skills screen

server/src/core/controllers/routes.ts

@@ -9,6 +9,7 @@ import { CalculationsInstancesPresentation } from "../../features/calculations_i
 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";
 
 extensions();
 
@@ -22,4 +23,5 @@ export const httpRoutes: Routes[] = [
   new DigitalTwinsTemplatePresentation(),
   new DigitalTwinsInstancePresentation(),
   new TopicsPresentation(),
+  new SkillsPresentation(),
 ].map((el) => el.call());

server/src/core/models/skill_model.ts

@@ -1,7 +1,26 @@
-import { IsArray, IsString, ValidateNested } from "class-validator";
+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 SkillPoseEstimation {
+export interface IParam {
+  type: string;
+  dependency: Object;
+}
+export interface Skill {
   SkillPackage: ISkillPackage;
   Module: IModule;
   Launch: ILaunch;
@@ -16,7 +35,7 @@ export interface IBTAction {
   name: string;
   format: string;
   type: string;
-  param: string[];
+  param: IParam[];
   result: string[];
 }
 
@@ -82,7 +101,7 @@ export class BTAction implements IBTAction {
   @IsString()
   type: string;
   @IsArray()
-  param: string[];
+  param: IParam[];
   @IsArray()
   result: string[];
 }
@@ -117,7 +136,7 @@ export class Xxx implements IXxx {
   topicImage: string;
   topicCameraInfo: string;
 }
-export class SkillModelPoseEstimation implements SkillPoseEstimation {
+export class SkillModel implements Skill {
   @ValidateNested()
   @Type(() => SkillPackage)
   SkillPackage: ISkillPackage;
@@ -145,3 +164,26 @@ export class SkillModelPoseEstimation implements SkillPoseEstimation {
   @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;
+}

server/src/core/scenarios/create_many_folder_scenario.ts

@@ -13,3 +13,4 @@ export class CreateManyFolderScenario {
     }
   };
 }
+

server/src/features/behavior_trees/domain/get_bt_skills_templates_usecase.ts

@@ -34,6 +34,27 @@ export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithE
             { 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" },

server/src/features/skills/model/skills_database_model.ts

@@ -0,0 +1,25 @@
+import { Schema, model } from "mongoose";
+
+export interface ISkillsModel {}
+
+export const SkillsSchema = new Schema({
+  SkillPackage: {
+    type: Schema.Types.Mixed,
+  },
+  Module: {
+    type: Schema.Types.Mixed,
+  },
+  BTAction: {
+    type: Schema.Types.Mixed,
+  },
+  topicsOut: {
+    type: Schema.Types.Mixed,
+  },
+  param: {
+    type: Schema.Types.Mixed,
+  },
+}).plugin(require("mongoose-autopopulate"));
+
+export const skillsSchema = "skills";
+
+export const SkillsDBModel = model<ISkillsModel>(skillsSchema, SkillsSchema);

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[] = [];
+}

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<SkillInstanceValidationModel, typeof SkillsDBModel> {
+  constructor() {
+    super({
+      url: "skills",
+      validationModel: SkillInstanceValidationModel,
+      databaseModel: SkillsDBModel,
+    });
+  }
+}

server/src/features/skills_instance/model/skills_instance_database_model.ts

@@ -1,9 +0,0 @@
-import { Schema, model } from "mongoose";
-
-export interface ISkillsInstanceModel {}
-
-export const SkillsInstanceSchema = new Schema({}).plugin(require("mongoose-autopopulate"));
-
-export const skillsInstanceSchema = "skills_instances";
-
-export const SkillsInstanceDBModel = model<ISkillsInstanceModel>(skillsInstanceSchema, SkillsInstanceSchema);

server/src/features/skills_instance/model/skills_instance_validation_model.ts

@@ -1 +0,0 @@
-export class SkillInstanceValidationModel {}

server/src/features/skills_instance/skill_instance_presentation.ts

@@ -1 +0,0 @@
-export class SkillsInstancePresentation {}

server/src/features/skills_template/model/skills_template_database_model.ts

@@ -1,9 +0,0 @@
-import { Schema, model } from "mongoose";
-
-export interface ISkillsTemplateModel {}
-
-export const SkillsTemplateSchema = new Schema({}).plugin(require("mongoose-autopopulate"));
-
-export const skillsTemplateSchema = "skills_templates";
-
-export const SkillsTemplateDBModel = model<ISkillsTemplateModel>(skillsTemplateSchema, SkillsTemplateSchema);

server/src/features/skills_template/model/skills_template_validation_model.ts

@@ -1 +0,0 @@
-export class SkillTemplateValidationModel {}

server/src/features/skills_template/skills_template_presentation.ts

@@ -1 +0,0 @@
-export class SkillsTemplatePresentation {}

ui/src/core/extensions/array.ts

@@ -31,6 +31,24 @@ 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) {
     Array.prototype.lastElement = function () {
       const instanceCheck = this;

ui/src/core/extensions/extensions.ts

@@ -26,6 +26,8 @@ declare global {
     maxLength(length: number): Array<T>;
     add(element: T): Array<T>;
     indexOfR(element: T): Result<void, Array<T>>;
+    replacePropIndex(property: Partial<T>, index: number): T[];
+    someR(predicate: (value: T) => boolean): Result<void, Array<T>>;
   }
   interface Date {
     formatDate(): string;

ui/src/core/model/skill_model.ts

@@ -1,8 +1,11 @@
-import { IsArray, IsOptional, IsString, ValidateNested } from "class-validator";
+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 { TopicViewModel } from "../../features/topics/topic_view_model";
+import makeAutoObservable from "mobx-store-inheritance";
 import clone from "just-clone";
 
 export interface IDependency {
@@ -18,12 +21,9 @@ export interface ISkill {
   sid?: string;
   SkillPackage: ISkillPackage;
   Module: IModule;
-  Launch: ILaunch;
-  ROS2: IRos2;
   BTAction: IBTAction[];
-  Interface: IInterface;
+  // Interface: IInterface;
-  Settings: ISetting[];
+  // Settings: ISetting[];
-  xxx: IXxx;
 }
 export interface IWeightsDependency {
   weights_name: string;
@@ -39,16 +39,55 @@ export interface IParam {
   type: string;
   dependency: Object;
 }
+export class ParamViewModel implements IParam {
+  type: string;
+  dependency: Object;
+  constructor(type: string, dependency: Object) {
+    this.type = type;
+    this.dependency = dependency;
+  }
+  static empty = () => new ParamViewModel("", {});
+}
 export interface IBTAction {
   name: string;
   format: string;
-  // TODO: Нужно выпилить его отсюда
-  // sid?: 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()
+  format: string;
+  @IsNotEmpty()
+  @IsString()
+  type: string;
+  param: IParam[];
+  @IsNotEmpty()
+  @IsString()
+  result: string[];
+  @IsNotEmpty()
+  @IsEnum(BtAction)
+  typeAction: BtAction;
+  constructor(name: string, format: string, type: string, param: IParam[], result: string[], typeAction: BtAction) {
+    super();
+    this.name = name;
+    this.format = format;
+    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[];
@@ -83,19 +122,22 @@ export interface ISkillPackage {
   format: string;
 }
 
-export interface IXxx {
-  cameraLink: string;
-  topicImage: string;
-  topicCameraInfo: 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()
@@ -142,12 +184,12 @@ export class Setting implements ISetting {
   name: string;
   value: string | number;
 }
-export class Xxx implements IXxx {
+
-  cameraLink: string;
+export class SkillModel extends ValidationModel implements ISkill {
-  topicImage: string;
+  constructor() {
-  topicCameraInfo: string;
+    super();
-}
+    makeAutoObservable(this);
-export class SkillModel implements ISkill {
+  }
   @IsOptional()
   @IsString()
   sid?: string;
@@ -157,29 +199,12 @@ export class SkillModel implements ISkill {
   @ValidateNested()
   @Type(() => Module)
   Module: IModule;
-  @ValidateNested()
+  BTAction: BtActionViewModel[];
-  @Type(() => Launch)
+  topicsOut: TopicViewModel[] = [];
-  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;
   static empty() {
     const skillModel = new SkillModel();
     skillModel.BTAction = [];
+    skillModel.SkillPackage = SkillPackage.empty();
     return skillModel;
   }
   public static isEmpty(skill: SkillModel): Result<void, SkillModel> {
@@ -350,12 +375,6 @@ export class Skills {
         skill.BTAction.forEach((action) => {
           action.param.forEach((param) => {
             if (param.type.isEqual(skillType)) {
-              // console.log('SKILL TYPE')
-              // console.log(skillType);
-              // console.log("SID")
-              // console.log(sid)
-              // console.log("DEPENDENCY")
-              // console.log(param.dependency)
               acc = Object.keys(param.dependency).isNotEmpty();
             }
           });

ui/src/core/model/validation_model.ts

@@ -14,6 +14,8 @@ export class ValidationModel {
         if (error.constraints) return Object.values(error.constraints).join(", ");
         return "";
       });
+      console.log(errors)
+      console.log(this)
       return Result.error(message.join(","));
     } else {
       return Result.ok(this as unknown as T);

ui/src/core/repository/core_http_repository.ts

@@ -71,6 +71,36 @@ export class HttpRepository {
     }
     return Result.ok(response.text as T);
   }
+  public async _arrayJsonToClassInstanceRequest<T>(
+    method: HttpMethod,
+    url: string,
+    instance: ClassConstructor<T>,
+    data?: any
+  ): Promise<Result<HttpError, T[]>> {
+    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<T>(
     method: HttpMethod,
     url: string,

ui/src/core/routers/routers.tsx

@@ -9,10 +9,12 @@ import { DataSetScreen, DatasetsScreenPath } from "../../features/dataset/datase
 import { AssemblesScreen, AssemblesScreenPath } from "../../features/assembles/assembles_screen";
 import { SimulationScreen, SimulationScreenPath } from "../../features/simulations/simulations_screen";
 import { EstimateScreen, EstimateScreenPath } from "../../features/estimate/estimate_screen";
-import { CalculationScreenPath, CalculationScreen } from "../../features/calculation/presentation/calculation_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";
 
 const idURL = ":id";
 
@@ -58,8 +60,8 @@ export const router = createBrowserRouter([
     element: <EstimateScreen />,
   },
   {
-    path: CalculationScreenPath,
+    path: CalculationInstanceScreenPath,
-    element: <CalculationScreen />,
+    element: <CalculationInstanceScreen />,
   },
   {
     path: DigitalTwinsScreenPath,
@@ -69,4 +71,12 @@ export const router = createBrowserRouter([
     path: TopicsScreenPath,
     element: <TopicsScreen />,
   },
+  {
+    path: SkillsScreenPath,
+    element: <SkillsScreen />,
+  },
+  {
+    path: CalculationsTemplateScreenPath,
+    element: <CalculationInstanceScreen />,
+  },
 ]);

ui/src/core/ui/pages/main_page.tsx

@@ -9,7 +9,7 @@ import { AssemblesScreenPath } from "../../../features/assembles/assembles_scree
 import { SimulationScreenPath } from "../../../features/simulations/simulations_screen";
 import { EstimateScreenPath } from "../../../features/estimate/estimate_screen";
 import { BehaviorTreeBuilderPath } from "../../../features/behavior_tree_builder/presentation/behavior_tree_builder_screen";
-import { CalculationScreenPath as SkillScreenPath } from "../../../features/calculation/presentation/calculation_screen";
+import { CalculationInstanceScreenPath as SkillScreenPath } from "../../../features/calculation_instance/presentation/calculation_instance_screen";
 import { UiBaseError } from "../../model/ui_base_error";
 import { DetailsScreenPath } from "../../../features/details/details_screen";
 export interface IBlockProps {

ui/src/features/all_projects/presentation/all_projects_screen.tsx

@@ -9,6 +9,9 @@ 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";
 
 export const AllProjectScreenPath = "/";
 export const AllProjectScreen: React.FunctionComponent = observer(() => {
@@ -30,6 +33,10 @@ export const AllProjectScreen: React.FunctionComponent = observer(() => {
       children={
         <>
           <div onClick={() => navigate(DigitalTwinsScreenPath)}>Digital twins</div>
+          <div onClick={() => navigate(TopicsScreenPath)}>Topics</div>
+          <div onClick={() => navigate(SkillsScreenPath)}>Skills</div>
+          <div onClick={() => navigate(CalculationsTemplateScreenPath)}>Calculation template</div>
+
           {store.projectsModels?.map((el) => {
             return (
               <div

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

@@ -143,6 +143,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
       });
     (await this.behaviorTreeBuilderHttpRepository.getBtSkills()).fold(
       (model) => {
+    
         this.skillTemplates = model;
         this.skillTree.children = this.skillTree.children?.map((el) => {
           if (el.name === "Действия") {

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

@@ -2,12 +2,13 @@ import { BehaviorTreeBuilderStore } from "../../behavior_tree_builder_store";
 import { CameraDeviceForm } from "./camera_device_form/camera_device_form_form";
 import { MoveToPose } from "./move_to_pose/move_to_pose_form";
 import { RobotDeviceForm } from "./robot_device_form/robot_device_form_form";
+import { TopicDependencyViewModel } from "./topics_form/topic_dependency_view_model";
 import { TopicsForm } from "./topics_form/topics_form";
 import { WeightsForm } from "./weights_form/weights_form";
 
 export interface IPropsForm<T> {
   dependency: T;
-  store: BehaviorTreeBuilderStore;
+  store?: BehaviorTreeBuilderStore;
   onChange: (dependency: Object) => void;
 }
 
@@ -22,7 +23,18 @@ export enum Form {
   topic = "topic",
   moveToPose = "move_to_pose",
 }
+export interface BtDependencyFormBuilder {
+  form: Form;
+  component?: React.ReactNode;
+}
 
+export const btDependencyFormBuilder = (onChange: (dependency: Object) => void) => [
+  { form: Form.weights, component: null },
+  {
+    form: Form.topic,
+    component: <TopicsForm store={undefined} dependency={TopicDependencyViewModel.empty()} onChange={onChange} />,
+  },
+];
 export const forms = (
   props: any,
   onChange: (dependency: Object) => void,

ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_form.tsx

@@ -8,9 +8,11 @@ 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<MoveToPoseRobotModel | undefined>) => {
-  const [store] = React.useState(() => new MoveToPoseStore(props.store));
+  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();
@@ -18,16 +20,16 @@ export const MoveToPose = observer((props: IPropsForm<MoveToPoseRobotModel | und
   return (
     <div>
       <CoreSelect
-        items={props.store.sceneAsset?.getAllRobotsTopics() ?? ["ERROR"]}
+        items={propStore.sceneAsset?.getAllRobotsTopics() ?? ["ERROR"]}
         value={store.viewModel.robot_name ?? ""}
         label={"Робот"}
         onChange={(text) => store.updateForm({ robot_name: text })}
       />
       <CoreSelect
-        items={props.store.sceneAsset?.getAllPoints() ?? ["ERROR"]}
+        items={propStore.sceneAsset?.getAllPoints() ?? ["ERROR"]}
         label={"Точка"}
         onChange={(text) =>
-          store.updateForm({ pose: props.store.sceneAsset?.getElementByName<PointModel>(text).toDependency() })
+          store.updateForm({ pose: propStore.sceneAsset?.getElementByName<PointModel>(text).toDependency() })
         }
         value={store.viewModel?.pose?.name ?? ""}
       />

ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topic_dependency_view_model.ts

@@ -1,18 +1,21 @@
 import makeAutoObservable from "mobx-store-inheritance";
-import { Result } from "../../../../../../core/helper/result";
+import { ValidationModel } from "../../../../../../core/model/validation_model";
-import { SidViewModel } from "../../../../../../core/model/device_dependency_view_model";
+import { IsNotEmpty, IsString } from "class-validator";
+import { StoreTopicType } from "./topics_form_store";
 
-export class TopicDependencyViewModel extends SidViewModel {
+export class TopicDependencyViewModel extends ValidationModel {
-  axis: boolean;
+  @IsNotEmpty()
-  constructor(sid: string, axis: boolean) {
+  @IsString()
-    super(sid);
+  type: string;
-    this.axis = axis;
+  mode: StoreTopicType;
-    makeAutoObservable(this)
+  constructor(type: string, mode: StoreTopicType) {
-  }
+    super();
-  isValid = (): Result<string, void> => {
+    makeAutoObservable(this);
-    return Result.ok();
+    this.type = type;
+    this.mode = mode;
   }
+
   static empty() {
-    return new TopicDependencyViewModel('', false);
+    return new TopicDependencyViewModel("", StoreTopicType.specifiesDependencies);
   }
 }

ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form.tsx

@@ -1,11 +1,11 @@
 import React from "react";
 import { observer } from "mobx-react-lite";
-import { TopicsFormStore } from "./topics_form_store";
+import { StoreTopicType, TopicsFormStore } from "./topics_form_store";
 import { IPropsForm } from "../forms";
 import { TopicDependencyViewModel } from "./topic_dependency_view_model";
 import { CoreText, CoreTextType } from "../../../../../../core/ui/text/text";
-import { CoreSwitch } from "../../../../../../core/ui/switch/switch";
+import { match } from "ts-pattern";
-import { CoreSelect } from "../../../../../../core/ui/select/select";
+import { CoreInput } from "../../../../../../core/ui/input/input";
 import { CoreButton } from "../../../../../../core/ui/button/button";
 import { message } from "antd";
 
@@ -14,40 +14,38 @@ export const TopicsForm = observer((props: IPropsForm<Partial<TopicDependencyVie
 
   React.useEffect(() => {
     store.init();
-  }, [store, props]);
+    store.loadClassInstance(TopicDependencyViewModel, props.dependency as TopicDependencyViewModel);
+    console.log(store.viewModel);
+  }, [props]);
 
   return (
-    <div style={{ border: "1px solid", margin: 10, padding: 10 }}>
+    <div>
       <CoreText text={"Topics"} type={CoreTextType.header} style={{ padding: 10 }} />
-      <CoreSelect
+      {match(store.viewModel.mode)
-        items={store.topics?.topics?.map((el) => el.name) ?? []}
+        .with(StoreTopicType.btExecute, () => (
-        value={props.dependency?.sid ?? ""}
+          <>
-        label={"Выберите топик"}
+            <CoreText text={"Выберите точку размещения"} type={CoreTextType.header} />
-        onChange={(value: string) => store.updateForm({ sid: value })}
+          </>
-      />
+        ))
-
+        .with(StoreTopicType.specifiesDependencies, () => (
-      <div>
+          <>
-        is input:{" "}
+            <CoreInput label={"Тип топика"} onChange={(text) => store.updateForm({ type: text })} />
-        <CoreSwitch
+            <div style={{ height: 10 }} />
-          isSelected={store.viewModel.axis}
+            <CoreButton
-          id={""}
+              text="OK"
-          onChange={(status: boolean, id: string) => {
+              style={{ width: 100 }}
-            store.updateForm({ axis: !status });
+              onClick={async () => {
-          }}
+                (await store.viewModel.valid<TopicDependencyViewModel>()).fold(
-        />
+                  (s) => props.onChange(s),
-      </div>
+                  (e) => message.error(e)
-      <CoreButton
+                );
-        style={{ margin: 10, width: 100 }}
+              }}
-        text="OK"
+            />
-        onClick={async () => {
+          </>
-          (await store.viewModel.valid<TopicDependencyViewModel>()).fold(
+        ))
-            (s) => {
+        .otherwise(() => (
-              props.onChange(s);
+          <></>
-            },
+        ))}
-            (e) => message.error(e)
-          );
-        }}
-      />
     </div>
   );
 });

ui/src/features/behavior_tree_builder/presentation/ui/forms/topics_form/topics_form_store.ts

@@ -4,7 +4,10 @@ import { TopicDependencyViewModel } from "./topic_dependency_view_model";
 import { FormState, CoreError } from "../../../../../../core/store/base_store";
 import { TopicsFormHttpRepository } from "./topics_form_http_repository";
 import { Topics } from "../../../../../../core/model/topics";
-
+export enum StoreTopicType {
+  specifiesDependencies = "specifiesDependencies",
+  btExecute = "btExecute",
+}
 export class TopicsFormStore extends FormState<TopicDependencyViewModel, CoreError> {
   constructor() {
     super();
@@ -15,13 +18,6 @@ export class TopicsFormStore extends FormState<TopicDependencyViewModel, CoreErr
   cameraDeviceHttpRepository: TopicsFormHttpRepository = new TopicsFormHttpRepository();
   errorHandingStrategy = (error: CoreError) => {};
   init = async (navigate?: NavigateFunction | undefined) => {
-    try {
-        throw new Error('213')
-    } catch (error) {
-        
-    }
-
-    
     // await this.mapOk('topics', this.cameraDeviceHttpRepository.getAllTopics())
   };
 }

ui/src/features/behavior_tree_builder/presentation/ui/forms/weights_form/weights_store.ts

@@ -1,7 +1,7 @@
 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/data/calculation_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";
 

ui/src/features/calculation_instance/presentation/calculation_instance_screen.tsx

@@ -3,7 +3,7 @@ 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, CalculationStore, StoreTypes } from "./calculation_store";
+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";
@@ -22,10 +22,10 @@ interface IItem {
 
 const skills: IItem[] = [{ name: "ML", isActive: true }];
 
-export const CalculationScreenPath = "/calculation";
+export const CalculationInstanceScreenPath = "/calculation";
 
-export const CalculationScreen = observer(() => {
+export const CalculationInstanceScreen = observer(() => {
-  const [store] = React.useState(() => new CalculationStore());
+  const [store] = React.useState(() => new CalculationInstanceStore());
 
   React.useEffect(() => {
     store.init();

ui/src/features/calculation_instance/presentation/calculation_instance_store.tsx

@@ -20,11 +20,7 @@ export enum StoreTypes {
   empty = "empty",
 }
 
-export class CalculationStore extends UiDrawerFormState<CalculationModel, HttpError> {
+export class CalculationInstanceStore extends UiDrawerFormState<CalculationModel, HttpError> {
-  deleteInstance = async (id: string) => {
-    await this.calculationHttpRepository.deleteInstance(id);
-    await this.init();
-  };
   calculationHttpRepository: CalculationHttpRepository = new CalculationHttpRepository();
   calculationSocketRepository: CalculationSocketRepository = new CalculationSocketRepository();
   activeProjectId?: UUID;
@@ -49,6 +45,10 @@ export class CalculationStore extends UiDrawerFormState<CalculationModel, HttpEr
     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)) {

ui/src/features/calculation_instance/presentation/ui/cards/get_model_card.tsx

@@ -1,6 +1,5 @@
 import { match } from "ts-pattern";
 import { PoseEstimateCard } from "./pose_estimate_card/model_card";
-import { FormBuilderValidationModel } from "../../../../dataset/dataset_model";
 import { Dropdown, MenuProps, message } from "antd";
 import { CoreText, CoreTextType } from "../../../../../core/ui/text/text";
 import { IMenuItem } from "../../../../dataset/card_dataset";

ui/src/features/calculation_instance/presentation/ui/cards/pose_estimate_card/model_card.tsx

@@ -1,11 +1,4 @@
-import { CoreButton } from "../../../../../../core/ui/button/button";
+
-import { Icon } from "../../../../../../core/ui/icons/icons";
-import { Dropdown } from "antd";
-import { CoreText, CoreTextType } from "../../../../../../core/ui/text/text";
-import { ProcessStatus } from "../../../../../dataset/dataset_model";
-import { IMenuItem } from "../../../../../dataset/card_dataset";
-import type { MenuProps } from "antd";
-import { match } from "ts-pattern";
 
 export interface IModelCardProps {
   dependency?: Object;

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 {}

ui/src/features/calculations_template/calculations_template_screen.tsx

@@ -0,0 +1,13 @@
+import { observer } from "mobx-react-lite";
+import { CalculationsTemplateStore } from "./calculations_template_store";
+import React from "react";
+
+export const CalculationsTemplateScreenPath = "/calculations/template";
+
+export const CalculationsTemplateScreen = observer(() => {
+  const [store] = React.useState(() => new CalculationsTemplateStore());
+  React.useEffect(() => {
+    store.init();
+  }, []);
+  return <></>;
+});

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<CalculationsTemplateViewModel, HttpError> {
+  viewModel: CalculationsTemplateViewModel = CalculationsTemplateViewModel.empty();
+  constructor() {
+    super(CalculationTemplateDrawer);
+    makeAutoObservable(this);
+  }
+  init = async (navigate?: NavigateFunction | undefined): Promise<any> => {};
+}

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();
+  }
+}

ui/src/features/skills/skills_http_repository.ts

@@ -0,0 +1,8 @@
+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);
+  getAllSkills = () => this._arrayJsonToClassInstanceRequest(HttpMethod.GET, this.featureApi, SkillModel);
+}

ui/src/features/skills/skills_screen.tsx

@@ -0,0 +1,184 @@
+import React from "react";
+import { observer } from "mobx-react-lite";
+import { DrawersSkills, SkillsStore } from "./skills_store";
+import { Drawer, Modal } 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 } 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";
+
+export const SkillsScreenPath = "/skills";
+
+export const SkillsScreen = observer(() => {
+  const [store] = React.useState(() => new SkillsStore());
+  React.useEffect(() => {
+    store.init();
+  }, []);
+
+  return (
+    <>
+      <div>
+        <CoreButton
+          style={{ width: 100 }}
+          text="new skill"
+          onClick={() => store.editDrawer(DrawersSkills.newSkill, true)}
+        />
+        {store.skills?.map((el) => (
+          <div
+            style={{
+              backgroundColor: "coral",
+              width: "max-content",
+              margin: 10,
+              padding: 10,
+              borderRadius: 20,
+            }}
+          >
+            <CoreText text={`skill server name:${el.SkillPackage.name}`} type={CoreTextType.header} />
+            <div>
+              <CoreText text={"actions"} type={CoreTextType.header} />
+
+              {el.BTAction.map((el) => (
+                <div>
+                  <CoreText text={el.name} type={CoreTextType.medium} />
+                  {el.param.map((element) => (
+                    <div>
+                      <div>{element.type}</div>
+                      <div>{JSON.stringify(element.dependency)}</div>
+                    </div>
+                  ))}
+                </div>
+              ))}
+            </div>
+          </div>
+        ))}
+      </div>
+
+      <Drawer
+        width={(window.innerWidth / 100) * 50}
+        title={store.titleDrawer}
+        destroyOnClose={true}
+        onClose={() => store.editDrawer(DrawersSkills.newSkill, false)}
+        open={store.drawers.find((el) => el.name === DrawersSkills.newSkill)?.status}
+      >
+        <div style={{ display: "flex", flexDirection: "column", justifyContent: "space-between", height: "100%" }}>
+          <div>
+            <CoreInput
+              label={"name"}
+              onChange={(text) =>
+                store.updateForm({ SkillPackage: Object.assign(store.viewModel.SkillPackage, { name: text }) })
+              }
+            />
+            <CoreInput
+              label={"format"}
+              onChange={(text) =>
+                store.updateForm({ SkillPackage: Object.assign(store.viewModel.SkillPackage, { format: text }) })
+              }
+            />
+            <CoreInput
+              label="version"
+              onChange={(text) =>
+                store.updateForm({ SkillPackage: Object.assign(store.viewModel.SkillPackage, { version: text }) })
+              }
+            />
+            <CoreText
+              text={`Topics ${store.viewModel.topicsOut.length}`}
+              type={CoreTextType.large}
+              onClick={() => store.updateForm({ topicsOut: store.viewModel.topicsOut.add(TopicViewModel.empty()) })}
+            />
+            <div>
+              {store.viewModel.topicsOut.map((el, index) => (
+                <div key={index} style={{ marginTop: 10 }}>
+                  <CoreInput
+                    value={el.name}
+                    label={"name"}
+                    onChange={(text) =>
+                      store.updateForm({ topicsOut: store.viewModel.topicsOut.replacePropIndex({ name: text }, index) })
+                    }
+                  />
+                  <CoreInput
+                    value={el.type}
+                    label={"type"}
+                    onChange={(text) =>
+                      store.updateForm({ topicsOut: store.viewModel.topicsOut.replacePropIndex({ type: text }, index) })
+                    }
+                  />
+                </div>
+              ))}
+            </div>
+            <CoreText
+              text={`BTAction  ${store.viewModel.BTAction.length}`}
+              type={CoreTextType.large}
+              onClick={() => store.updateForm({ BTAction: store.viewModel.BTAction.add(BtActionViewModel.empty()) })}
+            />
+            {store.viewModel.BTAction.map((el, index) => (
+              <div key={index} style={{ marginTop: 10 }}>
+                <CoreInput
+                  value={el.name}
+                  label={"name"}
+                  onChange={(text) =>
+                    store.updateForm({ BTAction: store.viewModel.BTAction.replacePropIndex({ name: text }, index) })
+                  }
+                />
+                <CoreInput
+                  value={el.type}
+                  label={"type"}
+                  onChange={(text) =>
+                    store.updateForm({ BTAction: store.viewModel.BTAction.replacePropIndex({ type: text }, index) })
+                  }
+                />
+                <CoreInput
+                  value={el.format}
+                  label={"format"}
+                  onChange={(text) =>
+                    store.updateForm({ BTAction: store.viewModel.BTAction.replacePropIndex({ format: text }, index) })
+                  }
+                />
+                <CoreSelect
+                  items={Object.keys(BtAction)}
+                  value={el.typeAction}
+                  label={"type action"}
+                  onChange={(value: string) =>
+                    store.updateForm({
+                      BTAction: store.viewModel.BTAction.replacePropIndex({ typeAction: value as BtAction }, index),
+                    })
+                  }
+                />
+                <CoreText
+                  text={`Param ${el.param.length}`}
+                  type={CoreTextType.large}
+                  onClick={() => store.addNewParam(index)}
+                />
+                {el.param.map((param) => (
+                  <div style={{ border: "1px solid", padding: 10, margin: 1 }} onClick={() => store.showModal()}>
+                    <div>{param.type}</div>
+                    <div> {JSON.stringify(param.dependency)}</div>
+                  </div>
+                ))}
+              </div>
+            ))}
+          </div>
+          <CoreButton text="Save" style={{ width: 100 }} onClick={() => store.saveNewSkill()} />
+        </div>
+      </Drawer>
+      <Modal
+        destroyOnClose={true}
+        afterClose={() => (store.selectParam = undefined)}
+        open={store.isModalOpen}
+        footer={null}
+        closable={false}
+        closeIcon={null}
+        onCancel={store.handleCancel}
+      >
+        <CoreText text={"Выберите параметр"} type={CoreTextType.large} />
+        {store.selectParam !== undefined
+          ? store.selectParam.component
+          : btDependencyFormBuilder((dependency) => store.onChangeBtDependency(dependency)).map((el) => (
+              <div onClick={() => store.clickParam(el)}>{el.form}</div>
+            ))}
+      </Modal>
+    </>
+  );
+});

ui/src/features/skills/skills_store.ts

@@ -0,0 +1,78 @@
+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 { ParamViewModel, SkillModel } from "../../core/model/skill_model";
+import { Form } from "../behavior_tree_builder/presentation/ui/forms/forms";
+import { message } from "antd";
+import { SkillsHttpRepository } from "./skills_http_repository";
+export enum DrawersSkills {
+  newSkill = "Новый навык",
+}
+export class SkillsStore extends UiDrawerFormState<SkillModel, HttpError> {
+  isModalOpen: boolean = false;
+  activeIndex?: number;
+  viewModel: SkillModel = SkillModel.empty();
+  selectParam?: {
+    form: Form;
+    component?: React.ReactNode;
+  };
+  skills: SkillModel[];
+  skillsHttpRepository: SkillsHttpRepository = new SkillsHttpRepository();
+
+  constructor() {
+    super(DrawersSkills);
+    makeAutoObservable(this);
+  }
+  init = async (navigate?: NavigateFunction | undefined) => {
+    this.mapOk("skills", this.skillsHttpRepository.getAllSkills());
+  };
+  showModal = () => {
+    this.isModalOpen = true;
+  };
+
+  handleOk = () => {
+    this.isModalOpen = false;
+  };
+
+  handleCancel = () => {
+    this.isModalOpen = false;
+  };
+  addNewParam = (index: number) => {
+    this.activeIndex = index;
+    this.showModal();
+  };
+  onChangeBtDependency = (dependency: Object) =>
+    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: Form; component: null } | { form: Form; component: React.JSX.Element }): void {
+    this.selectParam = el;
+    if (el.component === null) this.onChangeBtDependency({});
+  }
+  saveNewSkill = async () => {
+    (await this.viewModel.valid<SkillModel>()).fold(
+      async (model) => this.skillsHttpRepository.createNewSkill(model),
+      async (e) => message.error(e)
+    );
+  };
+}

ui/src/features/socket_listener/socket_listener.tsx

@@ -1,15 +1,15 @@
 import * as React from "react";
-import { socketListerStore } from "./socket_lister_store";
+import { socketListenerStore } from "./socket_listener_store";
 import { observer } from "mobx-react-lite";
 import { CoreText, CoreTextType } from "../../core/ui/text/text";
 
-export interface ISocketListerProps {
+export interface ISocketListenerProps {
   children?: JSX.Element;
 }
 
-export const SocketLister = observer((props: ISocketListerProps) => {
+export const SocketListener = observer((props: ISocketListenerProps) => {
   React.useEffect(() => {
-    socketListerStore.init();
+    socketListenerStore.init();
   }, []);
   return (
     <>

ui/src/features/socket_listener/socket_listener_store.ts

@@ -1,7 +1,7 @@
 import { makeAutoObservable } from "mobx";
 import { SocketRepository, socketRepository } from "../../core/repository/core_socket_repository";
 
-class SocketListerStore {
+class SocketListenerStore {
   socketRepository: SocketRepository;
   socketHasDisconnect = false;
 
@@ -28,4 +28,4 @@ class SocketListerStore {
   }
 }
 
-export const socketListerStore = new SocketListerStore(socketRepository);
+export const socketListenerStore = new SocketListenerStore(socketRepository);

ui/src/features/topics/topic_view_model.ts

@@ -1,8 +1,20 @@
+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;
+  constructor(name: string, type: string) {
+    super();
+    this.name = name;
+    this.type = type;
+  }
   static empty() {
-    return new TopicViewModel();
+    return new TopicViewModel("", "");
   }
 }
 export interface ITopicModel {

ui/src/features/topics/topics_repository.ts

@@ -1,5 +1,6 @@
 import { HttpMethod, HttpRepository } from "../../core/repository/core_http_repository";
 
 export class TopicsHttpRepository extends HttpRepository {
-  getAllTopics = () => this._jsonRequest(HttpMethod.GET, "/topics");
+  featureApi = "/topics";
+  getAllTopics = () => this._jsonRequest(HttpMethod.GET, this.featureApi);
 }

ui/src/features/topics/topics_screen.tsx

@@ -12,7 +12,7 @@ export const TopicsScreen = observer(() => {
   return (
     <>
       {store.topics?.map((el) => (
-        <div>
+        <div style={{ margin: 10, border: "1px solid red" }}>
           <div>{el.name}</div>
           <div>{el.type}</div>
         </div>

ui/src/index.tsx

@@ -2,7 +2,7 @@ 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";
@@ -17,8 +17,9 @@ const root = ReactDOM.createRoot(document.getElementById("root") as HTMLElement)
 
 root.render(
   <>
-    <SocketLister>
+    <SocketListener>
       <RouterProvider router={router} />
-    </SocketLister>
+    </SocketListener>
   </>
 );
+