fixed errors

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",
+}

ui/src/core/model/form_builder_validation_model.tsx

@@ -3,56 +3,57 @@ import { BehaviorTreeBuilderStore } from "../../features/behavior_tree_builder/p
 import { datasetFormMockContext, datasetFormMockResult, defaultFormValue } from "../../features/dataset/dataset_model";
 import { DependencyViewModel } from "./skill_model";
 import { ValidationModel } from "./validation_model";
-
+import { FormType } from "./form";
+ 
 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();
-      this.context = context;
-      this.result = result;
-      this.form = form;
-      this.output = output;
-    }
-    toView = (store: BehaviorTreeBuilderStore | undefined) => <>IsFilled</>;
-    static isEmpty = (formBuilderValidationModel: FormBuilderValidationModel) =>
-      formBuilderValidationModel.context.isEmpty() &&
-      formBuilderValidationModel.result.isEmpty() &&
-      formBuilderValidationModel.form.isEmpty();
-  
-    static datasetEmpty() {
-      return new FormBuilderValidationModel(datasetFormMockContext, datasetFormMockResult, [], defaultFormValue);
-    }
-    static empty() {
-      return new FormBuilderValidationModel("", "", [], "");
-    }
-    static emptyTest() {
-      return new FormBuilderValidationModel(``, ``, [], defaultFormValue);
-    }
-    static creteDataSetTest() {
-      return new FormBuilderValidationModel(``, scene, [], "");
-    }
-    static vision(): FormBuilderValidationModel {
-      return new FormBuilderValidationModel(
-        `ENUM PRETRAIN = "true","false";`,
-        `{
+  @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();
+    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 datasetEmpty() {
+    return new FormBuilderValidationModel(datasetFormMockContext, datasetFormMockResult, [], defaultFormValue);
+  }
+  static empty() {
+    return new FormBuilderValidationModel("", "", [], "");
+  }
+  static emptyTest() {
+    return new FormBuilderValidationModel(``, ``, [], defaultFormValue);
+  }
+  static creteDataSetTest() {
+    return new FormBuilderValidationModel(``, scene, [], "");
+  }
+  static vision(): FormBuilderValidationModel {
+    return new FormBuilderValidationModel(
+      `ENUM PRETRAIN = "true","false";`,
+      `{
           "numberOfEpochs": \${numberOfEpochs:number:10},
           "selectDataset": \${<SelectDataset/>:OBJECT:{"dataset": {}},
           "pretrain": \${pretrain:Enum<PRETRAIN>:true}
         }`,
-        [],
-        ""
-      );
-    }
+      [],
+      ""
+    );
   }
-  export const scene = `{ 
+}
+export const scene = `{ 
     "center_shell": [\${CENTER_SHELL_1:number:0}, \${CENTER_SHELL_2:number:0}, \${CENTER_SHELL_3:number:0}],
     "scene":\${<SelectScene/>:OBJECT:{"details": []}
   }`;
-  

ui/src/core/model/skill_model.ts

@@ -1,3 +1,5 @@
+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";
@@ -6,8 +8,10 @@ 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 makeAutoObservable from "mobx-store-inheritance";
-import clone from "just-clone";
+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[];
 }
@@ -22,8 +26,6 @@ export interface ISkill {
   SkillPackage: ISkillPackage;
   Module: IModule;
   BTAction: IBTAction[];
-  // Interface: IInterface;
-  // Settings: ISetting[];
 }
 export interface IWeightsDependency {
   weights_name: string;
@@ -40,14 +42,28 @@ export interface IParam {
   type: string;
   dependency?: DependencyViewModel;
 }
-export class DependencyViewModel {
+
+abstract class IDependencyViewModel {
+  abstract type: FormType;
+}
+export class DependencyViewModel implements IDependencyViewModel {
+  type: FormType;
   static empty = () => new DependencyViewModel();
-  toView = (store: BehaviorTreeBuilderStore | undefined): React.ReactNode => "string";
+  toView = (store: BehaviorTreeBuilderStore | undefined): React.ReactNode => "Dependency view model error";
 }
 export class ParamViewModel implements IParam {
   type: string;
 
-  @Type(() => DependencyViewModel)
+  @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) {

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

@@ -8,7 +8,6 @@ import { SceneManagerPath } from "../../../features/scene_manager/presentation/s
 import { AssemblesScreenPath } from "../../../features/assembles/assembles_screen";
 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 { 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";
@@ -54,7 +53,6 @@ export interface IMainPageProps {
   bodyChildren?: JSX.Element;
   panelChildren?: JSX.Element;
   panelStyle?: React.CSSProperties;
-
   isLoading?: boolean;
   maskLoader?: boolean;
   error?: UiBaseError[];

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

@@ -52,16 +52,22 @@ export class BehaviorTreeBuilderModel {
   }
   public static xmlFormat = (result: string, btRootTag: string): Result<string, string> => {
     try {
-      return Result.ok(xmlFormat(btRootTag.replace("${bt}", result)));
+      return Result.ok(
+        xmlFormat(
+          '<root BTCPP_format="4"><BehaviorTree ID="Main">${bt}</BehaviorTree></root>'.replace(
+            "${bt}",
+            btRootTag.replace("${bt}", result)
+          )
+        )
+      );
     } catch (error) {
       console.log(result);
       console.log(btRootTag);
       console.log(error);
-      console.log(btRootTag.replace("${bt}", result))
       return Result.error(error as string);
     }
   };
-  public static getNodeLabelAtId(editor: NodeEditor<Schemes>, id: string, skills?: Skills,) {
+  public static getNodeLabelAtId(editor: NodeEditor<Schemes>, id: string, skills?: Skills) {
     try {
       if (skills?.getSkillsNames().find((el) => el.name.isEqual(editor.getNode(id)!.label))) {
         return `Action ID="RbsAction" do="${skills.getSkillDo(editor.getNode(id)!.label)}" command="${

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

@@ -1,9 +1,9 @@
 import React from "react";
+import makeAutoObservable from "mobx-store-inheritance";
+import clone from "just-clone";
 import { message } from "antd";
 import { NavigateFunction } from "react-router-dom";
-import makeAutoObservable from "mobx-store-inheritance";
 import { v4 } from "uuid";
-import clone from "just-clone";
 import { CoreError, UiDrawerFormState } from "../../../core/store/base_store";
 import {
   BehaviorTreeBuilderModel,
@@ -21,7 +21,7 @@ import { DependencyViewModel, IParam, Skills } from "../../../core/model/skill_m
 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 { BehaviorTreeBuilderPath, behaviorTreeBuilderStore } from "./behavior_tree_builder_screen";
+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";
@@ -149,12 +149,10 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     this.nodeUpdateObserver = undefined;
   }
   async init(navigate: NavigateFunction): Promise<void> {
-    (await this.behaviorTreeBuilderHttpRepository.getActiveProjectId())
-      // eslint-disable-next-line array-callback-return
-      .map((el) => {
-        this.activeProject = el.id;
-        this.viewModel.project = this.activeProject;
-      });
+    (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);
@@ -164,7 +162,6 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
           }
           return el;
         });
-        // this.sceneAsset = this.behaviorTreeBuilderHttpRepository.getScene()
       },
       (e) => console.log(e)
     );

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

@@ -137,7 +137,11 @@ export async function createEditor(container: HTMLElement) {
           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(), {

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

@@ -1,17 +1,17 @@
-import React, { useEffect } from "react";
+import { useEffect } from "react";
 import { observer } from "mobx-react-lite";
-import { FormBuilderStore } from "./form_builder_store";
+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 { Modal, message } from "antd";
 import { FormBuilder } from "../../../../../../core/ui/form_builder/form_builder";
 import { FormBuilderValidationModel } from "../../../../../../core/model/form_builder_validation_model";
 
 export const FormBuilderForm = observer((props: IPropsForm<Partial<FormBuilderValidationModel>>) => {
-  const store = useStore(FormBuilderStore);
+  const store = useStore(FormsFormBuilderStore);
   useEffect(() => {
     store.initParam(isBtScreen(), props.store);
   }, []);

ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_store.ts

@@ -3,11 +3,8 @@ 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 FormBuilderStore extends FormState<FormBuilderValidationModel, CoreError> {
-  openModal() {
-    this.isModalOpen = true;
-  }
+
+export class FormsFormBuilderStore extends FormState<FormBuilderValidationModel, CoreError> {
   isBtScreen = false;
   isModalOpen = false;
   viewModel: FormBuilderValidationModel = FormBuilderValidationModel.empty();
@@ -18,6 +15,9 @@ export class FormBuilderStore extends FormState<FormBuilderValidationModel, Core
   errorHandingStrategy = (error: CoreError) => {};
   init = async (navigate?: NavigateFunction | undefined) => {};
   initParam = (isSkillScreen: boolean, store: BehaviorTreeBuilderStore | undefined) => {
-    this.isBtScreen = true;
+    this.isBtScreen = isSkillScreen;
   };
+  openModal() {
+    this.isModalOpen = true;
+  } 
 }

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

@@ -1,3 +1,4 @@
+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";
@@ -15,27 +16,20 @@ export interface IForms {
   name: string;
   component: JSX.Element;
 }
-export enum Form {
-  weights = "weights",
-  robotName = "robot_name",
-  cameraDeviceForm = "camera",
-  topic = "topic",
-  formBuilder = "formBuilder",
-  moveToPose = "move_to_pose",
-}
+ 
 export interface BtDependencyFormBuilder {
-  form: Form;
+  form: FormType;
   component?: React.ReactNode;
 }
 
 export const btDependencyFormBuilder = (onChange: (dependency: DependencyViewModel) => void) => [
-  { form: Form.weights, component: null },
+  { form: FormType.weights, component: null },
   {
-    form: Form.topic,
+    form: FormType.topic,
     component: <TopicsForm store={undefined} dependency={TopicDependencyViewModel.empty()} onChange={onChange} />,
   },
   {
-    form: Form.formBuilder,
+    form: FormType.formBuilder,
     component: (
       <FormBuilderForm store={undefined} dependency={FormBuilderValidationModel.empty()} onChange={onChange} />
     ),
@@ -46,6 +40,6 @@ export const forms = (
   onChange: (dependency: DependencyViewModel) => void,
   store: BehaviorTreeBuilderStore
 ): IForms[] => [
-  { name: Form.topic, component: <TopicsForm store={store} dependency={props} onChange={onChange} /> },
-  { name: Form.formBuilder, component: <FormBuilderForm store={store} dependency={props} onChange={onChange} /> },
+  { name: FormType.topic, component: <TopicsForm store={store} dependency={props} onChange={onChange} /> },
+  { name: FormType.formBuilder, component: <FormBuilderForm store={store} dependency={props} onChange={onChange} /> },
 ];

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

@@ -5,19 +5,20 @@ 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: string;
+  type = FormType.topic;
+  topicType?: string;
+
   mode?: StoreTopicType;
   sid?: string;
   topicOut?: string;
-  constructor(type: string, mode: StoreTopicType) {
+  constructor() {
     super();
     makeAutoObservable(this);
-    this.type = type;
-    this.mode = mode;
   }
   toView = (store: BehaviorTreeBuilderStore | undefined): React.ReactNode => {
     if (store && this.sid) {
@@ -31,6 +32,6 @@ export class TopicDependencyViewModel extends ValidationModel implements Depende
   };
 
   static empty() {
-    return new TopicDependencyViewModel("", StoreTopicType.specifiesDependencies);
+    return new TopicDependencyViewModel();
   }
 }

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

@@ -29,8 +29,8 @@ export const TopicsForm = observer((props: IPropsForm<Partial<TopicDependencyVie
         style={{ padding: 10 }}
         color={themeStore.theme.darkOnSurfaceVariant}
       />
-      {match(store.type)
-        .with(StoreTopicType.btExecute, () => (
+      {match(isBtScreen())
+        .with(true, () => (
           <>
             <CoreText
               text={"Выберите топик"}
@@ -75,9 +75,9 @@ export const TopicsForm = observer((props: IPropsForm<Partial<TopicDependencyVie
             />
           </>
         ))
-        .with(StoreTopicType.specifiesDependencies, () => (
+        .with(false, () => (
           <>
-            <CoreInput label={"Тип топика"} onChange={(text) => store.updateForm({ type: text })} />
+            <CoreInput label={"Тип топика"} onChange={(text) => store.updateForm({ topicType: text })} />
             <div style={{ height: 10 }} />
             <CoreButton
               text="OK"

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

@@ -24,7 +24,8 @@ export class TopicsFormStore extends FormState<TopicDependencyViewModel, CoreErr
   init = async (navigate?: NavigateFunction | undefined) => {
     // await this.mapOk('topics', this.cameraDeviceHttpRepository.getAllTopics())
   };
-  getAllTopicsMatched = () => this.topics?.filter((el) => el.type.isEqual(this.viewModel.type));
+  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;

ui/src/features/skills/skills_store.ts

@@ -3,9 +3,10 @@ import { UiDrawerFormState } from "../../core/store/base_store";
 import { NavigateFunction } from "react-router-dom";
 import { HttpError } from "../../core/repository/core_http_repository";
 import { DependencyViewModel, 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";
+import { FormType } from "../../core/model/form";
+
 export enum DrawersSkills {
   newSkill = "Новый навык",
 }
@@ -14,7 +15,7 @@ export class SkillsStore extends UiDrawerFormState<SkillModel, HttpError> {
   activeIndex?: number;
   viewModel: SkillModel = SkillModel.empty();
   selectParam?: {
-    form: Form;
+    form: FormType;
     component?: React.ReactNode;
   };
   skills: SkillModel[];
@@ -66,7 +67,7 @@ export class SkillsStore extends UiDrawerFormState<SkillModel, HttpError> {
         }
       );
 
-  clickParam(el: { form: Form; component: null } | { form: Form; component: React.JSX.Element }): void {
+  clickParam(el: { form: FormType; component: null } | { form: FormType; component: React.JSX.Element }): void {
     this.selectParam = el;
     if (el.component === null) this.onChangeBtDependency(DependencyViewModel.empty());
   }