scene_manager/model/scene_model"; +import { SceneAsset } from "../model/scene_asset"; export enum HttpMethod { GET = "GET", POST = "POST", DELETE = "DELETE", - PUT = "PUT" + PUT = "PUT", } export class HttpError extends Error { status: number; @@ -16,13 +20,9 @@ export class HttpError extends Error { this.status = status; } } - export class HttpRepository { private server = "http://localhost:4001"; - public async _formDataRequest(method: HttpMethod, url: string, data?: any): Promise> { - let formData = new FormData(); - formData.append("file", data); - + public async _formDataRequest(method: HttpMethod, url: string, formData: FormData): Promise> { const reqInit = { body: formData, method: method, @@ -71,6 +71,36 @@ export class HttpRepository { } return Result.ok(response.text as T); } + public async _arrayJsonToClassInstanceRequest( + method: HttpMethod, + url: string, + instance: ClassConstructor, + data?: any + ): Promise> { + try { + const reqInit = { + body: data, + method: method, + headers: { "Content-Type": "application/json" }, + }; + if (data !== undefined) { + reqInit["body"] = JSON.stringify(data); + } + const response = await fetch(this.server + url, reqInit); + + if (response.status !== 200) { + return Result.error(new HttpError(this.server + url, response.status)); + } + const array: any[] = await response.json(); + return Result.ok( + array.map((el) => { + return plainToInstance(instance, el) as T; + }) + ); + } catch (error) { + return Result.error(new HttpError(error, 0)); + } + } public async _jsonToClassInstanceRequest( method: HttpMethod, url: string, @@ -97,3 +127,19 @@ export class HttpRepository { } } } + +export class CoreHttpRepository extends HttpRepository { + getAssetsActiveProject = async (): Promise> => { + return this._jsonRequest(HttpMethod.GET, "/projects/assets"); + }; + + getSceneAsset = (id: string) => + this._jsonToClassInstanceRequest(HttpMethod.GET, `/scenes/by_id?id=${id}`, SceneAsset) as Promise< + Result + >; + async getActiveProjectId() { + return this._jsonRequest(HttpMethod.GET, "/projects/get/active/project/id"); + } + getAllScenes = () => this._jsonRequest(HttpMethod.GET, "/scenes"); +} + \ No newline at end of file diff --git a/ui/src/core/repository/core_ros_ws_bridge_repository.ts b/ui/src/core/repository/core_ros_ws_bridge_repository.ts new file mode 100644 index 0000000..167316d --- /dev/null +++ b/ui/src/core/repository/core_ros_ws_bridge_repository.ts @@ -0,0 +1,34 @@ +import { FoxgloveClient } from "@foxglove/ws-protocol" +import { MessageReader } from '@foxglove/rosmsg2-serialization'; +import { parse as parseMessageDefinition } from '@foxglove/rosmsg'; +import { TypedEvent } from "../helper/typed_event"; + +export class CoreRosWsBridgeRepository extends TypedEvent { + client?: FoxgloveClient; + connect(topic: string) { + const client = new FoxgloveClient({ + ws: new WebSocket(`ws://localhost:8765`, [FoxgloveClient.SUPPORTED_SUBPROTOCOL]), + }); + const deserializers = new Map(); + client.on("advertise", (channels) => { + for (const channel of channels) { + if (channel.topic.isEqual(topic)) { + const subId = client.subscribe(channel.id); + deserializers.set(subId, (data: any) => { + return { + data: data, + channel: channel + } + }); + } + } + }); + client.on("message", ({ subscriptionId, timestamp, data }) => { + const channel = deserializers.get(subscriptionId)(data); + this.emit(new MessageReader(parseMessageDefinition(channel.channel?.schema!, { + ros2: true, + })).readMessage(channel.data)) + + }); + } +} diff --git a/ui/src/core/repository/socket_repository.ts b/ui/src/core/repository/core_socket_repository.ts similarity index 93% rename from ui/src/core/repository/socket_repository.ts rename to ui/src/core/repository/core_socket_repository.ts index 697c3ea..db8d3eb 100644 --- a/ui/src/core/repository/socket_repository.ts +++ b/ui/src/core/repository/core_socket_repository.ts @@ -8,12 +8,10 @@ export class SocketRepository extends TypedEvent { async connect():Promise> { const socket = io(this.serverURL); + this.socket = socket; socket.connect(); socket.on('realtime', (d) =>{ - console.log("D") - console.log(d) - this.emit({ event:"realtime", payload:d diff --git a/ui/src/core/repository/core_three_repository.ts b/ui/src/core/repository/core_three_repository.ts index 531c0c2..d7f6bc0 100644 --- a/ui/src/core/repository/core_three_repository.ts +++ b/ui/src/core/repository/core_three_repository.ts @@ -20,25 +20,34 @@ import { CameraHelper, Quaternion, MeshBasicMaterial, - PlaneGeometry, - BoxGeometry + BoxGeometry, + MeshStandardMaterial, + LoadingManager, } from "three"; +import URDFLoader, { URDFLink } from "urdf-loader"; +import { ColladaLoader } from "three/examples/jsm/loaders/ColladaLoader"; +import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader"; +import { OBJLoader } from "three/examples/jsm/loaders/OBJLoader"; +import { STLLoader } from "three/examples/jsm/loaders/STLLoader"; +import { OrbitControls } from "three/examples/jsm/controls/OrbitControls"; +import { TransformControls } from "three/examples/jsm/controls/TransformControls"; +import { SceneMode } from "../../features/scene_manager/model/scene_view"; +import { UrdfTransforms, coordsToQuaternion } from "../../features/simulations/tranforms_model"; +import { SolidModel } from "../model/solid_model"; +import { Instance, SceneAsset } from "../model/scene_asset"; +import { ZoneModel } from "../model/zone_model"; import { TypedEvent } from "../helper/typed_event"; import { Result } from "../helper/result"; -import { GLTFLoader, OrbitControls, TransformControls, OBJLoader, STLLoader, ColladaLoader } from "three-stdlib"; -import { - BaseSceneItemModel, - CameraViewModel, - StaticAssetItemModel, -} from "../../features/scene_manager/model/scene_assets"; -import { SceneMode } from "../../features/scene_manager/model/scene_view"; -import { throttle } from "../helper/throttle"; -import { Asset, InstanceRgbCamera, RobossemblerAssets, SceneSimpleObject } from "../model/robossembler_assets"; - +import { RobotModel } from "../model/robot_model"; +import { SceneItems } from "../../features/scene_builder/presentation/scene_builder_store"; + +Object3D.DEFAULT_UP = new Vector3(0, 0, 1); + export enum UserData { selectedObject = "selected_object", cameraInitialization = "camera_initialization", objectForMagnetism = "object_for_magnetism", + loadObject = "load_object", } interface IEventDraggingChange { @@ -51,8 +60,9 @@ interface IEmissiveCache { status: boolean; object3d: Object3D; } +type SceneFrames = { [K in string]: URDFLink }; -export class CoreThreeRepository extends TypedEvent { +export class CoreThreeRepository extends TypedEvent { scene = new Scene(); camera: PerspectiveCamera; webGlRender: WebGLRenderer; @@ -62,10 +72,14 @@ export class CoreThreeRepository extends TypedEvent { orbitControls: OrbitControls; htmlSceneWidth: number; htmlSceneHeight: number; + sceneFrame?: SceneFrames; objLoader = new OBJLoader(); glbLoader = new GLTFLoader(); daeLoader = new ColladaLoader(); stlLoader = new STLLoader(); + manager = new LoadingManager(); + urdfLoader = new URDFLoader(this.manager); + watcherSceneEditorObject: Function; constructor(htmlCanvasRef: HTMLCanvasElement, watcherSceneEditorObject: Function) { @@ -79,8 +93,8 @@ export class CoreThreeRepository extends TypedEvent { alpha: true, }); const aspectCamera = this.htmlSceneWidth / this.htmlSceneHeight; - this.camera = new PerspectiveCamera(800, aspectCamera, 0.1, 10000); - this.camera.position.set(60, 20, 10); + this.camera = new PerspectiveCamera(100, aspectCamera, 0.1, 2000); + this.camera.position.set(1, 1, 1); this.webGlRender = renderer; this.htmlCanvasRef = htmlCanvasRef; @@ -89,31 +103,63 @@ export class CoreThreeRepository extends TypedEvent { this.scene.add(this.transformControls); this.orbitControls = new OrbitControls(this.camera, this.htmlCanvasRef); - this.scene.background = new Color("black"); + this.scene.background = new Color("white"); this.init(); } + updateInstance = (viewModel: Instance) => ( + this.scene.remove(this.scene.getObjectByName(viewModel.name)!), viewModel.toWebGl(this) + ); + + deleteAllObjectsScene = () => { + this.getAllSceneNameModels().forEach((el) => + this.scene.remove(this.scene.getObjectByName(el) as Object3D) + ); + }; + raiseAnObjectAboveZeroVector = (name: string) => { + const mesh = this.scene.getObjectByName(name) as Object3D; + mesh.position.sub(new Box3().setFromObject(mesh).min); + }; drawPoint(point: Vector3): Mesh { var cube = new Mesh(new BoxGeometry(0.5, 0.5, 0.5), new MeshBasicMaterial({ color: 0x0095dd })); cube.position.add(point); this.scene.add(cube); return cube; } + loadScene = (sceneAssets: SceneAsset) => sceneAssets.scene.forEach((el) => el.toWebGl(this)); + + getCenterPoint = (object: Object3D) => + object.getWorldPosition(new Box3().setFromObject(object).getCenter(object.position)); + makeZone = (zoneModel: ZoneModel) => { + const mesh = new Mesh( + new BoxGeometry(zoneModel.width, zoneModel.height, zoneModel.length), + new MeshBasicMaterial({ + color: zoneModel.color, + transparent: true, + }) + ); + mesh.name = zoneModel.name; + mesh.userData[UserData.selectedObject] = ""; + mesh.position.copy(zoneModel.position); + mesh.quaternion.copy(new Quaternion().fromArray(zoneModel.orientation)); + this.scene.add(mesh); + }; makeCube(inc: number, vector?: Vector3, color?: string, size?: number) { - const cube = new Mesh( + const mesh = new Mesh( new BoxGeometry(size ?? 10, size ?? 10, size ?? 10), new MeshBasicMaterial({ color: color ?? 0x0095dd, transparent: true, opacity: 0.5 }) ); - cube.userData[UserData.objectForMagnetism] = true; - cube.userData[UserData.selectedObject] = true; - cube.name = "cube" + String(inc); + mesh.userData[UserData.objectForMagnetism] = true; + mesh.userData[UserData.selectedObject] = true; + mesh.name = "cube" + String(inc); if (vector) { - cube.position.copy(vector); + mesh.position.copy(vector); } - this.scene.add(cube); + this.scene.add(mesh); } - makePoint(vector?: Vector3, color?: string, size?: number) { + + makePoint(name: string, vector?: Vector3, quaternion?: Quaternion, color?: string, size?: number) { const cube = new Mesh( new BoxGeometry(size ?? 10, size ?? 10, size ?? 10), new MeshBasicMaterial({ color: color ?? 0x0095dd, transparent: true, opacity: 0.5 }) @@ -124,39 +170,74 @@ export class CoreThreeRepository extends TypedEvent { if (vector) { cube.position.copy(vector); } + if (quaternion) { + cube.quaternion.copy(quaternion); + } + cube.name = name; this.scene.add(cube); } - deleteSceneItem(item: BaseSceneItemModel) { - const updateScene = this.scene; - updateScene.children = item.deleteToScene(updateScene); - } + deleteSceneItemByName = (name: string) => + this.scene.children.forEach((el) => el.name.isEqualR(name).map(() => this.scene.remove(el))); - loadInstances(robossemblerAssets: RobossemblerAssets) { - robossemblerAssets.instances.forEach(async (el) => { - if (el instanceof InstanceRgbCamera) { - const cameraModel = CameraViewModel.fromInstanceRgbCamera(el); - cameraModel.mapPerspectiveCamera(this.htmlSceneWidth, this.htmlSceneHeight).forEach((el) => this.scene.add(el)); - this.emit(cameraModel); + deleteSceneItem = (item: SceneItems) => + item.icon.isEqualR("Camera").fold( + () => this.deleteSceneItemByName(item.name + "camera_helper"), + () => this.deleteSceneItemByName(item.name) + ); + loadUrdfRobot = (robotModel: RobotModel) => + this.urdfLoader.load(robotModel.httpUrl, (robot) => { + robot.userData[UserData.selectedObject] = true; + robot.name = robotModel.name; + if (robotModel.position) robot.position.copy(robotModel.position); + 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); + }); } - if (el instanceof SceneSimpleObject) { - const asset = robossemblerAssets.getAssetAtInstance(el.instanceAt as string); - this.loader( - asset.meshPath, - () => {}, - asset.name, - new Vector3(el.position.x, el.position.y, el.position.z), - new Quaternion(el.quaternion[0], el.quaternion[1], el.quaternion[2], el.quaternion[3]) - ); + if (robotModel.jointPosition.isEmpty()) { + Object.entries(robot.joints).forEach(([name, uRDFJoint]) => { + if (uRDFJoint.jointType !== "fixed") { + robotModel.jointPosition.push({ + angle: Number(uRDFJoint.angle), + limit: { + lower: Number(uRDFJoint.limit.lower), + upper: Number(uRDFJoint.limit.upper), + }, + name: name, + }); + } + }); } + + this.scene.add(robot); + + // @ts-expect-error + this.sceneFrame = robot.frames; }); - } - loadInstance(asset: Asset, loadCallback?: Function) { + loadUrdf = (urlPath: string, vector3?: Vector3, quaternion?: Quaternion) => + this.urdfLoader.load(urlPath, (robot) => { + robot.userData[UserData.selectedObject] = true; + + if (vector3) robot.position.copy(new Vector3(0, 0, 0)); + if (quaternion) robot.quaternion.copy(quaternion); + Object.entries(robot.joints).forEach(([k, v]) => robot.setJointValue(k, 1)); + + this.scene.add(robot); + + // @ts-expect-error + this.sceneFrame = robot.frames; + }); + + loadHttpAndPreview(path: string, name: string, loadCallback?: Function) { this.loader( - asset.meshPath, - loadCallback ? loadCallback : () => {}, - asset.name, - new Vector3(Number(asset.posX), Number(asset.posY), Number(asset.posZ)), - new Quaternion(0, 0, 0, 0) + path, + () => { + // this.fitCameraToCenteredObject([name]) + // this.scene.getObjectByName(name) + }, + name, + new Vector3(0, 0, 0) ); } @@ -166,22 +247,22 @@ export class CoreThreeRepository extends TypedEvent { this.transformControls.detach(); this.transformControls.dispose(); break; - case SceneMode.MOVING: + case SceneMode.Move: this.transformControls.setMode("translate"); break; - case SceneMode.ROTATE: + case SceneMode.Rotate: this.transformControls.setMode("rotate"); break; } } - addSceneCamera(cameraModel: CameraViewModel) { - cameraModel.mapPerspectiveCamera(this.htmlSceneWidth, this.htmlSceneHeight).forEach((el) => this.scene.add(el)); - } + updateSolidBody = (solidBodyModel: SolidModel) => { + const mesh = this.scene.getObjectByName(solidBodyModel.name); + mesh?.position.copy(solidBodyModel.position); + mesh?.quaternion.copy(new Quaternion().fromArray(solidBodyModel.orientation)); + }; - disposeTransformControlsMode() { - this.transformControls.detach(); - } + disposeTransformControlsMode = () => this.transformControls.detach(); setRayCastAndGetFirstObjectName(vector: Vector2): Result { this.scene.add(this.transformControls); @@ -223,7 +304,7 @@ export class CoreThreeRepository extends TypedEvent { } } - setRayCast(vector: Vector2): Result>[]> { + setRayCast = (vector: Vector2): Result>[]> => { const raycaster = new Raycaster(); raycaster.setFromCamera(vector, this.camera); const intersects = raycaster.intersectObjects(this.scene.children); @@ -232,16 +313,17 @@ export class CoreThreeRepository extends TypedEvent { } return Result.error(undefined); - } + }; - setRayCastAndGetFirstObjectAndPointToObject(vector: Vector2): Result { - this.setRayCast(vector).map((intersects) => { - if (intersects.length > 0) { - return Result.ok(intersects[0].point); - } - }); - return Result.error(undefined); - } + setRayCastAndGetFirstObjectAndPointToObject = (vector: Vector2): Result => + this.setRayCast(vector).fold( + (intersects) => { + if (intersects.isNotEmpty()) { + return Result.ok(intersects[0].point); + } + }, + () => Result.error(undefined) + ) as Result; light() { const ambientLight = new AmbientLight(0xffffff, 0.7); @@ -269,34 +351,19 @@ export class CoreThreeRepository extends TypedEvent { this.orbitControls.enabled = !e.value; }); this.transformControls.addEventListener("objectChange", (event) => { - //@ts-expect-error - const sceneObject = event.target.object; - //TODO:(IDONTSUDO) Trotting doesn't work, need to figure out why - const fn = () => this.watcherSceneEditorObject(sceneObject); - const [throttleFn] = throttle(fn, 1000); - throttleFn(); + this.watcherSceneEditorObject(event.target.object); }); } init() { this.light(); this.addListeners(); - const floor = new GridHelper(100, 100, 0x888888, 0x444444); - floor.userData = {}; - floor.userData[UserData.cameraInitialization] = true; - this.scene.add(floor); + const gridHelper = new GridHelper(1000, 100, 0x888888, 0x444444); + gridHelper.userData = {}; + gridHelper.userData[UserData.cameraInitialization] = true; + gridHelper.rotation.x = -Math.PI / 2; - const planeMesh = new Mesh( - new PlaneGeometry(10, 10, 10, 10), - new MeshBasicMaterial({ color: 0x808080, wireframe: true }) - ); - planeMesh.userData[UserData.selectedObject] = true; - planeMesh.userData[UserData.objectForMagnetism] = true; - planeMesh.rotation.x = -Math.PI / 2; - this.makeCube(1); - this.makeCube(2, new Vector3(20, 0, 10), "yellow"); - - this.scene.add(planeMesh); + this.scene.add(gridHelper); } render() { @@ -306,13 +373,6 @@ export class CoreThreeRepository extends TypedEvent { }); } - getAllSceneModels(): BaseSceneItemModel[] { - return this.getAllSceneNameModels().map( - (name) => - new StaticAssetItemModel(name, this.getObjectsAtName(name).position, this.getObjectsAtName(name).quaternion) - ); - } - getAllSceneNameModels(): string[] { return this.scene.children.filter((el) => el.name !== "").map((el) => el.name); } @@ -323,13 +383,15 @@ export class CoreThreeRepository extends TypedEvent { loader(url: string, callBack: Function, name: string, position?: Vector3, quaternion?: Quaternion) { const ext = url.split(/\./g).pop()!.toLowerCase(); - switch (ext) { case "gltf": case "glb": this.glbLoader.load( url, - (result) => {}, + (result) => { + this.scene.add(result.scene); + callBack(); + }, (err) => {} ); break; @@ -345,8 +407,9 @@ export class CoreThreeRepository extends TypedEvent { if (position) el.position.copy(position); if (quaternion) el.quaternion.copy(quaternion); - this.emit(new StaticAssetItemModel(el.name, el.position, el.quaternion)); + // this.emit(new StaticAssetItemModel(el.name, el.position, el.quaternion)); this.scene.add(el); + callBack(); }); }, (err) => {} @@ -355,14 +418,44 @@ export class CoreThreeRepository extends TypedEvent { case "dae": this.daeLoader.load( url, - (result) => {}, - (err) => {} + (result) => { + result.scene.children.forEach((el) => { + el.userData[UserData.selectedObject] = true; + el.name = name; + }); + result.scene.name = name; + if (position) result.scene.position.copy(position); + if (quaternion) result.scene.quaternion.copy(quaternion); + this.scene.add(result.scene); + callBack(); + }, + (err) => console.log(err) ); break; case "stl": this.stlLoader.load( url, - (result) => {}, + (result) => { + const mesh = new Mesh( + result, + new MeshStandardMaterial({ + color: "red", + metalness: 0.35, + roughness: 1, + opacity: 1.0, + transparent: false, + }) + ); + mesh.name = name; + + // var geometry = mesh.geometry; + // geometry.computeBoundingBox(); // Вычисляем ограничивающий параллелепипед для геометрии + + if (position) mesh.position.copy(position); + + this.scene.add(mesh); + callBack(); + }, (err) => {} ); @@ -375,13 +468,13 @@ export class CoreThreeRepository extends TypedEvent { objects.map((el) => this.getObjectsAtName(el)).map((el) => el.position) ); - var size = new Vector3(); - boundingBox.getSize(size); + var vector3 = new Vector3(); + boundingBox.getSize(vector3); const fov = this.camera.fov * (Math.PI / 180); const fovh = 2 * Math.atan(Math.tan(fov / 2) * this.camera.aspect); - let dx = size.z / 2 + Math.abs(size.x / 2 / Math.tan(fovh / 2)); - let dy = size.z / 2 + Math.abs(size.y / 2 / Math.tan(fov / 2)); + let dx = vector3.z / 2 + Math.abs(vector3.x / 2 / Math.tan(fovh / 2)); + let dy = vector3.z / 2 + Math.abs(vector3.y / 2 / Math.tan(fov / 2)); let cameraZ = Math.max(dx, dy); if (offset !== undefined && offset !== 0) cameraZ *= offset; @@ -428,8 +521,9 @@ export class CoreThreeRepository extends TypedEvent { fitSelectedObjectToScreen(objects: string[]) { //https://stackoverflow.com/questions/14614252/how-to-fit-camera-to-object - let boundBox = new Box3().setFromPoints(objects.map((el) => this.getObjectsAtName(el)).map((el) => el.position)); - let boundSphere = boundBox.getBoundingSphere(new Sphere()); + let boundSphere = new Box3() + .setFromPoints(objects.map((el) => this.getObjectsAtName(el)).map((el) => el.position)) + .getBoundingSphere(new Sphere()); let vFoV = this.camera.getEffectiveFOV(); let hFoV = this.camera.fov * this.camera.aspect; let FoV = Math.min(vFoV, hFoV); @@ -451,4 +545,13 @@ export class CoreThreeRepository extends TypedEvent { this.camera.lookAt(bsWorld); this.orbitControls = new OrbitControls(this.camera, this.htmlCanvasRef); } + urdfTransforms = (urdfTransforms: UrdfTransforms) => { + urdfTransforms.transforms.forEach((transform) => { + if (this.sceneFrame) { + const currentLink = this.sceneFrame[transform?.child_frame_id ?? ""]; + + currentLink.quaternion.copy(coordsToQuaternion(transform.transform.rotation)); + } + }); + }; } diff --git a/ui/src/core/routers/routers.tsx b/ui/src/core/routers/routers.tsx index ccc7d24..8b45f7f 100644 --- a/ui/src/core/routers/routers.tsx +++ b/ui/src/core/routers/routers.tsx @@ -1,55 +1,55 @@ import { createBrowserRouter } from "react-router-dom"; import { AllProjectScreen, AllProjectScreenPath } from "../../features/all_projects/presentation/all_projects_screen"; -import { - PipelineInstanceScreen, - PipelineInstanceScreenPath, -} from "../../features/pipeline_instance_main_screen/pipeline_instance_screen"; - -import { CreateProjectScreen, CreateProjectScreenPath } from "../../features/create_project/create_project_screen"; - import { SceneManger, SceneManagerPath } from "../../features/scene_manager/presentation/scene_manager"; import { BehaviorTreeBuilderPath, BehaviorTreeBuilderScreen, } from "../../features/behavior_tree_builder/presentation/behavior_tree_builder_screen"; -import { - StickObjectsMarkingScreen, - StickObjectsMarkingScreenPath, -} from "../../features/_stick_objects_marking/stick_objects_marking_screen"; import { DataSetScreen, DatasetsScreenPath } from "../../features/dataset/dataset_screen"; -import DetailsScreen, { DetailsScreenPath } from "../../features/details/details_screen"; import { AssemblesScreen, AssemblesScreenPath } from "../../features/assembles/assembles_screen"; -import SimulationScreen, { SimulationScreenPath } from "../../features/simulations/simulations_screen"; +import { SimulationScreen, SimulationScreenPath } from "../../features/simulations/simulations_screen"; import { EstimateScreen, EstimateScreenPath } from "../../features/estimate/estimate_screen"; +import { + CalculationInstanceScreenPath, + CalculationInstanceScreen, +} from "../../features/calculation_instance/presentation/calculation_instance_screen"; +import { DetailsScreenPath, DetailsScreen } from "../../features/details/details_screen"; +import { DigitalTwinsScreen, DigitalTwinsScreenPath } from "../../features/digital_twins/digital_twins_screen"; +import { TopicsScreen, TopicsScreenPath } from "../../features/topics/topics_screen"; +import { SkillsScreen, SkillsScreenPath } from "../../features/skills/skills_screen"; +import { CalculationsTemplateScreenPath } from "../../features/calculations_template/calculations_template_screen"; +import { BehaviorTreeManagerScreen, BehaviorTreeManagerScreenPath } from "../../features/behavior_tree_manager/behavior_tree_manager_screen"; +import { SceneBuilderScreenPath, SceneBuilderScreen } from "../../features/scene_builder/presentation/scene_builder_screen"; const idURL = ":id"; - export const router = createBrowserRouter([ { path: AllProjectScreenPath, element: , }, { - path: PipelineInstanceScreenPath + idURL, - element: , + path:SceneBuilderScreenPath + idURL, + element: }, - { - path: CreateProjectScreenPath, - element: , + path: SceneManagerPath + idURL, + element: , }, - { path: SceneManagerPath, element: , }, { - path: BehaviorTreeBuilderPath, + path: BehaviorTreeBuilderPath(idURL), element: , }, { - path: StickObjectsMarkingScreenPath, - element: , + path: BehaviorTreeBuilderPath(), + element: , + }, + { + path: BehaviorTreeBuilderPath + idURL, + element: , }, { path: DatasetsScreenPath, @@ -67,9 +67,32 @@ export const router = createBrowserRouter([ path: SimulationScreenPath, element: , }, - { path: EstimateScreenPath, element: , }, + { + path: CalculationInstanceScreenPath, + element: , + }, + { + path: DigitalTwinsScreenPath, + element: , + }, + { + path: TopicsScreenPath, + element: , + }, + { + path: SkillsScreenPath, + element: , + }, + { + path: CalculationsTemplateScreenPath, + element: , + }, + { + path: BehaviorTreeManagerScreenPath, + element: , + }, ]); diff --git a/ui/src/core/store/base_store.ts b/ui/src/core/store/base_store.ts index 7260dac..b9562f6 100644 --- a/ui/src/core/store/base_store.ts +++ b/ui/src/core/store/base_store.ts @@ -1,10 +1,21 @@ import { NavigateFunction } from "react-router-dom"; import { Result } from "../helper/result"; import { UiBaseError } from "../model/ui_base_error"; -import { HttpError } from "../repository/http_repository"; +import { HttpError } from "../repository/core_http_repository"; +import { message } from "antd"; +import { ClassConstructor, plainToInstance } from "class-transformer"; export type CoreError = HttpError | Error; +export interface Drawer { + name: string; + status: boolean; +} + +interface IMessage { + successMessage?: string; + errorMessage?: string; +} export abstract class UiLoader { isLoading = false; async httpHelper(callBack: Promise>) { @@ -23,13 +34,19 @@ export abstract class UiLoader { abstract errorHandingStrategy: (error?: any) => void; mapOk = async (property: string, callBack: Promise>) => { - return ( - (await this.httpHelper(callBack)) - // eslint-disable-next-line array-callback-return - .map((el) => { - // @ts-ignore - this[property] = el; - }) + return (await this.httpHelper(callBack)).map((el) => { + // @ts-ignore + this[property] = el; + }); + }; + messageHttp = async (callBack: Promise>, report?: IMessage) => { + return (await this.httpHelper(callBack)).fold( + (_s) => { + if (report && report.successMessage) message.success(report.successMessage); + }, + (_e) => { + if (report && report.errorMessage) message.error(report.errorMessage); + } ); }; } @@ -39,10 +56,77 @@ export class SimpleErrorState extends UiLoader { }; isError = false; } +export class ModalStore extends SimpleErrorState { + isModalOpen: boolean = false; + modalShow = () => { + this.isModalOpen = true; + }; + modalClickOk = () => { + this.isModalOpen = false; + }; + + modalCancel = () => { + this.isModalOpen = false; + }; +} export abstract class UiErrorState extends UiLoader { - abstract errorHandingStrategy: (error: T) => void; + errorHandingStrategy = (error: T) => { + console.log(error); + }; abstract init(navigate?: NavigateFunction): Promise; dispose() {} errors: UiBaseError[] = []; } + +export abstract class DrawerState extends UiErrorState { + titleDrawer: string = ""; + drawers: Drawer[]; + constructor(drawerEnum: Object) { + super(); + this.drawers = Object.entries(drawerEnum).map((k, v) => { + return { + name: k.at(1) ?? "", + status: false, + }; + }); + } + editDrawer(drawerName: string, status: boolean): void { + this.titleDrawer = drawerName; + this.drawers = this.drawers.map((el) => { + if (el.name === drawerName) { + el.status = status; + } + return el; + }); + } +} +export abstract class UiDrawerFormState extends DrawerState { + abstract viewModel: V; + updateForm(value: Partial) { + //@ts-ignore + this.viewModel = Object.assign(this.viewModel, value); + } + loadDependency = (viewModel: V) => { + this.viewModel = viewModel; + }; + loadClassInstance = (instance: ClassConstructor, viewModel: V) => { + this.viewModel = plainToInstance(instance, viewModel); + }; +} +export abstract class FormState extends UiErrorState { + abstract viewModel: V; + updateForm(value: Partial) { + //@ts-ignore + this.viewModel = Object.assign(this.viewModel, value); + } + loadDependency = (viewModel: V | undefined) => { + if (viewModel) this.viewModel = viewModel; + }; + loadClassInstance = (instance: ClassConstructor, viewModel: V) => { + this.viewModel = plainToInstance(instance, viewModel); + }; +} + + + \ No newline at end of file diff --git a/ui/src/core/store/theme_store.ts b/ui/src/core/store/theme_store.ts new file mode 100644 index 0000000..b0e0da8 --- /dev/null +++ b/ui/src/core/store/theme_store.ts @@ -0,0 +1,61 @@ +import { makeAutoObservable } from "mobx"; + +export abstract class Theme { + abstract greenWhite: string; + abstract white: string; + abstract black: string; + abstract green: string; + abstract grau: string; + abstract grauLeft: string; + abstract redAccent: string; + abstract grau2: string; + abstract outlineVariantDark: string; + abstract outlineVariantLight: string; + abstract surfaceContainerLow: string; + abstract surfaceContainer: string; + abstract darkSurfaceVariant: string; + abstract outlineVariant: string; + abstract navBlue: string; + abstract grayLeft: string; + abstract onSurface: string; + abstract surfaceContainerHighest: string; + abstract darkSurface: string; + abstract fon: string; + abstract onSurfaceVariant: string; + abstract darkOnSurfaceVariant: string; + abstract error50: string; +} + +export class BlackTheme implements Theme { + error50: string = "rgba(220, 54, 46, 1)"; + darkOnSurfaceVariant: string = "rgba(202, 196, 208, 1)"; + darkSurfaceVariant: string = "rgba(73, 69, 79, 1)"; + navBlue: string = "rgba(202, 211, 216, 1)"; + fon: string = "rgba(147, 147, 147, 0.4)"; + darkSurface: string = "rgba(20, 18, 24, 1)"; + surfaceContainerHighest: string = "rgba(54, 52, 59, 1)"; + onSurface: string = "rgba(230, 224, 233, 1)"; + grayLeft: string = "rgba(213, 220, 224, 1)"; + surfaceContainer: string = "rgba(33, 31, 38, 1)"; + surfaceContainerLow: string = "rgba(29, 27, 32, 1)"; + outlineVariantLight: string = "rgba(202, 196, 208, 1)"; + grau2: string = "rgba(147, 147, 147, 1)"; + greenWhite: string = "rgba(233, 237, 201, 1)"; + white: string = "rgba(255, 255, 255, 1)"; + black: string = "rgba(0, 0, 0, 1)"; + green: string = "rgba(56, 87, 72, 1)"; + grau: string = "rgba(147, 147, 147, 1)"; + grauLeft: string = ""; + redAccent: string = "rgba(72, 23, 39, 1)"; + outlineVariantDark: string = "rgba(73, 69, 79, 1)"; + outlineVariant: string = "rgba(202, 196, 208, 1)"; + onSurfaceVariant: string = "rgba(202, 196, 208, 1)"; +} + +export class ThemeStore { + theme: Theme = new BlackTheme(); + constructor() { + makeAutoObservable(this); + } + changeTheme = (theme: Theme) => (this.theme = theme); +} diff --git a/ui/src/core/ui/button/button.tsx b/ui/src/core/ui/button/button.tsx index e38256a..0cc747c 100644 --- a/ui/src/core/ui/button/button.tsx +++ b/ui/src/core/ui/button/button.tsx @@ -1,31 +1,36 @@ import * as React from "react"; import { CoreText, CoreTextType } from "../text/text"; +import { IStyle } from "../../model/style"; -export interface IButtonProps { +export interface IButtonProps extends IStyle { block?: boolean; filled?: boolean; text?: string; onClick?: any; - style?:React.CSSProperties + textStyle?:React.CSSProperties } export function CoreButton(props: IButtonProps) { return (

diff --git a/ui/src/core/ui/button/button_v2.tsx b/ui/src/core/ui/button/button_v2.tsx new file mode 100644 index 0000000..91fc1d8 --- /dev/null +++ b/ui/src/core/ui/button/button_v2.tsx @@ -0,0 +1,64 @@ +import { match } from "ts-pattern"; +import { themeStore } from "../../.."; +import { CoreText, CoreTextType } from "../text/text"; +export enum ButtonV2Type { + default = "default", + empty = "empty", +} +export const ButtonV2 = ({ + text, + textColor, + onClick, + style, + icon, + + type, +}: { + text?: string; + textColor?: string; + onClick: () => void; + style?: React.CSSProperties; + icon?: React.ReactNode; + type?: ButtonV2Type; +}) => { + return ( +
undefined) + .with(ButtonV2Type.default, () => themeStore.theme.greenWhite) + .otherwise(() => themeStore.theme.greenWhite), + color: textColor ?? themeStore.theme.black, + width: "max-content", + height: "max-content", + padding: match(type) + .with(ButtonV2Type.default, () => 15) + .otherwise(() => 5), + border: match(type) + .with(ButtonV2Type.empty, () => `1px solid ${themeStore.theme.greenWhite}`) + .with(ButtonV2Type.default, () => undefined) + .otherwise(() => undefined), + borderRadius: match(type) + .with(ButtonV2Type.default, () => 5) + .otherwise(() => 100), + display: "flex", + paddingRight: 10, + paddingLeft: 10, + }, + style + )} + onClick={() => onClick()} + > + {icon} + CoreTextType.smallv3) + .otherwise(() => CoreTextType.largeV2)} + /> +
+ ); +}; diff --git a/ui/src/core/ui/card/card.tsx b/ui/src/core/ui/card/card.tsx new file mode 100644 index 0000000..08284ca --- /dev/null +++ b/ui/src/core/ui/card/card.tsx @@ -0,0 +1,88 @@ +import { useRef, useEffect, useState } from "react"; +import { themeStore } from "../../.."; +import { ButtonV2 } from "../button/button_v2"; +import { Icon } from "../icons/icons"; +import { CoreText, CoreTextType } from "../text/text"; + +export const CoreCard: React.FC<{ + clickDeleteIcon: Function; + clickGoToIcon: Function; + date: number; + descriptionBottom?: string; + descriptionTop: string; + descriptionMiddle?: string; +}> = ({ clickDeleteIcon, clickGoToIcon, descriptionBottom, descriptionTop, date, descriptionMiddle }) => { + const ref = useRef(null); + const [bgColor, setBgColor] = useState(themeStore.theme.surfaceContainerLow); + useEffect(() => { + ref.current?.addEventListener("mousemove", () => { + setBgColor(themeStore.theme.surfaceContainerHighest); + }); + ref.current?.addEventListener("mouseleave", () => { + setBgColor(themeStore.theme.surfaceContainerLow); + }); + }, []); + return ( +
+
+
+ +
+ +
+ +
+ clickGoToIcon()} text="Перейти" /> +
+ clickDeleteIcon()} + style={{ + border: `1px solid ${themeStore.theme.greenWhite}`, + height: 30, + width: 30, + textAlign: "center", + alignContent: "center", + borderRadius: 5, + cursor: "pointer", + }} + /> +
+
+
+
+
+ + + +
+
+
+ ); +}; diff --git a/ui/src/core/ui/drawer/drawer.tsx b/ui/src/core/ui/drawer/drawer.tsx new file mode 100644 index 0000000..d825d59 --- /dev/null +++ b/ui/src/core/ui/drawer/drawer.tsx @@ -0,0 +1,56 @@ +import React from "react"; +import { themeStore } from "../../.."; +import { CoreText, CoreTextType } from "../text/text"; + +export const DrawerV2: React.FC<{ + isOpen?: boolean; + title?: string; + onClose: () => void; + children: React.ReactNode; +}> = ({ isOpen, onClose, children, title }) => { + return ( +
+
+
+
+ + +
+
+
+ {children} +
+
+ ); +}; diff --git a/ui/src/core/ui/form_builder/form_builder.tsx b/ui/src/core/ui/form_builder/form_builder.tsx index fe30759..d1247da 100644 --- a/ui/src/core/ui/form_builder/form_builder.tsx +++ b/ui/src/core/ui/form_builder/form_builder.tsx @@ -1,12 +1,17 @@ import * as React from "react"; -import { FormViewModel, InputBuilderViewModel, InputType } from "./form_view_model"; +import { + FormViewModel, + InputBuilderViewModel, + InputType, +} from "./form_view_model"; import { observer } from "mobx-react-lite"; import { FormBuilderStore } from "./form_builder_store"; -import { FormBuilderValidationModel } from "../../../features/dataset/dataset_model"; -import { SelectCore } from "../select/select"; +import { CoreSelect } from "../select/select"; import { CoreInput } from "../input/input"; import { Icon } from "../icons/icons"; import { CoreText, CoreTextType } from "../text/text"; +import { getFormBuilderComponents } from "./forms/form_builder_components"; +import { FormBuilderValidationModel } from "../../model/form_builder_validation_model"; export interface IFormBuilder { formBuilder: FormBuilderValidationModel; @@ -37,22 +42,28 @@ export const FormBuilder = observer((props: IFormBuilder) => { <>Error ) : (
- {store.formViewModel?.inputs.map((element) => { - if (element.type.isEqual(InputType.ENUM)) { + {store.formViewModel?.inputs?.map((element, index) => { + if (element.type?.isEqual(InputType.ENUM)) { const values = element.values as string[]; return ( - store.changeTotalValue(element.id, value)} + onChange={(value) => + store.changeTotalValue(element.id, value) + } label={element.name} style={{ margin: 20 }} /> ); } - if (element.type.isEqual(InputType.ARRAY)) { + if (element.type?.isEqual(InputType.ARRAY)) { return ( -
+
{ return (
- + store.deleteTotalValueSubItem(element.id, index)} + onClick={() => + store.deleteTotalValueSubItem( + element.id, + index + ) + } />
- {subArray.map((subSubArrayItem: InputBuilderViewModel, subIndex: number) => { - if (subSubArrayItem.type.isEqual(InputType.ENUM)) { - return ( - <> - String(el)) ?? []} - value={subSubArrayItem.totalValue ?? subSubArrayItem.defaultValue} - onChange={(value) => store.changeTotalSubValue(element.id, subIndex, value)} - label={element.name} - style={{ margin: 5 }} - /> - - ); - } - if (subSubArrayItem.type.isEqualMany([InputType.NUMBER, InputType.STRING])) - return ( -
- { - store.changeTotalSubValue(element.id, subIndex, e); - }} - validation={ - subSubArrayItem.type.isEqual(InputType.NUMBER) - ? (el) => Number().isValid(el) - : undefined - } - error="только числа" - value={subSubArrayItem.totalValue ?? subSubArrayItem.defaultValue} - label={subSubArrayItem.name} - /> -
- ); + {subArray.map( + ( + subSubArrayItem: InputBuilderViewModel, + subIndex: number + ) => { + if ( + subSubArrayItem.type.isEqual( + InputType.ENUM + ) + ) { + return ( + <> + String(el) + ) ?? [] + } + value={ + subSubArrayItem.totalValue ?? + subSubArrayItem.defaultValue + } + onChange={(value) => console.log(subSubArrayItem.id) + } + label={element.name} + style={{ margin: 5 }} + /> + + ); + } + if ( + subSubArrayItem.type.isEqualMany([ + InputType.NUMBER, + InputType.STRING, + ]) + ) + return ( +
+ + store.changeTotalSubValue( + element.id, + subIndex, + e, + index + ) + } + validation={ + subSubArrayItem.type.isEqual( + InputType.NUMBER + ) + ? (el) => Number().isValid(el) + : undefined + } + error="только числа" + value={ + subSubArrayItem.totalValue ?? + subSubArrayItem.defaultValue + } + label={subSubArrayItem.name} + /> +
+ ); - return <>Error; - })} + return <>Error; + } + )}
); }) @@ -130,11 +182,16 @@ export const FormBuilder = observer((props: IFormBuilder) => { ); } - if (element.type.isEqualMany([InputType.NUMBER, InputType.STRING])) + if (element.type?.isEqualMany([InputType.NUMBER, InputType.STRING])) return (
Number().isValid(el) : undefined} + isFormBuilder={true} + validation={ + element.type.isEqual(InputType.NUMBER) + ? (el) => Number().isValid(el) + : undefined + } onChange={(e) => { store.changeTotalValue(element.id, e); }} @@ -145,8 +202,27 @@ export const FormBuilder = observer((props: IFormBuilder) => { />
); - - return <>Error; + if (element.type?.isEqual(InputType.OBJECT)) + return ( + <> + {getFormBuilderComponents( + element.name + .replace(">", "") + .replace("<", "") + .replace("/", ""), + element.totalValue ?? element.defaultValue, + (text) => store.changeTotalValue(element.id, text) + ).fold( + (s) => ( + <>{s} + ), + (error) => ( + <>{error} + ) + )} + + ); + return <>Error {element}; })}
)} diff --git a/ui/src/core/ui/form_builder/form_builder_store.ts b/ui/src/core/ui/form_builder/form_builder_store.ts index cbf1157..4abda8d 100644 --- a/ui/src/core/ui/form_builder/form_builder_store.ts +++ b/ui/src/core/ui/form_builder/form_builder_store.ts @@ -1,7 +1,8 @@ +import clone from "just-clone"; import { makeAutoObservable } from "mobx"; -import { FormViewModel } from "./form_view_model"; +import { FormViewModel, InputBuilderViewModel } from "./form_view_model"; import { TypedEvent } from "../../helper/typed_event"; -import { FormBuilderValidationModel } from "../../../features/dataset/dataset_model"; +import { FormBuilderValidationModel } from "../../model/form_builder_validation_model"; export class ChangerForm extends TypedEvent {} @@ -15,42 +16,41 @@ export class FormBuilderStore { this.changerForm = new ChangerForm(); } - changeTotalSubValue(id: string, subIndex: number, value: string) { + changeTotalSubValue(id: string, subIndex: number, value: string, arrayIndex: number | undefined = undefined) { if (this.formViewModel?.inputs) { this.formViewModel.inputs = this.formViewModel?.inputs.map((el) => { if (!el.id.isEqual(id)) { return el; } else { + if (el.totalValue instanceof Array) { - el.totalValue = el.totalValue.map((subElement) => { - if (subElement instanceof Array) { - subElement.map((subSubElement, i) => { - if (subIndex !== i) { - return subSubElement; - } - subSubElement.totalValue = value; - return subSubElement; - }); - } - return subElement; - }); - return el; + el.totalValue.atR(arrayIndex).map((array) => + array.atR(subIndex).map((element: InputBuilderViewModel) => { + + element.totalValue = value; + }) + ); } return el; } }); + this.changerForm.emit(this.formViewModel?.fromFormBuilderValidationModel()); } } - changeTotalValue(id: string, value: string) { + changeTotalValue(id: string, value: any) { if (this.formViewModel?.inputs) this.formViewModel.inputs = this.formViewModel?.inputs.map((el) => { if (!el.id.isEqual(id)) { return el; } - el.totalValue = value; + if (typeof value === "string") { + el.totalValue = value; + } else { + el.totalValue = JSON.stringify(value); + } return el; }); this.changerForm.emit(this.formViewModel?.fromFormBuilderValidationModel()); @@ -84,7 +84,7 @@ export class FormBuilderStore { if (!(el.totalValue instanceof Array)) { el.totalValue = []; } - el.totalValue.push(el.values); + el.totalValue.push(clone(el.values as object)); return el; }); this.changerForm.emit(this.formViewModel?.fromFormBuilderValidationModel()); diff --git a/ui/src/core/ui/form_builder/form_view_model.ts b/ui/src/core/ui/form_builder/form_view_model.ts index 581c14c..ec5e61b 100644 --- a/ui/src/core/ui/form_builder/form_view_model.ts +++ b/ui/src/core/ui/form_builder/form_view_model.ts @@ -1,13 +1,14 @@ import { makeAutoObservable, observable } from "mobx"; import { Result } from "../../helper/result"; import { v4 as uuidv4 } from "uuid"; -import { FormBuilderValidationModel } from "../../../features/dataset/dataset_model"; +import { FormBuilderValidationModel } from "../../model/form_builder_validation_model"; export enum InputType { NUMBER = "number", STRING = "string", ARRAY = "Array", ENUM = "Enum", + OBJECT = "OBJECT", } interface IOperation { @@ -29,6 +30,11 @@ export class InputBuilderViewModel { ) { this.id = id ?? uuidv4(); } + isReactComponent = () => { + if (this.name.match(new RegExp(/<.*>/gm)) === null) { + throw new Error("Is dont react component" + this); + } + }; static fromJSON(json: any) { try { const value = JSON.parse(json); @@ -58,7 +64,8 @@ export class InputBuilderViewModel { } } -export const tagParse = new RegExp(/\${.*?}/gm); +export const tagParse = new RegExp(/\${.*?.*}/g); +export const objectParse = new RegExp(/OBJECT:.*}/gm); export const bracketParser = new RegExp(/<.*?>/gm); export const enumParser = new RegExp(/ENUM.*=..*?;/gm); export const enumBodyParse = new RegExp(/".*?;/gm); @@ -66,7 +73,8 @@ export const enumNameParse = new RegExp(/^(.*?)=/gm); export const typeBodyParse = new RegExp(/{.*?};/gms); export const typeNameParse = new RegExp(/type .*?{/gms); export const typeParse = new RegExp(/type.*?};/gms); - +export const objectParseObj = new RegExp(/{.*}/gm); +export const multiTagParse = new RegExp(/\${.*?}/g); export class FormViewModel { @observable inputs: InputBuilderViewModel[]; @@ -82,7 +90,13 @@ export class FormViewModel { return; } try { - return JSON.parse(result.replaceAll("\n", "").replaceAll("\\", "").replaceAll("/", "")); + return JSON.parse( + result + .replace(/[^\x00-\x7F]/g, "") + .replaceAll("\n", "") + .replaceAll("\\", "") + // .replaceAll("/", "") + ); } catch (error) { console.log("ERROR: FormViewModel json() " + result); } @@ -100,12 +114,16 @@ export class FormViewModel { this.inputs.forEach((element) => { let inputResult = element.totalValue ?? element.defaultValue; + if (element.type.isEqualMany([InputType.STRING, InputType.ENUM])) { inputResult = `"${String(inputResult)}"`; } if (element.type.isEqual(InputType.NUMBER)) { inputResult = Number(inputResult); } + if (element.type.isEqual(InputType.OBJECT)) { + inputResult = element.totalValue ?? JSON.stringify(element.defaultValue); + } if (element.type.isEqual(InputType.ARRAY)) { if (element.totalValue === undefined) { inputResult = "[]"; @@ -115,10 +133,9 @@ export class FormViewModel { element.totalValue.forEach((el) => { const objectUnion = {}; let objectMapperResult = ""; - if (el instanceof Array) + if (el instanceof Array) { el.forEach((subElement) => { let subResult = subElement.totalValue ?? subElement.defaultValue; - console.log(subResult); if (subElement.type.isEqualMany([InputType.STRING, InputType.ENUM])) { subResult = `"${String(subResult)}"`; } @@ -129,6 +146,8 @@ export class FormViewModel { // @ts-ignore objectUnion[subElement.name] = subResult; }); + } + if (Object.keys(objectUnion).length !== 0) { if (element.subType) { objectMapperResult = this.getTypeBody(element.subType); @@ -140,14 +159,16 @@ export class FormViewModel { } if (objectMapperResult) inputResult.push( - objectMapperResult.replaceAll("\n", "").replaceAll("\\", "").replaceAll("/", "").replaceAll(";", "") + objectMapperResult.replaceAll("\n", "").replaceAll("\\", "").replaceAll(";", "") ); } }); } } } - if (inputResult instanceof Array) inputResult = JSON.stringify(inputResult.map((el) => JSON.parse(el))); + + if (inputResult instanceof Array) + inputResult = JSON.stringify(inputResult.map((el) => JSON.parse(el.replace(/[^\x00-\x7F]/g, "")))); operations.push({ regExp: new RegExp("\\${" + element.name + ".*?}"), result: inputResult }); }); @@ -171,6 +192,9 @@ export class FormViewModel { } static fromString(result: string, context: string): Result { try { + if (result.isEmpty() && context.isEmpty()) { + return Result.error(undefined); + } const enums = new Map(); const types = new Map(); @@ -205,37 +229,60 @@ export class FormViewModel { return result .match(tagParse) ?.map((el) => { - const inputArray = el.replaceMany(["$", "{", "}"], "").split(":"); - if (el.includes(InputType.ENUM)) { - const enumName = inputArray.at(1)?.replaceMany([InputType.ENUM, "<", ">"], ""); - - if (enumName && enums.get(enumName)) { - return new InputBuilderViewModel(inputArray[0], InputType.ENUM, inputArray[2], enums.get(enumName)); - } + const multiTag = el.match(multiTagParse); + const result = []; + if (multiTag?.length !== 0 && multiTag?.length !== 1) { + multiTag?.forEach((element) => { + result.push(this.tagParse(element, enums, types)); + }); + } else { + result.push(this.tagParse(el, enums, types)); } - if (el.includes(InputType.ARRAY) && types) { - const name = inputArray.at(1)?.replaceMany(["Array<", ">"], ""); - - if (name) { - return new InputBuilderViewModel( - inputArray[0], - InputType.ARRAY, - inputArray[2], - types.get(name), - undefined, - false, - name - ); - } - } - if (el.includes(InputType.NUMBER)) { - return new InputBuilderViewModel(inputArray[0], InputType.NUMBER, inputArray[2]); - } - if (el.includes(InputType.STRING)) { - return new InputBuilderViewModel(inputArray[0], InputType.STRING, inputArray[2]); - } - return el; + return result; }) + .flat() .filter((el) => el !== undefined) as InputBuilderViewModel[]; } + public static tagParse = ( + el: string, + enums: Map, + types: Map | undefined = undefined + ) => { + const inputArray = el.replaceMany(["$", "{", "}"], "").split(":"); + if (el.includes(InputType.ENUM)) { + const enumName = inputArray.at(1)?.replaceMany([InputType.ENUM, "<", ">"], ""); + + if (enumName && enums.get(enumName)) { + return new InputBuilderViewModel(inputArray[0], InputType.ENUM, inputArray[2], enums.get(enumName)); + } + } + if (el.includes(InputType.ARRAY) && types) { + const name = inputArray.at(1)?.replaceMany(["Array<", ">"], ""); + + if (name) { + return new InputBuilderViewModel( + inputArray[0], + InputType.ARRAY, + inputArray[2], + types.get(name), + undefined, + false, + name + ); + } + } + if (el.includes(InputType.OBJECT)) { + const objectParseResult = el.match(objectParse)?.at(0); + const result = objectParseResult?.slice(objectParseResult?.indexOf(":") + 1, objectParseResult.length) as string; + + return new InputBuilderViewModel(inputArray[0], InputType.OBJECT, JSON.parse(result)); + } + if (el.includes(InputType.NUMBER)) { + return new InputBuilderViewModel(inputArray[0], InputType.NUMBER, inputArray[2]); + } + if (el.includes(InputType.STRING)) { + return new InputBuilderViewModel(inputArray[0], InputType.STRING, inputArray[2]); + } + return el; + }; } diff --git a/ui/src/core/ui/form_builder/forms/form_builder_components.tsx b/ui/src/core/ui/form_builder/forms/form_builder_components.tsx new file mode 100644 index 0000000..ec30844 --- /dev/null +++ b/ui/src/core/ui/form_builder/forms/form_builder_components.tsx @@ -0,0 +1,25 @@ +import { Result } from "../../../helper/result"; +import { SelectDatasetScreen } from "./select_dataset/presentation/select_dataset_screen"; +import { SelectDetail } from "./select_detail/presentation/select_detail_screen"; + +export enum FormBuilderComponents { + SelectDetail = "SelectDetail", + SelectDataset = "SelectDataset", +} +export interface IFormBuilderComponentsProps { + dependency: T; + onChange: (obj: any) => void; +} +export const getFormBuilderComponents = ( + name: string, + dependency: any, + onChange: (text: string) => void +): Result => { + if (name.isEqual(FormBuilderComponents.SelectDetail)) { + return Result.ok(); + } + if (name.isEqual(FormBuilderComponents.SelectDataset)) { + return Result.ok(); + } + return Result.error(name); +}; diff --git a/web_p/blender/assets/mesh/fork.obj b/ui/src/core/ui/form_builder/forms/select_dataset/data/select_dataset_repository.tsx similarity index 100% rename from web_p/blender/assets/mesh/fork.obj rename to ui/src/core/ui/form_builder/forms/select_dataset/data/select_dataset_repository.tsx diff --git a/web_p/blender/assets/mesh/fork.stl b/ui/src/core/ui/form_builder/forms/select_dataset/model/select_dataset_model.ts similarity index 100% rename from web_p/blender/assets/mesh/fork.stl rename to ui/src/core/ui/form_builder/forms/select_dataset/model/select_dataset_model.ts diff --git a/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_screen.tsx b/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_screen.tsx new file mode 100644 index 0000000..31d57a6 --- /dev/null +++ b/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_screen.tsx @@ -0,0 +1,6 @@ +import { observer } from "mobx-react-lite"; +import { IFormBuilderComponentsProps } from "../../form_builder_components"; + +export const SelectDatasetScreen = observer((props:IFormBuilderComponentsProps) => { + return <>SELECT DATASET; +}); diff --git a/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_store.ts b/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_store.ts new file mode 100644 index 0000000..e69de29 diff --git a/ui/src/core/ui/form_builder/forms/select_detail/data/select_detail_repository.ts b/ui/src/core/ui/form_builder/forms/select_detail/data/select_detail_repository.ts new file mode 100644 index 0000000..e69de29 diff --git a/ui/src/core/ui/form_builder/forms/select_detail/model/select_details_model.ts b/ui/src/core/ui/form_builder/forms/select_detail/model/select_details_model.ts new file mode 100644 index 0000000..d6214a8 --- /dev/null +++ b/ui/src/core/ui/form_builder/forms/select_detail/model/select_details_model.ts @@ -0,0 +1,39 @@ +import { makeAutoObservable } from "mobx"; +import { Parts } from "../../../../../../features/details/details_http_repository"; + +export class SelectDetailViewModel { + details: Parts[]; + constructor(parts: Parts[]) { + + this.details = parts ?? []; + makeAutoObservable(this); + } + + static empty = () => new SelectDetailViewModel([]); + + isSelected = (name: string) => { + for (const el of this.details) { + if (el.name.isEqual(name)) { + return el.isSelect as boolean; + } + } + return false; + }; + toDependency = () => { + this.details = this.details.filter((el) => el.isSelect === true); + return this; + }; + select = (part: Parts) => + this.details.indexOfR(part).fold( + () => + this.details.forEach((el) => + el.name.isEqualR(part.name).map(() => { + el.isSelect = !el.isSelect; + }) + ), + () => { + part.isSelect = true; + this.details.push(part); + } + ); +} diff --git a/ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_screen.tsx b/ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_screen.tsx new file mode 100644 index 0000000..5e0aa28 --- /dev/null +++ b/ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_screen.tsx @@ -0,0 +1,39 @@ +// @ts-nocheck +import React from "react"; +import { IFormBuilderComponentsProps } from "../../form_builder_components"; +import { observer } from "mobx-react-lite"; +import { ListItem } from "./ui/list_item"; +import { SelectDetailStore } from "./select_detail_store"; +import { SelectDetailViewModel } from "../model/select_details_model"; +import { plainToInstance } from "class-transformer"; + +export const SelectDetail = observer((props: IFormBuilderComponentsProps) => { + const [store] = React.useState(() => new SelectDetailStore()); + React.useEffect(() => { + console.log(props.dependency.details); + store.viewModel = new SelectDetailViewModel(props.dependency.details); + store.isLoading = false; + store.init(); + }, []); + + return ( +
+ {store.isLoading ? ( + <> + ) : ( + <> + {store.parts?.map((el) => { + return ( + (store.viewModel.select(el), props.onChange(store.viewModel.toDependency()))} + /> + ); + })} + + )} +
+ ); +}); diff --git a/ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_store.tsx b/ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_store.tsx new file mode 100644 index 0000000..d12fda3 --- /dev/null +++ b/ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_store.tsx @@ -0,0 +1,31 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { DataSetHttpRepository } from "../../../../../../features/dataset/dataset_http_repository"; +import { Parts } from "../../../../../../features/details/details_http_repository"; +import { FormState } from "../../../../../store/base_store"; +import { SelectDetailViewModel } from "../model/select_details_model"; + +export class SelectDetailStore extends FormState { + viewModel = SelectDetailViewModel.empty(); + parts?: Parts[]; + isLoading: boolean = true; + dataSetRepository: DataSetHttpRepository = new DataSetHttpRepository(); + constructor() { + super(); + makeAutoObservable(this); + } + isSelected = (name: string) => { + if (this.viewModel.details) + for (const el of this.viewModel.details) { + if (el.name.isEqual(name)) { + return el.isSelect as boolean; + } + } + return false; + }; + init = async () => { + await this.mapOk("parts", this.dataSetRepository.getLocalParts()); + }; + updateCheckbox(el: Parts): void { + el.isSelect = true; + } +} diff --git a/ui/src/core/ui/form_builder/forms/select_detail/presentation/ui/list_item.tsx b/ui/src/core/ui/form_builder/forms/select_detail/presentation/ui/list_item.tsx new file mode 100644 index 0000000..7263d7a --- /dev/null +++ b/ui/src/core/ui/form_builder/forms/select_detail/presentation/ui/list_item.tsx @@ -0,0 +1,33 @@ +import { CoreSwitch } from "../../../../../switch/switch"; +import { CoreText, CoreTextType } from "../../../../../text/text"; + + + +export interface IListItemProps { + name: string; + imgURL: string; + status: boolean; + onChange: (status: boolean, id: string) => void; +} +export const ListItem = (props: IListItemProps) => { + return ( +
+ + + +
+ ); +}; diff --git a/ui/src/core/ui/form_builder/readme.md b/ui/src/core/ui/form_builder/readme.md index 5673db6..c515caa 100644 --- a/ui/src/core/ui/form_builder/readme.md +++ b/ui/src/core/ui/form_builder/readme.md @@ -2,12 +2,8 @@ ``` { - "scene":{ - "objects": \${OBJECTS_SCENE:Array:[]}, - }, - "camera_position":{ - "center_shell": [\${CENTER_SHELL_1:string:0}, \${COLISION_SHAPE:Enum:"BOX"}] - } + "name": \${NAME:string:""}, + "scene":{:OBJECT:{"bricks":{"base_feature":{"path":"bricks/base_feature"},"form":{"path":"bricks/form"}}}} } ``` @@ -20,14 +16,12 @@ ENUM T = "ObjectDetection","PoseEstimation"; ENUM L = "POINT","SUN"; type MODELS = { -"id": \${IMAGE_FORMAT:Enum:"jpg"},, "name": \${NAME:string:""}, "model": \${MODEL:string:"models/1.fbx"} }; type OBJECTS_SCENE = { "name": \${NAME:string:""}, -"collision_shape": \${COLISION_SHAPE:Enum:"BOX"}, "loc_xyz": [\${TEST123:string:"test123"}, \${LOC_XYZ_2:number:0}, \${LOC_XYZ_3:number:0}], }; ``` diff --git a/ui/src/core/ui/form_builder/test.tsx b/ui/src/core/ui/form_builder/test.tsx new file mode 100644 index 0000000..5074df0 --- /dev/null +++ b/ui/src/core/ui/form_builder/test.tsx @@ -0,0 +1,47 @@ +import { Modal } from "antd"; +import { observer } from "mobx-react-lite"; +import { useState } from "react"; +import { FormBuilderValidationModel } from "../../model/form_builder_validation_model"; +import { ModalStore } from "../../store/base_store"; +import { CoreButton } from "../button/button"; +import { InputV2 } from "../input/input_v2"; +import { FormBuilder } from "./form_builder"; +import makeAutoObservable from "mobx-store-inheritance"; + +class FormBuilderTextStore extends ModalStore { + viewModel = FormBuilderValidationModel.empty(); + constructor() { + super(); + makeAutoObservable(this); + } + init = undefined; +} +export const FormBuildTest = observer(() => { + const [store] = useState(new FormBuilderTextStore()); + + return ( +
+ (store.viewModel.result = text)} /> + (store.viewModel.context = text)} /> + (store.isModalOpen = true)} /> + { + store.isModalOpen = false; + }} + > + { + console.log(e.output); + // console.log(JSON.stringify(e.output)) + }} + /> + +
+ ); +}); diff --git a/ui/src/core/ui/header/header.tsx b/ui/src/core/ui/header/header.tsx index a2810a0..fc788ba 100644 --- a/ui/src/core/ui/header/header.tsx +++ b/ui/src/core/ui/header/header.tsx @@ -10,7 +10,7 @@ const { Title } = Typography; export interface IHeader { largeText?: string; minText?: string; - path?: string; + click?: Function; needBackButton?: undefined | any; } @@ -78,17 +78,17 @@ export const Header: React.FunctionComponent = (props: IHeader) => { )} - {props.minText !== undefined ? ( + {/* {props.minText !== undefined ? ( ) : ( <> - )} + )} */} ); }; diff --git a/ui/src/core/ui/icons/icons.tsx b/ui/src/core/ui/icons/icons.tsx index 9952268..33b571b 100644 --- a/ui/src/core/ui/icons/icons.tsx +++ b/ui/src/core/ui/icons/icons.tsx @@ -1,20 +1,25 @@ import * as React from "react"; import { Result } from "../../helper/result"; +import { IStyle } from "../../model/style"; -export interface IIconsProps { +export interface IIconsProps extends IStyle { type: string; - style?: React.CSSProperties; onClick?: Function; + height?: number; + width?: number; + color?: string; + iconStyle?: React.CSSProperties; + isNeedStopPropagation?: boolean; } export function Icon(props: IIconsProps) { - const icon = getIconSvg(props.type); - return icon.fold( + return getIconSvg(props.type, props.height, props.width, props.color, props.iconStyle).fold( (node) => { return (
{ + onClick={(e) => { if (props.onClick) props.onClick(); + if (props.isNeedStopPropagation) e.stopPropagation(); }} style={props.style} > @@ -31,8 +36,8 @@ export function Icon(props: IIconsProps) { > @@ -41,20 +46,421 @@ export function Icon(props: IIconsProps) { ) ); } -const getIconSvg = (type: string): Result => { +const getIconSvg = ( + type: string, + height: number | undefined, + width: number | undefined, + color: string | undefined, + iconStyle: React.CSSProperties | undefined +): Result => { switch (type) { case "": return Result.ok(); + case "Floppy": + return Result.ok( + + + + ); + case "LeftIcon": + return Result.ok( + + + + ); + case "SettingGear": + return Result.ok( + + + + ); + case "Bucket": + return Result.ok( + + + + ); + case "Error": + return Result.ok( + + + + ); + case "BottomSquare": + return Result.ok( + + + + ); + case "DashBoard": + return Result.ok( + + + + + ); + case "PlayComputer": + return Result.ok( + + + + + ); + case "Graph": + return Result.ok( + + + + + + + ); + case "Storage": + return Result.ok( + + + + + + + + + ); + case "RobotARM": + return Result.ok( + + + + + + ); + case "Home": + return Result.ok( + + + + + ); + case "ComposeSquares": + return Result.ok( + + + + + ); + case "Log": + return Result.ok( + + log + + + + + + + ); + case "Command": + return Result.ok( + + + + + + ); + case "Play": + return Result.ok( + + + + ); + case "ArrowRightMD": + return Result.ok( + + + + ); + + case "Menu": + return Result.ok( + + + + + + + + + + + + ); + case "Close": + return Result.ok( + + + + ); + case "code": + return Result.ok( + + + + + + + + + ); case "Setting": return Result.ok( - + @@ -70,54 +476,54 @@ const getIconSvg = (type: string): Result => { - - + + ); case "Datasets": return Result.ok( - - - + + + ); @@ -127,20 +533,20 @@ const getIconSvg = (type: string): Result => { ); @@ -151,33 +557,33 @@ const getIconSvg = (type: string): Result => { - + ); @@ -187,33 +593,33 @@ const getIconSvg = (type: string): Result => { - + ); @@ -223,47 +629,53 @@ const getIconSvg = (type: string): Result => { - - - + + + - + ); case "DeleteCircle": return Result.ok( - + ); @@ -273,6 +685,12 @@ const getIconSvg = (type: string): Result => { ); + case "Plus": + return Result.ok( + + + + ); case "PlusCircle": return Result.ok( @@ -286,20 +704,20 @@ const getIconSvg = (type: string): Result => { return Result.ok( ); case "MenuFab": return Result.ok( - + @@ -311,13 +729,251 @@ const getIconSvg = (type: string): Result => { ); + case "Play": + return Result.ok( + + + + ); + case "Scene": + return Result.ok( + + Svg Vector Icons : http://www.onlinewebfonts.com/icon + + + + + + + + + ); + case "Solid": + return Result.ok( + + + + ); + case "Plus": + return Result.ok( + + + + ); + case "Minus": + return Result.ok( + + + + ); + case "Zone": + return Result.ok( + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ); + case "Point": + return Result.ok( + + + + + + + + ); + case "Light": + return Result.ok( + + + + + + + ); + case "Robot": + return Result.ok( + + + + ); + case "Camera": + return Result.ok( + + + + ); + case "Move": + return Result.ok( + + + + + + ); + case "Save": + return Result.ok( + + + + ); + case "Select": + return Result.ok( + + + + + ); + case "Rotate": + return Result.ok( + + + + ); case "Settings": return Result.ok( - + diff --git a/ui/src/core/ui/input/input.tsx b/ui/src/core/ui/input/input.tsx index 2aa86de..1a78a4a 100644 --- a/ui/src/core/ui/input/input.tsx +++ b/ui/src/core/ui/input/input.tsx @@ -1,13 +1,22 @@ import * as React from "react"; import { CoreText, CoreTextType } from "../text/text"; - -interface IInputProps { +import { IStyle } from "../../model/style"; +export enum CoreInputType { + small = "small", + default = "default", + big = "big", +} +interface IInputProps extends IStyle { label: string; value?: string; + subLabel?: React.ReactNode; onChange?: (value: string) => void; - style?: React.CSSProperties; validation?: (value: string) => boolean; error?: string; + type?: CoreInputType; + trim?: boolean; + styleContentEditable?: React.CSSProperties; + isFormBuilder?: boolean; } export const CoreInput = (props: IInputProps) => { @@ -19,15 +28,24 @@ export const CoreInput = (props: IInputProps) => { ref.current.innerText = value; setAppendInnerText(false); } - }, [ref, value, isAppendInnerText, setAppendInnerText]); - + }, [ref, value, isAppendInnerText, setAppendInnerText, props]); + // React.useEffect(() => { + // if (props.isFormBuilder) { + // if (ref.current && props.value) { + // ref.current.innerText = value; + // setValue(props.value); + // console.log(props.value); + // } + // } + // }, [props.value]); + const isSmall = props.type !== undefined && props.type.isEqual(CoreInputType.small); return (
{ props.style )} > - + - { - const val = e.target.value; - setValue(val) +
{ + let val = e.currentTarget.innerText; + + setValue(val); if (val) { + if (props.trim) { + val = val.trim().replaceAll("\n", ""); + } if (props.validation !== undefined && props.validation(val) && props.onChange) { props.onChange(val); return; diff --git a/ui/src/core/ui/input/input_v2.tsx b/ui/src/core/ui/input/input_v2.tsx new file mode 100644 index 0000000..30bfc20 --- /dev/null +++ b/ui/src/core/ui/input/input_v2.tsx @@ -0,0 +1,58 @@ +import { themeStore } from "../../.."; +import { Icon } from "../icons/icons"; +import { CoreText, CoreTextType, FontType } from "../text/text"; + +interface InputV2Props { + label: string; + value?: string; + trim?: boolean; + height?: number; + onChange?: (text: string) => void; + +} +export const InputV2: React.FC = ({ label, height, value, onChange, trim }) => { + return ( +
+
+ + { + let result = text; + if (trim) result = result.trim().replaceAll("\n", ""); + if (onChange) onChange(result); + }} + style={{ + backgroundColor: themeStore.theme.surfaceContainerHighest, + paddingTop: 5, + borderRadius: 5, + }} + contentEditable={true} + type={CoreTextType.largeV2} + color={themeStore.theme.white} + fontType={FontType.ubuntu} + text={value} + /> +
+ + +
+ ); +}; diff --git a/ui/src/core/ui/inputNumber/input_number.tsx b/ui/src/core/ui/inputNumber/input_number.tsx new file mode 100644 index 0000000..424464d --- /dev/null +++ b/ui/src/core/ui/inputNumber/input_number.tsx @@ -0,0 +1,106 @@ +import * as React from "react"; +import { CoreText, CoreTextType } from "../text/text"; +import { IStyle } from "../../model/style"; +import { Icon } from "../icons/icons"; + +interface IInputProps extends IStyle { + label: string; + value?: number; + step: number; + max: number; + min: number; + subLabel?: React.ReactNode; + onChange?: (value: number) => void; + validation?: (value: number) => boolean; + error?: string; +} + +export const CoreInputNumber = (props: IInputProps) => { + const [value, setValue] = React.useState(() => props.value ?? 0); + const ref = React.useRef(null); + const [isAppendInnerText, setAppendInnerText] = React.useState(true); + React.useEffect(() => { + if (ref.current && isAppendInnerText) { + ref.current.innerText = String(value); + setAppendInnerText(false); + } + }, [ref, value, isAppendInnerText, setAppendInnerText, props]); + React.useEffect(() => { + if (props.value) setValue(props.value); + }, [props.value]); + return ( + <> + +
+
+ +
+ +
+ { + const val = e.target.value; + + setValue(Number(val)); + if (val) { + if (props.validation !== undefined && props.validation(Number(val)) && props.onChange) { + props.onChange(Number(val)); + return; + } + + if (props.onChange && props.validation === undefined) { + props.onChange(Number(val)); + return; + } + } + }} + /> + {value ? ( + props.validation ? ( + props.validation(value) ? null : ( +
{props.error ? props.error : "error"}
+ ) + ) : null + ) : null} + { + setValue(value + props.step); + if (props.onChange) props.onChange(value); + }} + /> + { + setValue(value - props.step); + if (props.onChange) props.onChange(value); + }} + /> +
+
+ + ); +}; diff --git a/ui/src/core/ui/link/link.tsx b/ui/src/core/ui/link/link.tsx index 05e3bf3..8efafe7 100644 --- a/ui/src/core/ui/link/link.tsx +++ b/ui/src/core/ui/link/link.tsx @@ -1,13 +1,13 @@ import * as React from "react"; import { Typography } from "antd"; import { useNavigate } from "react-router-dom"; +import { IStyle } from "../../model/style"; const { Link } = Typography; -export interface ILinkTypography { +export interface ILinkTypography extends IStyle { path: string; text: string; - style?: React.CSSProperties; } export const LinkTypography: React.FunctionComponent = ( diff --git a/ui/src/core/ui/modal/modal.tsx b/ui/src/core/ui/modal/modal.tsx new file mode 100644 index 0000000..7b6c8a5 --- /dev/null +++ b/ui/src/core/ui/modal/modal.tsx @@ -0,0 +1,49 @@ +import React from "react"; +import { themeStore } from "../../.."; +import { CoreText, CoreTextType } from "../text/text"; +import { InputV2 } from "../input/input_v2"; +import { CoreButton } from "../button/button"; +import { ButtonV2, ButtonV2Type } from "../button/button_v2"; + +interface ModalProps { + isOpen: boolean; + onClose: () => void; + children: React.ReactNode; + style?: React.CSSProperties; +} + +export const CoreModal: React.FC = ({ isOpen, onClose, children, style }) => { + if (!isOpen) return null; + + return ( +
onClose()} + > +
event.stopPropagation()} + style={{ + backgroundColor: themeStore.theme.black, + border: `1px solid ${themeStore.theme.greenWhite}`, + padding: 20, + borderRadius: 5, + width: 400, + position: "relative", + }} + > + {children} +
+
+ ); +}; + \ No newline at end of file diff --git a/ui/src/core/ui/pages/load_page.tsx b/ui/src/core/ui/pages/load_page.tsx index 5903ad6..a1141c6 100644 --- a/ui/src/core/ui/pages/load_page.tsx +++ b/ui/src/core/ui/pages/load_page.tsx @@ -17,7 +17,7 @@ export const LoadPage: React.FunctionComponent = observer( return ( <>
{ alignContent: "center", borderRadius: 12, } - : { textAlignLast: "center", alignContent: "center" } + : { + textAlignLast: "center", + alignContent: "center", + height: 32, + } } > @@ -45,15 +51,21 @@ const Block = (props: IBlockProps) => { export interface IMainPageProps { page: string; bodyChildren?: JSX.Element; + panelChildren?: JSX.Element; + panelStyle?: React.CSSProperties; isLoading?: boolean; + maskLoader?: boolean; + error?: UiBaseError[]; } + export const MainPage = (props: IMainPageProps) => { const blocksNames = [ { name: "Детали", path: DetailsScreenPath, icon: "Setting" }, { name: "Сборки", path: AssemblesScreenPath, icon: "Assembly" }, { name: "Датасеты", path: DatasetsScreenPath, icon: "Datasets" }, - { name: "Сцена", path: SceneManagerPath, icon: "Layers" }, - { name: "Навыки", path: BehaviorTreeBuilderPath, icon: "Rocket" }, + { name: "Сцена", path: SceneManagerPath, icon: "Scene" }, + { name: "Вычисления", path: SkillScreenPath, icon: "Layers" }, + { name: "Поведение", path: BehaviorTreeManagerScreenPath, icon: "Rocket" }, { name: "Симуляция", path: SimulationScreenPath, icon: "Simulation" }, { name: "Оценка", path: EstimateScreenPath, icon: "Grade" }, ]; @@ -104,8 +116,8 @@ export const MainPage = (props: IMainPageProps) => {
- {blocks.map((el) => ( - + {blocks.map((el, index) => ( + ))}
@@ -118,8 +130,41 @@ export const MainPage = (props: IMainPageProps) => {
) : ( <> -
- {props.bodyChildren} + {props.error?.isNotEmpty() ? ( + <> + {props.error.map((el) => ( +
{el.text}
+ ))} + + ) : ( + <> + {props.maskLoader ? ( +
+ +
+ ) : null} +
+ {props.panelChildren} +
+ {props.bodyChildren} + + )} )}
diff --git a/ui/src/core/ui/pages/main_page_v2.tsx b/ui/src/core/ui/pages/main_page_v2.tsx new file mode 100644 index 0000000..8ff7c70 --- /dev/null +++ b/ui/src/core/ui/pages/main_page_v2.tsx @@ -0,0 +1,230 @@ +import React, { useEffect } from "react"; +import { themeStore } from "../../.."; +import { Icon } from "../icons/icons"; +import { observer } from "mobx-react-lite"; +import { makeAutoObservable } from "mobx"; +import { RefDiv } from "../ref/ref_div"; +export enum CycleState { + isMoving = "isMoving", + stop = "stop", +} +function delay(ms: number) { + return new Promise((resolve) => setTimeout(resolve, ms)); +} + +class MainPageStore { + cycleState = CycleState.stop; + isFirstClick: boolean = true; + stepMs = { 1: 15, 2: 20, 3: 25, 4: 30, 5: 35, 6: 40, 7: 45, 8: 50 }; + icons: { + icon: string; + isActive: boolean; + style: React.CSSProperties; + left: number; + top: number; + }[] = [ + { icon: "Home", isActive: true, style: {}, left: 0, top: 0 }, + { icon: "ComposeSquares", isActive: false, style: {}, left: 0, top: 0 }, + { icon: "BottomSquare", isActive: false, style: {}, left: 0, top: 0 }, + { icon: "RobotARM", isActive: false, style: {}, left: 0, top: 0 }, + { icon: "Storage", isActive: false, style: {}, left: 0, top: 0 }, + { icon: "Graph", isActive: false, style: {}, left: 0, top: 0 }, + { icon: "PlayComputer", isActive: false, style: {}, left: 0, top: 0 }, + { icon: "DashBoard", isActive: false, style: {}, left: 0, top: 0 }, + ]; + paddingLeft: number = 0; + offsetLeftCircle: number = 0; + leftCircle = 0; + constructor() { + makeAutoObservable(this); + } + init = (paddingLeft: number) => { + this.leftCircle = Math.abs(this.offsetLeftCircle - this.getActive()!.left) - paddingLeft; + + this.paddingLeft = paddingLeft; + }; + getActive = () => this.icons.filter((el) => el.isActive).at(0); + getActiveIndex = () => this.icons.findIndex((el) => el.isActive); + selectIndex = async (i: number) => { + const prevActive = this.getActive(); + const prevActiveIndex = this.getActiveIndex(); + this.icons + .map((element) => { + element.isActive = false; + return element; + }) + .map((element, index) => + i.isEqualR(index).fold( + () => { + element.isActive = true; + }, + () => element + ) + ); + const nextActive = this.getActive(); + const nextActiveIndex = this.getActiveIndex(); + + this.cycleState = CycleState.isMoving; + let distance = 0; + + distance = nextActive!.left - this.offsetLeftCircle; + + const step = distance / 10; + + for await (const num of Array.from({ length: 10 }, (_, i) => i + 1)) { + // @ts-ignore + await delay(this.stepMs[Math.abs(nextActiveIndex - prevActiveIndex)]); + nextActive!.top = nextActive!.top + 3; + if (!this.isFirstClick) prevActive!.top = prevActive!.top - 3; + let offset = 0; + if (num === 10) { + offset = 6; + } + this.leftCircle = this.leftCircle + step - offset; + } + this.isFirstClick = false; + }; + updateLeftStyle = (left: number, index: number) => this.icons.replacePropIndex({ left: left }, index); +} +export const MainPageV2: React.FC<{ + children: React.ReactNode; + bgColor: string; + style?: React.CSSProperties | void; + rightChild?: React.ReactNode; +}> = observer(({ children, bgColor, style, rightChild }) => { + const [store] = React.useState(() => new MainPageStore()); + useEffect(() => { + store.init(4); + }, []); + return ( +
+
+ + {store.icons.map((el, i) => ( +
+ {el.isActive === true ? ( + <> + store.updateLeftStyle(Number(text), i)} + > + { + store.icons + .map((element) => { + element.isActive = false; + return element; + }) + .map((element, index) => + i.isEqualR(index).fold( + () => { + element.isActive = true; + }, + () => element + ) + ); + }} + /> + + + ) : ( + <> + store.updateLeftStyle(Number(text), i)} + > + store.selectIndex(i)} /> + + + )} +
+ ))} + + } + /> +
+ { + store.offsetLeftCircle = Number(text); + }} + style={{ + position: "relative", + top: -30, + left: store.leftCircle, + backgroundColor: bgColor, + width: 60, + height: 60, + borderRadius: "50%", + paddingTop: 10, + zIndex: 21, + }} + > +
+ +
+
+ {rightChild} +
+
+ +
{children}
+
+ ); +}); diff --git a/ui/src/core/ui/pages/preview_page.tsx b/ui/src/core/ui/pages/preview_page.tsx new file mode 100644 index 0000000..58fe9a1 --- /dev/null +++ b/ui/src/core/ui/pages/preview_page.tsx @@ -0,0 +1,60 @@ +import { IHeader } from "../header/header"; +import { CoreText, CoreTextType } from "../text/text"; +import { Spin } from "antd"; + +interface IPreviewPageProps extends IHeader { + isLoading: boolean; + isError: boolean; + children?: JSX.Element | JSX.Element[]; +} +export const PreviewPage = (props: IPreviewPageProps) => { + return ( +
+
+ + { + if (props.click) props.click(); + }} + text={props.minText ?? ""} + type={CoreTextType.small} + style={{ color: "rgba(68, 142, 247, 1)", cursor: "pointer" }} + /> +
+
+
+ {props.isLoading ? ( +
+ +
+ ) : ( + props.children + )} +
+
+
+ ); +}; diff --git a/ui/src/core/ui/ref/ref_div.tsx b/ui/src/core/ui/ref/ref_div.tsx new file mode 100644 index 0000000..3ee29b0 --- /dev/null +++ b/ui/src/core/ui/ref/ref_div.tsx @@ -0,0 +1,21 @@ +import { useEffect, useRef } from "react"; + +export const RefDiv: React.FC<{ + property?: string; + onChange?: (property: string) => void; + style?: React.CSSProperties; + children?: React.ReactNode; +}> = ({ property, onChange, style, children }) => { + const ref = useRef(null); + useEffect(() => { + if (ref.current && onChange) { + // @ts-ignore + onChange(String(ref.current[property])); + } + } ); + return ( +
+ {children} +
+ ); +}; diff --git a/ui/src/core/ui/select/select.tsx b/ui/src/core/ui/select/select.tsx index b4cf558..017c16f 100644 --- a/ui/src/core/ui/select/select.tsx +++ b/ui/src/core/ui/select/select.tsx @@ -1,16 +1,17 @@ import React from "react"; import { CoreText, CoreTextType } from "../text/text"; +import { IStyle } from "../../model/style"; -interface ISelectCoreProps { +interface ICoreSelectProps extends IStyle { items: string[]; value: string; label: string; onChange: (value: string) => void; - style?: React.CSSProperties; } -export const SelectCore = (props: ISelectCoreProps) => { +export const CoreSelect = (props: ICoreSelectProps) => { const ref = React.useRef(null); const [cursorIsCorses, setCursorIsCorses] = React.useState(false); + const [width, setWidth] = React.useState(0); const [value, setValue] = React.useState(props.value); React.useEffect(() => { ref.current?.addEventListener("mousemove", () => { @@ -19,6 +20,8 @@ export const SelectCore = (props: ISelectCoreProps) => { ref.current?.addEventListener("mouseleave", () => { setCursorIsCorses(false); }); + + setWidth(Number(ref.current?.clientWidth)); }, [ref, setCursorIsCorses]); return ( @@ -42,25 +45,30 @@ export const SelectCore = (props: ISelectCoreProps) => { borderRadius: 4, }} > - {cursorIsCorses - ? props.items.map((el) => ( -
{ - setValue(el); - props.onChange(el); - }} - style={{ - height: 48, - textAlign: "center", - alignContent: "center", - cursor: "pointer", - borderBottom: "1px solid", - }} - > - {el} -
- )) - : null} +
+ {cursorIsCorses + ? props.items.map((el, i) => ( +
{ + setValue(el); + props.onChange(el); + }} + style={{ + backgroundColor: "rgba(230, 224, 233, 1)", + width: width, + height: 48, + textAlign: "center", + alignContent: "center", + cursor: "pointer", + borderBottom: "1px solid", + }} + > + {el} +
+ )) + : null} +
); diff --git a/ui/src/core/ui/select/select_v2.tsx b/ui/src/core/ui/select/select_v2.tsx new file mode 100644 index 0000000..f42e65e --- /dev/null +++ b/ui/src/core/ui/select/select_v2.tsx @@ -0,0 +1,96 @@ +import React from "react"; +import { CoreText, CoreTextType } from "../text/text"; +import { IStyle } from "../../model/style"; +import { themeStore } from "../../.."; + +interface ISelectV2Props extends IStyle { + items: { name: string; value: string }[]; + initialValue: string; + label: string; + onChange: (value: string) => void; +} +export const SelectV2: React.FC = ({ items, initialValue, label, onChange, style }) => { + const ref = React.useRef(null); + const [cursorIsCorses, setCursorIsCorses] = React.useState(false); + const [width, setWidth] = React.useState(0); + const [value, setValue] = React.useState(initialValue); + React.useEffect(() => { + ref.current?.addEventListener("mousemove", () => { + setCursorIsCorses(true); + }); + ref.current?.addEventListener("mouseleave", () => { + setCursorIsCorses(false); + }); + + setWidth(Number(ref.current?.clientWidth)); + }, [ref, setCursorIsCorses]); + + return ( +
+
+ +
+ {value} +
+
+
+
+ {cursorIsCorses + ? items.map((el, i) => ( + { + setValue(el.name); + onChange(el.value); + }} + style={{ + padding: 10, + alignContent: "center", + cursor: "pointer", + }} + /> + )) + : null} +
+
+
+ ); +}; diff --git a/ui/src/core/ui/slider/slider.tsx b/ui/src/core/ui/slider/slider.tsx new file mode 100644 index 0000000..95212d9 --- /dev/null +++ b/ui/src/core/ui/slider/slider.tsx @@ -0,0 +1,42 @@ +import React, { useRef, useState } from "react"; +// TODO: need +export const CoreSlider = ({ + max, + min, + step, + initialValue, + onChange, +}: { + max: number; + min: number; + step: number; + initialValue: number; + onChange: (value: number) => void; +}) => { + const refSlider = useRef(null); + const refWheel = useRef(null); + const [value, setValue] = useState(initialValue); + + React.useEffect(() => { + if (refSlider.current && refWheel.current) { + + const oneStep = refSlider.current.clientWidth / ((max - min) / step); + + refWheel.current.style.left = ((value - min) / step) * oneStep + "px"; + } + }, []); + return ( +
{ + + }} + style={{ width: "100%", height: 11, backgroundColor: "rgba(104, 80, 164, 1)" }} + > +
+
+ ); +}; diff --git a/ui/src/core/ui/text/text.tsx b/ui/src/core/ui/text/text.tsx index faa8847..85aef71 100644 --- a/ui/src/core/ui/text/text.tsx +++ b/ui/src/core/ui/text/text.tsx @@ -1,81 +1,145 @@ import * as React from "react"; +import { IStyle } from "../../model/style"; export enum CoreTextType { - header, - medium, - large, - small, + header = "header", + medium = "medium", + mediumV2 = "mediumV2", + largeV2 = "largeV2", + large = "large", + small = "small", + smallV2 = "smallV2", + smallv3 = "smallv3", + big = "big", } -export interface ITextProps { - text: string; +export enum FontType { + ubuntu = "'Ubuntu'", + roboto = "'Roboto'", +} +export interface ITextProps extends IStyle { + text?: string; type: CoreTextType; + fontType?: FontType; color?: string; + onClick?: Function; + onChange?: (text: string) => void; + contentEditable?: boolean; } +const getStyle = (type: CoreTextType, color: string | undefined) => { + if (type.isEqual(CoreTextType.smallv3)) + return { + fontWeight: "400", + fontSize: "16px;", + lineHeight: "19px", + fontStyle: "normal", + }; + if (type.isEqual(CoreTextType.smallV2)) + return { + fontStyle: "normal", + fontWeight: "400", + fontSize: 14, + color: color ?? "#1D1B20", + }; + if (type.isEqual(CoreTextType.mediumV2)) + return { + color: color ?? "rgba(73, 69, 79, 1)", + fontStyle: "normal", + fontWeight: "500", + fontSize: "16px", + lineHeight: "24px", + letterSpacing: "0.15px", + }; + if (type.isEqual(CoreTextType.largeV2)) + return { + color: color ?? "rgba(73, 69, 79, 1)", + + alignContent: "center", + fontWeight: 500, + fontSize: 14, + lineHeight: "20px", + }; + if (type.isEqual(CoreTextType.small)) + return { + color: color ?? "rgba(73, 69, 79, 1)", + fontSize: 12, + fontWeight: 400, + fontSizeAdjust: 14, + textOverflow: "ellipsis", + }; + + if (type.isEqual(CoreTextType.large)) + return { + color: color ?? "#1D1B20", + fontSize: 16, + fontWeight: 400, + fontSizeAdjust: 14, + textOverflow: "ellipsis", + }; + if (type.isEqual(CoreTextType.medium)) + return { + color: color ?? "#1D1B20", + fontSize: 14, + fontWeight: 400, + textOverflow: "ellipsis", + fontSizeAdjust: 14, + }; + if (type.isEqual(CoreTextType.header)) + return { + color: color ?? "#1D1B20", + fontSize: 20, + fontWeight: 500, + textOverflow: "ellipsis", + fontSizeAdjust: 16, + }; + if (type.isEqual(CoreTextType.big)) + return { + color: color ?? "#1D1B20", + fontSize: 40, + 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, + fontType: FontType | undefined +) => { + let font = "Roboto"; + if (fontType !== undefined) { + font = fontType; + } + return Object.assign(Object.assign(getStyle(type, color), style), { fontFamily: font }); +}; export function CoreText(props: ITextProps) { - if (props.type === CoreTextType.small) { - return ( -
- {props.text} -
- ); - } - if (props.type === CoreTextType.large) { - return ( -
- {props.text} -
- ); - } - if (props.type === CoreTextType.medium) - return ( -
- {props.text} -
- ); - if (props.type === CoreTextType.header) - return ( -
- {props.text} -
- ); - return
{props.text}
; + return ( +
{ + if (props.onClick) props.onClick(); + }} + style={appendStyle(props.type, props.color, props.style, props.fontType)} + onInput={(event) => { + if (props.onChange) { + // @ts-expect-error + props.onChange(event.target.innerText); + } + }} + > + {props.text} +
+ ); } diff --git a/ui/src/core/ui/toggle/toggle.tsx b/ui/src/core/ui/toggle/toggle.tsx new file mode 100644 index 0000000..b5770d8 --- /dev/null +++ b/ui/src/core/ui/toggle/toggle.tsx @@ -0,0 +1,30 @@ +import { useState } from "react"; +import { Icon } from "../icons/icons"; +import { CoreText, CoreTextType } from "../text/text"; +import { set } from "ts-pattern/dist/patterns"; +interface IToggleProps { + name: string; + child: React.ReactNode; + isOpen: boolean; +} +export const Toggle = (props: IToggleProps) => { + const [isOpen, setOpen] = useState(props.isOpen); + return ( +
+
setOpen(!isOpen)} + > + + +
+ {isOpen ? props.child : <>} +
+ ); +}; diff --git a/ui/src/features/_stick_objects_marking/model/stick_objects_marking_store_mode.ts b/ui/src/features/_stick_objects_marking/model/stick_objects_marking_store_mode.ts deleted file mode 100644 index ef1699e..0000000 --- a/ui/src/features/_stick_objects_marking/model/stick_objects_marking_store_mode.ts +++ /dev/null @@ -1,7 +0,0 @@ -export enum StickObjectsMarkingStoreMode { - objectsToWhichItSticks = "objectsToWhichItSticks", - objectThatSticks = "objectThatSticks", - addPointsObjectsToWhichItSticks = "addPointsObjectsToWhichItSticks", - addPointsObjectThatSticks = "addPointsObjectThatSticks", - move = "move", -} diff --git a/ui/src/features/_stick_objects_marking/model/sticky_helper.ts b/ui/src/features/_stick_objects_marking/model/sticky_helper.ts deleted file mode 100644 index df82c3c..0000000 --- a/ui/src/features/_stick_objects_marking/model/sticky_helper.ts +++ /dev/null @@ -1,20 +0,0 @@ -import { Vector3 } from "three"; - -export class StickyHelper { - objectThatSticksName: string; - objectThatSticksNamePoints: Vector3[] = []; - objectsToWhichItSticksName: string; - objectsToWhichItSticksPoints: Vector3[] = []; - - constructor( - objectThatSticksName: string, - objectThatSticksNamePoints: Vector3[], - objectsToWhichItSticksName: string, - objectsToWhichItSticksPoints: Vector3[] - ) { - this.objectThatSticksName = objectThatSticksName; - this.objectThatSticksNamePoints = objectThatSticksNamePoints; - this.objectsToWhichItSticksName = objectsToWhichItSticksName; - this.objectsToWhichItSticksPoints = objectsToWhichItSticksPoints; - } -} diff --git a/ui/src/features/_stick_objects_marking/model/sticky_loader_mode.ts b/ui/src/features/_stick_objects_marking/model/sticky_loader_mode.ts deleted file mode 100644 index 3c21147..0000000 --- a/ui/src/features/_stick_objects_marking/model/sticky_loader_mode.ts +++ /dev/null @@ -1,4 +0,0 @@ -export enum StickyLoaderMode { - IN = "IN", - OUT = "OUT", -} diff --git a/ui/src/features/_stick_objects_marking/stick_objects_marking_screen.tsx b/ui/src/features/_stick_objects_marking/stick_objects_marking_screen.tsx deleted file mode 100644 index dc16830..0000000 --- a/ui/src/features/_stick_objects_marking/stick_objects_marking_screen.tsx +++ /dev/null @@ -1,148 +0,0 @@ -import * as React from "react"; -import { observer } from "mobx-react-lite"; -import { useParams } from "react-router-dom"; -import { Button } from "antd"; -import { StickObjectsMarkingStore } from "./stick_objects_marking_store"; -import { Vector3 } from "three"; -import { StickObjectsMarkingStoreMode } from "./model/stick_objects_marking_store_mode"; -import { StickyLoaderMode } from "./model/sticky_loader_mode"; - -export const StickObjectsMarking = "/stick/objects/marking"; -interface StickButtonsProps { - isVisible: boolean; - name: string; - groupMode: StickObjectsMarkingStoreMode; - storeMode: StickObjectsMarkingStoreMode; - storeModePoints: StickObjectsMarkingStoreMode; - setMode: Function; - setPointMode: Function; - points: Vector3[]; - body: string; -} - -export const StickButtons: React.FunctionComponent = observer((props) => { - return ( - <> - {props.isVisible ? ( - <> - {props.name} - - {props.points.map((el) => { - return ( - <> - {el.x} {el.y} {el.z} - - ); - })} - - ) : ( - - )} - - ); -}); -export const StickObjectsMarkingScreenPath = "/sticky/objects/mark"; -export const StickObjectsMarkingScreen = observer(() => { - const canvasRef = React.useRef(null); - const [store] = React.useState(() => new StickObjectsMarkingStore()); - const id = useParams().id as string; - - React.useEffect(() => { - store.init(); - store.loadScene(canvasRef.current!); - document.body.style.overflow = "hidden"; - return () => { - document.body.style.overflow = "scroll"; - store.dispose(); - }; - }, [id, store]); - - return ( -
- -
-
- {store.stickyObjects?.map((el) => { - return ( -
-
- - -
-
{el.name}
-
- ); - })} -
- {/*
- {Object.keys(store.points).map((el) => { - // @ts-expect-error - const v = store.points[el]; - return ( - <> -
- {el as string}:{v} -
- - ); - })} -
Marking objects for sticking
-
- store.setMode(StickObjectsMarkingStoreMode.objectThatSticks)} - groupMode={StickObjectsMarkingStoreMode.objectThatSticks} - name={store.objectThatSticksName} - storeModePoints={StickObjectsMarkingStoreMode.addPointsObjectThatSticks} - isVisible={store.objectThatSticksName !== undefined} - setPointMode={() => store.setMode(StickObjectsMarkingStoreMode.addPointsObjectThatSticks)} - points={store.objectThatSticksNamePoints} - body="objectThatSticksName" - /> - store.setMode(StickObjectsMarkingStoreMode.objectsToWhichItSticks)} - groupMode={StickObjectsMarkingStoreMode.objectsToWhichItSticks} - name={store.objectsToWhichItSticksName} - storeModePoints={StickObjectsMarkingStoreMode.addPointsObjectsToWhichItSticks} - isVisible={store.objectsToWhichItSticksName !== undefined} - setPointMode={() => store.setMode(StickObjectsMarkingStoreMode.addPointsObjectsToWhichItSticks)} - /> - - -
-
*/} -
-
- ); -}); diff --git a/ui/src/features/_stick_objects_marking/stick_objects_marking_store.tsx b/ui/src/features/_stick_objects_marking/stick_objects_marking_store.tsx deleted file mode 100644 index dc68b23..0000000 --- a/ui/src/features/_stick_objects_marking/stick_objects_marking_store.tsx +++ /dev/null @@ -1,120 +0,0 @@ -import makeAutoObservable from "mobx-store-inheritance"; -import { Box3, Vector2, Vector3 } from "three"; -import { UiErrorState } from "../../core/store/base_store"; -import { HttpError } from "../../core/repository/http_repository"; -import { UiBaseError } from "../../core/model/ui_base_error"; -import { RobossemblerFiles } from "../scene_manager/model/scene_assets"; -import { StickObjectsMarkingThreeRepository } from "./stick_objects_marking_three_repository"; -import { UserData } from "../../core/repository/core_three_repository"; -import { SceneHttpRepository } from "../scene_manager/data/scene_repository"; -import { Asset, RobossemblerAssets } from "../../core/model/robossembler_assets"; -import { StickObjectsMarkingStoreMode } from "./model/stick_objects_marking_store_mode"; -import { StickyHelper } from "./model/sticky_helper"; -import { StickyLoaderMode } from "./model/sticky_loader_mode"; - -export class StickObjectsMarkingStore extends UiErrorState { - mode: StickObjectsMarkingStoreMode; - stickObjectsMarkingThreeRepository: null | StickObjectsMarkingThreeRepository = null; - sceneHttpRepository: SceneHttpRepository; - objectThatSticksName: string; - objectThatSticksNamePoints: Vector3[] = []; - objectsToWhichItSticksName: string; - objectsToWhichItSticksPoints: Vector3[] = []; - sceneAssets?: RobossemblerAssets; - points = {}; - - get stickyObjects() { - return this.sceneAssets?.assets.filter((el) => el.actions.includes("Sticking")); - } - - constructor() { - super(); - makeAutoObservable(this); - this.points = {}; - this.mode = StickObjectsMarkingStoreMode.move; - this.sceneHttpRepository = new SceneHttpRepository(); - } - updatePoint = (key: string, value: any) => { - // @ts-expect-error - this.points[key] = value; - }; - onSaveSticky(): void {} - setMode(stickObjectsMarkingStoreMode: StickObjectsMarkingStoreMode): void { - this.mode = stickObjectsMarkingStoreMode; - } - - loaderWatcher() {} - - async init(): Promise { - this.mapOk("sceneAssets", this.sceneHttpRepository.getRobossemblerAssets()); - } - - errorHandingStrategy = (error: HttpError) => { - if (error.status === 404) { - this.errors.push(new UiBaseError(`${RobossemblerFiles.robossemblerAssets} not found to project`)); - } - }; - - async loadScene(canvasRef: HTMLCanvasElement) { - this.loadWebGl(canvasRef); - } - watcherSceneEditorObject() {} - loadWebGl(canvasRef: HTMLCanvasElement): void { - this.stickObjectsMarkingThreeRepository = new StickObjectsMarkingThreeRepository( - canvasRef as HTMLCanvasElement, - this.watcherSceneEditorObject, - this.updatePoint - ); - this.stickObjectsMarkingThreeRepository.stickyHelperLoader([ - new StickyHelper( - this.objectThatSticksName, - this.objectThatSticksNamePoints, - this.objectsToWhichItSticksName, - this.objectsToWhichItSticksPoints - ), - ]); - this.stickObjectsMarkingThreeRepository.render(); - window.addEventListener("click", (event) => this.clickLister(event)); - } - - clickLister(event: MouseEvent) { - const vector = new Vector2(); - vector.x = (event.clientX / window.innerWidth) * 2 - 1; - vector.y = -(event.clientY / window.innerHeight) * 2 + 1; - if (this.mode) { - if (this.mode === StickObjectsMarkingStoreMode.move) { - this.stickObjectsMarkingThreeRepository?.setRayCastAndGetFirstObject(vector).fold( - (success) => this.stickObjectsMarkingThreeRepository?.setTransformControlsAttach(success), - (_error) => this.stickObjectsMarkingThreeRepository?.disposeTransformControlsMode() - ); - } - this.stickObjectsMarkingThreeRepository?.setRayCast(vector).map((touch) => { - const objectMagnetism = touch.filter((el) => el.object.userData[UserData.objectForMagnetism] === true); - const BoundBoxVector = new Box3().setFromObject(objectMagnetism[0].object).getCenter(new Vector3()); - const centerRelativeVector = new Vector3().subVectors(BoundBoxVector, objectMagnetism[0].point); - if (objectMagnetism.isNotEmpty()) { - if (this.mode === StickObjectsMarkingStoreMode.objectsToWhichItSticks) { - this.objectsToWhichItSticksName = objectMagnetism[0].object.name; - } - if (this.mode === StickObjectsMarkingStoreMode.objectThatSticks) { - this.objectThatSticksName = objectMagnetism[0].object.name; - } - if (this.mode === StickObjectsMarkingStoreMode.addPointsObjectThatSticks) { - this.objectThatSticksNamePoints.push(centerRelativeVector); - } - if (this.mode === StickObjectsMarkingStoreMode.addPointsObjectsToWhichItSticks) { - this.objectsToWhichItSticksPoints.push(centerRelativeVector); - } - } - }); - } - } - loadAsset(asset: Asset, mode: StickyLoaderMode): void { - this.stickObjectsMarkingThreeRepository?.loadInstance(asset,() =>{ - - }); - } - dispose() { - window.removeEventListener("click", this.clickLister); - } -} diff --git a/ui/src/features/_stick_objects_marking/stick_objects_marking_three_repository.ts b/ui/src/features/_stick_objects_marking/stick_objects_marking_three_repository.ts deleted file mode 100644 index 67f3846..0000000 --- a/ui/src/features/_stick_objects_marking/stick_objects_marking_three_repository.ts +++ /dev/null @@ -1,79 +0,0 @@ -import { Box3, BoxGeometry, Mesh, MeshBasicMaterial, Object3D, Vector3 } from "three"; -import { CoreThreeRepository } from "../../core/repository/core_three_repository"; -import { CoreVector3 } from "../../core/model/core_vector3"; -import { StickyHelper } from "./model/sticky_helper"; - -export class StickObjectsMarkingThreeRepository extends CoreThreeRepository { - stickyObjects: StickyHelper[]; - drawUiPoint: Function; - constructor(htmlCanvasRef: HTMLCanvasElement, watcherSceneEditorObject: Function, updatePoint: Function) { - super(htmlCanvasRef, watcherSceneEditorObject); - this.drawUiPoint = updatePoint; - this.sceneWatcher(); - } - - getStickyObject(name: string, pointNameHelper: string, index: number) { - const objectThatSticksNameMesh = this.scene.getObjectByName(name); - const pointName = objectThatSticksNameMesh!.name + ":point:" + index + pointNameHelper; - return this.scene.getObjectByName(pointName); - } - - mapperStickyObject(point: Vector3, index: number, name: string, pointNameHelper: string) { - const objectThatSticksNameMesh = this.scene.getObjectByName(name); - const pointName = objectThatSticksNameMesh!.name + ":point:" + index + pointNameHelper; - const sceneObject = this.scene.getObjectByName(pointName); - let pointMesh: Object3D; - if (sceneObject) { - pointMesh = sceneObject; - } else { - pointMesh = new Mesh(new BoxGeometry(1.1, 1.1, 1.1), new MeshBasicMaterial({ color: "#8BC34A" })); - } - pointMesh.position.copy(new Box3().setFromObject(objectThatSticksNameMesh!).getCenter(new Vector3()).add(point)); - pointMesh.name = pointName; - if (sceneObject === undefined) this.scene.add(pointMesh); - } - - stickyHelperLoader(stickyObjects: StickyHelper[]) { - this.stickyObjects = stickyObjects; - - stickyObjects.forEach((el) => { - el.objectThatSticksNamePoints.forEach((point, index) => - this.mapperStickyObject(point, index, el.objectThatSticksName, "objectThatSticksNamePoints") - ); - el.objectsToWhichItSticksPoints.forEach((point, index) => - this.mapperStickyObject(point, index, el.objectsToWhichItSticksName, "objectsToWhichItSticksPoints") - ); - }); - } - getCenter = (obj: Object3D) => new Box3().setFromObject(obj).getCenter(new Vector3()); - - sceneWatcher() { - this.transformControls.addEventListener("objectChange", (event) => { - //@ts-expect-error - const sceneActiveObject = event.target.object as Mesh; - - this.stickyObjects.forEach((stickyHelper) => { - if (sceneActiveObject.name === stickyHelper.objectThatSticksName) { - const objectsToWhichItSticksPointLocalVector = stickyHelper.objectsToWhichItSticksPoints[0]; - const globalVectorObjStickyName = this.scene.getObjectByName(stickyHelper.objectThatSticksName); - - const globalVectorObjToWhichSticks = this.scene.getObjectByName(stickyHelper.objectsToWhichItSticksName); - - const objectsToWhichItSticksNamePosition = new CoreVector3(globalVectorObjToWhichSticks!.position).add( - objectsToWhichItSticksPointLocalVector - ).vector; - - this.scene - .getObjectByName("cube2:point:0objectThatSticksNamePoints") - ?.position.copy(objectsToWhichItSticksNamePosition); - - globalVectorObjStickyName?.position.copy( - this.scene - .getObjectByName("cube2:point:0objectThatSticksNamePoints")! - .position.add(objectsToWhichItSticksPointLocalVector) - ); - } - }); - }); - } -} diff --git a/ui/src/features/all_projects/data/project_http_repository.ts b/ui/src/features/all_projects/data/project_http_repository.ts new file mode 100644 index 0000000..9f2fa35 --- /dev/null +++ b/ui/src/features/all_projects/data/project_http_repository.ts @@ -0,0 +1,23 @@ +import { Result } from "../../../core/helper/result"; +import { HttpMethod, CoreHttpRepository } from "../../../core/repository/core_http_repository"; +import { IProjectModel } from "../model/project_model"; +export interface ICreateProjectViewModel { + description: string; +} +export interface UUID { + id: string; +} +export class ProjectHttpRepository extends CoreHttpRepository { + featureApi = `/projects`; + + getAllProject = async () => this._jsonRequest(HttpMethod.GET, this.featureApi); + saveProject = async (model: ICreateProjectViewModel): Promise> => + await this._jsonRequest(HttpMethod.POST, this.featureApi, model); + setActivePipeline = async (id: string) => + this._jsonRequest(HttpMethod.POST, `${this.featureApi}/set/active/project?id=${id}`); + setProjectRootFile = async (file: File, projectId: string) => { + const formData = new FormData(); + formData.append("file", file); + return await this._formDataRequest(HttpMethod.POST, `${this.featureApi}/upload?id=${projectId}`, formData); + }; +} diff --git a/ui/src/features/all_projects/data/project_repository.ts b/ui/src/features/all_projects/data/project_repository.ts deleted file mode 100644 index 237d4f4..0000000 --- a/ui/src/features/all_projects/data/project_repository.ts +++ /dev/null @@ -1,18 +0,0 @@ -import { HttpMethod, HttpRepository } from "../../../core/repository/http_repository"; -import { IProjectModel } from "../model/project_model"; - -export interface UUID { - id: string; -} -export class ProjectRepository extends HttpRepository { - async getAllProject() { - return this._jsonRequest(HttpMethod.GET, "/projects"); - } - - async getActivePipeline() { - return this._jsonRequest(HttpMethod.GET, "/projects/get/active/project/id"); - } - async setActivePipeline(id: string) { - return this._jsonRequest(HttpMethod.POST, `/project_instance/set/active/project?id=${id}`); - } -} diff --git a/ui/src/features/all_projects/model/project_model.ts b/ui/src/features/all_projects/model/project_model.ts index 4d39434..4934d3e 100644 --- a/ui/src/features/all_projects/model/project_model.ts +++ b/ui/src/features/all_projects/model/project_model.ts @@ -1,4 +1,3 @@ -import { PipelineModel } from "../../create_project/create_project_repository"; export interface IProjectModel { _id?: string; @@ -6,3 +5,8 @@ export interface IProjectModel { description: string; isActive?: boolean; } +export interface IProjectView { + isActive: boolean; + description: string; + id: string; +} \ No newline at end of file diff --git a/ui/src/features/all_projects/presentation/all_projects_screen.tsx b/ui/src/features/all_projects/presentation/all_projects_screen.tsx index c7d1041..7aa844a 100644 --- a/ui/src/features/all_projects/presentation/all_projects_screen.tsx +++ b/ui/src/features/all_projects/presentation/all_projects_screen.tsx @@ -1,52 +1,109 @@ import * as React from "react"; import { AllProjectStore } from "./all_projects_store"; -import { ProjectRepository } from "../data/project_repository"; -import { LoadPage } from "../../../core/ui/pages/load_page"; import { observer } from "mobx-react-lite"; import { useNavigate } from "react-router-dom"; -import { Button } from "antd"; -import { PipelineInstanceScreenPath } from "../../pipeline_instance_main_screen/pipeline_instance_screen"; -import { CreateProjectScreenPath } from "../../create_project/create_project_screen"; +import { Modal, Upload } from "antd"; +import { PreviewPage } from "../../../core/ui/pages/preview_page"; +import { CoreText, CoreTextType } from "../../../core/ui/text/text"; +import { CoreButton } from "../../../core/ui/button/button"; +import { CoreInput } from "../../../core/ui/input/input"; +import { DetailsScreenPath } from "../../details/details_screen"; +import { DigitalTwinsScreenPath } from "../../digital_twins/digital_twins_screen"; +import { TopicsScreenPath } from "../../topics/topics_screen"; +import { SkillsScreenPath } from "../../skills/skills_screen"; +import { CalculationsTemplateScreenPath } from "../../calculations_template/calculations_template_screen"; +import { useStore } from "../../../core/helper/use_store"; export const AllProjectScreenPath = "/"; export const AllProjectScreen: React.FunctionComponent = observer(() => { - const [store] = React.useState(() => new AllProjectStore(new ProjectRepository())); + const store = useStore(AllProjectStore); const navigate = useNavigate(); - React.useEffect(() => { - store.init(); - }, [store]); - return ( - <> - - {store.projectsModels?.map((el) => { - return ( -
- {el.isActive ? ( - - ) : null} -
{el.description}
-
- ); - })} -
- } - /> - + store.modalShow()} + isError={false} + isLoading={store.isLoading} + children={ + <> +
navigate(DigitalTwinsScreenPath)}>Digital twins
+
navigate(TopicsScreenPath)}>Topics
+
navigate(SkillsScreenPath)}>Skills
+
navigate(CalculationsTemplateScreenPath)}>Calculation template
+ + {store.projectsModels?.map((el) => { + return ( +
+ + {el.isActive ? ( + { + navigate(`${DetailsScreenPath}`); + }} + textStyle={{ color: "black", textAlign: "center" }} + style={{ marginRight: 10, backgroundColor: "white", width: 126 }} + /> + ) : ( + store.setActiveProject(el._id as string)} + style={{ marginRight: 10, width: 126 }} + filled={true} + /> + )} +
+ ); + })} + + + store.setDescriptionToNewProject(text)} /> +
+ { + store.file = e.file.originFileObj; + }} + > + + +
+
+ store.saveProject()} + style={{ marginRight: 10 }} + filled={true} + /> + store.modalCancel()} style={{ marginRight: 10 }} /> +
+ + + } + /> ); }); diff --git a/ui/src/features/all_projects/presentation/all_projects_store.ts b/ui/src/features/all_projects/presentation/all_projects_store.ts index b73e6d9..b2f2ca0 100644 --- a/ui/src/features/all_projects/presentation/all_projects_store.ts +++ b/ui/src/features/all_projects/presentation/all_projects_store.ts @@ -1,14 +1,10 @@ import makeAutoObservable from "mobx-store-inheritance"; -import { ProjectRepository, UUID } from "../data/project_repository"; -import { IProjectModel } from "../model/project_model"; -import { SimpleErrorState } from "../../../core/store/base_store"; -import { ActivePipeline } from "../../../core/model/active_pipeline"; +import { ProjectHttpRepository, UUID } from "../data/project_http_repository"; +import { IProjectModel, IProjectView } from "../model/project_model"; +import { ModalStore } from "../../../core/store/base_store"; +import { message } from "antd"; + -interface IProjectView { - isActive: boolean; - description: string; - id: string; -} export class ProjectView { isActive: boolean; description: string; @@ -19,27 +15,64 @@ export class ProjectView { this.id = view.id; } } -export class AllProjectStore extends SimpleErrorState { +export class AllProjectStore extends ModalStore { projectsModels?: IProjectModel[]; activeProjectId?: UUID; - repository: ProjectRepository; - constructor(repository: ProjectRepository) { + newProjectDescription: string = ""; + file?: File; + + projectHttpRepository: ProjectHttpRepository = new ProjectHttpRepository(); + constructor() { super(); - this.repository = repository; + makeAutoObservable(this); } async getProjects(): Promise { - await this.mapOk("projectsModels", this.repository.getAllProject()); + await this.mapOk("projectsModels", this.projectHttpRepository.getAllProject()); } async getActiveProjectId(): Promise { - await this.mapOk("activeProjectId", this.repository.getActivePipeline()); + await this.mapOk("activeProjectId", this.projectHttpRepository.getActiveProjectId()); } + setActiveProject = async (id: string) => { + await this.messageHttp(this.projectHttpRepository.setActivePipeline(id), { + successMessage: "проект активирован", + errorMessage: "ошибка активации", + }); + await this.mapOk("activeProjectId", this.projectHttpRepository.getActiveProjectId()); + await this.mapOk("projectsModels", this.projectHttpRepository.getAllProject()); + }; async init() { await Promise.all([this.getProjects(), this.getActiveProjectId()]); this.projectsModels?.map((el) => (el._id === this.activeProjectId ? ((el.isActive = true), el) : el)); } + setDescriptionToNewProject = (value: string) => { + this.newProjectDescription = value; + }; + async saveProject(): Promise { + if (this.newProjectDescription.isEmpty()) { + message.error("Описание проекта не должно быть пустым"); + return; + } + if (this.file === undefined) { + message.error("загрузите файл"); + return + } - async setPipelineActive(id: string) { - await this.httpHelper(this.repository.setActivePipeline(id)); + this.isLoading = true; + ( + await this.projectHttpRepository.saveProject({ + description: this.newProjectDescription, + }) + ).fold( + async (uuid) => { + this.newProjectDescription = ""; + await this.projectHttpRepository.setProjectRootFile(this.file as File, uuid.id); + this.isLoading = false; + this.init(); + }, + async (_) => { + this.isError = true; + } + ); } } diff --git a/ui/src/features/behavior_tree_builder/data/behavior_tree_builder_http_repository.ts b/ui/src/features/behavior_tree_builder/data/behavior_tree_builder_http_repository.ts new file mode 100644 index 0000000..0da5653 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/data/behavior_tree_builder_http_repository.ts @@ -0,0 +1,30 @@ +import { Result } from "../../../core/helper/result"; +import { SkillModel, Skills } from "../../../core/model/skill_model"; +import { HttpError, HttpMethod, CoreHttpRepository } from "../../../core/repository/core_http_repository"; +import { BehaviorTreeModel } from "../model/behavior_tree_model"; +import { BehaviorTreeViewModel } from "../model/behavior_tree_view_model"; + +export class BehaviorTreeBuilderHttpRepository extends CoreHttpRepository { + featureApi = `/behavior/trees`; + + getAllBtInstances = async () => this._jsonRequest(HttpMethod.GET, this.featureApi); + getBtSkills = async (): Promise> => { + return (await this._arrayJsonToClassInstanceRequest( + HttpMethod.GET, + `/skills`, + SkillModel + )) as unknown as Promise>; + }; + getBtById = async (id: string): Promise> => + this._jsonToClassInstanceRequest( + HttpMethod.GET, + `${this.featureApi}/by_id?id=${id}`, + BehaviorTreeModel + ) as unknown as Promise>; + deleteBt = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`); + editBt = async (model: BehaviorTreeModel) => { + await this._jsonRequest(HttpMethod.POST, `${this.featureApi}/fill/tree`, model); + model.__v = undefined + return await this._jsonRequest(HttpMethod.PUT, this.featureApi, model); + }; +} diff --git a/ui/src/features/behavior_tree_builder/model/behavior_tree_model.ts b/ui/src/features/behavior_tree_builder/model/behavior_tree_model.ts new file mode 100644 index 0000000..8efe11d --- /dev/null +++ b/ui/src/features/behavior_tree_builder/model/behavior_tree_model.ts @@ -0,0 +1,74 @@ +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 { IsNotEmpty, IsNumber, IsOptional, IsString } from "class-validator"; +import { BehaviorTreeBuilderHttpRepository } from "../data/behavior_tree_builder_http_repository"; +import { message } from "antd"; +import { ValidationModel } from "../../../core/model/validation_model"; + +export class BehaviorTreeModel extends ValidationModel { + __v?: string; + @IsNumber() + unixTime: number = Date.now(); + @IsString() + public sceneId: string; + @IsOptional() + @Type(() => Skills) + public skills?: Skills; + public scene: NodeBehaviorTree[] = []; + public xml: string; + @IsString() + @IsNotEmpty() + public description: string; + @IsString() + @IsNotEmpty() + public name: string; + public project: string; + public _id: string; + constructor(skills: Skills, scene: NodeBehaviorTree[], xml: string, name: string, project: string, _id: string) { + super(); + this.skills = skills; + this.scene = scene; + this.xml = xml; + this.name = name; + this.project = project; + this._id = _id; + } + updateDependency(skills: Skills, scene: NodeBehaviorTree[], xml: string) { + this.skills = skills; + this.scene = scene; + this.xml = xml; + } + getSceneDependency = async (behaviorTreeBuilderHttpRepository: BehaviorTreeBuilderHttpRepository) => + (await behaviorTreeBuilderHttpRepository.getSceneAsset(this.sceneId)).fold( + (s) => {}, + (e) => { + message.error("Get Scene Dependency error"); + } + ); + + static empty() { + return new BehaviorTreeModel(Skills.empty(), [], "", "", "", ""); + } + static isEmpty(model: BehaviorTreeModel) { + return Skills.isEmpty(model.skills ?? Skills.empty()).map(() => { + if (model.scene.isEmpty()) { + return Result.error(undefined); + } + if (model.xml.isEmpty()) { + return Result.error(undefined); + } + if (model.project.isEmpty()) { + return Result.error(undefined); + } + if (model.name.isEmpty()) { + return Result.error(undefined); + } + if (model._id.isEmpty()) { + return Result.error(undefined); + } + return Result.ok(); + }); + } +} diff --git a/ui/src/features/behavior_tree_builder/model/behavior_tree_view_model.ts b/ui/src/features/behavior_tree_builder/model/behavior_tree_view_model.ts new file mode 100644 index 0000000..5504970 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/model/behavior_tree_view_model.ts @@ -0,0 +1,30 @@ +import { IsNotEmpty, IsNumber, IsString } from "class-validator"; +import { Result } from "../../../core/helper/result"; +import { ValidationModel } from "../../../core/model/validation_model"; + +export class BehaviorTreeViewModel extends ValidationModel { + @IsNumber() + unixTime: number = Date.now(); + @IsNotEmpty() + @IsString() + public name: string; + @IsNotEmpty() + @IsString() + public description: string; + @IsNotEmpty() + @IsString() + public project: string; + @IsNotEmpty() + @IsString() + public sceneId: string; + constructor(name: string, description: string, project: string, sceneId: string) { + super(); + this.name = name; + this.description = description; + this.project = project; + this.sceneId = sceneId; + } + static empty() { + return new BehaviorTreeViewModel("", "", "", ""); + } +} diff --git a/ui/src/features/behavior_tree_builder/model/editor_view.ts b/ui/src/features/behavior_tree_builder/model/editor_view.ts index 800d994..1d2136b 100644 --- a/ui/src/features/behavior_tree_builder/model/editor_view.ts +++ b/ui/src/features/behavior_tree_builder/model/editor_view.ts @@ -1,73 +1,142 @@ -import { TypedEvent } from "../../../core/helper/typed_event"; +import xmlFormat from "xml-formatter"; import { NodeEditor } from "rete"; +import { Position } from "rete-react-plugin"; +import { AreaPlugin } from "rete-area-plugin"; +import { TypedEvent } from "../../../core/helper/typed_event"; import { AreaExtra, Schemes } from "../presentation/ui/editor/editor"; import { Result } from "../../../core/helper/result"; -import { AreaPlugin } from "rete-area-plugin"; +import { Skills } from "../../../core/model/skill_model"; export interface BtDrawDragAndDropView { x: number; y: number; name: string; + id: string; } export class BtNodeView extends TypedEvent {} +export enum UpdateEvent { + DELETE = "DELETE", + UPDATE = "UPDATE", +} +export interface IUpdateEvent { + type: UpdateEvent; + id: string; +} +export class NodeRerenderObserver extends TypedEvent {} +export class ReteForceUpdateObserver extends TypedEvent {} +export class BehaviorTreeBuilderModel { + public static nodeView: Map = new Map(); + public static btRootTag: string = '${bt}'; -export class ReteObserver extends TypedEvent {} -export class BtBuilderModel { public static result = ""; - static fromReteScene(editor: NodeEditor, area: AreaPlugin): Result { + static fromReteScene( + editor: NodeEditor, + area: AreaPlugin, + skills?: Skills + ): Result { try { + this.result = ""; + area.nodeViews.toArrayEntries().forEach((el) => this.nodeView.set(el.key, el.value.position)); this.getFirstSequence(editor).map((sortedSequence) => { const firstNodeId = sortedSequence.getKeyFromValueIsExists(1) as string; this.findSequence(firstNodeId, editor, sortedSequence, 2); - this.result += `<${this.getNodeLabelAtId(editor, firstNodeId)} id="${firstNodeId}">`; - this.toXML(sortedSequence as Map, editor, area, firstNodeId); - this.result += ``; + this.result += `<${this.getNodeLabelAtId(editor, firstNodeId, skills)}>`; + this.toXML(sortedSequence as Map, editor, area, firstNodeId, skills); + this.result += ``; }); - return Result.ok(this.result); + + return this.xmlFormat(this.btRootTag, this.result); } catch (error) { + console.log(error); return Result.error("BtBuilderModel fromReteScene error"); } } - public static getNodeLabelAtId(editor: NodeEditor, id: string) { - return editor.getNode(id).label; + public static xmlFormat = (result: string, btRootTag: string): Result => { + try { + return Result.ok( + xmlFormat( + '${bt}'.replace( + "${bt}", + btRootTag.replace("${bt}", result) + ) + ) + ); + } catch (error) { + console.log(result); + console.log(btRootTag); + console.log(error); + return Result.error(error as string); + } + }; + public static getNodeLabelAtId(editor: NodeEditor, id: string, skills?: Skills) { + try { + console.log(editor.getNode(id)!.label); + if (skills?.getSkillsNames().find((el) => el.name.isEqual(editor.getNode(id)!.label))) { + return `${skills.skillIsCondition(editor.getNode(id)!.label).fold( + () => "Condition", + () => "Action" + )} ID=${skills.skillIsCondition(editor.getNode(id)!.label).fold( + () => "Is", + () => "RbsAction" + )} do="${skills.getSkillDo(editor.getNode(id)!.label)}" command="${editor.getNode(id)?.label}" sid=${id}"`; + } + return editor.getNode(id)?.label; + } catch (error) { + console.log(error); + } } static toXML( sortedSequence: Map, editor: NodeEditor, area: AreaPlugin, - activeElementId = "" + activeElementId = "", + skills?: Skills ) { + const sources: string[] = []; editor.getConnections().forEach((el) => { if (el.source === activeElementId) { - this.result += `<${this.getNodeLabelAtId(editor, el.target)} id="${el.target}">`; - this.toXML(sortedSequence, editor, area, el.target); - this.result += ``; + sources.push(el.target); } }); + sources + .sort((a, b) => (this.nodeView.get(a)!.y > this.nodeView.get(b)!.y ? 1 : -1)) + .forEach((el) => { + this.result += `<${this.getNodeLabelAtId(editor, el, skills)}>`; + this.toXML(sortedSequence, editor, area, el, skills); + this.result += ``; + }); } - public static getBtPriorities(ids: string[]) {} public static findSequence( nodeId: string, editor: NodeEditor, result: Map, lvl: number ): Map | undefined { - const connections: string[] = []; + const allConnections: { id: string; target: string }[] = []; editor.getConnections().forEach((el) => { if (el.source === nodeId) { - connections.push(el.target); + allConnections.push({ id: el.id, target: el.target }); } }); - if (connections.isEmpty()) return result as Map; - let lv = lvl; - connections.forEach((el) => { - result.set(el, lvl); - this.findSequence(el, editor, result, (lv += 1)); + const connectionsSort = allConnections.sort((a, b) => { + if (this.nodeView.get(a.target)!.y > this.nodeView.get(b.target)!.y) { + return 1; + } + return -1; + }); + + if (connectionsSort.isEmpty()) return result as Map; + let cashedLvl = lvl; + + connectionsSort.forEach((el) => { + result.set(el.target, lvl); + + this.findSequence(el.target, editor, result, (cashedLvl += 1)); }); } public static getFirstSequence(editor: NodeEditor): Result> { @@ -79,7 +148,6 @@ export class BtBuilderModel { editor.getConnections().forEach((el) => { node.set(el.target, false); }); - const key = node.getKeyFromValueIsExists(1); if (key === undefined) { return Result.error(undefined); diff --git a/ui/src/features/behavior_tree_builder/model/exec_run_time_command.ts b/ui/src/features/behavior_tree_builder/model/exec_run_time_command.ts new file mode 100644 index 0000000..c3ba771 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/model/exec_run_time_command.ts @@ -0,0 +1,21 @@ +import { IsArray, IsEnum, IsNumber, IsString } from "class-validator"; +import { ValidationModel } from "../../../core/model/validation_model"; + +export enum Status { + OK = "Ok", + ERROR = "Error", +} +export class ExecRunTimeCommand extends ValidationModel { + @IsString() + execCommand: string; + @IsString() + date: string = Date(); + @IsEnum(Status) + status: Status; + @IsNumber() + delay: number; + @IsString() + checkCommand: string; + @IsArray() + filter: string[] = []; +} diff --git a/ui/src/features/behavior_tree_builder/model/node_behavior_tree.ts b/ui/src/features/behavior_tree_builder/model/node_behavior_tree.ts index 00b0040..fc91857 100644 --- a/ui/src/features/behavior_tree_builder/model/node_behavior_tree.ts +++ b/ui/src/features/behavior_tree_builder/model/node_behavior_tree.ts @@ -26,9 +26,8 @@ export class NodeBehaviorTree { static fromReteScene(editor: NodeEditor, area: AreaPlugin): NodeBehaviorTree[] { const nodes = new Map(); - editor - .getNodes() - .forEach((el) => + editor.getNodes().forEach((el) => { + if (area.nodeViews.get(el.id)?.position) nodes.set( el.id, new NodeBehaviorTree( @@ -38,9 +37,8 @@ export class NodeBehaviorTree { Object.keys(el.inputs), area.nodeViews.get(el.id)!.position ) - ) - ); - editor.getConnections().forEach((el) => console.log(el)); + ); + }); editor.getConnections().forEach((el) => nodes.overrideValue(el.target, { connectTo: el.source })); return nodes.toArray(); diff --git a/ui/src/features/behavior_tree_builder/model/primitive_view_model.ts b/ui/src/features/behavior_tree_builder/model/primitive_view_model.ts new file mode 100644 index 0000000..21b1f39 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/model/primitive_view_model.ts @@ -0,0 +1,195 @@ +import { extensions } from "../../../core/extensions/extensions"; +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 6A4C93", + borderRadius: 5, + background: "rgba(21, 15, 29, 1)", + }, + }, + { + label: SystemPrimitive.ForceSuccess, + group: SystemPrimitive.Decorator, + input: true, + output: true, + css: { + border: "1px solid 6A4C93", + borderRadius: 5, + background: "rgba(21, 15, 29, 1)", + }, + }, + { + label: SystemPrimitive.ForceFailure, + group: SystemPrimitive.Decorator, + input: true, + output: true, + css: { + border: "1px solid 6A4C93", + borderRadius: 5, + background: "rgba(21, 15, 29, 1)", + }, + }, + { + label: SystemPrimitive.Repeat, + group: SystemPrimitive.Decorator, + input: true, + output: true, + css: { + border: "1px solid 6A4C93", + borderRadius: 5, + background: "rgba(21, 15, 29, 1)", + }, + }, + { + label: SystemPrimitive.RetryUntilSuccessful, + group: SystemPrimitive.Decorator, + input: true, + output: true, + css: { + border: "1px solid 6A4C93", + borderRadius: 5, + background: "rgba(21, 15, 29, 1)", + }, + }, + { + label: SystemPrimitive.KeepRunningUntilFailure, + group: SystemPrimitive.Decorator, + input: true, + output: true, + css: { + border: "1px solid 6A4C93", + borderRadius: 5, + background: "rgba(21, 15, 29, 1)", + }, + }, + { + label: SystemPrimitive.Delay, + group: SystemPrimitive.Decorator, + input: true, + output: true, + css: { + border: "1px solid 6A4C93", + borderRadius: 5, + background: "rgba(21, 15, 29, 1)", + }, + }, + { + label: SystemPrimitive.RunOnce, + group: SystemPrimitive.Decorator, + input: true, + output: true, + css: { + border: "1px solid 6A4C93", + borderRadius: 5, + background: "rgba(21, 15, 29, 1)", + }, + }, + { + label: SystemPrimitive.ReactiveSequence, + group: SystemPrimitive.Sequence, + input: true, + output: true, + css: { + background: "rgba(28, 40, 8, 1)", + border: "1px solid rgba(138, 201, 38, 1)", + borderRadius: 5, + }, + }, + { + label: SystemPrimitive.Sequence, + group: SystemPrimitive.Sequence, + input: true, + output: true, + css: { + background: "rgba(28, 40, 8, 1)", + border: "1px solid rgba(138, 201, 38, 1)", + borderRadius: 5, + }, + }, + { + label: SystemPrimitive.SequenceWithMemory, + group: SystemPrimitive.Sequence, + input: true, + output: true, + css: { + background: "rgba(28, 40, 8, 1)", + border: "1px solid rgba(138, 201, 38, 1)", + borderRadius: 5, + }, + }, + { + label: SystemPrimitive.ReactiveFallback, + group: SystemPrimitive.Fallback, + input: true, + output: true, + css: { + background: "rgba(40, 8, 8, 1)", + border: "1px solid rgba(201, 38, 38, 1)", + borderRadius: 5, + }, + }, + { + label: SystemPrimitive.Fallback, + group: SystemPrimitive.Fallback, + input: true, + output: true, + css: { + background: "rgba(40, 8, 8, 1)", + border: "1px solid rgba(201, 38, 38, 1)", + borderRadius: 5, + }, + }, + ]; + getPrimitiveAtLabel = (name: string) => { + return this.primitives.find((el) => el.label.isEqual(name)); + }; + toSkillView = () => + this.primitives.reduce((acc, primitive) => { + acc + .rFind((el) => el.name.isEqual(primitive.group)) + .fold( + () => { + acc + .at(acc.findIndex((element) => element.name === primitive.group)) + ?.children?.push({ name: primitive.label }); + }, + () => { + acc.push({ name: primitive.group, children: [{ name: primitive.label }] }); + } + ); + return acc; + }, []); +} diff --git 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 index 249d3a9..5a890c6 100644 --- 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 @@ -1,75 +1,208 @@ import * as React from "react"; -import { CoreText, CoreTextType } from "../../../core/ui/text/text"; -import { Button, Input } from "antd"; - import { useRete } from "rete-react-plugin"; import { createEditor } from "./ui/editor/editor"; import { SkillTree } from "./ui/skill_tree/skill_tree"; -import { BehaviorTreeBuilderStore } from "./behavior_tree_builder_store"; -import { MainPage } from "../../../core/ui/pages/main_page"; +import { BehaviorTreeBuilderStore, DrawerState } from "./behavior_tree_builder_store"; +import { observer } from "mobx-react-lite"; +import { match } from "ts-pattern"; +import { Icon } from "../../../core/ui/icons/icons"; +import { CoreText, CoreTextType } from "../../../core/ui/text/text"; +import { useNavigate, useParams } from "react-router-dom"; +import { IForms, forms } from "./ui/forms/forms"; +import { ButtonV2, ButtonV2Type } from "../../../core/ui/button/button_v2"; +import { CoreCard } from "../../../core/ui/card/card"; +import { themeStore } from "../../.."; +import { CoreModal } from "../../../core/ui/modal/modal"; +import { InputV2 } from "../../../core/ui/input/input_v2"; +import { SelectV2 } from "../../../core/ui/select/select_v2"; +import { MainPageV2 } from "../../../core/ui/pages/main_page_v2"; +import { DrawerV2 } from "../../../core/ui/drawer/drawer"; +import { Panel, PanelGroup, PanelResizeHandle } from "react-resizable-panels"; export const behaviorTreeBuilderScreenPath = "behavior/tree/screen/path"; -const skills = { - name: "", - children: [ - { - name: "Actions", - children: [{ name: "MoveToPose", interface: "Vector3", out: "vo" }], - }, - { - name: "Control", - children: [ - { name: "Fallback", interface: "Vector3", out: "vo" }, - { name: "Sequence", interface: "Vector3", out: "vo" }, - ], - }, - ], -}; +export interface DOMReact { + x: number; + y: number; + width: number; + height: number; + top: number; + right: number; + bottom: number; + left: number; +} + export const behaviorTreeBuilderStore = new BehaviorTreeBuilderStore(); -export const BehaviorTreeBuilderPath = "/behavior/tree/"; -export function BehaviorTreeBuilderScreen() { + +export const BehaviorTreeBuilderPath = (id?: string) => { + if (id) { + return `/behavior/tree/${id}`; + } + return `/behavior/tree/`; +}; + +export const isBtScreen = () => + Boolean(window.location.href.match(new RegExp(BehaviorTreeBuilderPath()))?.at(0)) ?? false; + +export const BehaviorTreeBuilderScreen = observer(() => { + const navigate = useNavigate(); + const { id } = useParams(); + // @ts-expect-error + const [ref] = useRete(createEditor); const store = behaviorTreeBuilderStore; - const [ref] = useRete(createEditor); + React.useEffect(() => { + if (ref.current) { + // @ts-expect-error + const domReact: DOMReact = ref.current.getBoundingClientRect(); + store.dragZoneSetOffset(0, domReact.y, domReact.width, domReact.height); + } + }, [ref.current]); React.useEffect(() => { - store.init(); - - store.dragZoneSetOffset( - // @ts-expect-error - ref.current.offsetTop, - // @ts-expect-error - ref.current.offsetLeft, - // @ts-expect-error - ref.current.clientWidth, - // @ts-expect-error - ref.current.clientHeight - ); - + store.init(navigate).then(() => store.initParam(id)); return () => { store.dispose(); }; - }, [store, ref]); - + }, []); return ( - -
- {/* */} +
+ {/* {}} text="Запуск" textColor={themeStore.theme.black} /> +
+ {}} + text="Стоп" + type={ButtonV2Type.empty} + textColor={themeStore.theme.greenWhite} + /> +
*/} + {store.isNeedSaveBtn ? ( +
+ {store.isNeedSaveBtn ? ( + store.onClickSaveBehaviorTree()} type="Floppy" /> + ) : undefined} +
+ ) : ( + <> + )} +
+ + } + style={{ position: "absolute", height: "100%", overflow: "hidden" }} + bgColor={themeStore.theme.black} + children={ + <> + <> +
+
+
+ +
+
+ {store.skillTemplates ? : null} +
+
-
+ > + + +
+ + +
+ + + +
+ + + store.editDrawer(DrawerState.editThreadBehaviorTree, false)} + isOpen={store.drawers.find((el) => el.name === DrawerState.editThreadBehaviorTree)?.status} + > +
+
+ {store.skillTemplates?.getForms(store.selected ?? "").map((formType, index) => + forms( + store.filledOutTemplates?.getDependencyBySkillLabelAndType( + forms(null, () => {}, store).find((form) => form.name.isEqual(formType))?.name ?? "", + store.selectedSid ?? "" + ), + (dependency) => store.formUpdateDependency(dependency, formType), + store + ) + .rFind((form) => form.name.isEqual(formType)) + .fold( + (s) => ( +
+ {s.component} +
+ ), + () => ( +
+ Error: Unknown form type {formType} +
+ ) + ) + )} +
+
+ } /> ); -} +}); diff --git 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 index a67032a..126d256 100644 --- 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 @@ -1,12 +1,31 @@ +import React from "react"; import makeAutoObservable from "mobx-store-inheritance"; -import xmlFormat from "xml-formatter"; -import { HttpError } from "../../../core/repository/http_repository"; -import { UiErrorState } from "../../../core/store/base_store"; -import { BtBuilderModel, BtNodeView, ReteObserver } from "../model/editor_view"; +import clone from "just-clone"; +import { message } from "antd"; +import { NavigateFunction } from "react-router-dom"; +import { v4 } from "uuid"; +import { CoreError, UiDrawerFormState } from "../../../core/store/base_store"; +import { + BehaviorTreeBuilderModel, + BtNodeView as BtNodeObserver, + NodeRerenderObserver, + ReteForceUpdateObserver, + UpdateEvent, +} from "../model/editor_view"; import { NodeEditor } from "rete"; import { AreaExtra, Schemes } from "./ui/editor/editor"; import { AreaPlugin } from "rete-area-plugin"; import { NodeBehaviorTree } from "../model/node_behavior_tree"; +import { BehaviorTreeBuilderHttpRepository } from "../data/behavior_tree_builder_http_repository"; +import { DependencyViewModel, IParam, Skills } from "../../../core/model/skill_model"; +import { ISkillView } from "./ui/skill_tree/skill_tree"; +import { BehaviorTreeViewModel } from "../model/behavior_tree_view_model"; +import { UiBaseError } from "../../../core/model/ui_base_error"; +import { behaviorTreeBuilderStore } from "./behavior_tree_builder_screen"; +import { BehaviorTreeModel } from "../model/behavior_tree_model"; +import { PrimitiveViewModel, SystemPrimitive } from "../model/primitive_view_model"; +import { SceneAsset } from "../../../core/model/scene_asset"; +import { themeStore } from "../../.."; interface I2DArea { x: number; @@ -15,147 +34,160 @@ interface I2DArea { h: number; } -export class BehaviorTreeBuilderStore extends UiErrorState { - saveBt(): void { - this.reteNode?.emit("200"); - } - validateBt() {} +export enum DrawerState { + editThreadBehaviorTree = "Редактирование", +} + +export class BehaviorTreeBuilderStore extends UiDrawerFormState { + sceneAsset?: SceneAsset; + viewModel: BehaviorTreeViewModel = BehaviorTreeViewModel.empty(); + behaviorTreeModel: BehaviorTreeModel = BehaviorTreeModel.empty(); + skillTemplates: Skills = Skills.empty(); + filledOutTemplates: Skills = Skills.empty(); area?: I2DArea; - btNodeView: BtNodeView = new BtNodeView(); - reteNode?: ReteObserver; + btNodeObserver: BtNodeObserver = new BtNodeObserver(); + reteForceUpdateObserver?: ReteForceUpdateObserver; + btTreeModels: BehaviorTreeModel[] = []; + activeProject: string = ""; + behaviorTreeBuilderHttpRepository = new BehaviorTreeBuilderHttpRepository(); canRun = true; - nodes: NodeBehaviorTree[] = [ - { - label: "Sequence", - id: "1", - outputs: ["a"], - inputs: ["a"], - position: { x: -488.1303402823156, y: -227.90861570911895 }, - }, - { - label: "Sequence", - id: "2", - outputs: ["a"], - inputs: ["a"], - connectTo: "1", - position: { x: 119.95735514023244, y: -182.24902817216878 }, - }, - { - label: "Sequence", - id: "6", - outputs: ["a"], - inputs: ["a"], - connectTo: "2", - position: { x: 402.06111561958505, y: -100.97814086372247 }, - }, - { - label: "MoveToPose", - id: "7", - outputs: ["a"], - inputs: ["a"], - connectTo: "6", - position: { x: 932.0688448287292, y: 90.10780461923443 }, - }, - { - label: "MoveToPose", - id: "8", - outputs: ["a"], - inputs: ["a"], - connectTo: "6", - position: { x: 898.1684213039546, y: -119.80545806921208 }, - }, - { - label: "MoveToPose", - id: "3", - outputs: [], - inputs: ["a"], - connectTo: "1", - position: { x: 208.65749743442188, y: 16.256489050033785 }, - }, - { - label: "MoveToPose", - id: "4", - outputs: [], - inputs: ["a"], - connectTo: "1", - position: { x: -50.46426323140673, y: 99.22642447650014 }, - }, - { - label: "Sequence", - id: "5", - outputs: ["a"], - inputs: ["a"], - connectTo: "1", - position: { x: -234.54554662642457, y: 245.4012710608967 }, - }, - ]; + isNeedSaveBtn = false; + selected: string = ""; + selectedSid: string = ""; + nodeBehaviorTree: NodeBehaviorTree[] = []; + navigate?: NavigateFunction; + editor?: NodeEditor; + areaPlugin?: AreaPlugin; + nodeUpdateObserver?: NodeRerenderObserver; + primitiveViewModel: PrimitiveViewModel; + skillTree: ISkillView = { + name: "", + children: [ + { + name: "Действия", + children: [], + isSystem: true, + }, + ], + }; constructor() { - super(); + super(DrawerState); makeAutoObservable(this); + this.primitiveViewModel = new PrimitiveViewModel(); + this.skillTree.children?.push({ + name: "Примитивы BT", + children: this.primitiveViewModel.toSkillView(), + isSystem: true, + }); } - setBt(value: string): void { - JSON.parse(value) as BtNodeView[]; - } - bt = async (editor: NodeEditor, area: AreaPlugin) => { - (await BtBuilderModel.fromReteScene(editor, area)).fold( - (s) => { - console.log( - xmlFormat(` - - - ${s} - - - - - - - - - - - - `) - ); - }, - (_) => _ - ); + syncScene = async (editor: NodeEditor, area: AreaPlugin) => { + this.editor = editor; + this.areaPlugin = area; }; - copyBt = () => { - this.reteNode?.emit("200"); - }; - errorHandingStrategy: (error: HttpError) => void; + getAllTopics = () => this.filledOutTemplates.topicsStack; + errorHandingStrategy = (_: CoreError) => {}; dragEnd = (e: EventTarget) => { if (this.canRun) { //@ts-expect-error - this.drawSkillCheck(e.x as number, e.y as number, e.target.innerText as string); + this.drawSkillCheck(e.clientX as number, e.clientY as number, e.target.innerText as string); + this.canRun = false; setTimeout(() => { this.canRun = true; }, 100); } }; - drawSkillCheck(x: number, y: number, name: string) { + drawSkillCheck = (x: number, y: number, name: string) => { const drawPoint = { x: x, y: y, w: 1, h: 1 }; - if ( drawPoint.x < this.area!.x + this.area!.w && drawPoint.x + drawPoint.w > this.area!.x && drawPoint.y < this.area!.y + this.area!.h && drawPoint.y + drawPoint.h > this.area!.y ) { - this.btNodeView.emit({ + const sid = v4(); + this.btNodeObserver.emit({ x: x, y: y - (this.area!.y + this.area!.h / 2), name: name, + id: sid, }); - } - } + this.isNeedSaveBtn = true; + if (!name.isEqualMany(Object.keys(SystemPrimitive))) { + this.skillTemplates?.getSkill(name).fold( + (skill) => { + const skillModel = clone(skill).setSid(sid); + skillModel.BTAction = skill.BTAction.filter((el) => el.name.isEqual(name)); - async init(): Promise {} + this.filledOutTemplates?.skills.push(skillModel); + if (skill.emptyParam()) { + this.filledOutTemplates.topicsStack.push( + ...skillModel.topicsOut.updateAll({ sid: skillModel.sid ?? "" }) + ); + } + }, + () => console.log("error") + ); + } + } + }; + dispose(): void { + this.sceneAsset = undefined; + this.behaviorTreeModel = BehaviorTreeModel.empty(); + this.skillTemplates = Skills.empty(); + this.filledOutTemplates = Skills.empty(); + this.area = undefined; + this.reteForceUpdateObserver = undefined; + this.btTreeModels = []; + this.nodeBehaviorTree = []; + this.editor = undefined; + this.areaPlugin = undefined; + this.nodeUpdateObserver = undefined; + } + async init(navigate: NavigateFunction): Promise { + (await this.behaviorTreeBuilderHttpRepository.getActiveProjectId()).map((el) => { + this.activeProject = el.id; + this.viewModel.project = this.activeProject; + }); + (await this.behaviorTreeBuilderHttpRepository.getBtSkills()).fold( + (model) => { + this.skillTemplates = Skills.fromSkills(model); + this.skillTree.children = this.skillTree.children?.map((el) => { + if (el.name === "Действия") { + el.children = this.skillTemplates.toSkillView(); + } + return el; + }); + }, + (e) => console.log(e) + ); + await this.mapOk("btTreeModels", this.behaviorTreeBuilderHttpRepository.getAllBtInstances()); + this.navigate = navigate; + } + initParam = async (id?: string) => { + this.isLoading = true; + + if (id) { + (await this.behaviorTreeBuilderHttpRepository.getBtById(id)).fold( + async (model) => { + this.nodeBehaviorTree = model.scene; + this.behaviorTreeModel = model; + if (model.skills) this.filledOutTemplates = model.skills; + + await this.mapOk("sceneAsset", this.behaviorTreeBuilderHttpRepository.getSceneAsset(model.sceneId)); + this.isLoading = false; + + this.reteForceUpdateObserver?.emit(""); + }, + async () => { + this.errors.push(new UiBaseError(`не найдено дерево с id:${id}`)); + } + ); + } + }; dragZoneSetOffset(offsetTop: number, offsetWidth: number, width: number, height: number) { this.area = { x: offsetTop, @@ -164,5 +196,153 @@ export class BehaviorTreeBuilderStore extends UiErrorState { h: height, }; } - dispose() {} + onClickSaveBehaviorTree = async () => + this.filledOutTemplates.validation().fold( + async () => { + ( + await BehaviorTreeBuilderModel.fromReteScene( + this.editor as NodeEditor, + this.areaPlugin as AreaPlugin, + this.filledOutTemplates + ) + ).fold( + (xml) => { + console.log(xml); + this.behaviorTreeModel.skills = this.filledOutTemplates; + this.behaviorTreeModel.scene = NodeBehaviorTree.fromReteScene( + this.editor as NodeEditor, + this.areaPlugin as AreaPlugin + ); + + this.behaviorTreeModel.xml = xml; + this.behaviorTreeModel.project = this.activeProject; + this.messageHttp(this.behaviorTreeBuilderHttpRepository.editBt(this.behaviorTreeModel), { + successMessage: "Дерево поведения сохранено", + }); + }, + (error) => { + message.error(`Дерево поведения ошибка: ${error}`); + console.log(error); + } + ); + }, + async () => message.error(`Дерево поведения не заполнено`) + ); + + validateBt() {} + + setSelected = (label: string, selected: boolean, sid: string) => { + this.selectedSid = sid; + this.selected = label; + + // if (!Object.keys(SystemPrimitive).includes(label) && this.skillTemplates.skillHasForm(label)) { + this.editDrawer(DrawerState.editThreadBehaviorTree, true); + // } + }; + deleteBtAction = (sid: string) => { + this.nodeBehaviorTree = this.nodeBehaviorTree.filter((el) => !el.id.isEqual(sid)); + this.filledOutTemplates.skills = this.filledOutTemplates.deleteSid(sid); + this.filledOutTemplates.deleteTopic(sid); + this.nodeUpdateObserver?.emit({ type: UpdateEvent.DELETE, id: sid }); + + Array.from(this.areaPlugin!.nodeViews.keys()).forEach((id) => { + this.areaPlugin?.update("node", id); + }); + }; + formUpdateDependency = (dependency: DependencyViewModel, formType: string) => { + this.filledOutTemplates?.skillBySid(this.selectedSid ?? "").fold( + (m) => { + const model = clone(m); + model.BTAction.forEach((action) => { + const result: IParam[] = []; + action.param.forEach((param) => { + const paramClone = clone(param); + if (param.type.isEqual(formType)) { + paramClone.dependency = dependency; + paramClone.isFilled = true; + } + result.push(paramClone); + }); + this.filledOutTemplates.topicsStack.push(...model.topicsOut); + action.param = result; + return action; + }); + this.filledOutTemplates.updateSkill(model); + this.editDrawer(DrawerState.editThreadBehaviorTree, false); + }, + () => console.log("UNKNOWN SID: " + this.selectedSid) + ); + + this.nodeUpdateObserver?.emit({ id: this.selectedSid, type: UpdateEvent.UPDATE }); + }; + getBodyNode(label: string, sid: string): React.ReactNode | null { + const primitive = this.primitiveViewModel.getPrimitiveAtLabel(label); + if (primitive) { + return null; + } + return ( +
+ {this.skillTemplates?.getSkillParams(label).map((el, index) => ( +
+
+ {el.type} +
+
+ {behaviorTreeBuilderStore.isFilledInput(el.type, sid) + ? this.filledOutTemplates.getDependencyBySkillLabelAndType(label, sid).toView(behaviorTreeBuilderStore) + : undefined} +
+
+ ))} +
+ ); + } + isFilledInput = (type: string, sid: string): boolean => + this.filledOutTemplates?.dependencyIsFilled(type, sid) ?? false; + + getInputs(name: string) { + const result = this.primitiveViewModel.getPrimitiveAtLabel(name); + if (result) { + return { + input: result.input ? "a" : null, + output: result.output ? "a" : null, + }; + } + return { + input: "a", + output: null, + }; + } + getStylesByLabelNode(label: string): React.CSSProperties | undefined { + for (const el of this.primitiveViewModel.primitives) { + if (el.label.isEqual(label)) return el.css; + } + return this.skillTemplates.skillIsCondition(label).fold( + () => Object.assign(this.filledOutTemplates.getCssAtLabel(label), { borderRadius: 33 }), + () => this.filledOutTemplates.getCssAtLabel(label) + ); + } + changeSceneViewModel = (text: string) => {}; } diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/editor/background.css b/ui/src/features/behavior_tree_builder/presentation/ui/editor/background.css index 6db054b..5722416 100644 --- a/ui/src/features/behavior_tree_builder/presentation/ui/editor/background.css +++ b/ui/src/features/behavior_tree_builder/presentation/ui/editor/background.css @@ -9,11 +9,5 @@ } .background { - background-color: #ffffff; - opacity: 1; - background-image: linear-gradient(#f1f1f1 3.2px, transparent 3.2px), - linear-gradient(90deg, #f1f1f1 3.2px, transparent 3.2px), linear-gradient(#f1f1f1 1.6px, transparent 1.6px), - linear-gradient(90deg, #f1f1f1 1.6px, #ffffff 1.6px); - background-size: 80px 80px, 80px 80px, 16px 16px, 16px 16px; - background-position: -3.2px -3.2px, -3.2px -3.2px, -1.6px -1.6px, -1.6px -1.6px; + background: white; } diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_background.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_background.tsx deleted file mode 100644 index a3aaab0..0000000 --- a/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_background.tsx +++ /dev/null @@ -1,11 +0,0 @@ -import { BaseSchemes } from "rete"; -import { AreaPlugin } from "rete-area-plugin"; - -export function addCustomBackground(area: AreaPlugin) { - const background = document.createElement("div"); - - background.classList.add("background"); - background.classList.add("fill-area"); - - area.area.content.add(background); -} diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_connection.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_connection.tsx index d426ce5..f4770f2 100644 --- a/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_connection.tsx +++ b/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_connection.tsx @@ -14,8 +14,8 @@ const Svg = styled.svg` const Path = styled.path<{ styles?: (props: any) => any }>` fill: none; - stroke-width: 3px; - stroke: black; + strokeWidth: 3px; + stroke: white; pointer-events: auto; ${(props) => props.styles && props.styles(props)} `; diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_node.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_node.tsx deleted file mode 100644 index b651623..0000000 --- a/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_node.tsx +++ /dev/null @@ -1,164 +0,0 @@ -import * as React from "react"; -import { ClassicScheme, RenderEmit, Presets } from "rete-react-plugin"; -import styled, { css } from "styled-components"; -import { $nodewidth, $socketmargin, $socketsize } from "./vars"; - -const { RefSocket, RefControl } = Presets.classic; - -type NodeExtraData = { width?: number; height?: number }; - -export const NodeStyles = styled.div any }>` - background: black; - border: 2px solid grey; - border-radius: 10px; - cursor: pointer; - box-sizing: border-box; - width: ${(props) => (Number.isFinite(props.width) ? `${props.width}px` : `${$nodewidth}px`)}; - height: ${(props) => (Number.isFinite(props.height) ? `${props.height}px` : "auto")}; - padding-bottom: 6px; - position: relative; - user-select: none; - &:hover { - background: #333; - } - ${(props) => - props.selected && - css` - border-color: red; - `} - .title { - color: white; - font-family: sans-serif; - font-size: 18px; - padding: 8px; - } - .output { - text-align: right; - } - .input { - text-align: left; - } - .output-socket { - text-align: right; - margin-right: -1px; - display: inline-block; - } - .input-socket { - text-align: left; - margin-left: -1px; - display: inline-block; - } - .input-title, - .output-title { - vertical-align: middle; - color: white; - display: inline-block; - font-family: sans-serif; - font-size: 14px; - margin: ${$socketmargin}px; - line-height: ${$socketsize}px; - } - .input-control { - z-index: 1; - width: calc(100% - ${$socketsize + 2 * $socketmargin}px); - vertical-align: middle; - display: inline-block; - } - .control { - display: block; - padding: ${$socketmargin}px ${$socketsize / 2 + $socketmargin}px; - } - ${(props) => props.styles && props.styles(props)} -`; - -function sortByIndex(entries: T) { - entries.sort((a, b) => { - const ai = a[1]?.index || 0; - const bi = b[1]?.index || 0; - - return ai - bi; - }); -} - -type Props = { - data: S["Node"] & NodeExtraData; - styles?: () => any; - emit: RenderEmit; -}; -export type NodeComponent = (props: Props) => JSX.Element; - -export function CustomNode(props: Props) { - const inputs = Object.entries(props.data.inputs); - const outputs = Object.entries(props.data.outputs); - const controls = Object.entries(props.data.controls); - const selected = props.data.selected || false; - const { id, label, width, height } = props.data; - - sortByIndex(inputs); - sortByIndex(outputs); - sortByIndex(controls); - - return ( - -
{ - e.stopPropagation(); - console.log(">>>"); - }} - className="title" - data-testid="title" - > - {label} -
- - {outputs.map( - ([key, output]) => - output && ( -
-
BODY
-
- {output?.label} -
- -
- ) - )} - - {controls.map(([key, control]) => { - return control ? : null; - })} - {inputs.map( - ([key, input]) => - input && ( -
- - {input && (!input.control || !input.showControl) && ( -
- {input?.label} -
- )} - {input?.control && input?.showControl && ( - - - - )} -
- ) - )} - - ); -} diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_socket.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_socket.tsx index 4cdc4c4..22fe480 100644 --- a/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_socket.tsx +++ b/ui/src/features/behavior_tree_builder/presentation/ui/editor/custom_socket.tsx @@ -5,11 +5,11 @@ import styled from "styled-components"; const Styles = styled.div` display: inline-block; cursor: pointer; - border: 1px solid black; - width: 20px; - height: 20px; + border: 1px solid rgb(255 255 255); + width: 10px; + height: 10px; vertical-align: middle; - background: black; + background: white; z-index: 2; box-sizing: border-box; &:hover { diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/editor/editor.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/editor/editor.tsx index 3b5d810..b11be1f 100644 --- a/ui/src/features/behavior_tree_builder/presentation/ui/editor/editor.tsx +++ b/ui/src/features/behavior_tree_builder/presentation/ui/editor/editor.tsx @@ -3,52 +3,84 @@ import { NodeEditor, GetSchemes, ClassicPreset } from "rete"; import { AreaPlugin, AreaExtensions } from "rete-area-plugin"; import { ConnectionPlugin, Presets as ConnectionPresets } from "rete-connection-plugin"; import { ReactPlugin, Presets, ReactArea2D } from "rete-react-plugin"; -import { CustomSocket } from "./custom_socket"; import { CustomConnection } from "./custom_connection"; -import { addCustomBackground } from "./custom_background"; import { behaviorTreeBuilderStore } from "../../behavior_tree_builder_screen"; import { SequenceNode } from "./nodes/controls_node"; -import { ReteObserver } from "../../../model/editor_view"; +import { CustomSocket } from "./custom_socket"; +import { BaseSchemes } from "rete"; +import { + NodeRerenderObserver as NodeUpdateObserver, + ReteForceUpdateObserver, + UpdateEvent, +} from "../../../model/editor_view"; +import { v4 } from "uuid"; export type Schemes = GetSchemes>; export type AreaExtra = ReactArea2D; +export function addCustomBackground(area: AreaPlugin) { + const background = document.createElement("div"); + + background.classList.add("background"); + background.classList.add("fill-area"); + area.area.content.add(background); +} + export async function createEditor(container: HTMLElement) { const socket = new ClassicPreset.Socket("socket"); - const observer = new ReteObserver(); - - behaviorTreeBuilderStore.reteNode = observer; - - behaviorTreeBuilderStore.btNodeView.on(async (event) => { + behaviorTreeBuilderStore.btNodeObserver.on(async (event) => { setTimeout(async () => { const node = new ClassicPreset.Node(event.name); - const { x, y } = areaContainer.area.pointer; - node.addOutput("a", new ClassicPreset.Output(socket)); - node.addInput("a", new ClassicPreset.Input(socket)); + node.id = event.id; + const { output, input } = behaviorTreeBuilderStore.getInputs(event.name); + if (output) node.addOutput(output, new ClassicPreset.Output(socket)); + if (input) node.addInput("b", new ClassicPreset.Input(socket)); await editor.addNode(node); await areaContainer.translate(node.id, { x, y }); }, 100); }); + behaviorTreeBuilderStore.reteForceUpdateObserver = new ReteForceUpdateObserver(); + behaviorTreeBuilderStore.reteForceUpdateObserver!.on(async () => { + for await (const el of behaviorTreeBuilderStore.nodeBehaviorTree) { + const node = new ClassicPreset.Node(el.label); + node.id = el.id; - observer.on(() => { - behaviorTreeBuilderStore.bt(editor, areaContainer); + el.outputs.forEach((outputName) => { + node.addOutput(outputName, new ClassicPreset.Output(socket)); + }); + el.inputs.forEach((inputName) => { + node.addInput(inputName, new ClassicPreset.Input(socket)); + }); + await editor.addNode(node); + await areaContainer.translate(node.id, el.position); + } + for await (const el of behaviorTreeBuilderStore.nodeBehaviorTree) { + if (el.connectTo) + editor.addConnection({ + id: v4(), + sourceOutput: "a", + targetInput: "b", + source: el.connectTo as string, + target: el.id, + }); + } }); - const editor = new NodeEditor(); const areaContainer = new AreaPlugin(container); + const connection = new ConnectionPlugin(); const render = new ReactPlugin({ createRoot }); - - AreaExtensions.selectableNodes(areaContainer, AreaExtensions.selector(), { - accumulating: AreaExtensions.accumulateOnCtrl(), + render.addPipe((el) => { + behaviorTreeBuilderStore.syncScene(editor, areaContainer); + return el; }); render.addPreset( Presets.classic.setup({ customize: { - node(context) { + node(_) { return SequenceNode; }, socket(_context) { @@ -60,7 +92,6 @@ export async function createEditor(container: HTMLElement) { }, }) ); - connection.addPreset(ConnectionPresets.classic.setup()); addCustomBackground(areaContainer); @@ -70,8 +101,9 @@ export async function createEditor(container: HTMLElement) { areaContainer.use(render); AreaExtensions.simpleNodesOrder(areaContainer); - - for await (const el of behaviorTreeBuilderStore.nodes) { + const nodeUpdateObserver = new NodeUpdateObserver(); + behaviorTreeBuilderStore.nodeUpdateObserver = nodeUpdateObserver; + for await (const el of behaviorTreeBuilderStore.nodeBehaviorTree) { const node = new ClassicPreset.Node(el.label); node.id = el.id; el.outputs.forEach((outputName) => { @@ -80,19 +112,41 @@ export async function createEditor(container: HTMLElement) { el.inputs.forEach((inputName) => { node.addInput(inputName, new ClassicPreset.Input(socket)); }); - await editor.addNode(node); await areaContainer.translate(node.id, el.position); } + for await (const el of behaviorTreeBuilderStore.nodeBehaviorTree) { + if (el.connectTo) + editor.addConnection({ + id: v4(), + sourceOutput: "a", + targetInput: "b", + source: el.connectTo as string, + target: el.id, + }); + } - behaviorTreeBuilderStore.nodes.forEach(async (el) => { - if (el.connectTo) { - const nodeConnectTo = editor.getNode(el.connectTo!); - const nodeConnect = editor.getNode(el.id); - await editor.addConnection(new ClassicPreset.Connection(nodeConnectTo, "a", nodeConnect, "a")); + nodeUpdateObserver.on(async (event) => { + if (event.type.isEqual(UpdateEvent.UPDATE)) { + areaContainer.update("node", event.id); } + if (event.type.isEqual(UpdateEvent.DELETE)) { + editor + .getConnections() + .forEach((el) => + el.source.isEqual(event.id) || el.target.isEqual(event.id) ? editor.removeConnection(el.id) : null + ); + areaContainer.removeNodeView(event.id); + + editor.removeNode(event.id) + + } + }); + AreaExtensions.selectableNodes(areaContainer, AreaExtensions.selector(), { + accumulating: AreaExtensions.accumulateOnCtrl(), + }); setTimeout(() => { AreaExtensions.zoomAt(areaContainer, editor.getNodes()); }, 100); diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/editor/nodes/controls_node.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/editor/nodes/controls_node.tsx index a098d48..892afcf 100644 --- a/ui/src/features/behavior_tree_builder/presentation/ui/editor/nodes/controls_node.tsx +++ b/ui/src/features/behavior_tree_builder/presentation/ui/editor/nodes/controls_node.tsx @@ -2,55 +2,65 @@ import * as React from "react"; import { ClassicScheme, RenderEmit, Presets } from "rete-react-plugin"; import styled, { css } from "styled-components"; import { $nodewidth, $socketmargin, $socketsize } from "./vars"; - +import { behaviorTreeBuilderStore } from "../../../behavior_tree_builder_screen"; +import { themeStore } from "../../../../../.."; +import { Icon } from "../../../../../../core/ui/icons/icons"; +import { SystemPrimitive } from "../../../../model/primitive_view_model"; const { RefSocket, RefControl } = Presets.classic; type NodeExtraData = { width?: number; height?: number }; export const NodeStyles = styled.div any }>` - background: blue; - border: 2px solid grey; - + background: #292a2d; + border: 3px solid #715a7c; + border-radius: 3px; cursor: pointer; box-sizing: border-box; width: ${(props) => (Number.isFinite(props.width) ? `${props.width}px` : `${$nodewidth}px`)}; height: ${(props) => (Number.isFinite(props.height) ? `${props.height}px` : "auto")}; - padding-bottom: 6px; - + color: white; user-select: none; &:hover { background: #333; } - ${(props) => - props.selected && - css` - border-color: red; - `} + .title { - color: white; + color: black; font-family: sans-serif; font-size: 18px; - padding: 8px; position: relative; - top: 12px; + height: ${(props) => (Number.isFinite(props.height) ? `${props.height}px` : "auto")}; text-align-last: center; + align-content: center; } .output { text-align: right; + align-content: center; } .input { text-align: left; + align-content: center; + width: min-content; } .output-socket { text-align: right; margin-right: -1px; display: inline-block; + position: relative; + left: -17px; + top: -1px; } .input-socket { + z-index: -10; text-align: left; margin-left: -1px; display: inline-block; + align-content: center; + position: relative; + left: 17px; + top: -1px; } + .input-title, .output-title { vertical-align: middle; @@ -60,17 +70,9 @@ export const NodeStyles = styled.div props.styles && props.styles(props)} `; @@ -95,67 +97,134 @@ export function SequenceNode(props: Props) const outputs = Object.entries(props.data.outputs); const controls = Object.entries(props.data.controls); const selected = props.data.selected || false; - - const { id, label, width, height } = props.data; - + const { id, label, width } = props.data; sortByIndex(inputs); sortByIndex(outputs); sortByIndex(controls); - + const refSelect = React.useRef(null); + const refDelete = React.useRef(null); + React.useEffect(() => { + refSelect.current?.addEventListener("mouseup", () => behaviorTreeBuilderStore.setSelected(label, selected, id)); + refDelete.current?.addEventListener("mouseup", () => behaviorTreeBuilderStore.deleteBtAction(id)); + }, []); return ( - -
{}} className="title" data-testid="title"> - {label} -
{id}
-
+
+ +
+ {controls.map(([key, control]) => { + return control ? : null; + })} - {outputs.map( - ([key, output]) => - output && ( -
-
- {output?.label} -
- -
- ) - )} + {inputs.map( + ([key, input]) => + input && ( +
+ - {controls.map(([key, control]) => { - return control ? : null; - })} - {inputs.map( - ([key, input]) => - input && ( -
- - {input && (!input.control || !input.showControl) && ( -
- {input?.label} + {input?.control && input?.showControl && ( + + + + )}
- )} - {input?.control && input?.showControl && ( - - - - )} + ) + )} + +
{}} data-testid="title"> +
+
{label}
+
+ {Object.keys(SystemPrimitive) + .rFind((el) => el.isEqual(label)) + .fold( + () => ( + <> +
+ behaviorTreeBuilderStore.deleteBtAction(id)} + /> +
+ + ), + () => ( + <> +
{ + if (result) { + return "none"; + } + }, + () => undefined + ), + }} + ref={refSelect} + > + +
+
+ +
+ behaviorTreeBuilderStore.deleteBtAction(id)} + /> +
+ + ) + )} +
- ) - )} - +
{behaviorTreeBuilderStore.getBodyNode(label, id)}
+
+ {outputs.map( + ([key, output]) => + output && ( +
+ +
+ ) + )} + {outputs.isEmpty() ?
: null} +
+ +
); } diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/editor/nodes/custom_node.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/editor/nodes/custom_node.tsx deleted file mode 100644 index 30f0d86..0000000 --- a/ui/src/features/behavior_tree_builder/presentation/ui/editor/nodes/custom_node.tsx +++ /dev/null @@ -1,164 +0,0 @@ -import * as React from "react"; -import { ClassicScheme, RenderEmit, Presets } from "rete-react-plugin"; -import styled, { css } from "styled-components"; -import { $nodewidth, $socketmargin, $socketsize } from "./vars"; - -const { RefSocket, RefControl } = Presets.classic; - -type NodeExtraData = { width?: number; height?: number }; - -export const NodeStyles = styled.div any }>` - background: black; - border: 2px solid grey; - border-radius: 10px; - cursor: pointer; - box-sizing: border-box; - width: ${(props) => (Number.isFinite(props.width) ? `${props.width}px` : `${$nodewidth}px`)}; - height: ${(props) => (Number.isFinite(props.height) ? `${props.height}px` : "auto")}; - padding-bottom: 6px; - position: relative; - user-select: none; - &:hover { - background: #333; - } - ${(props) => - props.selected && - css` - border-color: red; - `} - .title { - color: white; - font-family: sans-serif; - font-size: 18px; - padding: 8px; - height: 100%; - } - .output { - text-align: right; - } - .input { - text-align: left; - } - .output-socket { - text-align: right; - margin-right: -1px; - display: inline-block; - } - .input-socket { - text-align: left; - margin-left: -1px; - display: inline-block; - } - .input-title, - .output-title { - vertical-align: middle; - color: white; - display: inline-block; - font-family: sans-serif; - font-size: 14px; - margin: ${$socketmargin}px; - line-height: ${$socketsize}px; - } - .input-control { - z-index: 1; - width: calc(100% - ${$socketsize + 2 * $socketmargin}px); - vertical-align: middle; - display: inline-block; - } - .control { - display: block; - padding: ${$socketmargin}px ${$socketsize / 2 + $socketmargin}px; - } - ${(props) => props.styles && props.styles(props)} -`; - -function sortByIndex(entries: T) { - entries.sort((a, b) => { - const ai = a[1]?.index || 0; - const bi = b[1]?.index || 0; - - return ai - bi; - }); -} - -type Props = { - data: S["Node"] & NodeExtraData; - styles?: () => any; - emit: RenderEmit; -}; -export type NodeComponent = (props: Props) => JSX.Element; - -export function CustomNode(props: Props) { - const inputs = Object.entries(props.data.inputs); - const outputs = Object.entries(props.data.outputs); - const controls = Object.entries(props.data.controls); - const selected = props.data.selected || false; - const { id, label, width, height } = props.data; - - sortByIndex(inputs); - sortByIndex(outputs); - sortByIndex(controls); - - return ( - -
{ - e.stopPropagation(); - }} - className="title" - data-testid="title" - > - {label} -
- - {outputs.map( - ([key, output]) => - output && ( -
-
BODY
-
- {output?.label} -
- -
- ) - )} - - {controls.map(([key, control]) => { - return control ? : null; - })} - {inputs.map( - ([key, input]) => - input && ( -
- - {input && (!input.control || !input.showControl) && ( -
- {input?.label} -
- )} - {input?.control && input?.showControl && ( - - - - )} -
- ) - )} - - ); -} diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/editor/nodes/style_node.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/editor/nodes/style_node.tsx deleted file mode 100644 index f0cb56b..0000000 --- a/ui/src/features/behavior_tree_builder/presentation/ui/editor/nodes/style_node.tsx +++ /dev/null @@ -1,30 +0,0 @@ -import { Presets } from "rete-react-plugin"; -import { css } from "styled-components"; -import "./background.css"; - -const styles = css<{ selected?: boolean }>` - background: #ebebeb; - border-color: #646464; - .title { - color: #646464; - } - &:hover { - background: #f2f2f2; - } - .output-socket { - margin-right: -1px; - } - .input-socket { - margin-left: -1px; - } - ${(props) => - props.selected && - css` - border-color: red; - `} -`; - -export function StyledNode(props: any) { - // eslint-disable-next-line react/jsx-pascal-case - return styles} {...props} />; -} diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/editor/style_node.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/editor/style_node.tsx deleted file mode 100644 index f0cb56b..0000000 --- a/ui/src/features/behavior_tree_builder/presentation/ui/editor/style_node.tsx +++ /dev/null @@ -1,30 +0,0 @@ -import { Presets } from "rete-react-plugin"; -import { css } from "styled-components"; -import "./background.css"; - -const styles = css<{ selected?: boolean }>` - background: #ebebeb; - border-color: #646464; - .title { - color: #646464; - } - &:hover { - background: #f2f2f2; - } - .output-socket { - margin-right: -1px; - } - .input-socket { - margin-left: -1px; - } - ${(props) => - props.selected && - css` - border-color: red; - `} -`; - -export function StyledNode(props: any) { - // eslint-disable-next-line react/jsx-pascal-case - return styles} {...props} />; -} diff --git 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 new file mode 100644 index 0000000..8ae4d07 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/camera_device_form/camera_device_form_form.tsx @@ -0,0 +1,40 @@ +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"; +import { SidViewModel } from "../../../../../../core/model/device_dependency_view_model"; + +export const CameraDeviceForm = observer((props: IPropsForm>) => { + const [store] = React.useState(() => new CameraDeviceStore()); + React.useEffect(() => { + store.init(); + }, [store]); + return ( +
+ + el.sid) ?? []} + value={props.dependency?.sid ?? ""} + label={"Выберите камеру"} + onChange={(value: string) => store.updateForm({ sid: value })} + /> + { + (await store.viewModel.valid()).fold( + (s) => { + // props.onChange(s); + }, + (e) => message.error(e) + ); + }} + /> +
+ ); +}); diff --git 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 new file mode 100644 index 0000000..2a42175 --- /dev/null +++ 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, CoreHttpRepository } from "../../../../../../core/repository/core_http_repository"; + +export class CameraDeviceHttpRepository extends CoreHttpRepository { + getAllCameras = () => this._jsonRequest(HttpMethod.GET, '/behavior/trees/cameras'); +} \ No newline at end of file diff --git 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 new file mode 100644 index 0000000..598cc89 --- /dev/null +++ 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 { + 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()) + } + +} diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_form.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_form.tsx new file mode 100644 index 0000000..7c5d2a5 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_form.tsx @@ -0,0 +1,90 @@ +import { useEffect } from "react"; +import { observer } from "mobx-react-lite"; +import { Modal, message } from "antd"; +import { FormsFormBuilderStore } from "./form_builder_store"; +import { IPropsForm } from "../forms"; +import { useStore } from "../../../../../../core/helper/use_store"; +import { isBtScreen } from "../../../behavior_tree_builder_screen"; +import { CoreInput } from "../../../../../../core/ui/input/input"; +import { CoreButton } from "../../../../../../core/ui/button/button"; +import { FormBuilder } from "../../../../../../core/ui/form_builder/form_builder"; +import { FormBuilderValidationModel } from "../../../../../../core/model/form_builder_validation_model"; +import { ButtonV2 } from "../../../../../../core/ui/button/button_v2"; + +export const FormBuilderForm = observer((props: IPropsForm>) => { + const store = useStore(FormsFormBuilderStore); + useEffect(() => { + store.initParam(isBtScreen(), props.store); + store.loadClassInstance(FormBuilderValidationModel, props.dependency as FormBuilderValidationModel); + }, []); + + return ( +
+
FormBuilder
+ {store.isBtScreen ? ( +
+ { + store.viewModel = form; + console.log(form); + }} + /> +
+ + (await store.viewModel.valid()).fold( + (model) => props.onChange(model), + (e) => message.error(e) + ) + } + /> +
+
+ ) : ( + <> + store.updateForm({ result: text })} + /> + store.updateForm({ context: text })} + /> +
+ store.openModal()} /> + + (await store.viewModel.valid()).fold( + (model) => props.onChange(model), + (error) => message.error(error) + ) + } + /> +
+ { + store.isModalOpen = false; + }} + > + {}} /> + + + )} +
+ ); +}); diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_store.ts b/ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_store.ts new file mode 100644 index 0000000..3b7e2c5 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_store.ts @@ -0,0 +1,23 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { NavigateFunction } from "react-router-dom"; +import { FormState, CoreError } from "../../../../../../core/store/base_store"; +import { BehaviorTreeBuilderStore } from "../../../behavior_tree_builder_store"; +import { FormBuilderValidationModel } from "../../../../../../core/model/form_builder_validation_model"; + +export class FormsFormBuilderStore extends FormState { + isBtScreen = false; + isModalOpen = false; + viewModel: FormBuilderValidationModel = FormBuilderValidationModel.empty(); + constructor() { + super(); + makeAutoObservable(this); + } + errorHandingStrategy = (error: CoreError) => {}; + init = async (navigate?: NavigateFunction | undefined) => {}; + initParam = (isSkillScreen: boolean, store: BehaviorTreeBuilderStore | undefined) => { + this.isBtScreen = isSkillScreen; + }; + openModal() { + this.isModalOpen = true; + } +} diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/forms/forms.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/forms/forms.tsx new file mode 100644 index 0000000..43c8b1a --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/forms.tsx @@ -0,0 +1,45 @@ +import { FormType } from "../../../../../core/model/form"; +import { FormBuilderValidationModel } from "../../../../../core/model/form_builder_validation_model"; +import { DependencyViewModel } from "../../../../../core/model/skill_model"; + import { BehaviorTreeBuilderStore } from "../../behavior_tree_builder_store"; +import { FormBuilderForm } from "./form_builder/form_builder_form"; +import { TopicDependencyViewModel } from "./topics_form/topic_dependency_view_model"; +import { TopicsForm } from "./topics_form/topics_form"; + +export interface IPropsForm { + dependency: T; + store?: BehaviorTreeBuilderStore; + onChange: (dependency: DependencyViewModel) => void; +} + +export interface IForms { + name: string; + component: JSX.Element; +} + +export interface BtDependencyFormBuilder { + form: FormType; + component?: React.ReactNode; +} + +export const btDependencyFormBuilder = (onChange: (dependency: DependencyViewModel) => void) => [ + { form: FormType.weights, component: null }, + { + form: FormType.topic, + component: , + }, + { + form: FormType.formBuilder, + component: ( + + ), + }, +]; +export const forms = ( + props: any, + onChange: (dependency: DependencyViewModel) => void, + store: BehaviorTreeBuilderStore +): IForms[] => [ + { name: FormType.topic, component: }, + { name: FormType.formBuilder, component: }, +]; diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_form.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_form.tsx new file mode 100644 index 0000000..c0d46bf --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_form.tsx @@ -0,0 +1,50 @@ +import React from "react"; +import { observer } from "mobx-react-lite"; +import { MoveToPoseStore } from "./move_to_pose_store"; +import { IPropsForm } from "../forms"; +import { MoveToPoseRobotModel } from "./move_to_pose_robot_model"; +import { CoreSelect } from "../../../../../../core/ui/select/select"; +import { PointModel } from "../../../../../../core/model/point_model"; +import { ObjectIsNotEmpty } from "../../../../../../core/extensions/object"; +import { CoreButton } from "../../../../../../core/ui/button/button"; +import { message } from "antd"; +import { BehaviorTreeBuilderStore } from "../../../behavior_tree_builder_store"; + +export const MoveToPose = observer((props: IPropsForm) => { + const propStore = props.store as BehaviorTreeBuilderStore; + const [store] = React.useState(() => new MoveToPoseStore(propStore)); + React.useEffect(() => { + if (ObjectIsNotEmpty(props.dependency)) store.loadDependency(props.dependency); + store.init(); + }, [store]); + return ( +
+ store.updateForm({ robot_name: text })} + /> + + store.updateForm({ pose: propStore.sceneAsset?.getElementByName(text).toDependency() }) + } + value={store.viewModel?.pose?.name ?? ""} + /> + { + store.viewModel.valid().fold( + (s) => { + // props.onChange(s); + }, + (e) => message.error(e) + ); + }} + /> +
+ ); +}); diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_robot_model.ts b/ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_robot_model.ts new file mode 100644 index 0000000..e1a2e0c --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_robot_model.ts @@ -0,0 +1,44 @@ +import { Vector3 } from "three"; +import { Result } from "../../../../../../core/helper/result"; +export interface IMoveToPoseRobotModel { + robot_name: string; + pose: Pose; +} + +export interface Pose { + name: string; + position: Vector3; + orientation: Orientation; +} + +export interface Orientation { + x: number; + y: number; + z: number; + w: number; +} + +export class MoveToPoseRobotModel implements IMoveToPoseRobotModel { + robot_name: string; + pose: Pose; + constructor() {} + + valid(): Result { + return Result.ok(this); + } + static empty() { + const moveToPoseRobotModel = new MoveToPoseRobotModel(); + moveToPoseRobotModel.robot_name = ""; + moveToPoseRobotModel.pose = { + name: "", + position: new Vector3(0, 0, 0), + orientation: { + x: 0, + y: 0, + z: 0, + w: 0, + }, + }; + return moveToPoseRobotModel; + } +} diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_store.ts b/ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_store.ts new file mode 100644 index 0000000..4c57400 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_store.ts @@ -0,0 +1,18 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { NavigateFunction } from "react-router-dom"; +import { MoveToPoseRobotModel } from "./move_to_pose_robot_model"; +import { FormState, CoreError } from "../../../../../../core/store/base_store"; +import { BehaviorTreeBuilderStore } from "../../../behavior_tree_builder_store"; + +export class MoveToPoseStore extends FormState { + behaviorTreeBuilderStore: BehaviorTreeBuilderStore; + + constructor(behaviorTreeBuilderStore: BehaviorTreeBuilderStore) { + super(); + this.behaviorTreeBuilderStore = behaviorTreeBuilderStore; + makeAutoObservable(this); + } + viewModel: MoveToPoseRobotModel = MoveToPoseRobotModel.empty(); + errorHandingStrategy = (error: CoreError) => {}; + init = async (navigate?: NavigateFunction | undefined) => {}; +} diff --git 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 new file mode 100644 index 0000000..483256b --- /dev/null +++ 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>) => { + const [store] = React.useState(() => new RobotDeviceFormStore()); + React.useEffect(() => { + store.init(); + }, [store]); + + return
; +}); diff --git 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 new file mode 100644 index 0000000..b5b6ec1 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/robot_device_form/robot_device_form_http_repository.ts @@ -0,0 +1,5 @@ +import { CoreHttpRepository } from "../../../../../../core/repository/core_http_repository"; + +export class RobotDeviceFormHttpRepository extends CoreHttpRepository { + +} diff --git 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 new file mode 100644 index 0000000..05e2e65 --- /dev/null +++ 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 { + constructor() { + super(); + makeAutoObservable(this); + } + viewModel: SidViewModel = SidViewModel.empty(); + robotDeviceFormHttpRepository: RobotDeviceFormHttpRepository = new RobotDeviceFormHttpRepository(); + errorHandingStrategy = (error: CoreError) => { } + init = async (navigate?: NavigateFunction | undefined) => { + + } + +} diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topic_dependency_view_model.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topic_dependency_view_model.tsx new file mode 100644 index 0000000..a2a5d34 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topic_dependency_view_model.tsx @@ -0,0 +1,37 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { ValidationModel } from "../../../../../../core/model/validation_model"; +import { IsNotEmpty, IsString } from "class-validator"; +import { StoreTopicType } from "./topics_form_store"; +import { DependencyViewModel } from "../../../../../../core/model/skill_model"; +import { BehaviorTreeBuilderStore } from "../../../behavior_tree_builder_store"; +import { CoreText, CoreTextType } from "../../../../../../core/ui/text/text"; +import { FormType } from "../../../../../../core/model/form"; + +export class TopicDependencyViewModel extends ValidationModel implements DependencyViewModel { + @IsNotEmpty() + @IsString() + type = FormType.topic; + topicType?: string; + + mode?: StoreTopicType; + sid?: string; + topicOut?: string; + constructor() { + super(); + makeAutoObservable(this); + } + toView = (store: BehaviorTreeBuilderStore | undefined): React.ReactNode => { + if (store && this.sid) { + if (store.filledOutTemplates.topicsStack.some((el) => el.sid?.isEqual(this.sid ?? ""))) { + return
{this.topicOut}
; + } else { + return ; + } + } + return ; + }; + + static empty() { + return new TopicDependencyViewModel(); + } +} diff --git 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 new file mode 100644 index 0000000..557696a --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form.tsx @@ -0,0 +1,99 @@ +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 { match } from "ts-pattern"; +import { CoreInput } from "../../../../../../core/ui/input/input"; +import { CoreButton } from "../../../../../../core/ui/button/button"; +import { message } from "antd"; +import { themeStore } from "../../../../../.."; +import { isBtScreen } from "../../../behavior_tree_builder_screen"; + +export const TopicsForm = observer((props: IPropsForm>) => { + const [store] = React.useState(() => new TopicsFormStore()); + + React.useEffect(() => { + store.init(); + store.initParam(isBtScreen(), props.store); + + store.loadClassInstance(TopicDependencyViewModel, props.dependency as TopicDependencyViewModel); + }, [props]); + + return ( +
+ + {match(isBtScreen()) + .with(true, () => ( + <> + + {store + .getAllTopicsMatched() + + ?.map((el) => ( +
(store.updateForm({ topicOut: el.name }), store.updateForm({ sid: el.sid }))} + > + + +
+ ))} + { + (await store.viewModel.valid()).fold( + (model) => props.onChange(model), + (e) => message.error(e) + ); + }} + /> + + )) + .with(false, () => ( + <> + store.updateForm({ topicType: text })} /> +
+ { + (await store.viewModel.valid()).fold( + (s) => props.onChange(s), + (e) => message.error(e) + ); + }} + /> + + )) + .otherwise(() => ( + <> + ))} +
+ ); +}); diff --git 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 new file mode 100644 index 0000000..7aff49a --- /dev/null +++ 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, CoreHttpRepository } from "../../../../../../core/repository/core_http_repository"; + +export class TopicsFormHttpRepository extends CoreHttpRepository { + getAllTopics = () => this._jsonRequest(HttpMethod.GET, '/behavior/trees/topics'); +} diff --git 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 new file mode 100644 index 0000000..640e71c --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form_store.ts @@ -0,0 +1,33 @@ +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 { BehaviorTreeBuilderStore } from "../../../behavior_tree_builder_store"; +import { ITopicModel } from "../../../../../topics/topic_view_model"; +export enum StoreTopicType { + specifiesDependencies = "specifiesDependencies", + btExecute = "btExecute", +} +export class TopicsFormStore extends FormState { + type: StoreTopicType = StoreTopicType.btExecute; + topics?: ITopicModel[]; + behaviorTreeBuilderStore?: BehaviorTreeBuilderStore; + viewModel: TopicDependencyViewModel = TopicDependencyViewModel.empty(); + constructor() { + super(); + makeAutoObservable(this); + } + topicsFormHttpRepository: TopicsFormHttpRepository = new TopicsFormHttpRepository(); + errorHandingStrategy = (error: CoreError) => {}; + init = async (navigate?: NavigateFunction | undefined) => { + // await this.mapOk('topics', this.cameraDeviceHttpRepository.getAllTopics()) + }; + getAllTopicsMatched = () => this.topics?.filter((el) => el.type.isEqual(this.viewModel.topicType ?? "")); + + initParam = (isBtScreen: boolean, behaviorTreeBuilderStore: BehaviorTreeBuilderStore | undefined) => { + isBtScreen ? (this.type = StoreTopicType.btExecute) : (this.type = StoreTopicType.specifiesDependencies); + this.behaviorTreeBuilderStore = behaviorTreeBuilderStore; + this.topics = behaviorTreeBuilderStore?.getAllTopics(); + }; +} diff --git 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 new file mode 100644 index 0000000..df8b4d5 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form/weights_form.tsx @@ -0,0 +1,104 @@ +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 ( +
+ + { + store.updateForm({ weights_name: text }); + store.updateWeights(text); + }} + 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 }; + }) ?? [] + } + /> +
+ store.changeDimensions(0, Number(text))} + validation={(text) => Number().isValid(text)} + value={props.dependency?.dimensions?.at(0)?.toString()} + /> +
+ + store.changeDimensions(1, Number(text))} + validation={(text) => Number().isValid(text)} + value={props.dependency?.dimensions?.at(1)?.toString()} + /> +
+ + store.changeDimensions(2, Number(text))} + validation={(text) => Number().isValid(text)} + value={props.dependency?.dimensions?.at(2)?.toString()} + /> +
+ { + store.viewModel.isEmpty().fold( + () => { + props.onChange(store.viewModel); + }, + (e) => { + message.error(e); + } + ); + }} + text="OK" + style={{ width: 100 }} + /> +
+ ); +}); + diff --git 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 new file mode 100644 index 0000000..a23fcee --- /dev/null +++ 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 { ISkils, CalculationHttpRepository } from "../../../../../calculation_instance/data/calculation_http_repository"; +import { WeightsViewModel } from "./weights_view_model"; +import { Parts } from "../../../../../details/details_http_repository"; + +export class WeightsFormStore extends FormState { + weights?: ISkils[]; + parts?: Parts[]; + suitableWeights: string[] = []; + viewModel: WeightsViewModel = WeightsViewModel.empty(); + skillsHttpRepository: CalculationHttpRepository = new CalculationHttpRepository(); + datasetHttpRepository: DataSetHttpRepository = new DataSetHttpRepository(); + constructor() { + super(); + makeAutoObservable(this); + } + init = async () => { + await this.mapOk("weights", this.skillsHttpRepository.getAllTemplates()); + await this.mapOk("parts", 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) => {}; + } + + \ No newline at end of file diff --git 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 new file mode 100644 index 0000000..b03f170 --- /dev/null +++ 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 => { + 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); + }; + } + \ No newline at end of file diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/skill_tree/skill_tree.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/skill_tree/skill_tree.tsx index b314948..3018063 100644 --- a/ui/src/features/behavior_tree_builder/presentation/ui/skill_tree/skill_tree.tsx +++ b/ui/src/features/behavior_tree_builder/presentation/ui/skill_tree/skill_tree.tsx @@ -2,8 +2,20 @@ import * as React from "react"; import TreeView, { EventCallback, IBranchProps, INode, LeafProps, flattenTree } from "react-accessible-treeview"; import { IFlatMetadata } from "react-accessible-treeview/dist/TreeView/utils"; import { CallBackEventTarget } from "../../../../../core/extensions/extensions"; +import "./styles.css"; +import { CoreText, CoreTextType } from "../../../../../core/ui/text/text"; +import { themeStore } from "../../../../.."; + +export interface ISkillView { + name: string; + children?: ISkillView[]; + isSystem?: boolean; + id?: string; + interface?: string; + out?: string; +} export interface ISkillTreeProps { - skills: any; + skills: ISkillView; dragEnd: CallBackEventTarget; } @@ -13,15 +25,17 @@ interface IRefListerProps { handleExpand: EventCallback; handleSelect: EventCallback; dragEnd: CallBackEventTarget; + isBranch: boolean; + style: React.CSSProperties; } export const RefListener = (props: IRefListerProps) => { - const ref = React.useRef(null); + const ref = React.useRef(null); React.useEffect(() => { - if (ref.current) { + if (ref.current && props.isBranch === false) { ref.current.addEventListener("dragend", (e) => { // @ts-expect-error - if (e.target.innerHTML) { + if (e && e.target && e.target.innerHTML) { // @ts-expect-error props.dragEnd(e); } @@ -30,31 +44,38 @@ export const RefListener = (props: IRefListerProps) => { }, [ref, props]); return ( -
+
{ props.handleSelect(e); }} /> - - {props.element.name} - + +
+ {props.isBranch ? undefined : ""} + +
); }; -export function SkillTree(props: ISkillTreeProps) { +export const SkillTree = (props: ISkillTreeProps) => { return ( -
+
{}} multiSelect - defaultExpandedIds={[1, 2]} nodeAction="check" - nodeRenderer={({ element, getNodeProps, handleSelect, handleExpand }) => { + nodeRenderer={({ element, getNodeProps, handleSelect, handleExpand, isBranch, level }) => { return (
); -} +}; diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/skill_tree/styles.css b/ui/src/features/behavior_tree_builder/presentation/ui/skill_tree/styles.css new file mode 100644 index 0000000..a212e45 --- /dev/null +++ b/ui/src/features/behavior_tree_builder/presentation/ui/skill_tree/styles.css @@ -0,0 +1,44 @@ +.directory { + user-select: none; + font-size: 10px; + border-radius: 0.4em; +} + +.directory .tree, +.directory .tree-node, +.directory .tree-node-group { + list-style: none; + margin: 0; + padding: 0; +} + +.directory .tree-branch-wrapper, +.directory .tree-node__leaf { + outline: none; + outline: none; +} + +.directory .tree-node { + cursor: pointer; +} + +.directory .tree-node:hover { + background: rgba(255, 255, 255, 0.1); +} + +.directory .tree .tree-node--focused { + background: rgba(255, 255, 255, 0.2); +} + +.directory .tree .tree-node--selected { + background: rgba(48, 107, 176); +} + +.directory .tree-node__branch { + display: block; +} + +.directory .icon { + vertical-align: middle; + padding-right: 5px; +} diff --git a/ui/src/features/behavior_tree_manager/behavior_tree_manager_repository.ts b/ui/src/features/behavior_tree_manager/behavior_tree_manager_repository.ts new file mode 100644 index 0000000..b99cbf2 --- /dev/null +++ b/ui/src/features/behavior_tree_manager/behavior_tree_manager_repository.ts @@ -0,0 +1,10 @@ +import { CoreHttpRepository, HttpMethod } from "../../core/repository/core_http_repository"; +import { BehaviorTreeModel } from "../behavior_tree_builder/model/behavior_tree_model"; +import { BehaviorTreeViewModel } from "../behavior_tree_builder/model/behavior_tree_view_model"; + +export class BehaviorTreeManagerHttpRepository extends CoreHttpRepository { + featureApi = `/behavior/trees`; + deleteBt = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`); + saveNewBt = async (model: BehaviorTreeViewModel) => this._jsonRequest(HttpMethod.POST, this.featureApi, model); + getAllBtInstances = async () => this._jsonRequest(HttpMethod.GET, this.featureApi); +} diff --git a/ui/src/features/behavior_tree_manager/behavior_tree_manager_screen.tsx b/ui/src/features/behavior_tree_manager/behavior_tree_manager_screen.tsx new file mode 100644 index 0000000..fe8d179 --- /dev/null +++ b/ui/src/features/behavior_tree_manager/behavior_tree_manager_screen.tsx @@ -0,0 +1,100 @@ +import { observer } from "mobx-react-lite"; +import { BehaviorTreeManagerStore } from "./behavior_tree_manager_store"; +import React from "react"; +import { useStore } from "../../core/helper/use_store"; +import { ButtonV2, ButtonV2Type } from "../../core/ui/button/button_v2"; +import { CoreCard } from "../../core/ui/card/card"; +import { Icon } from "../../core/ui/icons/icons"; +import { themeStore } from "../.."; +import { InputV2 } from "../../core/ui/input/input_v2"; +import { CoreModal } from "../../core/ui/modal/modal"; +import { SelectV2 } from "../../core/ui/select/select_v2"; +import { CoreText, CoreTextType } from "../../core/ui/text/text"; +import { MainPageV2 } from "../../core/ui/pages/main_page_v2"; + +export const BehaviorTreeManagerScreenPath = "/behavior/tree/manager"; + +export const BehaviorTreeManagerScreen = observer(() => { + const store = useStore(BehaviorTreeManagerStore); + + return ( + <> + +
+
+ } + text="СОЗДАТЬ ДЕРЕВО ПОВЕДЕНИЯ" + onClick={() => store.modalShow()} + /> +
+ +
+ {store.btTreeModels?.map((el, index) => ( + store.deleteBt(el._id)} + clickGoToIcon={() => store.goToBt(el._id)} + descriptionMiddle={el.description} + descriptionTop={el.name} + date={el.unixTime} + /> + ))} +
+
+ store.modalCancel()} + children={ + <> +
+ +
+
+
+ store.updateForm({ name: text })} /> +
+ store.updateForm({ description: text })} /> +
+ ({ name: el.name, value: el._id })) ?? []} + initialValue={""} + label={"Сцена"} + onChange={(value: string) => store.updateForm({ sceneId: value })} + /> +
+
+
+ store.saveNewBt()} type={ButtonV2Type.default} /> +
+ store.modalCancel()} type={ButtonV2Type.default} /> +
+ + } + /> + + } + bgColor={themeStore.theme.black} + /> + + ); +}); diff --git a/ui/src/features/behavior_tree_manager/behavior_tree_manager_store.ts b/ui/src/features/behavior_tree_manager/behavior_tree_manager_store.ts new file mode 100644 index 0000000..f19fc5b --- /dev/null +++ b/ui/src/features/behavior_tree_manager/behavior_tree_manager_store.ts @@ -0,0 +1,59 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { UiDrawerFormState, CoreError } from "../../core/store/base_store"; +import { BehaviorTreeViewModel } from "../behavior_tree_builder/model/behavior_tree_view_model"; +import { NavigateFunction } from "react-router-dom"; +import { BehaviorTreeBuilderPath } from "../behavior_tree_builder/presentation/behavior_tree_builder_screen"; +import { BehaviorTreeModel } from "../behavior_tree_builder/model/behavior_tree_model"; +import { SceneModel } from "../scene_manager/model/scene_model"; +import { BehaviorTreeManagerHttpRepository } from "./behavior_tree_manager_repository"; +import { message } from "antd"; +export enum DrawerState { + newBehaviorTree = "Новое дерево поведения", +} +export class BehaviorTreeManagerStore extends UiDrawerFormState { + viewModel: BehaviorTreeViewModel = BehaviorTreeViewModel.empty(); + navigate?: NavigateFunction; + btTreeModels: BehaviorTreeModel[] = []; + scenes?: SceneModel[]; + behaviorTreeManagerHttpRepository = new BehaviorTreeManagerHttpRepository(); + isModalOpen: boolean = false; + activeProject?: string; + constructor() { + super(DrawerState); + makeAutoObservable(this); + } + init = async (navigate?: NavigateFunction | undefined): Promise => { + this.navigate = navigate; + (await this.behaviorTreeManagerHttpRepository.getActiveProjectId()).map((el) => { + this.activeProject = el.id; + this.viewModel.project = this.activeProject; + }); + + await this.mapOk("btTreeModels", this.behaviorTreeManagerHttpRepository.getAllBtInstances()); + await this.mapOk("scenes", this.behaviorTreeManagerHttpRepository.getAllScenes()); + }; + deleteBt = async (id: string) => ( + await this.behaviorTreeManagerHttpRepository.deleteBt(id), + await this.mapOk("btTreeModels", this.behaviorTreeManagerHttpRepository.getAllBtInstances()) + ); + saveNewBt = async () => + (await this.viewModel.valid()).fold( + async (model) => { + await this.messageHttp(this.behaviorTreeManagerHttpRepository.saveNewBt(model), { + successMessage: "Новое дерево создано", + }); + await this.mapOk("btTreeModels", this.behaviorTreeManagerHttpRepository.getAllBtInstances()); + }, + async (error) => message.error(error) + ); + goToBt = (id: string) => { + if (this.navigate) this.navigate(BehaviorTreeBuilderPath(id)); + }; + modalShow = () => { + this.isModalOpen = true; + }; + + modalCancel = () => { + this.isModalOpen = false; + }; +} diff --git a/ui/src/features/behavior_tree_manager/number_trivia.ts b/ui/src/features/behavior_tree_manager/number_trivia.ts new file mode 100644 index 0000000..d017d38 --- /dev/null +++ b/ui/src/features/behavior_tree_manager/number_trivia.ts @@ -0,0 +1,11 @@ +import { Result } from "../../core/helper/result"; + +export class NumberTriviaModel { + constructor() {} + isValid(): Result { + return Result.ok(); + } + static empty() { + return new NumberTriviaModel(); + } +} diff --git a/ui/src/features/calculation_instance/data/calculation_http_repository.ts b/ui/src/features/calculation_instance/data/calculation_http_repository.ts new file mode 100644 index 0000000..90e4695 --- /dev/null +++ b/ui/src/features/calculation_instance/data/calculation_http_repository.ts @@ -0,0 +1,29 @@ +import { HttpMethod, CoreHttpRepository } from "../../../core/repository/core_http_repository"; +import { CalculationModel } from "../model/calculation_model"; + +export interface ISkils { + _id: string; + name: string; + processStatus: string; + epoch: number; + isFinished: boolean; + datasetId: any; + project: any; + numberOfTrainedEpochs: number; + __v: number; +} + +export class CalculationHttpRepository extends CoreHttpRepository { + + featureApi = `/calculations/instances`; + subFeatureApi = `/calculations/template`; + + editCalculation = (model: CalculationModel) => this._jsonRequest(HttpMethod.PUT, this.featureApi, model); + createNewInstance = (model: CalculationModel) => this._jsonRequest(HttpMethod.POST, this.featureApi, model); + createNewTemplate = (model: CalculationModel) => this._jsonRequest(HttpMethod.POST, this.subFeatureApi, model); + getAllInstances = () => this._jsonRequest(HttpMethod.GET, this.featureApi); + execInstance = (id: string) => this._jsonRequest(HttpMethod.GET, `${this.featureApi}/exec?id=${id}`); + getAllTemplates = async () => this._jsonRequest(HttpMethod.GET, this.subFeatureApi); + deleteTemplate = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.subFeatureApi}?id=${id}`); + deleteInstance = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`); +} diff --git a/ui/src/features/calculation_instance/data/calculation_socket_repository.ts b/ui/src/features/calculation_instance/data/calculation_socket_repository.ts new file mode 100644 index 0000000..fd30d60 --- /dev/null +++ b/ui/src/features/calculation_instance/data/calculation_socket_repository.ts @@ -0,0 +1,31 @@ +import { TypedEvent } from "../../../core/helper/typed_event"; +import { SocketRepository, socketRepository } from "../../../core/repository/core_socket_repository"; +import { ProcessStatus } from "../../dataset/dataset_model"; + +export interface ProcessUpdate { + id: string; + status: ProcessStatus; +} + +export class CalculationSocketRepository extends TypedEvent { + socketRepository: SocketRepository = socketRepository; + constructor() { + super(); + this.socketRepository.on((e) => { + if (e.event === "realtime") { + if (e.payload !== undefined && e.payload.value !== undefined && e.payload.value.id !== undefined) { + this.emit({ + id: String(e.payload.value.id), + status: ProcessStatus.END, + }); + } + if (e.payload !== undefined && e.payload.error !== undefined && e.payload.error.id !== undefined) { + this.emit({ + id: String(e.payload.error.id), + status: ProcessStatus.ERROR, + }); + } + } + }); + } +} diff --git a/ui/src/features/calculation_instance/model/calculation_model.ts b/ui/src/features/calculation_instance/model/calculation_model.ts new file mode 100644 index 0000000..01e1519 --- /dev/null +++ b/ui/src/features/calculation_instance/model/calculation_model.ts @@ -0,0 +1,39 @@ + import { IsNotEmpty, IsString } from "class-validator"; +import { ValidationModel } from "../../../core/model/validation_model"; +import { FormBuilderValidationModel } from "../../../core/model/form_builder_validation_model"; + +export enum ModelMachineLearningTypes { + OBJECT_DETECTION = "OBJECT_DETECTION", + POSE_ESTIMATE = "POSE_ESTIMATE", +} + +export class CalculationModel extends ValidationModel { + _id?: string; + processStatus?:string; + instanceName: string; + @IsString() + @IsNotEmpty() + script: string; + formBuilder: FormBuilderValidationModel; + @IsString() + @IsNotEmpty() + type: string; + @IsString() + @IsNotEmpty() + name: string; + isEnd: boolean = false; + createDate: number = Date.now(); + card?: string; + lastProcessLogs?: string; + lastProcessExecCommand?: string; + lastExecDate?: Date; + project?: string; + constructor(script: string, formBuilderValidationModel: FormBuilderValidationModel, type: string, card: string) { + super(); + this.script = script; + this.formBuilder = formBuilderValidationModel; + this.type = type; + this.card = card; + } + static empty = () => new CalculationModel("", FormBuilderValidationModel.empty(), "", ""); +} diff --git a/ui/src/features/calculation_instance/presentation/calculation_instance_screen.tsx b/ui/src/features/calculation_instance/presentation/calculation_instance_screen.tsx new file mode 100644 index 0000000..fc9dec4 --- /dev/null +++ b/ui/src/features/calculation_instance/presentation/calculation_instance_screen.tsx @@ -0,0 +1,213 @@ +import React from "react"; +import { Drawer, Modal } from "antd"; +import { observer } from "mobx-react-lite"; +import { MainPage } from "../../../core/ui/pages/main_page"; +import { CoreText, CoreTextType } from "../../../core/ui/text/text"; +import { DrawersSkill, CalculationInstanceStore, StoreTypes } from "./calculation_instance_store"; +import { CoreInput } from "../../../core/ui/input/input"; +import { CoreButton } from "../../../core/ui/button/button"; +import { CoreSelect } from "../../../core/ui/select/select"; +import { ModelMachineLearningTypes } from "../model/calculation_model"; +import { CardModel, getModelCard } from "./ui/cards/get_model_card"; +import { FormBuilder } from "../../../core/ui/form_builder/form_builder"; +import { match } from "ts-pattern"; +import { TemplateModelCard } from "./ui/template_model_card"; +import { Icon } from "../../../core/ui/icons/icons"; +import { useStore } from "../../../core/helper/use_store"; +import { FormBuilderValidationModel } from "../../../core/model/form_builder_validation_model"; +import { InputV2 } from "../../../core/ui/input/input_v2"; + +interface IItem { + name: string; + isActive: boolean; +} + +const skills: IItem[] = [{ name: "ML", isActive: true }]; + +export const CalculationInstanceScreenPath = "/calculation"; + +export const CalculationInstanceScreen = observer(() => { + const store = useStore(CalculationInstanceStore); + + return ( + <> + + {skills.map((el, i) => ( + + ))} +
+ } + bodyChildren={ +
+ {store.calculationInstances?.map((el, i) => { + return ( + + {getModelCard( + el, + () => store.makeEditProcess(el), + () => store.deleteInstance(el._id ?? ""), + () => store.execSkill(el._id ?? ""), + () => store.execSkill(el._id ?? "") + )} + + ); + })} + +
{ + store.editDrawer(DrawersSkill.NEW_SKILL, true); + }} + style={{ + background: "rgb(247, 242, 250)", + width: 150, + height: 80, + alignContent: "center", + textAlignLast: "center", + margin: 10, + }} + > + +
+
+ } + /> + store.editDrawer(DrawersSkill.EDIT_SKILL, false)} + open={store.drawers.find((el) => el.name === DrawersSkill.EDIT_SKILL)?.status} + > +
+ store.updateForm({ formBuilder: formBuilder })} + /> + +
+ store.saveEdiSkill()} /> +
+ store.editDrawer(DrawersSkill.EDIT_SKILL, false)} /> +
+
+ + store.selectType(StoreTypes.empty)} + onClose={() => store.editDrawer(DrawersSkill.NEW_SKILL, false)} + open={store.drawers.find((el) => el.name === DrawersSkill.NEW_SKILL)?.status} + > +
+
+ {match(store.storeType) + .with(StoreTypes.empty, () => ( + <> + store.selectType(StoreTypes.newType)} + /> + store.selectType(StoreTypes.newModel)} + /> + + )) + .with(StoreTypes.newType, () => ( + <> + store.updateForm({ type: text })} + /> + store.updateForm({ card: text })} + /> + store.updateForm({ name: text })} /> + store.updateForm({ script: text })} /> + (store.viewModel.formBuilder.result = text)} + // style={{ height: 200, overflow: "overlay" }} + /> + (store.viewModel.formBuilder.context = text)} + // style={{ height: 200, overflow: "overlay" }} + /> +
+ (store.isModalOpen = true)} + /> +
+ + )) + .with(StoreTypes.newModel, () => ( +
+ store.updateForm({ instanceName: text })} + /> +
+ {store.modelTemplate?.map((el, i) => ( + <> + store.deleteTemplate(el)} + onClick={() => store.setSelectTemplate(el)} + /> + + ))} +
+
+ )) + .otherwise(() => ( + <> + ))} +
+
+ store.clickSave()} /> +
+ store.editDrawer(DrawersSkill.NEW_SKILL, false)} /> +
+
+ + { + store.isModalOpen = false; + }} + > + {}} /> + + + ); +}); diff --git a/ui/src/features/calculation_instance/presentation/calculation_instance_store.tsx b/ui/src/features/calculation_instance/presentation/calculation_instance_store.tsx new file mode 100644 index 0000000..1ca399a --- /dev/null +++ b/ui/src/features/calculation_instance/presentation/calculation_instance_store.tsx @@ -0,0 +1,147 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { NavigateFunction } from "react-router-dom"; +import { HttpError } from "../../../core/repository/core_http_repository"; +import { Drawer, UiDrawerFormState } from "../../../core/store/base_store"; +import { CalculationHttpRepository } from "../data/calculation_http_repository"; +import { message } from "antd"; +import { UUID } from "../../all_projects/data/project_http_repository"; +import { CalculationModel } from "../model/calculation_model"; +import { ProcessUpdate, CalculationSocketRepository } from "../data/calculation_socket_repository"; +import { match } from "ts-pattern"; +import { plainToInstance } from "class-transformer"; + +export enum DrawersSkill { + NEW_SKILL = "Новое вычисление", + EDIT_SKILL = "Редактировать вычисление", +} +export enum StoreTypes { + newType = "newType", + newModel = "newModel", + empty = "empty", +} + +export class CalculationInstanceStore extends UiDrawerFormState { + calculationHttpRepository: CalculationHttpRepository = new CalculationHttpRepository(); + calculationSocketRepository: CalculationSocketRepository = new CalculationSocketRepository(); + activeProjectId?: UUID; + storeType: StoreTypes = StoreTypes.empty; + viewModel: CalculationModel = CalculationModel.empty(); + modelTemplate?: CalculationModel[]; + editProcess?: CalculationModel; + calculationInstances?: CalculationModel[]; + selectTemplate?: CalculationModel; + titleDrawer: string = DrawersSkill.NEW_SKILL; + drawers: Drawer[]; + isModalOpen: boolean = false; + constructor() { + super({}); + this.drawers = Object.entries(DrawersSkill).map((k, v) => { + return { + name: k.at(1) ?? "", + status: false, + }; + }); + this.viewModel = CalculationModel.empty(); + this.calculationSocketRepository.on(this.socketUpdate); + makeAutoObservable(this); + } + deleteInstance = async (id: string) => { + await this.calculationHttpRepository.deleteInstance(id); + await this.init(); + }; + socketUpdate = (data: ProcessUpdate) => { + this.calculationInstances?.map((el) => { + if (el?._id && el._id.isEqual(data.id)) { + el.processStatus = data.status; + } + return el; + }); + }; + getSkillById = (id: string) => { + // this.machineLearningProcess?.find((el) => el._id === id); + }; + + execSkill = async (id: string) => + this.messageHttp(this.calculationHttpRepository.execInstance(id), { + errorMessage: "Ошибка", + successMessage: "Процесс запущен", + }); + + setSelectTemplate = (el: CalculationModel) => { + this.selectTemplate = el; + const instance = plainToInstance(CalculationModel, el); + instance.instanceName = this?.viewModel.instanceName; + this.viewModel = instance; + }; + selectType = (newType: StoreTypes) => (this.storeType = newType); + + init = async (navigate?: NavigateFunction | undefined) => { + await this.mapOk("modelTemplate", this.calculationHttpRepository.getAllTemplates()); + await this.mapOk("activeProjectId", this.calculationHttpRepository.getActiveProjectId()); + await this.mapOk("calculationInstances", this.calculationHttpRepository.getAllInstances()); + }; + clickSave = async () => + match(this.storeType) + .with(StoreTypes.empty, () => {}) + .with(StoreTypes.newType, async () => + (await this.viewModel.valid()).fold( + async (model) => { + model.project = this.activeProjectId?.id; + + await this.messageHttp(this.calculationHttpRepository.createNewTemplate(model), { + successMessage: "Создан новый тип процесса", + }); + await this.init(); + + this.editDrawer(DrawersSkill.NEW_SKILL, false); + }, + async (e) => message.error(e) + ) + ) + .with(StoreTypes.newModel, async () => { + (await this.viewModel.valid()).fold( + async (model) => { + delete model._id; + model.project = this.activeProjectId?.id; + await this.messageHttp(this.calculationHttpRepository.createNewInstance(model), { + successMessage: "Создан новый экземпляр процесса", + }); + await this.init(); + + this.editDrawer(DrawersSkill.NEW_SKILL, false); + }, + async (e) => { + message.error(e); + } + ); + }); + + editDrawer(drawerName: DrawersSkill, status: boolean): void { + this.titleDrawer = drawerName; + this.drawers = this.drawers.map((el) => { + if (el.name === drawerName) { + el.status = status; + } + return el; + }); + } + + saveEdiSkill = async () => { + this.editDrawer(DrawersSkill.EDIT_SKILL, false); + (await this.viewModel.valid()).fold( + async (model) => await this.calculationHttpRepository.editCalculation(model), + async (err) => message.error(err) + ); + }; + makeEditProcess = (el: CalculationModel) => { + this.editProcess = el; + this.loadClassInstance(CalculationModel, el); + this.editDrawer(DrawersSkill.EDIT_SKILL, true); + }; + deleteTemplate = async (el: CalculationModel) => { + await this.messageHttp(this.calculationHttpRepository.deleteTemplate(el._id ?? ""), { + successMessage: "Удален", + }); + await this.mapOk("modelTemplate", this.calculationHttpRepository.getAllTemplates()); + }; +} diff --git a/ui/src/features/calculation_instance/presentation/ui/cards/get_model_card.tsx b/ui/src/features/calculation_instance/presentation/ui/cards/get_model_card.tsx new file mode 100644 index 0000000..901029d --- /dev/null +++ b/ui/src/features/calculation_instance/presentation/ui/cards/get_model_card.tsx @@ -0,0 +1,102 @@ +import { match } from "ts-pattern"; +import { PoseEstimateCard } from "./pose_estimate_card/model_card"; +import { Dropdown, MenuProps, message } from "antd"; +import { CoreText, CoreTextType } from "../../../../../core/ui/text/text"; +import { IMenuItem } from "../../../../dataset/card_dataset"; +import { Icon } from "../../../../../core/ui/icons/icons"; +import { CalculationModel } from "../../../model/calculation_model"; + +export enum CardModel { + pose_estimate = "pose_estimate", +} + +export const getModelCard = ( + calculationModel: CalculationModel, + onEdit: Function, + onDelete: Function, + onPlay: Function, + onPause: Function +) => { + const menu: IMenuItem[] = [ + { + onClick: () => onEdit(), + name: "Редактировать", + }, + { + onClick: () => onDelete(), + name: "Удалить", + }, + ]; + + const items: MenuProps["items"] = menu.map((el, index) => { + return { + key: String(index), + label: , + onClick: () => el.onClick(), + }; + }); + + return ( +
+
+
+ {calculationModel.isEnd ? ( + onPause()} /> + ) : ( + onPlay()} /> + )} +
+
onPlay()}>EXEC
+
STATUS:{calculationModel.processStatus}
+
+ + + window.prompt("Copy to clipboard: Ctrl+C, Enter", calculationModel.lastProcessLogs ?? "Not found logs") + } + /> + + window.prompt( + "Copy to clipboard: Ctrl+C, Enter", + calculationModel.lastProcessExecCommand ?? "Not last process command logs" + ) + } + /> +
+ + + + + + {match(calculationModel.card ?? "") + .with(CardModel.pose_estimate, () => { + return ; + }) + .otherwise(() => { + return <>; + })} +
+ +
+ +
+ +
+ +
+
+ ); +}; diff --git a/ui/src/features/calculation_instance/presentation/ui/cards/pose_estimate_card/model_card.tsx b/ui/src/features/calculation_instance/presentation/ui/cards/pose_estimate_card/model_card.tsx new file mode 100644 index 0000000..f619f93 --- /dev/null +++ b/ui/src/features/calculation_instance/presentation/ui/cards/pose_estimate_card/model_card.tsx @@ -0,0 +1,52 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { ButtonV2 } from "../../../../../../core/ui/button/button_v2"; +import { HttpMethod, HttpRepository } from "../../../../../../core/repository/core_http_repository"; +import { useStore } from "../../../../../../core/helper/use_store"; +import { UiErrorState } from "../../../../../../core/store/base_store"; +import { NavigateFunction } from "react-router-dom"; + +export interface IModelCardProps { + _id?: string; + dependency?: Object; + processStatus?: string; + name?: string; + isFinished?: boolean; + id?: string; + emptyOnClick?: Function; + startOnClick?: (id: string) => void; + continueOnClick?: (id: string) => void; + empty: boolean; + onEdit?: (id: string) => void; + epoch?: number; + onDelete?: (id: string) => void; + datasetName?: string; + epochNextTraining?: number; +} +export class PoseEstimateRepository extends HttpRepository { + execAnalyze = (id: string) => this._jsonRequest(HttpMethod.POST, `/run_time/exec/analyze?id=${id}`); +} +export class PoseEstimateStore extends UiErrorState { + navigate?: NavigateFunction; + poseEstimateRepository = new PoseEstimateRepository(); + constructor() { + super(); + makeAutoObservable(this); + } + async init(navigate?: NavigateFunction | undefined) { + this.navigate = navigate; + } + onClickExecAnalyze = async (id: string) => + (await this.poseEstimateRepository.execAnalyze(id)).fold( + () => { + setTimeout(() => { + window.open("http://localhost:6006/", "mozillaWindow", "popup"); + }, 3000); + }, + () => {} + ); +} +export const PoseEstimateCard = (props: IModelCardProps) => { + const store = useStore(PoseEstimateStore); + // @ts-ignore + return store.onClickExecAnalyze(props.dependency._id ?? "")} text="Запустить анализ" />; +}; diff --git a/ui/src/features/calculation_instance/presentation/ui/template_model_card.tsx b/ui/src/features/calculation_instance/presentation/ui/template_model_card.tsx new file mode 100644 index 0000000..a0fca0f --- /dev/null +++ b/ui/src/features/calculation_instance/presentation/ui/template_model_card.tsx @@ -0,0 +1,43 @@ +import { CoreText, CoreTextType } from "../../../../core/ui/text/text"; +import { CalculationModel } from "../../model/calculation_model"; + +export const TemplateModelCard = ({ + model, + isSelect, + onClick, + onDelete, +}: { + model: CalculationModel; + isSelect: boolean; + onClick?: Function; + onDelete?: Function; +}) => { + return ( +
{ + if (onClick) onClick(); + }} + style={{ + backgroundColor: "rgba(104, 80, 164, 1)", + width: 180, + height: 180, + borderRadius: 10, + padding: 10, + margin: 10, + border: isSelect ? "4px solid red" : undefined, + }} + > +
{ + if (onDelete) onDelete(); + }} + > + DELETE +
+ + + + +
+ ); +}; diff --git a/ui/src/features/calculations_template/calculations_template_http_repository.ts b/ui/src/features/calculations_template/calculations_template_http_repository.ts new file mode 100644 index 0000000..04dee15 --- /dev/null +++ b/ui/src/features/calculations_template/calculations_template_http_repository.ts @@ -0,0 +1,3 @@ +import { CoreHttpRepository } from "../../core/repository/core_http_repository"; + +export class CalculationsTemplateHttpRepository extends CoreHttpRepository {} diff --git a/ui/src/features/calculations_template/calculations_template_screen.tsx b/ui/src/features/calculations_template/calculations_template_screen.tsx new file mode 100644 index 0000000..828df87 --- /dev/null +++ b/ui/src/features/calculations_template/calculations_template_screen.tsx @@ -0,0 +1,12 @@ +import { observer } from "mobx-react-lite"; +import { CalculationsTemplateStore } from "./calculations_template_store"; +import React from "react"; +import { useStore } from "../../core/helper/use_store"; + +export const CalculationsTemplateScreenPath = "/calculations/template"; + +export const CalculationsTemplateScreen = observer(() => { + const store = useStore(CalculationsTemplateStore); + + return <>; +}); diff --git a/ui/src/features/calculations_template/calculations_template_store.ts b/ui/src/features/calculations_template/calculations_template_store.ts new file mode 100644 index 0000000..e02b971 --- /dev/null +++ b/ui/src/features/calculations_template/calculations_template_store.ts @@ -0,0 +1,16 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { UiDrawerFormState } from "../../core/store/base_store"; +import { HttpError } from "../../core/repository/core_http_repository"; +import { CalculationsTemplateViewModel } from "./calculations_template_view_model"; +import { NavigateFunction } from "react-router-dom"; +export enum CalculationTemplateDrawer { + newSkill = "Новый навык", +} +export class CalculationsTemplateStore extends UiDrawerFormState { + viewModel: CalculationsTemplateViewModel = CalculationsTemplateViewModel.empty(); + constructor() { + super(CalculationTemplateDrawer); + makeAutoObservable(this); + } + init = async (navigate?: NavigateFunction | undefined): Promise => {}; +} diff --git a/ui/src/features/calculations_template/calculations_template_view_model.ts b/ui/src/features/calculations_template/calculations_template_view_model.ts new file mode 100644 index 0000000..1be29f6 --- /dev/null +++ b/ui/src/features/calculations_template/calculations_template_view_model.ts @@ -0,0 +1,7 @@ +import { ValidationModel } from "../../core/model/validation_model"; + +export class CalculationsTemplateViewModel extends ValidationModel { + static empty() { + return new CalculationsTemplateViewModel(); + } +} diff --git a/ui/src/features/create_project/create_project_repository.ts b/ui/src/features/create_project/create_project_repository.ts deleted file mode 100644 index 750aad6..0000000 --- a/ui/src/features/create_project/create_project_repository.ts +++ /dev/null @@ -1,20 +0,0 @@ -import { Result } from "../../core/helper/result"; -import { DatabaseModel } from "../../core/model/database_model"; -import { ITriggerModel } from "../../core/model/trigger_model"; -import { HttpMethod, HttpRepository } from "../../core/repository/http_repository"; -import { UUID } from "../all_projects/data/project_repository"; -import { ICreateProjectViewModel } from "./project_model"; - -export interface PipelineModel extends DatabaseModel { - process: any; - trigger: ITriggerModel; -} - -export class CreateProjectRepository extends HttpRepository { - async saveProject(model: ICreateProjectViewModel): Promise> { - return await this._jsonRequest(HttpMethod.POST, "/projects", model); - } - async setProjectRootFile(file: File, projectId: string) { - return await this._formDataRequest(HttpMethod.POST, `/projects/upload?id=${projectId}`, file); - } -} diff --git a/ui/src/features/create_project/create_project_screen.tsx b/ui/src/features/create_project/create_project_screen.tsx deleted file mode 100644 index ff07100..0000000 --- a/ui/src/features/create_project/create_project_screen.tsx +++ /dev/null @@ -1,49 +0,0 @@ -import * as React from "react"; -import { LoadPage as MainPage } from "../../core/ui/pages/load_page"; -import { observer } from "mobx-react-lite"; -import { Col, Row, Input, Button, Upload } from "antd"; -import type { UploadProps } from "antd"; -import { CreateProjectStore } from "./create_project_store"; -import { CreateProjectRepository } from "./create_project_repository"; - -export const CreateProjectScreenPath = "/create_project"; -export const CreateProjectScreen: React.FunctionComponent = observer(() => { - const [store] = React.useState(() => new CreateProjectStore(new CreateProjectRepository())); - - React.useEffect(() => { - store.init(); - }, [store]); - return ( - <> - - - - - store.setDescriptionToNewProject(e.target.value)} - placeholder="project description" - /> - { - store.file = e.file.originFileObj; - }} - > - - - - - - - - } - /> - - ); -}); diff --git a/ui/src/features/create_project/create_project_store.ts b/ui/src/features/create_project/create_project_store.ts deleted file mode 100644 index 33d74ed..0000000 --- a/ui/src/features/create_project/create_project_store.ts +++ /dev/null @@ -1,51 +0,0 @@ -import makeAutoObservable from "mobx-store-inheritance"; -import { CreateProjectRepository } from "./create_project_repository"; -import { message } from "antd"; -import { SimpleErrorState } from "../../core/store/base_store"; - -export class CreateProjectStore extends SimpleErrorState { - repository: CreateProjectRepository; - - newProjectDescription: string = ""; - file?: File; - - constructor(repository: CreateProjectRepository) { - super(); - this.repository = repository; - makeAutoObservable(this); - } - async init() {} - - setDescriptionToNewProject(value: string): void { - this.newProjectDescription = value; - } - - async saveProject(): Promise { - if (this.newProjectDescription.isEmpty()) { - message.error("project description is not empty"); - return; - } - if (this.file === undefined) { - message.error("upload file"); - return; - } - - this.isLoading = true; - ( - await this.repository.saveProject({ - description: this.newProjectDescription, - }) - ).fold( - (uuid) => { - this.newProjectDescription = ""; - this.isLoading = false; - this.repository.setProjectRootFile(this.file as File, uuid.id); - }, - (_) => { - this.isError = true; - } - ); - - // - } -} diff --git a/ui/src/features/create_project/project_model.ts b/ui/src/features/create_project/project_model.ts deleted file mode 100644 index ee9c740..0000000 --- a/ui/src/features/create_project/project_model.ts +++ /dev/null @@ -1,3 +0,0 @@ -export interface ICreateProjectViewModel { - description: string; -} diff --git a/ui/src/features/dataset/card_dataset.tsx b/ui/src/features/dataset/card_dataset.tsx index 3b54c31..6d37f81 100644 --- a/ui/src/features/dataset/card_dataset.tsx +++ b/ui/src/features/dataset/card_dataset.tsx @@ -8,7 +8,7 @@ import type { MenuProps } from "antd"; import { Dropdown } from "antd"; import { ProcessStatus } from "./dataset_model"; -interface IMenuItem { +export interface IMenuItem { onClick: Function; name: string; } @@ -133,7 +133,6 @@ export const CardDataSet = (props: ICardDataSetProps) => { />):null} {props.processStatus === ProcessStatus.RUN ? (<> { if (props.type.isEqual(CardDataSetType.COMPLETED) && props.onClickButton && props.id) { props.onClickButton(props.id); diff --git a/ui/src/features/dataset/dataset_http_repository.ts b/ui/src/features/dataset/dataset_http_repository.ts new file mode 100644 index 0000000..5868460 --- /dev/null +++ b/ui/src/features/dataset/dataset_http_repository.ts @@ -0,0 +1,18 @@ +import { Result } from "../../core/helper/result"; +import { HttpError, HttpMethod, CoreHttpRepository } from "../../core/repository/core_http_repository"; +import { Parts } from "../details/details_http_repository"; +import { DataSetModel, Dataset, IDatasetModel } from "./dataset_model"; + +export class DataSetHttpRepository extends CoreHttpRepository { + featureApi = `/datasets`; + + editDataset = (dataSetModel: DataSetModel) => this._jsonRequest(HttpMethod.PUT, this.featureApi, dataSetModel); + deleteDataset = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}/dataset?id=${id}`); + saveDataSet = async (model: DataSetModel) => this._jsonRequest(HttpMethod.POST, this.featureApi, model); + getDatasetsActiveProject = async (): Promise> => + this._jsonRequest(HttpMethod.GET, this.featureApi); + execDatasetProcess = async (id: string) => this._jsonRequest(HttpMethod.POST, `${this.featureApi}/exec?id=${id}`); + isRunningProcess = async () => this._jsonRequest(HttpMethod.GET, `${this.featureApi}/is/running`); + deleteProcess = async () => this._jsonRequest(HttpMethod.GET, `${this.featureApi}/delete/process`); + getLocalParts = () => this._jsonRequest(HttpMethod.GET,`/projects/local/assets`) +} diff --git a/ui/src/features/dataset/dataset_model.ts b/ui/src/features/dataset/dataset_model.tsx similarity index 88% rename from ui/src/features/dataset/dataset_model.ts rename to ui/src/features/dataset/dataset_model.tsx index f9faecf..f80e9af 100644 --- a/ui/src/features/dataset/dataset_model.ts +++ b/ui/src/features/dataset/dataset_model.tsx @@ -1,11 +1,13 @@ import { Result } from "../../core/helper/result"; import makeAutoObservable from "mobx-store-inheritance"; +import { FormBuilderValidationModel } from "../../core/model/form_builder_validation_model"; export enum ProcessStatus { END = "END", ERROR = "ERROR", NEW = "NEW", RUN = "RUN", + NONE = "none", } export interface IDatasetModel { @@ -30,36 +32,18 @@ export interface Dataset { formBuilder: FormBuilderValidationModel; } -export interface Assets { - assets: Asset[]; -} - export interface Asset { name: string; mesh: string; image: string; } -export class FormBuilderValidationModel { - public result: string; - public context: string; - public form: string[]; - public output: any; - constructor(context: string, result: string, form: string[], output: string) { - this.context = context; - this.result = result; - this.form = form; - this.output = output; - } - static empty() { - return new FormBuilderValidationModel(datasetFormMockContext, datasetFormMockResult, [], defaultFormValue); - } -} + export class DataSetModel { dataSetObjects: string[]; datasetType: string; name: string; - formBuilder: FormBuilderValidationModel = FormBuilderValidationModel.empty(); + formBuilder: FormBuilderValidationModel = FormBuilderValidationModel.datasetEmpty(); project?: string; processStatus?: string; isNew: boolean; @@ -105,11 +89,12 @@ export class DataSetModel { export const datasetTypes = ["Object Detection - YOLOv8", "Pose Estimation - DOPE"]; -export const datasetFormMockResult = `{ +export const datasetFormMockResult = ` +{ "typedataset": \${typedataset:Enum:ObjectDetection}, "models_randomization":{ - "loc_range_low": [\${LOC_RANGE_LOW_1:number:-1}, \${LOC_RANGE_LOW_2:number:-1},/\${LOC_RANGE_LOW_3:number:0}], - "loc_range_high": [\${LOC_RANGE_HIGH_1:number:1}, \${LOC_RANGE_HIGH_2:number:1},/\${LOC_RANGE_HIGH_3:number:2}] + "loc_range_low": [\${LOC_RANGE_LOW_1:number:-1}, \${LOC_RANGE_LOW_2:number:-1},\${LOC_RANGE_LOW_3:number:0}], + "loc_range_high": [\${LOC_RANGE_HIGH_1:number:1}, \${LOC_RANGE_HIGH_2:number:1},\${LOC_RANGE_HIGH_3:number:2}] }, "scene":{ "objects": \${OBJECTS_SCENE:Array:[]}, diff --git a/ui/src/features/dataset/dataset_repository.ts b/ui/src/features/dataset/dataset_repository.ts deleted file mode 100644 index 796a30f..0000000 --- a/ui/src/features/dataset/dataset_repository.ts +++ /dev/null @@ -1,35 +0,0 @@ -import { Result } from "../../core/helper/result"; -import { HttpError, HttpMethod, HttpRepository } from "../../core/repository/http_repository"; -import { UUID } from "../all_projects/data/project_repository"; -import { Assets, DataSetModel, Dataset, IDatasetModel, ProcessStatus } from "./dataset_model"; - -export class DataSetRepository extends HttpRepository { - editDataset(dataSetModel: DataSetModel) { - dataSetModel.processStatus = ProcessStatus.NEW; - return this._jsonRequest(HttpMethod.PUT, `/datasets`, dataSetModel); - } - deleteDataset(id: string) { - return this._jsonRequest(HttpMethod.DELETE, `/datasets/dataset?id=${id}`); - } - getActiveProjectId(): Promise> { - return this._jsonRequest(HttpMethod.GET, "/projects/get/active/project/id"); - } - getAssetsActiveProject = async (): Promise> => { - return this._jsonRequest(HttpMethod.GET, "/projects/assets"); - }; - saveDataSet = async (model: DataSetModel) => { - return this._jsonRequest(HttpMethod.POST, "/datasets", model); - }; - getDatasetsActiveProject = async (): Promise> => { - return this._jsonRequest(HttpMethod.GET, "/datasets"); - }; - execDatasetProcess = async (id: string) => { - return this._jsonRequest(HttpMethod.POST, `/datasets/exec?id=${id}`); - }; - isRunningProcess = async () => { - return this._jsonRequest(HttpMethod.GET, "/datasets/is/running"); - }; - deleteProcess = async () => { - return this._jsonRequest(HttpMethod.GET, "/datasets/delete/process"); - }; -} diff --git a/ui/src/features/dataset/dataset_screen.tsx b/ui/src/features/dataset/dataset_screen.tsx index 57027a8..b5b78b3 100644 --- a/ui/src/features/dataset/dataset_screen.tsx +++ b/ui/src/features/dataset/dataset_screen.tsx @@ -7,16 +7,13 @@ import { MainPage } from "../../core/ui/pages/main_page"; import { CardDataSet, CardDataSetType } from "./card_dataset"; import { CoreInput } from "../../core/ui/input/input"; import { CoreButton } from "../../core/ui/button/button"; -import { ListItem } from "./list_item"; +import { useStore } from "../../core/helper/use_store"; export const DatasetsScreenPath = "/dataset"; export const DataSetScreen: React.FunctionComponent = observer(() => { - const [store] = React.useState(() => new DataSetStore()); + const store = useStore(DataSetStore); - React.useEffect(() => { - store.init(); - }, [store]); return ( <> { filled={true} />
- {store.assets?.assets?.map((el) => { - return ( - { - store.datasetCheckBox(el); - }} - /> - ); - })}
diff --git a/ui/src/features/dataset/dataset_store.ts b/ui/src/features/dataset/dataset_store.ts index f9efa23..155a2c8 100644 --- a/ui/src/features/dataset/dataset_store.ts +++ b/ui/src/features/dataset/dataset_store.ts @@ -1,23 +1,21 @@ import makeAutoObservable from "mobx-store-inheritance"; -import { DataSetRepository } from "./dataset_repository"; -import { UiErrorState } from "../../core/store/base_store"; -import { HttpError } from "../../core/repository/http_repository"; -import { Asset, Assets, DataSetModel, IDatasetModel, ProcessStatus } from "./dataset_model"; +import { DataSetHttpRepository } from "./dataset_http_repository"; +import { Drawer, UiErrorState } from "../../core/store/base_store"; +import { HttpError } from "../../core/repository/core_http_repository"; +import { DataSetModel, IDatasetModel, ProcessStatus } from "./dataset_model"; import { message } from "antd"; -import { UUID } from "../all_projects/data/project_repository"; -import { SocketRepository, socketRepository } from "../../core/repository/socket_repository"; +import { UUID } from "../all_projects/data/project_http_repository"; +import { SocketRepository, socketRepository } from "../../core/repository/core_socket_repository"; +import { Parts } from "../details/details_http_repository"; export enum DrawersDataset { NewDataset = "Новый датасет", FormBuilderDrawer = "Редактировать датасет", } -export interface Drawer { - name: string; - status: boolean; -} + export class DataSetStore extends UiErrorState { - dataSetRepository: DataSetRepository; - assets?: Assets; + dataSetRepository: DataSetHttpRepository; + parts?: Parts[]; datasets?: IDatasetModel[]; activeProject: UUID; dataSetModel = DataSetModel.empty(); @@ -28,7 +26,7 @@ export class DataSetStore extends UiErrorState { constructor() { super(); this.socketRepository = socketRepository; - this.dataSetRepository = new DataSetRepository(); + this.dataSetRepository = new DataSetHttpRepository(); this.drawers = Object.entries(DrawersDataset).map((k, v) => { return { name: k.at(1) ?? "", @@ -77,11 +75,11 @@ export class DataSetStore extends UiErrorState { return this.dataSetModel.dataSetObjects.includes(name); } - datasetCheckBox(asset: Asset): void { - if (this.assetStatus(asset.name)) { - this.dataSetModel.dataSetObjects = this.dataSetModel.dataSetObjects.filter((el) => !el.isEqual(asset.name)); + datasetCheckBox(part: Parts): void { + if (this.assetStatus(part.name)) { + this.dataSetModel.dataSetObjects = this.dataSetModel.dataSetObjects.filter((el) => !el.isEqual(part.name)); } else { - this.dataSetModel.dataSetObjects.push(asset.name); + this.dataSetModel.dataSetObjects.push(part.name); } } @@ -142,6 +140,7 @@ export class DataSetStore extends UiErrorState { async (error) => message.error(error.message) ); } else { + this.dataSetModel.processStatus = ProcessStatus.NEW; (await this.dataSetRepository.editDataset(this.dataSetModel)).fold( async () => { message.success("Настройки датасета измнены"); @@ -157,7 +156,7 @@ export class DataSetStore extends UiErrorState { } init = async () => { - await this.mapOk("assets", this.dataSetRepository.getAssetsActiveProject()); + await this.mapOk("parts", this.dataSetRepository.getAssetsActiveProject()); await this.getDatasets(); await this.mapOk("activeProject", this.dataSetRepository.getActiveProjectId()); }; diff --git a/ui/src/features/dataset/p.json b/ui/src/features/dataset/p.json deleted file mode 100644 index 0519ecb..0000000 --- a/ui/src/features/dataset/p.json +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/ui/src/features/details/details_http_repository.ts b/ui/src/features/details/details_http_repository.ts new file mode 100644 index 0000000..17b0499 --- /dev/null +++ b/ui/src/features/details/details_http_repository.ts @@ -0,0 +1,25 @@ +import { HttpMethod, CoreHttpRepository } from "../../core/repository/core_http_repository"; +import { EnvelopmentViewModel } from "./envelopment_view_model"; +export interface Parts { + isSelect?: boolean; + name: string; + mass?:number; + part_path: string; + material_path: string; + stlUrl: string; + image: string; + glUrl: string; + solidType: string; + daeUrl: string; + objUrl: string; +} + +export class DetailsHttpRepository extends CoreHttpRepository { + uploadNewEnv = (model: EnvelopmentViewModel) => { + const formData = new FormData(); + Object.entries(model).forEach(([k, v]) => { + formData.append(k, v); + }); + this._formDataRequest(HttpMethod.POST, "/projects/upload/env", formData); + }; +} diff --git a/ui/src/features/details/details_screen.tsx b/ui/src/features/details/details_screen.tsx index 2f9d9e2..36fc665 100644 --- a/ui/src/features/details/details_screen.tsx +++ b/ui/src/features/details/details_screen.tsx @@ -1,8 +1,79 @@ -import * as React from "react"; +import { observer } from "mobx-react-lite"; +import { DetailsStore, DrawersDetailsStore } from "./details_store"; import { MainPage } from "../../core/ui/pages/main_page"; +import React from "react"; +import { CoreText, CoreTextType } from "../../core/ui/text/text"; +import { CoreButton } from "../../core/ui/button/button"; +import { Drawer, Upload } from "antd"; +import { CoreInput } from "../../core/ui/input/input"; +import { useStore } from "../../core/helper/use_store"; -export interface IDetailsScreenProps {} -export const DetailsScreenPath = "/detail"; -export default function DetailsScreen(props: IDetailsScreenProps) { - return ; -} +export const DetailsScreenPath = "/details"; + +export const DetailsScreen = observer(() => { + const store = useStore(DetailsStore); + React.useEffect(() => { + store.loadScene(canvasRef.current!); + }, []); + const canvasRef = React.useRef(null); + + return ( + } + panelChildren={ + <> + store.editDrawer(DrawersDetailsStore.NewEnvelopment, true)} + text="Добавить окружение" + style={{ margin: 10 }} + /> + {store.detailsViewModel.map((el, i) => ( +
store.selectedDetail(el.label)} style={{ margin: 5, cursor: "pointer" }}> +
+ +
+
+ ))} + store.editDrawer(DrawersDetailsStore.NewEnvelopment, false)} + open={store.drawers.find((el) => el.name === DrawersDetailsStore.NewEnvelopment)?.status} + > + store.updateForm({ name: text })} /> + store.updateForm({ blend: file.file.originFileObj })}> + + + store.updateForm({ ply: file.file.originFileObj })}> + + + store.updateForm({ stl: file.file.originFileObj })}> + + + store.updateForm({ glb: file.file.originFileObj })}> + + + store.updateForm({ dae: file.file.originFileObj })}> + + + store.updateForm({ fbx: file.file.originFileObj })}> + + + store.updateForm({ png: file.file.originFileObj })}> + + +
+ store.uploadEnv()} /> + + + } + /> + ); +}); diff --git a/ui/src/features/details/details_store.ts b/ui/src/features/details/details_store.ts new file mode 100644 index 0000000..8100197 --- /dev/null +++ b/ui/src/features/details/details_store.ts @@ -0,0 +1,72 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { CoreError, UiDrawerFormState } from "../../core/store/base_store"; +import { NavigateFunction } from "react-router-dom"; +import { DetailsHttpRepository, Parts } from "./details_http_repository"; +import { DetailsThreeRepository } from "./details_three_repository"; +import { EnvelopmentViewModel } from "./envelopment_view_model"; +import { message } from "antd"; + +interface IDetailViewModel { + label: string; + selected: boolean; + httpUrl: string; +} +export enum DrawersDetailsStore { + NewEnvelopment = "Новое окружение", +} + +export class DetailsStore extends UiDrawerFormState { + viewModel: EnvelopmentViewModel = EnvelopmentViewModel.empty(); + detailsViewModel: IDetailViewModel[] = []; + parts: Parts[] = []; + detailsHttpRepository: DetailsHttpRepository = new DetailsHttpRepository(); + detailsThreeRepository?: DetailsThreeRepository; + constructor() { + super(DrawersDetailsStore); + makeAutoObservable(this); + this.init(); + } + errorHandingStrategy = (error: CoreError) => {}; + init = async (navigate?: NavigateFunction | undefined): Promise => { + await this.mapOk("parts", this.detailsHttpRepository.getAssetsActiveProject()); + + + + this.detailsViewModel = this.parts.map((el) => { + return { + label: el.name, + selected: false, + httpUrl: el.stlUrl, + }; + }); + }; + + selectedDetail = (label: string) => { + this.detailsViewModel.map((el) => { + el.selected = false; + return el; + }); + this.detailsViewModel.map((el) => { + if (el.label.match(label)) { + el.selected = true; + this.detailsThreeRepository?.deleteAllObjectsScene(); + this.detailsThreeRepository?.loadHttpAndPreview(el.httpUrl, el.label, () => {}); + return el; + } + return el; + }); + }; + loadScene = async (ref: HTMLCanvasElement) => { + this.detailsThreeRepository = new DetailsThreeRepository(ref, () => {}); + this.detailsThreeRepository.render(); + }; + uploadEnv = () => + this.viewModel.isValid().fold( + async (model) => { + await this.detailsHttpRepository.uploadNewEnv(model); + await this.init(); + this.editDrawer(DrawersDetailsStore.NewEnvelopment, false); + }, + async (e) => message.error(e) + ); +} diff --git a/ui/src/features/details/details_three_repository.ts b/ui/src/features/details/details_three_repository.ts new file mode 100644 index 0000000..b2c3b53 --- /dev/null +++ b/ui/src/features/details/details_three_repository.ts @@ -0,0 +1,20 @@ +import { Box3, GridHelper, Mesh, Object3D, Vector3 } from "three"; +import { CoreThreeRepository } from "../../core/repository/core_three_repository"; + +export class DetailsThreeRepository extends CoreThreeRepository { + + loadHttpAndPreview = (path: string, name: string, loadCallback?: Function) => { + + this.loader( + path, + () => { + this.raiseAnObjectAboveZeroVector(name) + this.getCenterPoint(this.scene.children.filter((el) => el instanceof GridHelper).at(0) as Object3D) + }, + name, + new Vector3(0, 0, 0) + ); + + } + +} \ No newline at end of file diff --git a/ui/src/features/details/envelopment_view_model.ts b/ui/src/features/details/envelopment_view_model.ts new file mode 100644 index 0000000..55ddfdd --- /dev/null +++ b/ui/src/features/details/envelopment_view_model.ts @@ -0,0 +1,32 @@ +import { Result } from "../../core/helper/result"; + +export class EnvelopmentViewModel { + public name: string; + public blend?: File; + public ply?: File; + public glb?: File; + public dae?: File; + public stl?: File; + public fbx?: File; + public png?: File; + public mass: number = 0; + public inertia = { + ixx: 0.1, + ixy: 0, + ixz: 0, + iyy: 0.1, + iyz: 0, + izz: 0.1, + }; + + constructor(name: string) { + this.name = name; + } + static empty = () => new EnvelopmentViewModel(""); + isValid = (): Result => { + if (this.name.isEmpty()) { + return Result.error("name is empty"); + } + return Result.ok(this); + }; +} diff --git a/ui/src/features/digital_twins/digital_twins_http_repository.ts b/ui/src/features/digital_twins/digital_twins_http_repository.ts new file mode 100644 index 0000000..f9310a0 --- /dev/null +++ b/ui/src/features/digital_twins/digital_twins_http_repository.ts @@ -0,0 +1,18 @@ +import { HttpMethod, HttpRepository } from "../../core/repository/core_http_repository"; +import { UUID } from "../all_projects/data/project_http_repository"; +import { DigitalTwinsModel } from "./digital_twins_model"; + +export class DigitalTwinsHttpRepository extends HttpRepository { + featureApi = `/digital/twins/template`; + subFeatureApi = `/digital/twins/instance`; + getAllDigitalTwinsTemplate = () => this._jsonRequest(HttpMethod.GET, this.featureApi); + getAllDigitalTwinsInstance = () => this._jsonRequest(HttpMethod.GET, this.subFeatureApi); + createNewDigitalTwinsTemplate = (model: DigitalTwinsModel) => + this._jsonRequest(HttpMethod.POST, this.featureApi, model); + createNewDigitalTwinsInstance = (model: DigitalTwinsModel) => + this._jsonRequest(HttpMethod.POST, this.subFeatureApi, model); + deleteDigitalTwinsTemplate = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`); + deleteDigitalTwinsInstance = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.subFeatureApi}?id=${id}`); + execDigitalTwinsInstance = (id: UUID) => + this._jsonRequest(HttpMethod.POST, `${this.subFeatureApi}/exec/instance?id=${id.id}`); +} diff --git a/ui/src/features/digital_twins/digital_twins_model.ts b/ui/src/features/digital_twins/digital_twins_model.ts new file mode 100644 index 0000000..7dd6c8c --- /dev/null +++ b/ui/src/features/digital_twins/digital_twins_model.ts @@ -0,0 +1,49 @@ +import { ValidationModel } from "../../core/model/validation_model"; +import { Type } from "class-transformer"; +import { IsEnum, IsNotEmpty, IsString } from "class-validator"; +import { FormBuilderValidationModel } from "../../core/model/form_builder_validation_model"; + +export enum DigitalTwinsTypes { + CAMERA = "CAMERA", + ROBOT = "ROBOT", +} +export class Interfaces { + @IsString() + cmd: string; +} + +export class DigitalTwinsModel extends ValidationModel { + _id?: string; + path: string = ""; + name: string = ""; + instanceName: string = ""; + @IsEnum(DigitalTwinsTypes) + entity: DigitalTwinsTypes; + @IsString() + description: string; + @IsString() + command: string; + @Type(() => Interfaces) + interfaces: Interfaces; + @IsNotEmpty() + @IsString() + package: string; + @IsNotEmpty() + @IsString() + executable: string; + formBuilder = FormBuilderValidationModel.empty(); + static empty() { + return new DigitalTwinsModel(); + } +} +export interface DigitalTwinsTemplate { + interfaces: Interfaces; + _id?: string; + path: string; + name: string; + entity: string; + description: string; + command: string; + __v: string; + formBuilder?: FormBuilderValidationModel; +} diff --git a/ui/src/features/digital_twins/digital_twins_screen.tsx b/ui/src/features/digital_twins/digital_twins_screen.tsx new file mode 100644 index 0000000..a0bfbba --- /dev/null +++ b/ui/src/features/digital_twins/digital_twins_screen.tsx @@ -0,0 +1,150 @@ +import React from "react"; +import { observer } from "mobx-react-lite"; +import { DigitalTwinStoreType, DigitalTwinsStore, DrawersDigitalTwin } from "./digital_twins_store"; +import { Drawer, Modal } from "antd"; +import { CoreButton } from "../../core/ui/button/button"; +import { FormBuilder } from "../../core/ui/form_builder/form_builder"; +import { CoreInput } from "../../core/ui/input/input"; +import { CoreSelect } from "../../core/ui/select/select"; +import { DigitalTwinsModel, DigitalTwinsTypes } from "./digital_twins_model"; +import { match } from "ts-pattern"; +import { useStore } from "../../core/helper/use_store"; + +export const DigitalTwinsScreenPath = "/digital_twins"; + +export const DigitalTwinsScreen = observer(() => { + const store = useStore(DigitalTwinsStore); + + return ( + <> +
+ store.editDrawer(DrawersDigitalTwin.newTwinTemplate, true)} + /> + store.editDrawer(DrawersDigitalTwin.newInstanceTwinTemplate, true)} + /> +
+
{store.digitalTwinsInstances?.map((el) => <>{el.name})}
+ { + store.editDrawer(DrawersDigitalTwin.newInstanceTwinTemplate, false); + store.type = DigitalTwinStoreType.selectTwinTemplate; + store.viewModel = DigitalTwinsModel.empty(); + }} + open={store.drawers.find((el) => el.name === DrawersDigitalTwin.newInstanceTwinTemplate)?.status} + > +
+ {match(store.type) + .with(DigitalTwinStoreType.editInstanceTemplate, () => ( + <> + store.updateForm({ instanceName: text })} label={"Instance name"} /> + store.updateForm({ formBuilder: change })} + /> + + )) + .with(DigitalTwinStoreType.selectTwinTemplate, () => ( + <> + {store.digitalTwinsTemplates?.map((el, i) => ( +
+
store.deleteDigitalTwinsTemplate(el._id!)}>DELETE
+
store.createInstanceTwins(el)}>CREATE
+ {el.name} +
+ ))} + + )) + .otherwise(() => ( + <> + ))} +
+ store.saveInstanceDigitalTwin()} /> +
+ store.editDrawer(DrawersDigitalTwin.newInstanceTwinTemplate, false)} + /> +
+
+ + + store.editDrawer(DrawersDigitalTwin.newTwinTemplate, false)} + open={store.drawers.find((el) => el.name === DrawersDigitalTwin.newTwinTemplate)?.status} + > +
+ store.updateForm({ name: text })} label={"Имя"} /> + store.updateForm({ entity: value as any })} + /> + store.updateForm({ description: text })} label={"Описание"} /> + store.updateForm({ command: text })} label={"Команда"} /> + store.updateForm({ interfaces: { cmd: text } })} label={"Cmd"} /> + store.updateForm({ package: text })} label={"package"} /> + store.updateForm({ executable: text })} label={"executable"} /> + (store.viewModel.formBuilder.result = text)} + style={{ height: 200, overflow: "overlay" }} + /> + (store.viewModel.formBuilder.context = text)} + style={{ height: 200, overflow: "overlay" }} + /> +
+ (store.isModalOpen = true)} + /> +
+ +
+ store.saveTemplateDigitalTwin()} /> +
+ store.editDrawer(DrawersDigitalTwin.newTwinTemplate, false)} /> +
+
+ + + { + store.isModalOpen = false; + }} + > + {}} /> + + + ); +}); diff --git a/ui/src/features/digital_twins/digital_twins_store.ts b/ui/src/features/digital_twins/digital_twins_store.ts new file mode 100644 index 0000000..77d6016 --- /dev/null +++ b/ui/src/features/digital_twins/digital_twins_store.ts @@ -0,0 +1,67 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { UiDrawerFormState } from "../../core/store/base_store"; +import { DigitalTwinsModel, DigitalTwinsTemplate as DigitalTwins } from "./digital_twins_model"; +import { NavigateFunction } from "react-router-dom"; +import { message } from "antd"; +import { DigitalTwinsHttpRepository } from "./digital_twins_http_repository"; +import { HttpError } from "../../core/repository/core_http_repository"; +import { match } from "ts-pattern"; + +export enum DrawersDigitalTwin { + newTwinTemplate = "Новый шаблон двойника", + newInstanceTwinTemplate = "Новый инстанц шаблона двойника", +} +export enum DigitalTwinStoreType { + selectTwinTemplate = "selectTwinTemplate", + editInstanceTemplate = "editInstanceTemplate", +} +export class DigitalTwinsStore extends UiDrawerFormState { + type: DigitalTwinStoreType = DigitalTwinStoreType.selectTwinTemplate; + digitalTwinsTemplates?: DigitalTwins[]; + digitalTwinsInstances?: DigitalTwins[]; + digitalTwinsHttpRepository: DigitalTwinsHttpRepository = new DigitalTwinsHttpRepository(); + viewModel: DigitalTwinsModel = DigitalTwinsModel.empty(); + isModalOpen: boolean = false; + init = async (_navigate?: NavigateFunction | undefined): Promise => this.refresh(); + constructor() { + super(DrawersDigitalTwin); + makeAutoObservable(this); + } + refresh = async () => { + this.mapOk("digitalTwinsTemplates", this.digitalTwinsHttpRepository.getAllDigitalTwinsTemplate()); + this.mapOk("digitalTwinsInstances", this.digitalTwinsHttpRepository.getAllDigitalTwinsInstance()); + }; + saveInstanceDigitalTwin = async () => + match(this.type) + .with(DigitalTwinStoreType.editInstanceTemplate, async () => { + + this.viewModel._id = undefined; + (await this.digitalTwinsHttpRepository.createNewDigitalTwinsInstance(this.viewModel)).map(async (id) => { + await this.digitalTwinsHttpRepository.execDigitalTwinsInstance(id); + await this.refresh(); + }); + this.editDrawer(DrawersDigitalTwin.newInstanceTwinTemplate, false); + }) + .with(DigitalTwinStoreType.selectTwinTemplate, () => { + + // this.editDrawer(DrawersDigitalTwin.newInstanceTwinTemplate, false), + // await ( + // await this.digitalTwinsHttpRepository.createNewDigitalTwinsInstance(this.viewModel) + // ).map(() => this.refresh()) + }); + createInstanceTwins = (el: DigitalTwins): void => { + this.loadDependency(el as any); + this.type = DigitalTwinStoreType.editInstanceTemplate; + }; + saveTemplateDigitalTwin = async () => + (await this.viewModel.valid()).fold( + async (model) => { + (await this.digitalTwinsHttpRepository.createNewDigitalTwinsTemplate(model)).map(() => { + this.refresh(); + }); + }, + async (e) => message.error(e) + ); + deleteDigitalTwinsTemplate = async (id: string) => + (await this.digitalTwinsHttpRepository.deleteDigitalTwinsTemplate(id)).map(() => this.refresh()); +} diff --git a/ui/src/features/pipeline_instance_main_screen/pipeline_instance_repository.ts b/ui/src/features/pipeline_instance_main_screen/pipeline_instance_repository.ts deleted file mode 100644 index c43eff2..0000000 --- a/ui/src/features/pipeline_instance_main_screen/pipeline_instance_repository.ts +++ /dev/null @@ -1 +0,0 @@ -export class PipelineInstanceRepository {} diff --git a/ui/src/features/pipeline_instance_main_screen/pipeline_instance_screen.tsx b/ui/src/features/pipeline_instance_main_screen/pipeline_instance_screen.tsx deleted file mode 100644 index 655a6b0..0000000 --- a/ui/src/features/pipeline_instance_main_screen/pipeline_instance_screen.tsx +++ /dev/null @@ -1,27 +0,0 @@ -import * as React from "react"; -import { PipelineInstanceStore } from "./pipeline_instance_store"; -import { useNavigate } from "react-router-dom"; -import { Icon } from "../../core/ui/icons/icons"; -import { CardDataSet, CardDataSetType } from "../dataset/card_dataset"; -import { MainPage } from "../../core/ui/pages/main_page"; - -export const PipelineInstanceScreenPath = "/pipeline_instance/"; - -export const PipelineInstanceScreen: React.FunctionComponent = () => { - const [store] = React.useState(() => { - new PipelineInstanceStore(); - }); - React.useEffect(() => { - document.body.style.overflow = "hidden"; - return () => { - document.body.style.overflow = "scroll"; - }; - }, [store]); - const navigate = useNavigate(); - - return ( - <> - - - ); -}; diff --git a/ui/src/features/pipeline_instance_main_screen/pipeline_instance_store.ts b/ui/src/features/pipeline_instance_main_screen/pipeline_instance_store.ts deleted file mode 100644 index 7c9bb7f..0000000 --- a/ui/src/features/pipeline_instance_main_screen/pipeline_instance_store.ts +++ /dev/null @@ -1,9 +0,0 @@ -import makeAutoObservable from "mobx-store-inheritance"; -import { SimpleErrorState } from "../../core/store/base_store"; - -export class PipelineInstanceStore extends SimpleErrorState { - constructor() { - super(); - makeAutoObservable(this); - } -} diff --git a/ui/src/features/scene_builder/data/scene_builder_repository.ts b/ui/src/features/scene_builder/data/scene_builder_repository.ts new file mode 100644 index 0000000..ca76314 --- /dev/null +++ b/ui/src/features/scene_builder/data/scene_builder_repository.ts @@ -0,0 +1,6 @@ +import { SceneAsset } from "../../../core/model/scene_asset"; +import { CoreHttpRepository, HttpMethod } from "../../../core/repository/core_http_repository"; + +export class SceneBuilderHttpRepository extends CoreHttpRepository { + editScene = (scene: SceneAsset) => this._jsonRequest(HttpMethod.PUT, "/scenes", scene); +} diff --git a/ui/src/features/scene_builder/presentation/components/coords_form.tsx b/ui/src/features/scene_builder/presentation/components/coords_form.tsx new file mode 100644 index 0000000..b5de8d2 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/components/coords_form.tsx @@ -0,0 +1,107 @@ +import { Instance } from "../../../../core/model/scene_asset"; +import { FormState } from "../../../../core/store/base_store"; +import { CoreInput } from "../../../../core/ui/input/input"; +import { CoreText, CoreTextType } from "../../../../core/ui/text/text"; +import { Toggle } from "../../../../core/ui/toggle/toggle"; + +export const CoordsForm = ({ store, update }: { store: FormState; update: Function }) => { + return ( + <> + + + + { + store.updateForm({ position: store.viewModel.position.setX(Number(text)) }); + update(); + }} + /> + { + store.updateForm({ position: store.viewModel.position.setY(Number(text)) }); + update(); + }} + /> + { + store.updateForm({ position: store.viewModel.position.setZ(Number(text)) }); + update(); + }} + /> + + { + store.updateForm({ + orientation: store.viewModel.orientation.map((el: any, i: number) => { + if (i === 1) { + return Number(text); + } + return el; + }), + }); + update(); + }} + /> + { + store.updateForm({ + orientation: store.viewModel.orientation.map((el: any, i: number) => { + if (i === 2) { + return Number(text); + } + return el; + }), + }); + update(); + }} + /> + { + store.updateForm({ + orientation: store.viewModel.orientation.map((el: any, i: number) => { + if (i === 3) { + return Number(text); + } + return el; + }), + }); + update(); + }} + /> + { + store.updateForm({ + orientation: store.viewModel.orientation.map((el: any, i: number) => { + if (i === 4) { + return Number(text); + } + return el; + }), + }); + update(); + }} + /> +
+ } + isOpen={false} + /> + + ); +}; diff --git a/ui/src/features/scene_manager/presentation/components/scene_menu.tsx b/ui/src/features/scene_builder/presentation/components/scene_menu.tsx similarity index 100% rename from ui/src/features/scene_manager/presentation/components/scene_menu.tsx rename to ui/src/features/scene_builder/presentation/components/scene_menu.tsx diff --git a/ui/src/features/scene_manager/presentation/components/scene_widget.tsx b/ui/src/features/scene_builder/presentation/components/scene_widget.tsx similarity index 100% rename from ui/src/features/scene_manager/presentation/components/scene_widget.tsx rename to ui/src/features/scene_builder/presentation/components/scene_widget.tsx diff --git a/ui/src/features/scene_builder/presentation/components/spawn_position_types.tsx b/ui/src/features/scene_builder/presentation/components/spawn_position_types.tsx new file mode 100644 index 0000000..46366ed --- /dev/null +++ b/ui/src/features/scene_builder/presentation/components/spawn_position_types.tsx @@ -0,0 +1,14 @@ +import { SpawnPositionTypes } from "../../../../core/model/spawn_position_types"; +import { CoreButton } from "../../../../core/ui/button/button"; +import { CoreText, CoreTextType } from "../../../../core/ui/text/text"; + +export const SpawnPositionTypesForm = ({ onClick: onClick }: { onClick: Function }) => { + return ( + <> + + {Object.entries(SpawnPositionTypes).map(([_, value], i) => ( + onClick(value)} /> + ))} + + ); +}; diff --git a/ui/src/features/scene_builder/presentation/forms/camera/camera_form.tsx b/ui/src/features/scene_builder/presentation/forms/camera/camera_form.tsx new file mode 100644 index 0000000..bd89be5 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/camera/camera_form.tsx @@ -0,0 +1,89 @@ +import React from "react"; +import { CoreButton } from "../../../../../core/ui/button/button"; +import { IDefaultSceneManagerFormProps, isPreviewMode } from "../scene_manager_forms"; +import { CoreInput } from "../../../../../core/ui/input/input"; +import { CoreText, CoreTextType } from "../../../../../core/ui/text/text"; +import { CoreSelect } from "../../../../../core/ui/select/select"; +import { CameraFormStore } from "./camera_store"; +import { observer } from "mobx-react-lite"; +import { CameraTypes } from "../../../../../core/model/camera_model"; +import { useStoreClass } from "../../../../../core/helper/use_store"; +import { CoordsForm } from "../../components/coords_form"; +import { Toggle } from "../../../../../core/ui/toggle/toggle"; + +export const CameraForm = observer((props: IDefaultSceneManagerFormProps) => { + const store = useStoreClass(new CameraFormStore(props.store)); + return ( +
+ + + store.updateForm({ topic: text })} + /> + store.updateForm({ name: text })} + /> + Number().isValid(text)} + label={"Update Rate"} + onChange={(text) => store.updateForm({ updateRate: Number(text) })} + /> + Number().isValid(text)} + label={"Height"} + onChange={(text) => store.updateForm({ height: Number(text) })} + /> + Number().isValid(text)} + label={"Width"} + onChange={(text) => store.updateForm({ width: Number(text) })} + /> + Number().isValid(text)} + onChange={(text) => (store.updateForm({ fov: Number(text) }), store.updateCameraScene())} + /> + Number().isValid(text)} + onChange={(text) => (store.updateForm({ far: Number(text) }), store.updateCameraScene())} + /> + Number().isValid(text)} + onChange={(text) => (store.updateForm({ near: Number(text) }), store.updateCameraScene())} + /> + v)} + value={store.viewModel.cameraType} + label={"Тип камеры"} + onChange={(text) => store.updateForm({ cameraType: text as CameraTypes })} + /> + + } + /> +
+ store.updateCameraScene()} /> +
+ + {store.type !== "preview" ? ( + store.clickNewCamera()} /> + ) : null} +
+
+ ); +}); diff --git a/ui/src/features/scene_builder/presentation/forms/camera/camera_store.tsx b/ui/src/features/scene_builder/presentation/forms/camera/camera_store.tsx new file mode 100644 index 0000000..2c7d09d --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/camera/camera_store.tsx @@ -0,0 +1,47 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { NavigateFunction } from "react-router-dom"; +import { FormState, CoreError } from "../../../../../core/store/base_store"; +import { isPreviewMode } from "../scene_manager_forms"; +import { CameraModel } from "../../../../../core/model/camera_model"; +import { message } from "antd"; +import { SceneBuilderStore } from "../../scene_builder_store"; + +export class CameraFormStore extends FormState { + viewModel: CameraModel = CameraModel.empty(); + sceneBuilderStore: SceneBuilderStore; + type?: string; + constructor(sceneBuilderStore: SceneBuilderStore) { + super(); + makeAutoObservable(this); + this.sceneBuilderStore = sceneBuilderStore; + } + + errorHandingStrategy = (error: CoreError) => {}; + updateCameraScene = () => + this.type?.isNotEmptyR().map(() => this.viewModel.toWebGl(this.sceneBuilderStore.coreThreeRepository!)); + clickNewCamera = () => + this.viewModel.validate().fold( + (model) => { + this.sceneBuilderStore.addNewCamera(model); + this.sceneBuilderStore.activeFormType = undefined; + this.sceneBuilderStore.visibleSaveButton() + + }, + (error) => message.error(error) + ); + + init = async (navigate?: NavigateFunction | undefined) => { + isPreviewMode(this.sceneBuilderStore.activeFormDependency).map(() => + this.sceneBuilderStore.scene + .rFind((el) => el.name.isEqual(this.sceneBuilderStore.selectedItemName ?? "")) + .fold( + (cameraModel) => { + console.log(200) + this.loadDependency(cameraModel); + this.type = "preview"; + }, + () => console.log(`Unknown FormType`) + ) + ); + }; +} diff --git a/ui/src/features/scene_builder/presentation/forms/light/light_form.tsx b/ui/src/features/scene_builder/presentation/forms/light/light_form.tsx new file mode 100644 index 0000000..101f717 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/light/light_form.tsx @@ -0,0 +1,6 @@ +import { observer } from "mobx-react-lite"; +import { IDefaultSceneManagerFormProps } from "../scene_manager_forms"; + +export const LightForm = observer((props: IDefaultSceneManagerFormProps) => { + return <>; +}); diff --git a/ui/src/features/scene_builder/presentation/forms/light/light_store.tsx b/ui/src/features/scene_builder/presentation/forms/light/light_store.tsx new file mode 100644 index 0000000..9017531 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/light/light_store.tsx @@ -0,0 +1,14 @@ +import { NavigateFunction } from "react-router-dom"; +import { FormState, CoreError } from "../../../../../core/store/base_store"; +import { LightModel } from "../../../../../core/model/light_model"; + +export class LightStore extends FormState { + viewModel: LightModel = LightModel.empty(); + constructor() { + super(); + } + errorHandingStrategy = (error: CoreError) => {}; + init(navigate?: NavigateFunction | undefined): Promise { + throw new Error("Method not implemented."); + } +} diff --git a/ui/src/features/scene_builder/presentation/forms/point/point_form.tsx b/ui/src/features/scene_builder/presentation/forms/point/point_form.tsx new file mode 100644 index 0000000..a50f2ef --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/point/point_form.tsx @@ -0,0 +1,56 @@ +import React from "react"; +import { observer } from "mobx-react-lite"; +import { PointStore, PointStoreType } from "./point_store"; +import { IDefaultSceneManagerFormProps } from "../scene_manager_forms"; +import { CoreText, CoreTextType } from "../../../../../core/ui/text/text"; +import { CoreInput } from "../../../../../core/ui/input/input"; +import { CoreButton } from "../../../../../core/ui/button/button"; +import { match } from "ts-pattern"; +import { SpawnPositionTypesForm } from "../../components/spawn_position_types"; +import { CoordsForm } from "../../components/coords_form"; + +export const PointForm = observer((props: IDefaultSceneManagerFormProps) => { + const [store] = React.useState(() => new PointStore(props.store)); + React.useEffect(() => { + store.init(); + return () => { + store.dispose(); + }; + }, [store]); + + return ( +
+ {match(store.storeType) + .with(PointStoreType.previewPoint, () => ( + <> + + + + + )) + .with(PointStoreType.initNewPoint, () => ( + <> + + store.updateForm({ name: text })} /> + store.onClickNext(PointStoreType.makeSceneSolidAndEditPosition)} + /> + + )) + .with(PointStoreType.makeSceneSolidAndEditPosition, () => ( + <> + + + )) + .with(PointStoreType.awaitClick, () => ( + <> + + + )) + .otherwise(() => ( + <> + ))} +
+ ); +}); diff --git a/ui/src/features/scene_builder/presentation/forms/point/point_store.ts b/ui/src/features/scene_builder/presentation/forms/point/point_store.ts new file mode 100644 index 0000000..55a56d5 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/point/point_store.ts @@ -0,0 +1,73 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { NavigateFunction } from "react-router-dom"; +import { PointModel } from "../../../../../core/model/point_model"; +import { FormState, CoreError } from "../../../../../core/store/base_store"; +import { SpawnPositionTypes } from "../../../../../core/model/spawn_position_types"; +import { isPreviewMode } from "../scene_manager_forms"; +import { SceneBuilderStore } from "../../scene_builder_store"; + +export enum PointStoreType { + makeSceneSolidAndEditPosition = "makeSceneSolidAndEditPosition", + initNewPoint = "initNewPoint", + previewPoint = "previewPoint", + awaitClick = "awaitClick", +} + +export class PointStore extends FormState { + viewModel: PointModel = PointModel.empty(); + storeType: PointStoreType = PointStoreType.initNewPoint; + spawnPositionTypes: SpawnPositionTypes; + sceneBuilderStore: SceneBuilderStore; + listener: Function; + + constructor(sceneBuilderStore: SceneBuilderStore) { + super(); + makeAutoObservable(this); + this.sceneBuilderStore = sceneBuilderStore; + } + + clickLister = (event: MouseEvent) => + this.storeType.isEqualR(PointStoreType.awaitClick).map(() => + this.sceneBuilderStore!.clickScene(event, this.sceneBuilderStore!.canvasOffsetX).map((vector3) => { + this.viewModel.position = vector3; + this.viewModel.orientation = [0, 0, 0, 1]; + this.viewModel.toWebGl(this.sceneBuilderStore.coreThreeRepository!); + this.sceneBuilderStore.activeFormType = undefined; + this.sceneBuilderStore.sceneItems.push(this.viewModel.toSceneItems(this.sceneBuilderStore)); + this.sceneBuilderStore.scene.push(this.viewModel); + window.removeEventListener("click", this.clickLister); + this.sceneBuilderStore.visibleSaveButton(); + }) + ); + + selectSpawnType = (type: SpawnPositionTypes) => { + this.spawnPositionTypes = type; + this.storeType = PointStoreType.awaitClick; + setTimeout(() => window.addEventListener("click", this.clickLister), 1000); + }; + dispose = () => window.removeEventListener("click", this.clickLister); + updateWebGl = () => + this.storeType + .isEqualR(PointStoreType.previewPoint) + .map(() => this.sceneBuilderStore.coreThreeRepository!.updateInstance(this.viewModel)); + onClickNext = (pointStoreType: PointStoreType) => (this.storeType = pointStoreType); + + errorHandingStrategy = (error: CoreError) => {}; + init = async (navigate?: NavigateFunction | undefined) => + isPreviewMode(this.sceneBuilderStore.activeFormDependency).map(() => + this.sceneBuilderStore.scene + .rFind((el) => el.name.isEqual(this.sceneBuilderStore.selectedItemName ?? "")) + .fold( + (solidBodyModel) => { + this.loadDependency(solidBodyModel); + this.storeType = PointStoreType.previewPoint; + }, + () => + console.log( + `Unknown FormType ${this.sceneBuilderStore.selectedItemName} : ${JSON.stringify( + this.sceneBuilderStore.scene + )}` + ) + ) + ); +} diff --git a/ui/src/features/scene_builder/presentation/forms/robot_form/robot_form.tsx b/ui/src/features/scene_builder/presentation/forms/robot_form/robot_form.tsx new file mode 100644 index 0000000..15e8649 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/robot_form/robot_form.tsx @@ -0,0 +1,104 @@ +import React from "react"; +import { observer } from "mobx-react-lite"; +import { RobotFormStore, RobotStoreType } from "./robot_form_store"; +import { IDefaultSceneManagerFormProps } from "../scene_manager_forms"; +import { CoreText, CoreTextType } from "../../../../../core/ui/text/text"; +import { CoreInputNumber } from "../../../../../core/ui/inputNumber/input_number"; +import { CoreInput, CoreInputType } from "../../../../../core/ui/input/input"; +import { match } from "ts-pattern"; +import { CoreSelect } from "../../../../../core/ui/select/select"; +import { RobotModel, ToolTypes } from "../../../../../core/model/robot_model"; +import { CoreButton } from "../../../../../core/ui/button/button"; +import { SpawnPositionTypesForm } from "../../components/spawn_position_types"; +import { CoordsForm } from "../../components/coords_form"; +import { useStoreClass } from "../../../../../core/helper/use_store"; +import { Toggle } from "../../../../../core/ui/toggle/toggle"; + +export const RobotForm = observer((props: IDefaultSceneManagerFormProps) => { + const store = useStoreClass(new RobotFormStore(props.store)); + + return ( +
+ {match(store.storeType) + .with(RobotStoreType.awaitMouseClick, () => ( + <> + + + )) + .with(RobotStoreType.selectSpawnPosition, () => ( + <> + + + )) + .with(RobotStoreType.initNewRobot, () => ( + <> + + store.updateForm({ name: text })} + /> + store.updateForm({ nDof: Number(text) })} + /> + store.updateForm({ toolType: text })} + /> + store.createNewRobot()} text="Создать" /> + + )) + .with(RobotStoreType.previewRobot, () => ( + <> + + {store.viewModel.jointPosition.map((el, i) => ( +
+ ( + store.updateForm({ + jointPosition: store.viewModel.jointPosition.map((element, index) => + index.isEqualR(i).fold( + () => { + element.angle = value; + return element; + }, + () => element + ) + ), + }), + store.updateScene() + )} + label={el.name} + /> +
+ ))} + + } + isOpen={false} + /> + +
+ store.updateScene()} /> +
+ + )) + .otherwise(() => ( + <> + ))} +
+ ); +}); diff --git a/ui/src/features/scene_builder/presentation/forms/robot_form/robot_form_http_repository.ts b/ui/src/features/scene_builder/presentation/forms/robot_form/robot_form_http_repository.ts new file mode 100644 index 0000000..7c903e8 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/robot_form/robot_form_http_repository.ts @@ -0,0 +1,10 @@ +import { RobotModel } from "../../../../../core/model/robot_model"; +import { HttpMethod, HttpRepository } from "../../../../../core/repository/core_http_repository"; +export interface RobotURL { + robotUrl: string; +} + +export class RobotFormHttpRepository extends HttpRepository { + createNewRobot = (robotModel: RobotModel) => + this._jsonRequest(HttpMethod.POST, "/scenes/create/robot", robotModel); +} diff --git a/ui/src/features/scene_builder/presentation/forms/robot_form/robot_form_store.ts b/ui/src/features/scene_builder/presentation/forms/robot_form/robot_form_store.ts new file mode 100644 index 0000000..ba6302f --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/robot_form/robot_form_store.ts @@ -0,0 +1,90 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { NavigateFunction } from "react-router-dom"; +import { RobotFormHttpRepository } from "./robot_form_http_repository"; +import { FormState, CoreError } from "../../../../../core/store/base_store"; +import { RobotModel } from "../../../../../core/model/robot_model"; +import { isPreviewMode } from "../scene_manager_forms"; +import { message } from "antd"; +import { SceneBuilderStore } from "../../scene_builder_store"; + +export enum RobotStoreType { + previewRobot = "previewRobot", + selectSpawnPosition = "selectSpawnPosition", + initNewRobot = "createNewRobot", + awaitMouseClick = "awaitMouseClick", +} +export class RobotFormStore extends FormState { + sceneBuilderStore: SceneBuilderStore; + storeType: RobotStoreType = RobotStoreType.initNewRobot; + viewModel: RobotModel = RobotModel.empty(); + robotFormHttpRepository: RobotFormHttpRepository = new RobotFormHttpRepository(); + spawnType: string; + listener: Function; + clickLister = (event: MouseEvent) => { + this.storeType.isEqualR(RobotStoreType.awaitMouseClick).map(() => + this.sceneBuilderStore!.clickScene(event, this.sceneBuilderStore!.canvasOffsetX).map((vector3) => { + this.viewModel.position = vector3; + this.viewModel.toWebGl(this.sceneBuilderStore.coreThreeRepository!); + this.sceneBuilderStore.activeFormType = undefined; + this.sceneBuilderStore.sceneItems.push(this.viewModel.toSceneItems(this.sceneBuilderStore)); + this.sceneBuilderStore.scene.push(this.viewModel); + window.removeEventListener("click", this.clickLister); + this.sceneBuilderStore.visibleSaveButton(); + }) + ); + }; + + selectSpawnType = (type: string) => { + this.spawnType = type; + setTimeout(() => window.addEventListener("click", this.clickLister), 1000); + this.storeType = RobotStoreType.awaitMouseClick; + }; + dispose = (): void => { + window.removeEventListener("click", this.clickLister); + }; + constructor(sceneBuilderStore: SceneBuilderStore) { + super(); + makeAutoObservable(this); + this.sceneBuilderStore = sceneBuilderStore; + } + updateScene = () => + this.storeType + .isEqualR(RobotStoreType.previewRobot) + .map( + () => ( + this.viewModel.update(this.sceneBuilderStore.coreThreeRepository!), this.sceneBuilderStore.visibleSaveButton() + ) + ); + createNewRobot = () => + this.viewModel.isValid().fold( + async (s) => + (await this.robotFormHttpRepository.createNewRobot(s)).fold( + (s) => { + this.viewModel.httpUrl = s.robotUrl; + this.storeType = RobotStoreType.selectSpawnPosition; + }, + (e) => { + message.error(e.error); + } + ), + async (e) => message.error(e) + ); + errorHandingStrategy = (error: CoreError) => {}; + init = async (navigate?: NavigateFunction | undefined) => + isPreviewMode(this.sceneBuilderStore.activeFormDependency).map(() => + this.sceneBuilderStore.scene + .rFind((el) => el.name.isEqual(this.sceneBuilderStore.selectedItemName ?? "")) + .fold( + (robotModel) => { + this.loadDependency(robotModel); + this.storeType = RobotStoreType.previewRobot; + }, + () => + console.log( + `Unknown FormType ${this.sceneBuilderStore.selectedItemName} : ${JSON.stringify( + this.sceneBuilderStore.scene + )}` + ) + ) + ); +} diff --git a/ui/src/features/scene_builder/presentation/forms/scene_manager_forms.tsx b/ui/src/features/scene_builder/presentation/forms/scene_manager_forms.tsx new file mode 100644 index 0000000..9025267 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/scene_manager_forms.tsx @@ -0,0 +1,44 @@ +import { Result } from "../../../../core/helper/result"; +import { SceneBuilderStore } from "../scene_builder_store"; +import { SceneMangerStore } from "../../../scene_manager/presentation/scene_manager_store"; +import { CameraForm } from "./camera/camera_form"; +import { LightForm } from "./light/light_form"; +import { PointForm } from "./point/point_form"; +import { RobotForm } from "./robot_form/robot_form"; +import { SolidBodyForm } from "./solid_body/solid_body_form"; +import { Trajectory } from "./trajectory/trajectory_form"; +import { ZoneForm } from "./zone/zone_form"; + +export enum SceneManagerForms { + robot = "robot", + camera = "camera", + solidBody = "SolidBody", + previewSolidBody = "previewSolidBody", + light = "Light", + point = "point", + trajectory = "trajectory", + zone = "zone", + capturePoints = "capturePoints", +} +interface IForms { + name: string; + component: JSX.Element; +} +export interface IDefaultSceneManagerFormProps { + dependency: Object; + store: SceneBuilderStore; +} +export const isPreviewMode = (dependency: Object): Result => { + if (Object.hasOwn(dependency, "type")) return Result.ok(); + return Result.error(undefined); +}; +export const sceneManagerForms = (props: Object, store: SceneBuilderStore): IForms[] => [ + { name: SceneManagerForms.camera, component: }, + { name: SceneManagerForms.robot, component: }, + { name: SceneManagerForms.solidBody, component: }, + { name: SceneManagerForms.point, component: }, + { name: SceneManagerForms.light, component: }, + { name: SceneManagerForms.zone, component: }, + { name: SceneManagerForms.trajectory, component: }, + { name: SceneManagerForms.capturePoints, component: }, +]; diff --git a/ui/src/features/scene_builder/presentation/forms/solid_body/solid_body_form.tsx b/ui/src/features/scene_builder/presentation/forms/solid_body/solid_body_form.tsx new file mode 100644 index 0000000..ca78182 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/solid_body/solid_body_form.tsx @@ -0,0 +1,65 @@ +import React from "react"; +import { CoreText, CoreTextType } from "../../../../../core/ui/text/text"; +import { IDefaultSceneManagerFormProps } from "../scene_manager_forms"; +import { SolidBodyStore, SolidBodyStoreType } from "./solid_body_store"; +import { observer } from "mobx-react-lite"; +import { CoreButton } from "../../../../../core/ui/button/button"; +import { match } from "ts-pattern"; +import { SpawnPositionTypesForm } from "../../components/spawn_position_types"; +import { CoreInput } from "../../../../../core/ui/input/input"; +import { CoordsForm } from "../../components/coords_form"; +import { useStoreClass } from "../../../../../core/helper/use_store"; +import { Toggle } from "../../../../../core/ui/toggle/toggle"; + +export const SolidBodyForm = observer((props: IDefaultSceneManagerFormProps) => { + const store = useStoreClass(new SolidBodyStore(props.store)); + + return ( +
+ <> + {match(store.solidBodyStoreType) + .with(SolidBodyStoreType.previewSolid, () => ( + <> + + + + } + isOpen={false} + /> +
+ + + )) + .with(SolidBodyStoreType.selectBody, () => ( + <> + + + {store.parts.map((el, i) => ( +
+ + + store.clickSelectBody(el)} /> +
+ ))} + + )) + .with(SolidBodyStoreType.selectSpawnPositionType, () => ( + <> + + + )) + .with(SolidBodyStoreType.spawn2DVector, () => ( + <> + + + )) + .otherwise(() => ( + <> + ))} + +
+ ); +}); diff --git a/ui/src/features/scene_builder/presentation/forms/solid_body/solid_body_store.tsx b/ui/src/features/scene_builder/presentation/forms/solid_body/solid_body_store.tsx new file mode 100644 index 0000000..d30403d --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/solid_body/solid_body_store.tsx @@ -0,0 +1,85 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { FormState, CoreError } from "../../../../../core/store/base_store"; +import { CoreHttpRepository } from "../../../../../core/repository/core_http_repository"; +import { Parts } from "../../../../details/details_http_repository"; +import { Vector2 } from "three"; +import { SpawnPositionTypes } from "../../../../../core/model/spawn_position_types"; +import { isPreviewMode } from "../scene_manager_forms"; +import { SolidModel } from "../../../../../core/model/solid_model"; +import { SceneBuilderStore } from "../../scene_builder_store"; + +export enum SolidBodyStoreType { + selectBody = "selectBody", + selectSpawnPositionType = "selectSpawnPositionType", + spawn2DVector = "spawn2DVector", + previewSolid = "previewSolid", +} + +export class SolidBodyStore extends FormState { + viewModel: SolidModel = SolidModel.empty(); + parts: Parts[] = []; + spawnPositionTypes = Object.keys(SpawnPositionTypes); + coreHttpRepository: CoreHttpRepository = new CoreHttpRepository(); + solidBodyStoreType: SolidBodyStoreType = SolidBodyStoreType.selectBody; + selectBody: Parts; + spawnType: string; + sceneBuilderStore: SceneBuilderStore; + vector2d?: Vector2; + + constructor(sceneBuilderStore: SceneBuilderStore) { + super(); + this.sceneBuilderStore = sceneBuilderStore; + makeAutoObservable(this); + } + init = async () => { + isPreviewMode(this.sceneBuilderStore.activeFormDependency).map(() => + this.sceneBuilderStore.scene + .rFind((el) => el.name.isEqual(this.sceneBuilderStore.selectedItemName ?? "")) + .fold( + (solidBodyModel) => { + this.loadDependency(solidBodyModel); + this.solidBodyStoreType = SolidBodyStoreType.previewSolid; + }, + () => + console.log( + `Unknown FormType ${this.sceneBuilderStore.selectedItemName} : ${JSON.stringify( + this.sceneBuilderStore.scene + )}` + ) + ) + ); + this.mapOk("parts", this.coreHttpRepository.getAssetsActiveProject()); + }; + errorHandingStrategy = (error: CoreError) => {}; + + dispose = () => { + window.removeEventListener("click", this.clickLister); + }; + selectSpawnType = () => { + this.solidBodyStoreType = SolidBodyStoreType.spawn2DVector; + + setTimeout(() => window.addEventListener("click", this.clickLister), 1000); + }; + clickLister = (event: MouseEvent) => + this.solidBodyStoreType.isEqualR(SolidBodyStoreType.spawn2DVector).map(() => + this.sceneBuilderStore!.clickScene(event, this.sceneBuilderStore!.canvasOffsetX).map((vector3) => { + this.viewModel.position = vector3; + this.viewModel.spawnType = "BoundBox"; + this.viewModel.toWebGl(this.sceneBuilderStore.coreThreeRepository!); + this.sceneBuilderStore.sceneItems.push(this.viewModel.toSceneItems()); + this.sceneBuilderStore.scene.push(this.viewModel); + window.removeEventListener("click", this.clickLister); + this.sceneBuilderStore.activeFormType = undefined; + this.sceneBuilderStore.visibleSaveButton() + }) + ); + updateBodySimulation = () => + this.solidBodyStoreType + .isEqualR(SolidBodyStoreType.previewSolid) + .map(() => this.viewModel.update(this.sceneBuilderStore.coreThreeRepository!)); + clickSelectBody = (el: Parts) => { + this.selectBody = el; + this.solidBodyStoreType = SolidBodyStoreType.selectSpawnPositionType; + this.viewModel = this.viewModel.fromParts(el); + }; +} diff --git a/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_form.tsx b/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_form.tsx new file mode 100644 index 0000000..a066f31 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_form.tsx @@ -0,0 +1,13 @@ +import React from "react"; +import { observer } from "mobx-react-lite"; +import { TrajectoryStore } from "./trajectory_store"; +import { IDefaultSceneManagerFormProps } from "../scene_manager_forms"; + +export const Trajectory = observer((props: IDefaultSceneManagerFormProps) => { + const [store] = React.useState(() => new TrajectoryStore()); + React.useEffect(() => { + store.init(); + }, [store]); + + return <>Trajectory; +}); diff --git a/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_http_repository.ts b/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_http_repository.ts new file mode 100644 index 0000000..f44ce3f --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_http_repository.ts @@ -0,0 +1,3 @@ +import { HttpRepository } from "../../../../../core/repository/core_http_repository"; + +export class TrajectoryHttpRepository extends HttpRepository {} diff --git a/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_store.ts b/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_store.ts new file mode 100644 index 0000000..579bf85 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_store.ts @@ -0,0 +1,20 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { NavigateFunction } from "react-router-dom"; +import { TrajectoryViewModel } from "./trajectory_view_model"; +import { TrajectoryHttpRepository } from "./trajectory_http_repository"; +import { FormState, CoreError } from "../../../../../core/store/base_store"; + +export class TrajectoryStore extends FormState { + constructor() { + super(); + makeAutoObservable(this); + } + viewModel: TrajectoryViewModel = TrajectoryViewModel.empty(); + cameraDeviceHttpRepository: TrajectoryHttpRepository = new TrajectoryHttpRepository(); + errorHandingStrategy = (error: CoreError) => { } + init = async (navigate?: NavigateFunction | undefined) => { + + } + +} + \ No newline at end of file diff --git a/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_view_model.ts b/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_view_model.ts new file mode 100644 index 0000000..8d225c8 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/trajectory/trajectory_view_model.ts @@ -0,0 +1,12 @@ +import { Result } from "../../../../../core/helper/result"; + + +export class TrajectoryViewModel { + constructor() {} + isValid(): Result { + return Result.ok(); + } + static empty() { + return new TrajectoryViewModel(); + } +} diff --git a/ui/src/features/scene_builder/presentation/forms/zone/zone_form.tsx b/ui/src/features/scene_builder/presentation/forms/zone/zone_form.tsx new file mode 100644 index 0000000..4322ffe --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/zone/zone_form.tsx @@ -0,0 +1,35 @@ +import React from "react"; +import { observer } from "mobx-react-lite"; +import { ZoneStore } from "./zone_store"; +import { IDefaultSceneManagerFormProps } from "../scene_manager_forms"; +import { CoreText, CoreTextType } from "../../../../../core/ui/text/text"; +import { CoreInput } from "../../../../../core/ui/input/input"; + +export const ZoneForm = observer((props: IDefaultSceneManagerFormProps) => { + const [store] = React.useState(() => new ZoneStore(props.store)); + React.useEffect(() => { + store.init(); + }, [store]); + + return ( + <> + + + (store.updateForm({ length: Number(text) }), store.updateWebGl())} + /> + (store.updateForm({ height: Number(text) }), store.updateWebGl())} + /> + (store.updateForm({ width: Number(text) }), store.updateWebGl())} + /> + + ); +}); diff --git a/ui/src/features/scene_builder/presentation/forms/zone/zone_store.ts b/ui/src/features/scene_builder/presentation/forms/zone/zone_store.ts new file mode 100644 index 0000000..7fc1ab8 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/forms/zone/zone_store.ts @@ -0,0 +1,44 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { NavigateFunction } from "react-router-dom"; +import { ZoneModel } from "../../../../../core/model/zone_model"; + +import { FormState, CoreError } from "../../../../../core/store/base_store"; +import { isPreviewMode } from "../scene_manager_forms"; +import { SceneMangerStore } from "../../../../scene_manager/presentation/scene_manager_store"; +import { SceneBuilderStore } from "../../scene_builder_store"; +export enum ZoneStoreType { + preview = "preview", +} +export class ZoneStore extends FormState { + constructor(sceneBuilderStore: SceneBuilderStore) { + super(); + this.sceneBuilderStore = sceneBuilderStore; + makeAutoObservable(this); + } + storeType: ZoneStoreType; + sceneBuilderStore: SceneBuilderStore; + viewModel: ZoneModel = ZoneModel.empty(); + errorHandingStrategy = (_error: CoreError) => {}; + init = async (_navigate?: NavigateFunction | undefined) => { + isPreviewMode(this.sceneBuilderStore.activeFormDependency).map(() => + this.sceneBuilderStore.scene + .rFind((el) => el.name.isEqual(this.sceneBuilderStore.selectedItemName ?? "")) + .fold( + (zoneModel) => { + this.loadDependency(zoneModel); + this.storeType = ZoneStoreType.preview; + }, + () => + console.log( + `Unknown FormType ${this.sceneBuilderStore.selectedItemName} : ${JSON.stringify( + this.sceneBuilderStore.scene + )}` + ) + ) + ); + }; + updateWebGl = () => + this.storeType + .isEqualR(ZoneStoreType.preview) + .map(() => this.sceneBuilderStore.coreThreeRepository!.updateInstance(this.viewModel)); +} diff --git a/ui/src/features/scene_builder/presentation/scene_builder_screen.tsx b/ui/src/features/scene_builder/presentation/scene_builder_screen.tsx new file mode 100644 index 0000000..59f9acc --- /dev/null +++ b/ui/src/features/scene_builder/presentation/scene_builder_screen.tsx @@ -0,0 +1,167 @@ +import React from "react"; +import { observer } from "mobx-react-lite"; +import { SceneBuilderStore } from "./scene_builder_store"; +import { useStore } from "../../../core/helper/use_store"; +import { useParams } from "react-router-dom"; +import { Popover } from "antd"; +import { CoreButton } from "../../../core/ui/button/button"; +import { Icon } from "../../../core/ui/icons/icons"; +import { MainPage } from "../../../core/ui/pages/main_page"; +import { CoreText, CoreTextType } from "../../../core/ui/text/text"; +import { SceneMode } from "../../scene_manager/model/scene_view"; +import { sceneManagerForms } from "./forms/scene_manager_forms"; + +export const SceneBuilderScreenPath = "/scene/builder/"; + +export const SceneBuilderScreen = observer(() => { + const store = useStore(SceneBuilderStore); + const canvasRef = React.useRef(null); + const id = useParams().id as string; + store.initParam(id); + + React.useEffect(() => { + store.loadScene(canvasRef.current!); + document.body.style.overflow = "hidden"; + return () => { + document.body.style.overflow = "scroll"; + store.dispose(); + }; + }, [id, store]); + return ( + +
+
+
+ + + {store.popoverItems.map((el, i) => ( +
el.fn()}> + +
+ ))} +
+ } + > + + + + +
+
+
+ {store.sceneHelperInstruments.map((el, i) => ( +
el.onClick()} + style={{ + marginTop: 4, + width: 50, + height: 50, + backgroundColor: el.isSelected ? "rgba(160, 132, 255, 1)" : "rgba(99, 81, 159, 1)", + border: "1px solid", + borderRadius: 5, + }} + > + +
+ ))} + {store.isVisibleSaveButton ? ( + <> +
store.sceneSave()} + style={{ + marginTop: 4, + width: 50, + height: 50, + backgroundColor: "rgba(99, 81, 159, 1)", + border: "1px solid", + borderRadius: 5, + }} + > + +
+ + ) : null} +
+
+
+
+
+
+ {store.sceneItems.map((el, index) => ( +
store.selectSceneItems(el.name, index, !el.isSelected, el.icon)} + > + +
+ + store.deleteSceneItem(el)} + style={{ marginRight: 10 }} + /> +
+ ))} +
+
+
+
+ {sceneManagerForms(store.activeFormDependency ?? {}, store).map((el, i) => + el.name.isEqualR(store.activeFormType ?? "").fold( + () => {el.component}, + () => + ) + )} +
+
+ + } + bodyChildren={ + <> + <> + + + + } + /> + ); +}); diff --git a/ui/src/features/scene_builder/presentation/scene_builder_store.ts b/ui/src/features/scene_builder/presentation/scene_builder_store.ts new file mode 100644 index 0000000..1e141a3 --- /dev/null +++ b/ui/src/features/scene_builder/presentation/scene_builder_store.ts @@ -0,0 +1,261 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { Vector2, Vector3, Object3D } from "three"; +import { CameraModel } from "../../../core/model/camera_model"; +import { PointModel } from "../../../core/model/point_model"; +import { RobotModel } from "../../../core/model/robot_model"; +import { SceneAsset, Instance } from "../../../core/model/scene_asset"; +import { SolidModel } from "../../../core/model/solid_model"; +import { UiBaseError } from "../../../core/model/ui_base_error"; +import { ZoneModel } from "../../../core/model/zone_model"; +import { HttpError } from "../../../core/repository/core_http_repository"; +import { CoreThreeRepository } from "../../../core/repository/core_three_repository"; +import { SceneModel } from "../../scene_manager/model/scene_model"; +import { SceneMode } from "../../scene_manager/model/scene_view"; +import { SceneViewModel } from "../../scene_manager/model/scene_view_model"; +import { SceneManagerForms } from "./forms/scene_manager_forms"; +import { FormState } from "../../../core/store/base_store"; +import { Result } from "../../../core/helper/result"; +import { SceneBuilderHttpRepository } from "../data/scene_builder_repository"; +import { SceneModelsTypes } from "../../../core/model/scene_models_type"; +export enum StoreMode { + sceneInstance = "sceneInstance", + allScenes = "allScenes", +} +export interface ISpawnHelper { + url: string; + spawn: SceneModelsTypes; + name: string; + isFinished: boolean; + type: string; +} +export interface IPopoverItem { + name: string; + fn: Function; +} +export interface SceneItems { + fn: Function; + name: string; + isSelected: boolean; + icon: string; +} +export class SceneBuilderStore extends FormState { + activeFormType?: string; + activeSceneId: string = ""; + selectedItemName?: string; + activeFormDependency: Object = {}; + viewModel: SceneViewModel = SceneViewModel.empty(); + sceneMode: SceneMode; + sceneItems: SceneItems[] = []; + isVisibleSaveButton: boolean = false; + coreThreeRepository: null | CoreThreeRepository = null; + sceneBuilderHttpRepository: SceneBuilderHttpRepository; + isSceneMenuShow = false; + robossemblerAssets?: SceneAsset; + objectForMagnetism: string; + objectMagnetism: string; + scenes: SceneModel[] = []; + canvasRef?: HTMLCanvasElement; + mousePosition?: Vector2; + spawnHelper?: ISpawnHelper; + selectSceneObject?: Object; + isLoadingForm: boolean = false; + scene: (Instance | SolidModel | CameraModel | RobotModel | PointModel | ZoneModel)[] = []; + + sceneHelperInstruments: { + icon: string; + onClick: Function; + isSelected: boolean; + }[] = [ + { icon: SceneMode.Select, onClick: () => this.setMode(SceneMode.Select), isSelected: false }, + { icon: SceneMode.Move, onClick: () => this.setMode(SceneMode.Move), isSelected: false }, + { icon: SceneMode.Rotate, onClick: () => this.setMode(SceneMode.Rotate), isSelected: false }, + ]; + popoverItems: IPopoverItem[] = [ + { name: "Камера", fn: () => this.createNewForm(SceneManagerForms.camera, true) }, + { name: "Твердое тело", fn: () => this.createNewForm(SceneManagerForms.solidBody, true) }, + { name: "Источник света", fn: () => this.createNewForm(SceneManagerForms.light, true) }, + { name: "Робот", fn: () => this.createNewForm(SceneManagerForms.robot, true) }, + { name: "Точка", fn: () => this.createNewForm(SceneManagerForms.point, true) }, + { name: "Траектория", fn: () => this.createNewForm(SceneManagerForms.trajectory, true) }, + { name: "Зона", fn: () => this.createNewForm(SceneManagerForms.zone, true) }, + { name: "Точки захвата", fn: () => this.createNewForm(SceneManagerForms.capturePoints, true) }, + ]; + canvasOffsetX?: number; + sceneName?: string; + constructor() { + super(); + makeAutoObservable(this); + + this.sceneBuilderHttpRepository = new SceneBuilderHttpRepository(); + this.sceneMode = SceneMode.Select; + } + sceneSave = () => + this.messageHttp(this.sceneBuilderHttpRepository.editScene(SceneAsset.newScene(this.scene, this.sceneName ?? "")), { + successMessage: "Сцена сохранена", + }).then(() => (this.isVisibleSaveButton = false)); + + iconToSceneManagerForm = (icon: string): SceneManagerForms => { + if (icon.isEqual("Camera")) { + this.activeFormDependency = { + type: "Preview", + }; + return SceneManagerForms.camera; + } + if (icon.isEqual("Zone")) { + this.activeFormDependency = { + type: "Preview", + }; + return SceneManagerForms.zone; + } + if (icon.isEqual("Robot")) { + this.activeFormDependency = { + type: "Preview", + }; + return SceneManagerForms.robot; + } + if (icon.isEqual("Point")) { + this.activeFormDependency = { + type: "Preview", + }; + return SceneManagerForms.point; + } + + this.activeFormDependency = { + type: "Preview", + }; + return SceneManagerForms.solidBody; + }; + selectSceneItems = (name: string, index: number, selected: boolean, icon: string) => { + this.sceneItems.map((el) => { + el.isSelected = false; + return el; + }); + this.sceneItems.map((el, i) => i.isEqualR(index).map(() => (el.isSelected = selected))); + if (selected) { + this.createNewForm(this.iconToSceneManagerForm(icon)); + this.selectedItemName = name; + } + + if (!selected) { + this.createNewForm(undefined); + this.selectedItemName = undefined; + } + }; + + setMode = (mode: SceneMode) => { + this.sceneHelperInstruments.map((el) => { + el.isSelected = false; + el.icon.isEqualR(mode).map(() => (el.isSelected = true)); + return el; + }); + this.sceneMode = mode; + this.coreThreeRepository?.setTransformMode(this.sceneMode); + }; + createNewForm = (formType: SceneManagerForms | undefined, isNeedClearDependency?: boolean) => { + this.activeFormDependency = Object.assign(this.activeFormDependency, { store: this }); + if (isNeedClearDependency) this.activeFormDependency = { store: this }; + this.activeFormType = formType; + }; + + deleteSceneItem = (item: SceneItems) => { + this.sceneItems = this.sceneItems.filter((el) => !el.name.isEqual(item.name)); + this.scene = this.scene.filter((el) => !el.name.isEqual(item.name)); + this.coreThreeRepository?.deleteSceneItem(item); + this.visibleSaveButton(); + }; + + visibleSaveButton = () => { + this.isVisibleSaveButton = true; + }; + + addNewCamera = (model: CameraModel) => { + model.position = this.coreThreeRepository!.camera.position; + 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); + model.toWebGl(this.coreThreeRepository!); + this.visibleSaveButton(); + }; + + hiddenMenu = () => (this.isSceneMenuShow = false); + + init = async () => {}; + initParam = (id: string | undefined) => { + if (id) this.activeSceneId = id; + }; + errorHandingStrategy = (error: HttpError) => + error.status.isEqualR(404).map(() => this.errors.push(new UiBaseError(`not found to project`))); + + loadScene = (canvasRef: HTMLCanvasElement) => { + this.canvasRef = canvasRef; + this.loadWebGl(canvasRef); + }; + + loadWebGl = async (canvasRef: HTMLCanvasElement): Promise => { + this.coreThreeRepository = new CoreThreeRepository(canvasRef as HTMLCanvasElement, this.watcherSceneEditorObject); + + this.coreThreeRepository.render(); + + this.canvasOffsetX = canvasRef.getBoundingClientRect().x; + canvasRef.addEventListener("click", (event) => this.clickLister(event, canvasRef.getBoundingClientRect().x)); + + (await this.sceneBuilderHttpRepository.getSceneAsset(this.activeSceneId ?? "")).fold( + (sceneAssets) => { + this.sceneName = sceneAssets.name; + this.coreThreeRepository?.loadScene(sceneAssets); + this.sceneItems = sceneAssets.toSceneItems(); + this.scene = sceneAssets.scene; + }, + () => {} + ); + }; + clickScene = (event: MouseEvent, offset: number = 0): Result => { + const vector = new Vector2(); + const boundingRect = this.canvasRef!.getBoundingClientRect(); + + vector.x = ((event.clientX - offset) / boundingRect.width) * 2 - 1; + vector.y = -(event.clientY / boundingRect.height) * 2 + 1; + return this.coreThreeRepository!.setRayCastAndGetFirstObjectAndPointToObject(vector); + }; + clickLister = (event: MouseEvent, offset: number = 0) => { + const vector = new Vector2(); + const boundingRect = this.canvasRef!.getBoundingClientRect(); + + vector.x = ((event.clientX - offset) / boundingRect.width) * 2 - 1; + vector.y = -(event.clientY / boundingRect.height) * 2 + 1; + + if (this.sceneMode.isEqual(SceneMode.Select)) { + return; + } + + if (this.sceneMode.isEqualMany([SceneMode.Move, SceneMode.Rotate])) { + this.transformContollsCall(vector); + } + }; + + watcherSceneEditorObject = (mesh: Object3D) => ( + (this.scene = this.scene.map((el) => + el.name.isEqualR(mesh.name).fold( + () => { + el.position = mesh.position; + el.orientation = mesh.quaternion.toArray(); + return el; + }, + () => el + ) + )), + this.visibleSaveButton() + ); + + transformContollsCall = (vector: Vector2) => + // @ts-ignore + this.coreThreeRepository?.setRayCastAndGetFirstObject(vector).fold( + (object) => this.coreThreeRepository?.setTransformControlsAttach(object), + (_) => this.coreThreeRepository?.disposeTransformControlsMode() + ); + + dispose = () => { + window.removeEventListener("click", this.clickLister); + }; +} diff --git a/ui/src/features/scene_manager/data/scene_http_repository.ts b/ui/src/features/scene_manager/data/scene_http_repository.ts new file mode 100644 index 0000000..eed074e --- /dev/null +++ b/ui/src/features/scene_manager/data/scene_http_repository.ts @@ -0,0 +1,7 @@ +import { HttpMethod, CoreHttpRepository } from "../../../core/repository/core_http_repository"; +import { SceneViewModel } from "../model/scene_view_model"; + +export class SceneHttpRepository extends CoreHttpRepository { + deleteScene = (sceneId: string) => this._jsonRequest(HttpMethod.DELETE, `/scenes?id=${sceneId}`); + newScene = (sceneViewModel: SceneViewModel) => this._jsonRequest(HttpMethod.POST, "/scenes", sceneViewModel); +} diff --git a/ui/src/features/scene_manager/data/scene_repository.ts b/ui/src/features/scene_manager/data/scene_repository.ts deleted file mode 100644 index 810e576..0000000 --- a/ui/src/features/scene_manager/data/scene_repository.ts +++ /dev/null @@ -1,19 +0,0 @@ -import { Result } from "../../../core/helper/result"; -import { HttpMethod, HttpRepository } from "../../../core/repository/http_repository"; -import { CoreError } from "../../../core/store/base_store"; -import { RobossemblerAssets } from "../../../core/model/robossembler_assets"; - -export class SceneHttpRepository extends HttpRepository { - async getRobossemblerAssets() { - return this._jsonToClassInstanceRequest( - HttpMethod.GET, - "/robossembler_assets", - RobossemblerAssets - ) as unknown as Promise>; - } - async saveScene(robossemblerAssets: RobossemblerAssets) { - return this._jsonRequest(HttpMethod.POST, "/robossembler_assets", robossemblerAssets) as unknown as Promise< - Result - >; - } -} diff --git a/ui/src/features/scene_manager/model/scene_assets.ts b/ui/src/features/scene_manager/model/scene_assets.ts deleted file mode 100644 index 4e1e913..0000000 --- a/ui/src/features/scene_manager/model/scene_assets.ts +++ /dev/null @@ -1,170 +0,0 @@ -import { CameraHelper, Object3D, PerspectiveCamera, Quaternion, Scene, Vector3 } from "three"; -import { v4 as uuidv4 } from "uuid"; -import { UserData } from "../../../core/repository/core_three_repository"; -import { - Asset, - Instance, - InstanceRgbCamera, - InstanceType, - SceneSimpleObject, -} from "../../../core/model/robossembler_assets"; - -export enum RobossemblerFiles { - robossemblerAssets = "robossembler_assets.json", -} - -export enum SceneModelsType { - ASSET, -} - -export abstract class BaseSceneItemModel { - id: string; - name: string; - position: Vector3; - quaternion: Quaternion; - - constructor(name: string) { - this.id = uuidv4(); - this.name = name; - } - - abstract toInstance(): Instance; - - abstract deleteToScene(scene: Scene): Object3D[]; - - toQuaternionArray() { - return [this.quaternion.x, this.quaternion.y, this.quaternion.z, this.quaternion.w]; - } -} - -export class StaticAssetItemModel extends BaseSceneItemModel { - name: string; - type = SceneModelsType.ASSET; - - constructor(name: string, position: Vector3, quaternion: Quaternion) { - super(name); - this.name = name; - this.position = position; - this.quaternion = quaternion; - } - - static fromSceneSimpleObjectAndAsset(sceneSimpleObject: SceneSimpleObject, asset: Asset) { - const { x, y, z } = sceneSimpleObject.position; - const quaternion = sceneSimpleObject.quaternion; - return new StaticAssetItemModel( - asset.name, - new Vector3(x, y, z), - new Quaternion(quaternion[0], quaternion[1], quaternion[2], quaternion[3]) - ); - } - - toInstance(): Instance { - const instance = new Instance(); - instance.instanceType = InstanceType.SCENE_SIMPLE_OBJECT; - instance.position = this.position; - instance.instanceAt = this.name; - instance.quaternion = this.toQuaternionArray(); - - return instance; - } - - deleteToScene(scene: Scene): Object3D[] { - return scene.children.filter((el) => el.name !== this.name); - } -} - -export interface ICoreInstance { - instanceAt: null | string; - type: string; - position: Vector3; - quaternion: Quaternion; -} - -export interface ICameraInstance extends ICoreInstance { - cameraLink: string; - topicImage: string; - topicCameraInfo: string; - topicDepth: string | null; -} - -export class CameraViewModel extends BaseSceneItemModel { - cameraLink: string; - topicImage: string; - topicCameraInfo: string; - topicDepth: null | string; - - constructor(cameraLink: string, topicImage: string, topicCameraInfo: string, topicDepth: string | null) { - super(cameraLink); - this.cameraLink = cameraLink; - this.topicImage = topicImage; - this.topicCameraInfo = topicCameraInfo; - this.topicDepth = topicDepth; - } - - static fromInstanceRgbCamera(instanceRgbCamera: InstanceRgbCamera) { - const { cameraLink, topicImage, topicCameraInfo, topicDepth, position, quaternion } = instanceRgbCamera; - const instance = new CameraViewModel(cameraLink, topicImage, topicCameraInfo, topicDepth); - const { x, y, z } = position; - - instance.position = new Vector3(x, y, z); - instance.quaternion = new Quaternion(quaternion[0], quaternion[1], quaternion[2], quaternion[3]); - - return instance; - } - - deleteToScene(scene: Scene): Object3D[] { - return scene.children.filter((el) => { - if (el.name === this.name) { - return false; - } - if (el.name === this.cameraLink + "camera_helper") { - return false; - } - return true; - }); - } - - toInstance(): InstanceRgbCamera { - return { - instanceType: InstanceType.RGB_CAMERA, - position: this.position, - quaternion: this.toQuaternionArray(), - instanceAt: null, - cameraLink: this.cameraLink, - topicCameraInfo: this.topicCameraInfo, - topicDepth: this.topicDepth, - topicImage: this.topicImage, - }; - } - - validate(cameraLinksNames: string[]) { - if (cameraLinksNames.filter((el) => this.cameraLink === el).isNotEmpty()) { - return { cameraLink: "the name for the camera is not unique" }; - } - if (this.cameraLink.isEmpty()) { - return { cameraLink: "is empty" }; - } - if (this.topicImage.isEmpty()) { - return { topicImage: "is empty" }; - } - if (this.topicCameraInfo.isEmpty()) { - return { topicCameraInfo: "is empty" }; - } - } - - mapPerspectiveCamera(htmlSceneWidth: number, htmlSceneHeight: number) { - const perspectiveCamera = new PerspectiveCamera(48, htmlSceneWidth / htmlSceneHeight, 7.1, 28.5); - perspectiveCamera.position.copy(this.position); - perspectiveCamera.quaternion.copy(this.quaternion); - perspectiveCamera.name = this.cameraLink; - const cameraHelper = new CameraHelper(perspectiveCamera); - perspectiveCamera.userData[UserData.selectedObject] = true; - cameraHelper.userData[UserData.selectedObject] = true; - cameraHelper.name = this.cameraLink + "camera_helper"; - return [cameraHelper, perspectiveCamera]; - } - - static empty() { - return new CameraViewModel("", "", "", ""); - } -} diff --git a/ui/src/features/scene_manager/model/scene_model.ts b/ui/src/features/scene_manager/model/scene_model.ts new file mode 100644 index 0000000..a3e1776 --- /dev/null +++ b/ui/src/features/scene_manager/model/scene_model.ts @@ -0,0 +1,4 @@ +export interface SceneModel { + _id: string; + name: string; +} diff --git a/ui/src/features/scene_manager/model/scene_view.ts b/ui/src/features/scene_manager/model/scene_view.ts index d282fc7..1b78a62 100644 --- a/ui/src/features/scene_manager/model/scene_view.ts +++ b/ui/src/features/scene_manager/model/scene_view.ts @@ -1,18 +1,3 @@ -export class SceneMenu { - x?: number; - y?: number; - isShow?: boolean; - - constructor(x: number | undefined, y: number | undefined, isShow: boolean | undefined) { - this.x = x; - this.y = y; - this.isShow = isShow; - } - - static empty() { - return new SceneMenu(undefined, undefined, false); - } -} export interface SceneManagerView { name: string; @@ -20,9 +5,8 @@ export interface SceneManagerView { } export enum SceneMode { - ROTATE = "Rotate", - MOVING = "Moving", - EMPTY = "Empty", - ADD_CAMERA = "Add camera", - MAGNETISM_MARKING = "magnetism_marking", + Rotate = "Rotate", + Move = "Move", + Select = "Select", + Save = 'Save', } diff --git a/ui/src/features/scene_manager/model/scene_view_model.ts b/ui/src/features/scene_manager/model/scene_view_model.ts new file mode 100644 index 0000000..d2df7ab --- /dev/null +++ b/ui/src/features/scene_manager/model/scene_view_model.ts @@ -0,0 +1,17 @@ +import { Result } from "../../../core/helper/result"; + +export class SceneViewModel { + name: string; + constructor(name: string) { + this.name = name; + } + static empty() { + return new SceneViewModel(""); + } + valid = (): Result => { + if (this.name.isEmpty()) { + return Result.error("name is empty"); + } + return Result.ok(this); + }; +} diff --git a/ui/src/features/scene_manager/presentation/components/static_asset_item_view.tsx b/ui/src/features/scene_manager/presentation/components/static_asset_item_view.tsx deleted file mode 100644 index ecfadd3..0000000 --- a/ui/src/features/scene_manager/presentation/components/static_asset_item_view.tsx +++ /dev/null @@ -1,43 +0,0 @@ -import * as React from "react"; -import { BaseSceneItemModel, CameraViewModel, StaticAssetItemModel } from "../../model/scene_assets"; -import { Button } from "antd"; - -export interface IStaticAssetModelViewProps { - model: BaseSceneItemModel; - onTap: Function; -} - -export function StaticAssetModelView(props: IStaticAssetModelViewProps) { - if (props.model instanceof CameraViewModel) { - return ( -
- {props.model.cameraLink} - -
- ); - } - - if (props.model instanceof StaticAssetItemModel) { - return ( -
- {props.model.name} - -
- ); - } - return <>; -} diff --git a/ui/src/features/scene_manager/presentation/scene_manager.tsx b/ui/src/features/scene_manager/presentation/scene_manager.tsx index c08ebcb..94fdd5b 100644 --- a/ui/src/features/scene_manager/presentation/scene_manager.tsx +++ b/ui/src/features/scene_manager/presentation/scene_manager.tsx @@ -1,176 +1,124 @@ import * as React from "react"; -import { SceneMangerStore } from "./scene_manager_store"; +import { DrawersSceneManager, SceneMangerStore } from "./scene_manager_store"; import { observer } from "mobx-react-lite"; -import { useParams } from "react-router-dom"; -import { SceneManagerView, SceneMode } from "../model/scene_view"; +import { Drawer } from "antd"; +import { useNavigate } from "react-router-dom"; import { MainPage } from "../../../core/ui/pages/main_page"; +import { CoreText, CoreTextType } from "../../../core/ui/text/text"; +import { CoreButton } from "../../../core/ui/button/button"; +import { CoreInput } from "../../../core/ui/input/input"; +import { DrawersDataset } from "../../dataset/dataset_store"; +import { Icon } from "../../../core/ui/icons/icons"; +import { useStore } from "../../../core/helper/use_store"; +import { SceneBuilderScreenPath } from "../../scene_builder/presentation/scene_builder_screen"; export const SceneManagerPath = "/scene/manager/"; export const SceneManger = observer(() => { - const canvasRef = React.useRef(null); - const [store] = React.useState(() => new SceneMangerStore()); - const id = useParams().id as string; - - React.useEffect(() => { - store.init(); - store.loadScene(canvasRef.current!); - document.body.style.overflow = "hidden"; - return () => { - document.body.style.overflow = "scroll"; - store.dispose(); - }; - }, [id, store]); - - const sceneIcons: SceneManagerView[] = Object.values(SceneMode) - .filter((el) => el !== SceneMode.EMPTY) - .map((el) => { - return { name: el, clickHandel: () => store.setSceneMode(el as SceneMode) }; - }); + const store = useStore(SceneMangerStore); + const navigate = useNavigate(); return ( -
- {/*
- {sceneIcons.map((el) => { - return ( -
{ - el.clickHandel(); - }} - > - {el.name} -
- ); - })} -
- {/*
Scene manager
- {store.isVisibleSaveButton ? ( - <> - - - ) : ( - <> - )} - {store.isLoading ? <>Loading... : <>} - {store.sceneMode === SceneMode.ADD_CAMERA ? ( -
- { - store.addNewCamera(model); - actions.setSubmitting(false); - actions.resetForm(); - }} - validate={(model) => { - return model.validate(store.getCameraLinkNames()); - }} - render={() => ( -
-
- - - - + > +
+
+ + store.editDrawer(DrawersSceneManager.NewScene, true)} + type={CoreTextType.small} + color="rgba(68, 142, 247, 1)" + style={{ cursor: "pointer" }} + /> - Reset - Submit -
- - )} - /> -
- ) : ( - <> - )} - {store.sceneMode === SceneMode.MOVING || SceneMode.ROTATE ? ( - <> - {store.robossemblerAssets?.assets.map((el) => { - return ( -
-
- {el.name} - {store.isRenderedAsset(el.name) ? ( - <> - ) : ( - - )} -
-
- ); - })} - - ) : ( - <> - )} -
-
-
- {store.sceneModels.map((el) => { - return store.deleteSceneItem(el)} model={el} />; - })} -
- - {store.sceneMode === SceneMode.MAGNETISM_MARKING ? ( - <> -
-
completion of objects
-
- {store.objectMagnetism ? ( - <>{store.objectMagnetism} - ) : ( - - )} - {store.objectForMagnetism ? ( - <>{store.objectForMagnetism} - ) : ( - - )} -
+
+ {store.scenes.map((el, i) => ( +
+ +
+ navigate(`${SceneBuilderScreenPath}${el._id}`)} + textStyle={{ color: "black", textAlign: "center" }} + style={{ marginRight: 10, backgroundColor: "white", width: 126 }} + /> + store.clickDeleteScene(el._id as string)} + /> +
+
+ ))}
- - ) : ( - <> - )} */} - {/*
*/} +
+
+
+ +
+ store.editDrawer(DrawersSceneManager.NewScene, false)} + open={store.drawers.find((el) => el.name === DrawersSceneManager.NewScene)?.status} + > +
+ store.updateForm({ name: text })} + /> + +
+ store.createNewScene()} /> +
+ store.editDrawer(DrawersDataset.NewDataset, false)} /> +
+
+ +
} /> diff --git a/ui/src/features/scene_manager/presentation/scene_manager_store.ts b/ui/src/features/scene_manager/presentation/scene_manager_store.ts index a2f0be2..fbbb830 100644 --- a/ui/src/features/scene_manager/presentation/scene_manager_store.ts +++ b/ui/src/features/scene_manager/presentation/scene_manager_store.ts @@ -1,181 +1,80 @@ import makeAutoObservable from "mobx-store-inheritance"; -import { CoreThreeRepository, UserData } from "../../../core/repository/core_three_repository"; -import { Object3D, Vector2, Vector3 } from "three"; -import { HttpError } from "../../../core/repository/http_repository"; -import { UiErrorState } from "../../../core/store/base_store"; -import { UiBaseError } from "../../../core/model/ui_base_error"; -import { SceneMenu, SceneMode } from "../model/scene_view"; -import { BaseSceneItemModel, CameraViewModel, RobossemblerFiles, StaticAssetItemModel } from "../model/scene_assets"; -import { SceneHttpRepository } from "../data/scene_repository"; +import { Vector2 } from "three"; import { message } from "antd"; -import { RobossemblerAssets } from "../../../core/model/robossembler_assets"; +import { CoreThreeRepository } from "../../../core/repository/core_three_repository"; +import { HttpError } from "../../../core/repository/core_http_repository"; +import { UiDrawerFormState } from "../../../core/store/base_store"; +import { UiBaseError } from "../../../core/model/ui_base_error"; +import { SceneHttpRepository } from "../data/scene_http_repository"; +import { Instance, SceneAsset } from "../../../core/model/scene_asset"; +import { SceneViewModel } from "../model/scene_view_model"; +import { SceneModel } from "../model/scene_model"; +import { CameraModel } from "../../../core/model/camera_model"; +import { SolidModel } from "../../../core/model/solid_model"; +import { PointModel } from "../../../core/model/point_model"; +import { RobotModel } from "../../../core/model/robot_model"; +import { ZoneModel } from "../../../core/model/zone_model"; -export class SceneMangerStore extends UiErrorState { - sceneMode: SceneMode; - sceneMenu: SceneMenu; +export enum DrawersSceneManager { + NewScene = "Новая сцена", +} + +export class SceneMangerStore extends UiDrawerFormState { + activeFormType?: string; + activeSceneId: string = ""; + selectedItemName?: string; + viewModel: SceneViewModel = SceneViewModel.empty(); isVisibleSaveButton: boolean = false; - coreThereRepository: null | CoreThreeRepository = null; + coreThreeRepository: null | CoreThreeRepository = null; sceneHttpRepository: SceneHttpRepository; - sceneModels: BaseSceneItemModel[] = []; isSceneMenuShow = false; - robossemblerAssets?: RobossemblerAssets; + robossemblerAssets?: SceneAsset; objectForMagnetism: string; objectMagnetism: string; + scenes: SceneModel[] = []; + canvasRef?: HTMLCanvasElement; + mousePosition?: Vector2; + selectSceneObject?: Object; + isLoadingForm: boolean = false; + scene: (Instance | SolidModel | CameraModel | RobotModel | PointModel | ZoneModel)[] = []; + canvasOffsetX?: number; + sceneName?: string; constructor() { - super(); + super(DrawersSceneManager); makeAutoObservable(this); + this.sceneHttpRepository = new SceneHttpRepository(); - this.sceneMode = SceneMode.EMPTY; - this.sceneMenu = SceneMenu.empty(); } - onTapSave(): void { - this.robossemblerAssets!.instances = []; - this.sceneModels.forEach((el) => this.robossemblerAssets?.instances.push(el.toInstance())); - this.httpHelper(this.sceneHttpRepository.saveScene(this.robossemblerAssets as RobossemblerAssets)); - this.isVisibleSaveButton = false; - } - - deleteSceneItem(item: BaseSceneItemModel) { - const itm = this.sceneModels.filter((el) => el.id === item.id); - this.coreThereRepository!.deleteSceneItem(itm[0]); - this.sceneModels = this.sceneModels.filter((el) => el.name !== item.name); - this.visibleSaveButton(); - } - - visibleSaveButton() { - this.isVisibleSaveButton = true; - } - - addNewCamera(model: CameraViewModel) { - model.position = this.coreThereRepository!.camera.position; - model.quaternion = this.coreThereRepository!.camera.quaternion; - this.sceneModels.push(model); - this.coreThereRepository?.addSceneCamera(model); - this.visibleSaveButton(); - } - - getCameraLinkNames(): string[] { - return this.sceneModels.map((el) => { - if (el instanceof CameraViewModel) { - return el.cameraLink; - } - return ""; - }); - } - - loaderWatcher() {} - - loadSceneRobossemblerAsset(name: string) { - try { - const assetPath = this.robossemblerAssets?.getAssetPath(name) as string; - this.coreThereRepository?.loader(assetPath, this.loaderWatcher, name); - this.visibleSaveButton(); - } catch (error) { - message.error(String(error)); - } - } - - isRenderedAsset(name: string): boolean { - return this.sceneModels - .filter((el) => { - if (el instanceof StaticAssetItemModel) { - return el.name === name; - } - return false; - }) - .isNotEmpty(); - } - - hiddenMenu() { - this.isSceneMenuShow = false; - } - - setSceneMode = (mode: SceneMode) => { - if (this.sceneMode === undefined || this.sceneMode !== mode) { - this.sceneMode = mode; - } else if (this.sceneMode === mode) { - this.sceneMode = SceneMode.EMPTY; - } - this.coreThereRepository?.setTransformMode(this.sceneMode); - this.sceneModeWatcher(); - }; - - sceneModeWatcher() {} - - async init(): Promise {} - - errorHandingStrategy = (error: HttpError) => { - if (error.status === 404) { - this.errors.push(new UiBaseError(`${RobossemblerFiles.robossemblerAssets} not found to project`)); - } - }; - - async loadScene(canvasRef: HTMLCanvasElement) { - this.loadWebGl(canvasRef); - await this.mapOk("robossemblerAssets", this.sceneHttpRepository.getRobossemblerAssets()); - if (this.robossemblerAssets) { - this.coreThereRepository?.loadInstances(this.robossemblerAssets); - } - } - - loadWebGl(canvasRef: HTMLCanvasElement): void { - this.coreThereRepository = new CoreThreeRepository(canvasRef as HTMLCanvasElement, this.watcherSceneEditorObject); - this.coreThereRepository.on(this.watcherThereObjects); - this.coreThereRepository.render(); - this.sceneModels = this.coreThereRepository.getAllSceneModels(); - - window.addEventListener("click", (event) => this.clickLister(event)); - window.addEventListener("mousedown", (e) => this.sceneContextMenu(e)); - } - - clickLister(event: MouseEvent) { - const vector = new Vector2(); - vector.x = (event.clientX / window.innerWidth) * 2 - 1; - vector.y = -(event.clientY / window.innerHeight) * 2 + 1; - if (this.sceneMode === SceneMode.EMPTY) { - return; - } - - if (this.sceneMode === SceneMode.MOVING || this.sceneMode === SceneMode.ROTATE) { - this.transformContollsCall(vector); - } - } - - sceneContextMenu(e: MouseEvent): void { - if (e.button === 2) { - this.isSceneMenuShow = true; - this.sceneMenu.x = e.clientX; - this.sceneMenu.y = e.clientY; - } - } - - watcherThereObjects = (sceneItemModel: BaseSceneItemModel): void => { - this.sceneModels.push(sceneItemModel); - }; - - watcherSceneEditorObject = (mesh: Object3D) => { - this.sceneModels = this.sceneModels.map((el) => { - if (el.name === mesh.name) { - el.position = mesh.position; - el.quaternion = mesh.quaternion; - return el; - } - return el; - }); - this.visibleSaveButton(); - }; - - transformContollsCall = (vector: Vector2) => { - this.coreThereRepository?.setRayCastAndGetFirstObject(vector).fold( - (success) => this.coreThereRepository?.setTransformControlsAttach(success), - (_error) => this.coreThereRepository?.disposeTransformControlsMode() + createNewScene = () => + this.viewModel.valid().fold( + async (s) => { + await this.sceneHttpRepository.newScene(s); + this.init(); + this.editDrawer(DrawersSceneManager.NewScene, false); + }, + async (e) => message.error(e) ); + + visibleSaveButton = () => { + this.isVisibleSaveButton = true; }; - dispose() { - window.removeEventListener("click", this.clickLister); - window.removeEventListener("mousedown", (e) => this.sceneContextMenu(e)); - } + hiddenMenu = () => (this.isSceneMenuShow = false); + + init = async () => { + this.mapOk("scenes", this.sceneHttpRepository.getAllScenes()); + }; + + errorHandingStrategy = (error: HttpError) => + error.status.isEqualR(404).map(() => this.errors.push(new UiBaseError(`not found to project`))); + + clickDeleteScene = async (sceneId: string) => { + console.log(sceneId) + await this.messageHttp(this.sceneHttpRepository.deleteScene(sceneId), { + successMessage: "сцена удалена", + }); + this.mapOk("scenes", this.sceneHttpRepository.getAllScenes()); + }; } diff --git a/ui/src/features/simulations/simulations_screen.tsx b/ui/src/features/simulations/simulations_screen.tsx index b0fd134..ef02ce3 100644 --- a/ui/src/features/simulations/simulations_screen.tsx +++ b/ui/src/features/simulations/simulations_screen.tsx @@ -1,11 +1,15 @@ import * as React from "react"; import { MainPage } from "../../core/ui/pages/main_page"; - -export interface ISimulationScreenProps {} +import { SimulationStore } from "./simulations_store"; +import { useStore } from "../../core/helper/use_store"; +interface ISimulationScreenProps {} export const SimulationScreenPath = "/simulation"; -export default class SimulationScreen extends React.Component { - public render() { - return ; - } -} +export const SimulationScreen = (props: ISimulationScreenProps) => { + const store = useStore(SimulationStore); + const canvasRef = React.useRef(null); + React.useEffect(() => { + store.loadScene(canvasRef.current!); + }, []); + return } />; +}; diff --git a/ui/src/features/simulations/simulations_store.ts b/ui/src/features/simulations/simulations_store.ts new file mode 100644 index 0000000..04ca3a6 --- /dev/null +++ b/ui/src/features/simulations/simulations_store.ts @@ -0,0 +1,29 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { CoreRosWsBridgeRepository } from "../../core/repository/core_ros_ws_bridge_repository"; +import { CoreThreeRepository } from "../../core/repository/core_three_repository"; +import { UrdfTransforms } from "./tranforms_model"; + +export class SimulationStore { + rosWsUrdfTransfomsListner: CoreRosWsBridgeRepository = new CoreRosWsBridgeRepository(); + coreThreeRepository?: CoreThreeRepository; + + constructor() { + makeAutoObservable(this) + } + init = () => { + this.rosWsUrdfTransfomsListner.connect('/tf') + } + async loadScene(canvasRef: HTMLCanvasElement) { + await this.loadWebGl(canvasRef); + this.coreThreeRepository?.loadUrdf('http://localhost:4001/robot.xml'); + if (this.coreThreeRepository?.urdfTransforms) { + this.rosWsUrdfTransfomsListner.on(this.coreThreeRepository.urdfTransforms) + + } + } + loadWebGl = async (canvasRef: HTMLCanvasElement) => { + this.coreThreeRepository = new CoreThreeRepository(canvasRef as HTMLCanvasElement, () => { }); + this.coreThreeRepository.on(() => { }); + this.coreThreeRepository.render(); + } +} \ No newline at end of file diff --git a/ui/src/features/simulations/tranforms_model.ts b/ui/src/features/simulations/tranforms_model.ts new file mode 100644 index 0000000..79125cd --- /dev/null +++ b/ui/src/features/simulations/tranforms_model.ts @@ -0,0 +1,40 @@ +import { Quaternion, Vector3 } from "three"; + +export interface UrdfTransforms { + transforms: TransformElement[]; +} + +export interface TransformElement { + header: Header; + child_frame_id: string; + transform: TransformTransform; +} + +export interface Header { + stamp: Stamp; + frame_id: string; +} + +export interface Stamp { + sec: number; + nsec: number; +} + +export interface TransformTransform { + translation: Coords; + rotation: Coords; +} +export interface Coords { + x: number; + y: number; + z: number; + w?: number; +} + +export const coordsToVector = (coords: Coords): Vector3 => { + return new Vector3(coords.x, coords.y, coords.z) +} +export const coordsToQuaternion = (coords: Coords): Quaternion => { + return new Quaternion(coords.x, coords.y, coords.z, coords.w) +} + \ No newline at end of file diff --git a/ui/src/features/skills/skills_http_repository.ts b/ui/src/features/skills/skills_http_repository.ts new file mode 100644 index 0000000..1cb29d0 --- /dev/null +++ b/ui/src/features/skills/skills_http_repository.ts @@ -0,0 +1,9 @@ +import { SkillModel } from "../../core/model/skill_model"; +import { HttpMethod, HttpRepository } from "../../core/repository/core_http_repository"; + +export class SkillsHttpRepository extends HttpRepository { + featureApi = "/skills"; + createNewSkill = (model: SkillModel) => this._jsonRequest(HttpMethod.POST, this.featureApi, model); + deleteSkill = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`); + getAllSkills = () => this._arrayJsonToClassInstanceRequest(HttpMethod.GET, this.featureApi, SkillModel); +} diff --git a/ui/src/features/skills/skills_screen.tsx b/ui/src/features/skills/skills_screen.tsx new file mode 100644 index 0000000..894fc56 --- /dev/null +++ b/ui/src/features/skills/skills_screen.tsx @@ -0,0 +1,290 @@ +import { observer } from "mobx-react-lite"; +import { DrawersSkills, SkillsStore } from "./skills_store"; +import { Drawer, Modal, message } from "antd"; +import { CoreInput } from "../../core/ui/input/input"; +import { CoreText, CoreTextType } from "../../core/ui/text/text"; +import { TopicViewModel } from "../topics/topic_view_model"; +import { BtAction, BtActionViewModel, ISkill, SkillModel } from "../../core/model/skill_model"; +import { btDependencyFormBuilder } from "../behavior_tree_builder/presentation/ui/forms/forms"; +import { CoreButton } from "../../core/ui/button/button"; +import { CoreSelect } from "../../core/ui/select/select"; +import { useStore } from "../../core/helper/use_store"; +import { FormBuilder } from "../../core/ui/form_builder/form_builder"; +import { ButtonV2 } from "../../core/ui/button/button_v2"; +import { Result } from "../../core/helper/result"; +import { plainToInstance } from "class-transformer"; + +export const isValidJson = (json: any): Result => { + try { + return Result.ok(JSON.parse(json)); + } catch { + return Result.error(`is not json type: ${json}`); + } +}; + +export const SkillsScreenPath = "/skills"; + +export const SkillsScreen = observer(() => { + const store = useStore(SkillsStore); + + return ( + <> +
+ store.editDrawer(DrawersSkills.newSkill, true)} + /> + store.editDrawer(DrawersSkills.importSkill, true)} + /> + {store.skills?.map((el) => ( +
+ store.deleteSkill(el._id as string)} /> + store.copySkill(el)} /> + + +
+ + {el.topicsOut.map((el) => ( +
+
{el.name}
+
{el.type}
+
+ ))} + + {el.BTAction.map((el) => ( +
+ + {el.param.map((element) => ( +
+
{element.type}
+
{JSON.stringify(element.dependency)}
+
+ ))} +
+ ))} +
+
+ ))} +
+ store.editDrawer(DrawersSkills.importSkill, false)} + open={store.drawers.find((el) => el.name === DrawersSkills.importSkill)?.status} + > +
+ store.importSkill(text)} + /> +
+ + store.editDrawer(DrawersSkills.newSkill, false)} + open={store.drawers.find((el) => el.name === DrawersSkills.newSkill)?.status} + > +
+
+ + store.updateForm({ SkillPackage: Object.assign(store.viewModel.SkillPackage, { name: text }) }) + } + /> + + store.updateForm({ SkillPackage: Object.assign(store.viewModel.SkillPackage, { format: text }) }) + } + /> + + store.updateForm({ SkillPackage: Object.assign(store.viewModel.SkillPackage, { version: text }) }) + } + /> + + store.updateForm({ Module: Object.assign(store.viewModel.Module, { description: text }) }) + } + /> + store.updateForm({ Module: Object.assign(store.viewModel.Module, { name: text }) })} + /> + + store.updateForm({ Module: Object.assign(store.viewModel.Module, { node_name: text }) }) + } + /> + + store.updateForm({ Launch: Object.assign(store.viewModel.Launch, { package: text }) }) + } + /> + + store.updateForm({ Launch: Object.assign(store.viewModel.Launch, { executable: text }) }) + } + /> + + store.updateForm({ Settings: Object.assign(store.viewModel.Settings, { result: text }) }) + } + /> + + store.updateForm({ Settings: Object.assign(store.viewModel.Settings, { context: text }) }) + } + /> + (store.formBuilderModal = true)} /> + + store.updateForm({ Settings: form })} + /> + store.handleFormBuilderModalCancel()} /> + + + store.updateForm({ topicsOut: store.viewModel.topicsOut.add(TopicViewModel.empty()) })} + /> +
+ {store.viewModel.topicsOut.map((el, index) => ( +
+ + store.updateForm({ topicsOut: store.viewModel.topicsOut.replacePropIndex({ name: text }, index) }) + } + /> + + store.updateForm({ topicsOut: store.viewModel.topicsOut.replacePropIndex({ type: text }, index) }) + } + /> +
+ ))} +
+ store.updateForm({ BTAction: store.viewModel.BTAction.add(BtActionViewModel.empty()) })} + /> + {store.viewModel.BTAction.map((el, index) => ( +
+ + store.updateForm({ BTAction: store.viewModel.BTAction.replacePropIndex({ name: text }, index) }) + } + /> + + store.updateForm({ BTAction: store.viewModel.BTAction.replacePropIndex({ type: text }, index) }) + } + /> + + + store.updateForm({ + BTAction: store.viewModel.BTAction.replacePropIndex({ typeAction: value as BtAction }, index), + }) + } + /> + + store.addNewParam(index)} + /> + {el.param.map((param) => ( +
store.modalShow()}> +
{param.type}
+
{JSON.stringify(param.dependency)}
+
+ ))} +
+ ))} +
+ store.saveNewSkill()} /> +
+ + + (store.selectParam = undefined)} + open={store.isModalOpen} + footer={null} + closable={false} + closeIcon={null} + onCancel={store.handleCancel} + > + + {store.selectParam !== undefined + ? store.selectParam.component + : btDependencyFormBuilder((dependency) => store.onChangeBtDependency(dependency)).map((el) => ( +
store.clickParam(el)}>{el.form}
+ ))} + + + ); +}); diff --git a/ui/src/features/skills/skills_store.ts b/ui/src/features/skills/skills_store.ts new file mode 100644 index 0000000..a3e55b7 --- /dev/null +++ b/ui/src/features/skills/skills_store.ts @@ -0,0 +1,106 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { UiDrawerFormState } from "../../core/store/base_store"; +import { NavigateFunction } from "react-router-dom"; +import { HttpError } from "../../core/repository/core_http_repository"; +import { DependencyViewModel, ISkill, ParamViewModel, SkillModel } from "../../core/model/skill_model"; +import { message } from "antd"; +import { SkillsHttpRepository } from "./skills_http_repository"; +import { FormType } from "../../core/model/form"; +import { plainToInstance } from "class-transformer"; +import { isValidJson } from "./skills_screen"; + +export enum DrawersSkills { + newSkill = "Новый навык", + importSkill = "Импорт навыка", +} +export class SkillsStore extends UiDrawerFormState { + isModalOpen: boolean = false; + activeIndex?: number; + viewModel: SkillModel = SkillModel.empty(); + selectParam?: { + form: FormType; + component?: React.ReactNode; + }; + skills: SkillModel[]; + skillsHttpRepository: SkillsHttpRepository = new SkillsHttpRepository(); + formBuilderModal: boolean = false; + constructor() { + super(DrawersSkills); + makeAutoObservable(this); + } + importSkill = (text: string) => + isValidJson(text.replace(/[^\x00-\x7F]/g, "")).fold( + async (model) => + (await (await plainToInstance(SkillModel, model)).valid()).fold( + async (skillModel) => { + skillModel._id = undefined; + await this.messageHttp(this.skillsHttpRepository.createNewSkill(skillModel), { + successMessage: "Навык импортирован", + }); + await this.init(); + this.editDrawer(DrawersSkills.importSkill, false); + }, + async (error) => message.error(error) + ), + async (error) => message.error(error) + ); + handleFormBuilderModalCancel = () => (this.formBuilderModal = false); + init = async (navigate?: NavigateFunction | undefined) => { + this.mapOk("skills", this.skillsHttpRepository.getAllSkills()); + }; + deleteSkill = async (id: string) => (await this.skillsHttpRepository.deleteSkill(id), this.init()); + modalShow = () => { + this.isModalOpen = true; + }; + + handleOk = () => { + this.isModalOpen = false; + }; + + handleCancel = () => { + this.isModalOpen = false; + }; + addNewParam = (index: number) => { + this.activeIndex = index; + this.modalShow(); + }; + onChangeBtDependency = (dependency: DependencyViewModel) => + this.viewModel.BTAction.at(this.activeIndex ?? 0) + ?.validParam(this.selectParam?.form ?? "") + .fold( + () => { + this.updateForm({ + BTAction: this.viewModel.BTAction.replacePropIndex( + { + param: this.viewModel.BTAction.at(this.activeIndex ?? 0)?.param.add( + new ParamViewModel(this.selectParam?.form ?? "", dependency) + ), + }, + this.activeIndex ?? 0 + ), + }); + this.handleCancel(); + }, + () => { + message.error(`${this.selectParam?.form} is filled`); + this.handleCancel(); + } + ); + + clickParam(el: { form: FormType; component: null } | { form: FormType; component: React.JSX.Element }): void { + this.selectParam = el; + if (el.component === null) this.onChangeBtDependency(DependencyViewModel.empty()); + } + saveNewSkill = async () => { + (await this.viewModel.valid()).fold( + async (model) => ( + await this.skillsHttpRepository.createNewSkill(model), + this.handleCancel(), + await this.init(), + this.editDrawer(DrawersSkills.newSkill, false) + ), + async (e) => message.error(e) + ); + }; + copySkill = (skillModel: SkillModel) => window.prompt("Copy to clipboard: Ctrl+C, Enter", JSON.stringify(skillModel)); +} diff --git a/ui/src/features/socket_listener/socket_listener.tsx b/ui/src/features/socket_listener/socket_listener.tsx new file mode 100644 index 0000000..991ab86 --- /dev/null +++ b/ui/src/features/socket_listener/socket_listener.tsx @@ -0,0 +1,29 @@ +import * as React from "react"; +import { socketListenerStore } from "./socket_listener_store"; +import { observer } from "mobx-react-lite"; +import { CoreText, CoreTextType } from "../../core/ui/text/text"; + +export const SocketListener: React.FC<{ children?: JSX.Element }> = observer(({ children }) => { + React.useEffect(() => { + socketListenerStore.init(); + }, []); + return ( + <> + {false ? ( +
+ +
+
Loading…
+
+ ) : ( + <> + )} + + {children} + + ); +}); diff --git a/ui/src/features/socket_listener/socket_listener_store.ts b/ui/src/features/socket_listener/socket_listener_store.ts new file mode 100644 index 0000000..4566ea2 --- /dev/null +++ b/ui/src/features/socket_listener/socket_listener_store.ts @@ -0,0 +1,31 @@ +import { makeAutoObservable } from "mobx"; +import { SocketRepository, socketRepository } from "../../core/repository/core_socket_repository"; + +class SocketListenerStore { + socketRepository: SocketRepository; + socketHasDisconnect = false; + + constructor(repository: SocketRepository) { + this.socketRepository = repository; + makeAutoObservable(this); + this.init(); + } + async init() { + + (await this.socketRepository.connect()).fold( + () => { + this.socketHasDisconnect = false; + }, + () => { + this.socketHasDisconnect = true; + } + ); + } + async reconnect() { + await this.socketRepository.connect(); + + this.socketHasDisconnect = false; + } +} + +export const socketListenerStore = new SocketListenerStore(socketRepository); diff --git a/ui/src/features/socket_lister/socket_lister.tsx b/ui/src/features/socket_lister/socket_lister.tsx deleted file mode 100644 index 3e00adf..0000000 --- a/ui/src/features/socket_lister/socket_lister.tsx +++ /dev/null @@ -1,33 +0,0 @@ -import * as React from "react"; -import { ReactComponent as ReloadIcon } from "../../core/assets/icons/reload.svg"; -import { socketListerStore } from "./socket_lister_store"; -import { observer } from "mobx-react-lite"; - -export interface ISocketListerProps { - children?: JSX.Element; -} - -export const SocketLister = observer((props: ISocketListerProps) => { - return ( -
- {socketListerStore.socketHasDisconnect ? ( - { - socketListerStore.reconnect(); - }} - style={{ - height: "70px", - backgroundColor: "silver", - width: "-webkit-fill-available", - padding: "10px", - cursor: "pointer", - }} - /> - ) : ( - <> - )} - - {props.children} -
- ); -}); diff --git a/ui/src/features/socket_lister/socket_lister_store.ts b/ui/src/features/socket_lister/socket_lister_store.ts deleted file mode 100644 index 0b7d24c..0000000 --- a/ui/src/features/socket_lister/socket_lister_store.ts +++ /dev/null @@ -1,30 +0,0 @@ -import { makeAutoObservable } from "mobx"; -import { SocketRepository, socketRepository } from "../../core/repository/socket_repository"; -import { setTimeout } from "timers/promises"; - -class SocketListerStore { - repository: SocketRepository; - socketHasDisconnect = true; - - constructor(repository: SocketRepository) { - this.repository = repository; - makeAutoObservable(this); - this.init(); - } - async init() { - (await this.repository.connect()).fold( - () => { - this.socketHasDisconnect = false - }, - () => { - this.socketHasDisconnect = true - } - ); - } - async reconnect() { - await this.repository.connect(); - this.socketHasDisconnect = false; - } -} - -export const socketListerStore = new SocketListerStore(socketRepository); diff --git a/ui/src/features/stick_objects_marking/stick_objects_marking_screen.tsx b/ui/src/features/stick_objects_marking/stick_objects_marking_screen.tsx deleted file mode 100644 index 74d0056..0000000 --- a/ui/src/features/stick_objects_marking/stick_objects_marking_screen.tsx +++ /dev/null @@ -1,133 +0,0 @@ -import * as React from "react"; -import { observer } from "mobx-react-lite"; -import { useParams } from "react-router-dom"; -import { Button } from "antd"; -import { StickObjectsMarkingStore, StickObjectsMarkingStoreMode } from "./stick_objects_marking_store"; -import { Vector3 } from "three"; - -export const StickObjectsMarking = "/stick/objects/marking"; -interface StickButtonsProps { - isVisible: boolean; - name: string; - groupMode: StickObjectsMarkingStoreMode; - storeMode: StickObjectsMarkingStoreMode; - storeModePoints: StickObjectsMarkingStoreMode; - setMode: Function; - setPointMode: Function; - points: Vector3[]; - body: string; -} - -export const StickButtons: React.FunctionComponent = observer((props) => { - return ( - <> - {props.isVisible ? ( - <> - {props.name} - - {props.points.map((el) => { - return ( - <> - {el.x} {el.y} {el.z} - - ); - })} - - ) : ( - - )} - - ); -}); - -export const StickObjectsMarkingScreen = observer(() => { - const canvasRef = React.useRef(null); - const [store] = React.useState(() => new StickObjectsMarkingStore()); - const id = useParams().id as string; - - React.useEffect(() => { - store.init(); - store.loadScene(canvasRef.current!); - document.body.style.overflow = "hidden"; - return () => { - document.body.style.overflow = "scroll"; - store.dispose(); - }; - }, [id, store]); - - return ( -
- -
-
- {Object.keys(store.points).map((el) => { - // @ts-expect-error - const v = store.points[el]; - return ( - <> -
- {el as string}:{v} -
- - ); - })} -
Marking objects for sticking
-
- store.setMode(StickObjectsMarkingStoreMode.objectThatSticks)} - groupMode={StickObjectsMarkingStoreMode.objectThatSticks} - name={store.objectThatSticksName} - storeModePoints={StickObjectsMarkingStoreMode.addPointsObjectThatSticks} - isVisible={store.objectThatSticksName !== undefined} - setPointMode={() => store.setMode(StickObjectsMarkingStoreMode.addPointsObjectThatSticks)} - points={store.objectThatSticksNamePoints} - body="objectThatSticksName" - /> - store.setMode(StickObjectsMarkingStoreMode.objectsToWhichItSticks)} - groupMode={StickObjectsMarkingStoreMode.objectsToWhichItSticks} - name={store.objectsToWhichItSticksName} - storeModePoints={StickObjectsMarkingStoreMode.addPointsObjectsToWhichItSticks} - isVisible={store.objectsToWhichItSticksName !== undefined} - setPointMode={() => store.setMode(StickObjectsMarkingStoreMode.addPointsObjectsToWhichItSticks)} - /> - - -
-
-
-
- ); -}); diff --git a/ui/src/features/stick_objects_marking/stick_objects_marking_store.tsx b/ui/src/features/stick_objects_marking/stick_objects_marking_store.tsx deleted file mode 100644 index 644f9f1..0000000 --- a/ui/src/features/stick_objects_marking/stick_objects_marking_store.tsx +++ /dev/null @@ -1,164 +0,0 @@ -import makeAutoObservable from "mobx-store-inheritance"; -import { Box3, Vector2, Vector3 } from "three"; -import { UiErrorState } from "../../core/store/base_store"; -import { HttpError } from "../../core/repository/http_repository"; -import { UiBaseError } from "../../core/model/ui_base_error"; -import { RobossemblerFiles } from "../scene_manager/model/scene_assets"; -import { StickObjectsMarkingThreeRepository } from "./stick_objects_marking_three_repository"; -import { UserData } from "../../core/repository/core_three_repository"; -import { ObjectExtensionsIsKeyExists } from "../../core/extensions/object"; - -export enum StickObjectsMarkingStoreMode { - objectsToWhichItSticks = "objectsToWhichItSticks", - objectThatSticks = "objectThatSticks", - addPointsObjectsToWhichItSticks = "addPointsObjectsToWhichItSticks", - addPointsObjectThatSticks = "addPointsObjectThatSticks", - move = "move", -} - -export class StickyHelper { - objectThatSticksName: string; - objectThatSticksNamePoints: Vector3[] = []; - objectsToWhichItSticksName: string; - objectsToWhichItSticksPoints: Vector3[] = []; - - constructor( - objectThatSticksName: string, - objectThatSticksNamePoints: Vector3[], - objectsToWhichItSticksName: string, - objectsToWhichItSticksPoints: Vector3[] - ) { - this.objectThatSticksName = objectThatSticksName; - this.objectThatSticksNamePoints = objectThatSticksNamePoints; - this.objectsToWhichItSticksName = objectsToWhichItSticksName; - this.objectsToWhichItSticksPoints = objectsToWhichItSticksPoints; - } -} - -export class StickObjectsMarkingStore extends UiErrorState { - mode: StickObjectsMarkingStoreMode; - stickObjectsMarkingThreeRepository: null | StickObjectsMarkingThreeRepository = null; - objectThatSticksName: string; - objectThatSticksNamePoints: Vector3[] = []; - objectsToWhichItSticksName: string; - objectsToWhichItSticksPoints: Vector3[] = []; - points = {}; - constructor() { - super(); - makeAutoObservable(this); - this.points = {}; - this.mode = StickObjectsMarkingStoreMode.move; - this.loadStickyJSON( - '{"objectThatSticksName":"cube2","objectThatSticksNamePoints":[{"x":5,"y":-0.5419443937360455,"z":0.041458499858311626}],"objectsToWhichItSticksName":"cube1","objectsToWhichItSticksPoints":[{"x":-5,"y":-2.2134708060033113,"z":1.1937718220731925}]}' - ); - } - updatePoint = (key: string, value: any) => { - // @ts-expect-error - this.points[key] = value; - }; - onSaveSticky(): void { - window.prompt( - "Copy to clipboard: Ctrl+C, Enter", - JSON.stringify( - new StickyHelper( - this.objectThatSticksName, - this.objectThatSticksNamePoints, - this.objectsToWhichItSticksName, - this.objectsToWhichItSticksPoints - ) - ) - ); - } - setMode(stickObjectsMarkingStoreMode: StickObjectsMarkingStoreMode): void { - this.mode = stickObjectsMarkingStoreMode; - } - - loaderWatcher() {} - - async init(): Promise {} - - errorHandingStrategy = (error: HttpError) => { - if (error.status === 404) { - this.errors.push(new UiBaseError(`${RobossemblerFiles.robossemblerAssets} not found to project`)); - } - }; - - async loadScene(canvasRef: HTMLCanvasElement) { - this.loadWebGl(canvasRef); - } - watcherSceneEditorObject() {} - loadWebGl(canvasRef: HTMLCanvasElement): void { - this.stickObjectsMarkingThreeRepository = new StickObjectsMarkingThreeRepository( - canvasRef as HTMLCanvasElement, - this.watcherSceneEditorObject, - this.updatePoint - ); - this.stickObjectsMarkingThreeRepository.stickyHelperLoader([ - new StickyHelper( - this.objectThatSticksName, - this.objectThatSticksNamePoints, - this.objectsToWhichItSticksName, - this.objectsToWhichItSticksPoints - ), - ]); - this.stickObjectsMarkingThreeRepository.render(); - window.addEventListener("click", (event) => this.clickLister(event)); - } - - clickLister(event: MouseEvent) { - const vector = new Vector2(); - vector.x = (event.clientX / window.innerWidth) * 2 - 1; - vector.y = -(event.clientY / window.innerHeight) * 2 + 1; - if (this.mode) { - if (this.mode === StickObjectsMarkingStoreMode.move) { - this.stickObjectsMarkingThreeRepository?.setRayCastAndGetFirstObject(vector).fold( - (success) => this.stickObjectsMarkingThreeRepository?.setTransformControlsAttach(success), - (_error) => this.stickObjectsMarkingThreeRepository?.disposeTransformControlsMode() - ); - } - this.stickObjectsMarkingThreeRepository?.setRayCast(vector).map((touch) => { - const objectMagnetism = touch.filter((el) => el.object.userData[UserData.objectForMagnetism] === true); - const BoundBoxVector = new Box3().setFromObject(objectMagnetism[0].object).getCenter(new Vector3()); - const centerRelativeVector = new Vector3().subVectors(BoundBoxVector, objectMagnetism[0].point); - if (objectMagnetism.isNotEmpty()) { - if (this.mode === StickObjectsMarkingStoreMode.objectsToWhichItSticks) { - this.objectsToWhichItSticksName = objectMagnetism[0].object.name; - } - if (this.mode === StickObjectsMarkingStoreMode.objectThatSticks) { - this.objectThatSticksName = objectMagnetism[0].object.name; - } - if (this.mode === StickObjectsMarkingStoreMode.addPointsObjectThatSticks) { - this.objectThatSticksNamePoints.push(centerRelativeVector); - } - if (this.mode === StickObjectsMarkingStoreMode.addPointsObjectsToWhichItSticks) { - this.objectsToWhichItSticksPoints.push(centerRelativeVector); - } - } - }); - } - } - - dispose() { - window.removeEventListener("click", this.clickLister); - } - loadStickyJSON(value: string): void { - const object = JSON.parse(value) as Object; - if ( - ObjectExtensionsIsKeyExists(object, [ - "objectThatSticksName", - "objectThatSticksNamePoints", - "objectsToWhichItSticksName", - "objectsToWhichItSticksPoints", - ]) - ) { - // @ts-expect-error - this.objectThatSticksName = object["objectThatSticksName"]; - // @ts-expect-error - this.objectThatSticksNamePoints = object["objectThatSticksNamePoints"]; - // @ts-expect-error - this.objectsToWhichItSticksName = object["objectsToWhichItSticksName"]; - // @ts-expect-error - this.objectsToWhichItSticksPoints = object["objectsToWhichItSticksPoints"]; - } - } -} diff --git a/ui/src/features/stick_objects_marking/stick_objects_marking_three_repository.ts b/ui/src/features/stick_objects_marking/stick_objects_marking_three_repository.ts deleted file mode 100644 index b9f136d..0000000 --- a/ui/src/features/stick_objects_marking/stick_objects_marking_three_repository.ts +++ /dev/null @@ -1,101 +0,0 @@ -import { Box3, BoxGeometry, Mesh, MeshBasicMaterial, Object3D, Vector3 } from "three"; -import { CoreThreeRepository } from "../../core/repository/core_three_repository"; -import { StickyHelper } from "./stick_objects_marking_store"; -import { CoreVector3 } from "../../core/model/core_vector3"; - -export class StickObjectsMarkingThreeRepository extends CoreThreeRepository { - stickyObjects: StickyHelper[]; - drawUiPoint: Function; - constructor(htmlCanvasRef: HTMLCanvasElement, watcherSceneEditorObject: Function, updatePoint: Function) { - super(htmlCanvasRef, watcherSceneEditorObject); - this.drawUiPoint = updatePoint; - this.sceneWatcher(); - } - - getStickyObject(name: string, pointNameHelper: string, index: number) { - const objectThatSticksNameMesh = this.scene.getObjectByName(name); - const pointName = objectThatSticksNameMesh!.name + ":point:" + index + pointNameHelper; - return this.scene.getObjectByName(pointName); - } - - mapperStickyObject(point: Vector3, index: number, name: string, pointNameHelper: string) { - const objectThatSticksNameMesh = this.scene.getObjectByName(name); - const pointName = objectThatSticksNameMesh!.name + ":point:" + index + pointNameHelper; - const sceneObject = this.scene.getObjectByName(pointName); - let pointMesh: Object3D; - if (sceneObject) { - pointMesh = sceneObject; - } else { - pointMesh = new Mesh(new BoxGeometry(1.1, 1.1, 1.1), new MeshBasicMaterial({ color: "#8BC34A" })); - } - pointMesh.position.copy(new Box3().setFromObject(objectThatSticksNameMesh!).getCenter(new Vector3()).add(point)); - pointMesh.name = pointName; - if (sceneObject === undefined) this.scene.add(pointMesh); - } - - stickyHelperLoader(stickyObjects: StickyHelper[]) { - this.stickyObjects = stickyObjects; - - stickyObjects.forEach((el) => { - el.objectThatSticksNamePoints.forEach((point, index) => - this.mapperStickyObject(point, index, el.objectThatSticksName, "objectThatSticksNamePoints") - ); - el.objectsToWhichItSticksPoints.forEach((point, index) => - this.mapperStickyObject(point, index, el.objectsToWhichItSticksName, "objectsToWhichItSticksPoints") - ); - }); - } - getCenter(obj: Object3D) { - return new Box3().setFromObject(obj).getCenter(new Vector3()); - } - sceneWatcher() { - this.transformControls.addEventListener("objectChange", (event) => { - //@ts-expect-error - const sceneActiveObject = event.target.object as Mesh; - - this.stickyObjects.forEach((stickyHelper) => { - if (sceneActiveObject.name === stickyHelper.objectThatSticksName) { - //локальные векторы точек - const objectThatSticksNameLocalVector = stickyHelper.objectThatSticksNamePoints[0]; - const objectsToWhichItSticksPointLocalVector = stickyHelper.objectsToWhichItSticksPoints[0]; - - //глобальные векторы обьектов - const globalVectorObjStickyName = this.scene.getObjectByName(stickyHelper.objectThatSticksName); - - const globalVectorObjToWhichSticks = this.scene.getObjectByName(stickyHelper.objectsToWhichItSticksName); - - const objectsToWhichItSticksNamePosition = new CoreVector3(globalVectorObjToWhichSticks!.position).add( - objectsToWhichItSticksPointLocalVector - ).vector; - - this.scene - .getObjectByName("cube2:point:0objectThatSticksNamePoints") - ?.position.copy(objectsToWhichItSticksNamePosition); - - // this.scene.getObjectByName("cube2:point:0objectThatSticksNamePoints")?.position; - - globalVectorObjStickyName?.position.copy( - this.scene - .getObjectByName("cube2:point:0objectThatSticksNamePoints")! - .position.add(objectsToWhichItSticksPointLocalVector) - ); - - // console.log(this.scene.children.map((e) => console.log(e.name))); - // cube2:point:0objectThatSticksNamePoints - // cube1:point:0objectsToWhichItSticksPoints - - // this.makePoint(objectThatSticksNamePosition, "red", 1.1); - // this.makePoint(objectsToWhichItSticksNamePosition, "red", 1.1); - - // const movePosition = objectThatSticksNamePosition.sub(objectsToWhichItSticksNamePosition); - // const movePosition = new Vector3().subVectors( - // objectThatSticksNamePosition, - // objectsToWhichItSticksNamePosition - // ); - - // this.scene.getObjectByName(stickyHelper.objectsToWhichItSticksName)?.position.copy(movePosition); - } - }); - }); - } -} diff --git a/ui/src/features/topics/topic_view_model.ts b/ui/src/features/topics/topic_view_model.ts new file mode 100644 index 0000000..44c8bc2 --- /dev/null +++ b/ui/src/features/topics/topic_view_model.ts @@ -0,0 +1,26 @@ +import { IsNotEmpty, IsString } from "class-validator"; +import { ValidationModel } from "../../core/model/validation_model"; + +export class TopicViewModel extends ValidationModel { + @IsNotEmpty() + @IsString() + name: string; + @IsNotEmpty() + @IsString() + type: string; + sid?: string; + constructor(name: string, type: string) { + super(); + this.name = name; + this.type = type; + } + static empty() { + return new TopicViewModel("", ""); + } +} +export interface ITopicModel { + digitalTwinId?: string; + sid?: string; + name: string; + type: string; +} diff --git a/ui/src/features/topics/topics_repository.ts b/ui/src/features/topics/topics_repository.ts new file mode 100644 index 0000000..852926b --- /dev/null +++ b/ui/src/features/topics/topics_repository.ts @@ -0,0 +1,6 @@ +import { HttpMethod, HttpRepository } from "../../core/repository/core_http_repository"; + +export class TopicsHttpRepository extends HttpRepository { + featureApi = "/topics"; + getAllTopics = () => this._jsonRequest(HttpMethod.GET, this.featureApi); +} diff --git a/ui/src/features/topics/topics_screen.tsx b/ui/src/features/topics/topics_screen.tsx new file mode 100644 index 0000000..2fb82c8 --- /dev/null +++ b/ui/src/features/topics/topics_screen.tsx @@ -0,0 +1,21 @@ +import React from "react"; +import { observer } from "mobx-react-lite"; +import { TopicsStore } from "./topics_store"; +import { useStore } from "../../core/helper/use_store"; + +export const TopicsScreenPath = "/topics"; + +export const TopicsScreen = observer(() => { + const store = useStore(TopicsStore); + + return ( + <> + {store.topics?.map((el) => ( +
+
{el.name}
+
{el.type}
+
+ ))} + + ); +}); diff --git a/ui/src/features/topics/topics_store.ts b/ui/src/features/topics/topics_store.ts new file mode 100644 index 0000000..eb680b1 --- /dev/null +++ b/ui/src/features/topics/topics_store.ts @@ -0,0 +1,19 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { FormState } from "../../core/store/base_store"; +import { HttpError } from "../../core/repository/core_http_repository"; +import { ITopicModel, TopicViewModel as TopicModel } from "./topic_view_model"; +import { NavigateFunction } from "react-router-dom"; +import { TopicsHttpRepository } from "./topics_repository"; + +export class TopicsStore extends FormState { + viewModel: TopicModel = TopicModel.empty(); + topics?: ITopicModel[]; + topicsHttpRepository: TopicsHttpRepository = new TopicsHttpRepository(); + constructor() { + super(); + makeAutoObservable(this); + } + init = async (navigate?: NavigateFunction | undefined) => { + await this.mapOk("topics", this.topicsHttpRepository.getAllTopics()); + }; +} diff --git a/ui/src/index.tsx b/ui/src/index.tsx index d952371..a8d3fea 100644 --- a/ui/src/index.tsx +++ b/ui/src/index.tsx @@ -1,19 +1,26 @@ -import React from "react"; -import ReactDOM from "react-dom/client"; import "reflect-metadata"; import "antd/dist/antd.min.css"; +import ReactDOM from "react-dom/client"; import { extensions } from "./core/extensions/extensions"; -import { SocketLister } from "./features/socket_lister/socket_lister"; +import { SocketListener } from "./features/socket_listener/socket_listener"; import { RouterProvider } from "react-router-dom"; import { router } from "./core/routers/routers"; +import { configure } from "mobx"; +import { ThemeStore } from "./core/store/theme_store"; + +configure({ + enforceActions: "never", +}); extensions(); + const root = ReactDOM.createRoot(document.getElementById("root") as HTMLElement); +export const themeStore = new ThemeStore(); root.render( <> - + - + ); diff --git a/ui/tsconfig.json b/ui/tsconfig.json index ebca409..caf6c9a 100644 --- a/ui/tsconfig.json +++ b/ui/tsconfig.json @@ -1,6 +1,6 @@ { "compilerOptions": { - "target": "es6", + "target": "es2018", "lib": ["dom", "dom.iterable", "esnext"], "allowJs": true, "skipLibCheck": true, @@ -18,7 +18,8 @@ "useDefineForClassFields": true, "experimentalDecorators": true, "emitDecoratorMetadata": true, - "strictPropertyInitialization": false + "strictPropertyInitialization": false, + "sourceMap": true }, "include": ["src"] } diff --git a/ui/tslint.json b/ui/tslint.json new file mode 100644 index 0000000..afbaa79 --- /dev/null +++ b/ui/tslint.json @@ -0,0 +1,27 @@ +{ + "eslintConfig": { + "extends": [ + "react-app", + "shared-config" + ], + "rules": { + "additional-rule": "warn", + "no-extend-native": "off", + "react-hooks/exhaustive-deps": "off", + "array-callback-return": "off" + }, + "overrides": [ + { + "files": [ + "**/*.ts?(x)" + ], + "rules": { + "additional-typescript-only-rule": "warn", + "array-callback-return": "off", + "react-hooks/exhaustive-deps": "off", + "no-extend-native": "off" + } + } + ] + } +} \ No newline at end of file diff --git a/web_p/GetInterfaces/get_interfaces.py b/web_p/GetInterfaces/get_interfaces.py new file mode 100644 index 0000000..1b83915 --- /dev/null +++ b/web_p/GetInterfaces/get_interfaces.py @@ -0,0 +1,68 @@ +import argparse +import os +import json +import subprocess +import signal +import time + +from ros2cli.node.strategy import NodeStrategy +from ros2topic.api import get_topic_names_and_types + +OUTPUT_FILE = "topics.json" +TOPICS_FILTER = ["/parameter_events", "/rosout"] + +def get_script_args(cfg): + args = cfg["command"].split() + args.append(cfg["package"]) + args.append(cfg["executable"]) + return args + +def get_topics(filename, path): + jsonpath = os.path.join(path, filename) + + with NodeStrategy({}) as node: + topic_names_and_types = get_topic_names_and_types(node=node, include_hidden_topics=False) + + topic_info = [] + for (topic_name, topic_types) in topic_names_and_types: + if not topic_name in TOPICS_FILTER: + topic_info.append({"name": topic_name, "type": topic_types[0]}) + + print(f"---> number of topics: {len(topic_info)}") + + j_data = {"topics": topic_info} + with open(jsonpath, "w") as fh: + json.dump(j_data, fh, indent=2) + + for topic in topic_info: + print(topic["name"]) + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--package", required=True, help="Json-string/file with package parameters") + parser.add_argument("--path", default="", help="Output path") + parser.add_argument("--json", default=OUTPUT_FILE, help="Output file name in json-format") + parser.add_argument('--delay', default=5, type=int, help="Delay in seconds") + args = parser.parse_args() + + if args.package[-5:] == ".json": + if not os.path.isfile(args.package): + print(f"Error: no such file '{args.package}'") + exit(-1) + with open(args.package, "r") as f: + j_data = f.read() + else: + j_data = args.package + try: + cfg = json.loads(j_data) + except json.JSONDecodeError as e: + print(f"JSon error: {e}") + exit(-2) + + cmd = get_script_args(cfg) + process = subprocess.Popen(cmd, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE) + + time.sleep(args.delay) + get_topics(args.json, args.path) + + process.send_signal(signal.SIGINT) diff --git a/web_p/GetInterfaces/get_interfaces.sh b/web_p/GetInterfaces/get_interfaces.sh new file mode 100755 index 0000000..9a61a6f --- /dev/null +++ b/web_p/GetInterfaces/get_interfaces.sh @@ -0,0 +1,2 @@ +# запуск пакета и получение топиков ROS 2 в файле topics.json +python get_interfaces.py --package test_package.json --delay 10 \ No newline at end of file diff --git a/web_p/GetInterfaces/test_package.json b/web_p/GetInterfaces/test_package.json new file mode 100644 index 0000000..b7e24ec --- /dev/null +++ b/web_p/GetInterfaces/test_package.json @@ -0,0 +1,16 @@ +{ + "sid": 3, + "type": "digital_twin", + "entity": "ROBOT", + "description": "Robossembler Arm", + "command": "ros2 launch", + "package": "rbs_bringup", + "executable": "single_robot.launch.py gazebo_gui:=false", + "args": { + "robot_name": "${NAME:string:''", + "dof": "${NAME:number:''" + }, + "interfaces": { + "cmd": "python ros2_topic_to_json.py" + } +} diff --git a/web_p/blender.py b/web_p/blender.py index 923555d..587c1f4 100644 --- a/web_p/blender.py +++ b/web_p/blender.py @@ -15,6 +15,6 @@ def copy_and_move_folder(src, dst): except shutil.Error as e: print(f"Error: {e}") -source_folder = os.path.dirname(os.path.abspath(__file__)) + "/blender" #"/home/shalenikol/web_p/blender/" +source_folder = os.path.dirname(os.path.abspath(__file__)) + "/blender/" -copy_and_move_folder(source_folder, args.path) \ No newline at end of file +copy_and_move_folder(source_folder, args.path) diff --git a/web_p/blender/.DS_Store b/web_p/blender/.DS_Store new file mode 100644 index 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"pose": [ + { + "loc_xyz": [ + -0.0, + 31.0, + 0.0 + ] + }, + { + "rot_xyzw": [ + -0.5000000000000026, + 0.49999999999999756, + 0.49999999999999756, + 0.5000000000000024 + ] + } + ], + "attributes": [] + } + ] + } +] \ No newline at end of file diff --git a/web_p/education.py b/web_p/education.py new file mode 100644 index 0000000..438af71 --- /dev/null +++ b/web_p/education.py @@ -0,0 +1,32 @@ +import shutil +import argparse +import os.path +from pathlib import Path + +parser = argparse.ArgumentParser() + +parser.add_argument("--path", required=True, help="Path for dataset") +parser.add_argument("--name", required=True, help="String with result weights name") +parser.add_argument("--datasetName", required=True, help="String with dataset name") +parser.add_argument("--outpath", default="weights", help="Output path for weights") +parser.add_argument("--type", default="ObjectDetection", help="Type of implementation") +parser.add_argument("--epoch", default=3, help="How many training epochs") +parser.add_argument('--pretrain', help="Use pretraining") +args = parser.parse_args() + + +def copy_and_move_folder(src, dst, folder): + try: + if os.path.exists(dst + "/education/") is False: + Path(dst + "/education/").mkdir(parents=True, exist_ok=True) + if os.path.exists(dst + "/education/" + folder + "/"): + shutil.rmtree(dst + "/education/" + folder + "/") + + shutil.copytree(src, dst + "/education/" + folder + "/") + + except shutil.Error as e: + print(f"Error: {e}") + + +source_folder = os.path.dirname(os.path.abspath(__file__)) + "/education" +copy_and_move_folder(source_folder, args.path, args.name) diff --git a/web_p/education/metadata.json b/web_p/education/metadata.json new file mode 100644 index 0000000..817e74e --- /dev/null +++ b/web_p/education/metadata.json @@ -0,0 +1,3 @@ +{ + "numberOfEpochs": 1 +} diff --git a/web_p/education/yolov8n.pt b/web_p/education/yolov8n.pt new file mode 100644 index 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