progress

server/src/core/controllers/routes.ts

@@ -1,3 +1,4 @@
+import { BehaviorTreesPresentation } from "../../features/behavior_trees/behavior_trees";
 import { DatasetsPresentation } from "../../features/datasets/datasets_presentation";
 import { ProjectsPresentation } from "../../features/projects/projects_presentation";
 // import { ProjectsPresentation } from "../../features/_projects/projects_presentation";
@@ -6,4 +7,4 @@ import { Routes } from "../interfaces/router";
 
 extensions();
 
-export const httpRoutes: Routes[] = [new ProjectsPresentation(), new DatasetsPresentation()].map((el) => el.call());
+export const httpRoutes: Routes[] = [new ProjectsPresentation(), new DatasetsPresentation(), new BehaviorTreesPresentation()].map((el) => el.call());

server/src/core/models/skill_model.ts

@@ -0,0 +1,147 @@
+import { IsArray, IsString, ValidateNested } from "class-validator";
+import { Type } from "class-transformer";
+
+export interface SkillPoseEstimation {
+  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: string[];
+  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: string[];
+  @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 SkillModelPoseEstimation implements SkillPoseEstimation {
+  @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;
+}

server/src/features/behavior_trees/behavior_trees.ts

@@ -0,0 +1,12 @@
+import { CoreHttpController } from "../../core/controllers/http_controller";
+import { DatasetValidationModel } from "../datasets/models/dataset_validation_model";
+import { GetBehaviorTreeSkillsUseCase } from "./get_bt_usecase";
+export class BehaviorTreesPresentation extends CoreHttpController<DatasetValidationModel> {
+  constructor() {
+    super({
+      url: "behavior/trees",
+      validationModel: DatasetValidationModel,
+    });
+    super.get(new GetBehaviorTreeSkillsUseCase().call);
+  }
+}

server/src/features/behavior_trees/get_bt_usecase.ts

@@ -0,0 +1,154 @@
+import { Result } from "../../core/helpers/result";
+
+export class GetBehaviorTreeSkillsUseCase {
+  call = () => {
+    return Result.ok({
+      skills: [
+        {
+          SkillPackage: {
+            name: "Robossembler",
+            version: "1.0",
+            format: "1",
+          },
+          Module: {
+            name: "PoseEstimation",
+            description: "Pose Estimation skill with DOPE",
+          },
+          Launch: {
+            executable: "pe_dope_lc.py",
+          },
+          ROS2: {
+            node_name: "lc_dope",
+          },
+          BTAction: [
+            {
+              name: "peConfigure",
+              format: "yaml",
+              type: "run",
+              param: ["object_name", "weights_file"],
+              result: ["Pose"],
+            },
+            {
+              name: "peStop",
+              format: "yaml",
+              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,
+            },
+          ],
+          xxx: {
+            cameraLink: "inner_rgbd_camera",
+            topicImage: "/inner_rgbd_camera/image",
+            topicCameraInfo: "/inner_rgbd_camera/camera_info",
+          },
+        },
+        {
+          SkillPackage: {
+            name: "Robossembler",
+            version: "1.0",
+            format: "1",
+          },
+          Module: {
+            name: "ObjectDetection",
+            description: "Object detection skill with YOLOv8",
+          },
+          Launch: {
+            executable: "detection_lifecycle.py",
+          },
+          ROS2: {
+            node_name: "lc_detection",
+          },
+          BTAction: [
+            {
+              name: "odConfigure",
+              format: "yaml",
+              args: ["SettingPath", "server_name", "server_timeout"],
+              result: ["boundBox"],
+            },
+            {
+              name: "odStop",
+              format: "yaml",
+              args: ["server_name", "server_timeout"],
+              result: [],
+            },
+          ],
+          Interface: {
+            Input: [
+              {
+                name: "cameraLink",
+                type: "string",
+                group: "STD_USER",
+              },
+              {
+                name: "topicImage",
+                type: "Image",
+                group: "sensor_msgs.msg",
+              },
+            ],
+            Output: [
+              {
+                name: "boundBox",
+                type: "BoundBox",
+                group: ".msg",
+              },
+            ],
+          },
+          Settings: [
+            {
+              name: "publishDelay",
+              value: 0.5,
+            },
+            {
+              name: "server_timeout",
+              value: 1000,
+            },
+            {
+              name: "server_name",
+              value: "/object_detection/change_state",
+            },
+          ],
+        },
+      ],
+    });
+  };
+}