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ui/src/core/model/skill_model.ts

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+import { IsArray, 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";
+
+export interface ISkillPoseEstimation {
+  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 ISkillPoseEstimation {
+  @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 class Skills {
+  @IsArray()
+  @Type(() => SkillModelPoseEstimation)
+  skills: SkillModelPoseEstimation[];
+  toSkillView(): ISkillView[] {
+    return this.skills.map((el) => {
+      return {
+        name: el.Module.name,
+        children: el.BTAction.map((act) => {
+          // return { name: `${el.Module.name} - ${act.name}` };
+          return { name: act.name, uuid: v4() };
+        }),
+      };
+    });
+  }
+  getSkillDo(name: string) {
+    return this.skills.reduce((acc, el) => {
+      if (el.BTAction.find((el) => el.name.isEqual(name))) {
+        acc = el.Module.name;
+      }
+      return acc;
+    }, "error");
+  }
+  getSkillsNames() {
+    return this.skills
+      .map((el) => {
+        return el.BTAction.map((act) => {
+          return { name: act.name };
+        });
+      })
+      .flat(1);
+  }
+}