progress

.vscode/settings.json

@@ -1,6 +1,7 @@
 {
   "cSpell.words": [
     "Ведите",
+    "Навыки",
     "typedataset"
   ]
 }

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",
+            },
+          ],
+        },
+      ],
+    });
+  };
+}

ui/src/core/model/skill_model.ts

@@ -0,0 +1,183 @@
+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);
+  }
+}

ui/src/core/routers/routers.tsx

@@ -21,6 +21,7 @@ import DetailsScreen, { DetailsScreenPath } from "../../features/details/details
 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 { SkillPath, SkillScreen } from "../../features/skils/skills_screen";
 
 const idURL = ":id";
 
@@ -67,9 +68,12 @@ export const router = createBrowserRouter([
     path: SimulationScreenPath,
     element: <SimulationScreen />,
   },
-
   {
     path: EstimateScreenPath,
     element: <EstimateScreen />,
   },
+  {
+    path: SkillPath,
+    element: <SkillScreen />,
+  },
 ]);

ui/src/core/ui/button/button.tsx

@@ -31,3 +31,6 @@ export function CoreButton(props: IButtonProps) {
     </div>
   );
 }
+
+
+ 

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

@@ -10,6 +10,7 @@ import { DetailsScreenPath } from "../../../features/details/details_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 { SkillPath as SkillScreenPath } from "../../../features/skils/skills_screen";
 export interface IBlockProps {
   name: string;
   isActive: boolean;
@@ -45,6 +46,7 @@ const Block = (props: IBlockProps) => {
 export interface IMainPageProps {
   page: string;
   bodyChildren?: JSX.Element;
+  panelChildren?: JSX.Element;
   isLoading?: boolean;
 }
 export const MainPage = (props: IMainPageProps) => {
@@ -53,7 +55,8 @@ export const MainPage = (props: IMainPageProps) => {
     { 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: "Навыки", path: SkillScreenPath, icon: "Layers" },
+    { name: "Поведение", path: BehaviorTreeBuilderPath, icon: "Rocket" },
     { name: "Симуляция", path: SimulationScreenPath, icon: "Simulation" },
     { name: "Оценка", path: EstimateScreenPath, icon: "Grade" },
   ];
@@ -118,7 +121,9 @@ export const MainPage = (props: IMainPageProps) => {
         </div>
       ) : (
         <>
-          <div style={{ width: 241, height: window.innerHeight, backgroundColor: "#F7F2FA", borderRadius: 16 }}> </div>
+          <div style={{ width: 241, height: window.innerHeight, backgroundColor: "#F7F2FA", borderRadius: 16 }}>
+            {props.panelChildren}{" "}
+          </div>
           {props.bodyChildren}
         </>
       )}

ui/src/features/behavior_tree_builder/data/behavior_tree_builder_repository.ts

@@ -0,0 +1,9 @@
+import { Result } from "../../../core/helper/result";
+import { Skills } from "../../../core/model/skill_model";
+import { HttpError, HttpMethod, HttpRepository } from "../../../core/repository/http_repository";
+
+export class BehaviorTreeBuilderRepository extends HttpRepository {
+  getBtSkills = async ():Promise<Result<HttpError, Skills>> => {
+    return await this._jsonToClassInstanceRequest<Skills>(HttpMethod.GET, "/behavior/trees", Skills) as unknown as Promise<Result<HttpError, Skills>>;
+  };
+}

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

@@ -3,6 +3,7 @@ import { NodeEditor } from "rete";
 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;
@@ -15,21 +16,31 @@ export class BtNodeView extends TypedEvent<BtDrawDragAndDropView> {}
 export class ReteObserver extends TypedEvent<any> {}
 export class BtBuilderModel {
   public static result = "";
-  static fromReteScene(editor: NodeEditor<Schemes>, area: AreaPlugin<Schemes, AreaExtra>): Result<string, string> {
+  static fromReteScene(
+    editor: NodeEditor<Schemes>,
+    area: AreaPlugin<Schemes, AreaExtra>,
+    skills?: Skills
+  ): Result<string, string> {
     try {
+      this.result = "";
       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.result += `<${this.getNodeLabelAtId(editor, firstNodeId, skills)}>`;
-        this.toXML(sortedSequence as Map<string, number>, editor, area, firstNodeId);
+        this.toXML(sortedSequence as Map<string, number>, editor, area, firstNodeId, skills);
-        this.result += `</${this.getNodeLabelAtId(editor, firstNodeId)}>`;
+        this.result += `</${this.getNodeLabelAtId(editor, firstNodeId, skills)}>`;
       });
       return Result.ok(this.result);
     } catch (error) {
       return Result.error("BtBuilderModel fromReteScene error");
     }
   }
-  public static getNodeLabelAtId(editor: NodeEditor<Schemes>, id: string) {
+  public static getNodeLabelAtId(editor: NodeEditor<Schemes>, id: string, skills?: Skills) {
+    if (skills?.getSkillsNames().find((el) => el.name.isEqual(editor.getNode(id).label))) {
+      return `Action ID="RbsBtAction" do="${skills.getSkillDo(editor.getNode(id).label)}" command="${
+        editor.getNode(id).label
+      }" server_name="rbs_interface" server_timeout="1000"`;
+    }
     return editor.getNode(id).label;
   }
 
@@ -37,18 +48,20 @@ export class BtBuilderModel {
     sortedSequence: Map<string, number>,
     editor: NodeEditor<Schemes>,
     area: AreaPlugin<Schemes, AreaExtra>,
-    activeElementId = ""
+    activeElementId = "",
+    skills?: Skills
   ) {
     editor.getConnections().forEach((el) => {
       if (el.source === activeElementId) {
-        this.result += `<${this.getNodeLabelAtId(editor, el.target)} id="${el.target}">`;
+        this.result += `<${this.getNodeLabelAtId(editor, el.target, skills)}>`;
-        this.toXML(sortedSequence, editor, area, el.target);
+        this.toXML(sortedSequence, editor, area, el.target, skills);
         this.result += `</${this.getNodeLabelAtId(editor, el.target)}>`;
       }
     });
   }
 
   public static getBtPriorities(ids: string[]) {}
+
   public static findSequence(
     nodeId: string,
     editor: NodeEditor<Schemes>,

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

@@ -1,40 +1,27 @@
 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 { CoreButton } from "../../../core/ui/button/button";
+import { observer } from "mobx-react-lite";
 
 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 const behaviorTreeBuilderStore = new BehaviorTreeBuilderStore();
+
 export const BehaviorTreeBuilderPath = "/behavior/tree/";
-export function BehaviorTreeBuilderScreen() {
+
+export const BehaviorTreeBuilderScreen = observer(() => {
   const store = behaviorTreeBuilderStore;
-  const [ref] = useRete(createEditor);
+  // @ts-expect-error
+  const [ref] = useRete<HTMLDivElement>(createEditor);
 
   React.useEffect(() => {
     store.init();
-
+    if (ref.current)
       store.dragZoneSetOffset(
         // @ts-expect-error
         ref.current.offsetTop,
@@ -45,7 +32,6 @@ export function BehaviorTreeBuilderScreen() {
         // @ts-expect-error
         ref.current.clientHeight
       );
-
     return () => {
       store.dispose();
     };
@@ -54,11 +40,17 @@ export function BehaviorTreeBuilderScreen() {
   return (
     <MainPage
       page={"Навыки"}
+      panelChildren={
+        <>
+          {store.skills ? <SkillTree skills={store.skillTree} dragEnd={store.dragEnd} /> : null}
+          <div style={{ width: 100, height: 40 }}>
+            <CoreButton onClick={() => store.saveBt()} text="SAVE BT" />
+          </div>
+        </>
+      }
       bodyChildren={
         <>
           <div style={{ display: "flex", width: "100%" }}>
-            {/* <SkillTree dragEnd={store.dragEnd} skills={skills} /> */}
-
             <div
               ref={ref}
               style={{
@@ -72,4 +64,4 @@ export function BehaviorTreeBuilderScreen() {
       }
     />
   );
-}
+});

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

@@ -7,6 +7,9 @@ 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 { BehaviorTreeBuilderRepository } from "../data/behavior_tree_builder_repository";
+import { Skills } from "../../../core/model/skill_model";
+import { ISkillView } from "./ui/skill_tree/skill_tree";
 
 interface I2DArea {
   x: number;
@@ -20,9 +23,11 @@ export class BehaviorTreeBuilderStore extends UiErrorState<HttpError> {
     this.reteNode?.emit("200");
   }
   validateBt() {}
+  skills?: Skills;
   area?: I2DArea;
   btNodeView: BtNodeView = new BtNodeView();
   reteNode?: ReteObserver;
+  behaviorTreeBuilderRepository = new BehaviorTreeBuilderRepository();
   canRun = true;
   nodes: NodeBehaviorTree[] = [
     {
@@ -32,64 +37,24 @@ export class BehaviorTreeBuilderStore extends UiErrorState<HttpError> {
       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 },
-    },
-  ];
      
+  ];
+  skillTree: ISkillView = {
+    name: "",
+    children: [
+      {
+        name: "Actions",
+        children: [],
+      },
+      {
+        name: "Control",
+        children: [
+          { name: "Fallback", interface: "Vector3", out: "vo" },
+          { name: "Sequence", interface: "Vector3", out: "vo" },
+        ],
+      },
+    ],
+  };
   constructor() {
     super();
     makeAutoObservable(this);
@@ -99,10 +64,9 @@ export class BehaviorTreeBuilderStore extends UiErrorState<HttpError> {
     JSON.parse(value) as BtNodeView[];
   }
   bt = async (editor: NodeEditor<Schemes>, area: AreaPlugin<Schemes, AreaExtra>) => {
-    (await BtBuilderModel.fromReteScene(editor, area)).fold(
+    (await BtBuilderModel.fromReteScene(editor, area, this.skills)).fold(
       (s) => {
-        console.log(
+       console.log(xmlFormat(`<?xml version="1.0" encoding="UTF-8"?>
-          xmlFormat(`<?xml version="1.0" encoding="UTF-8"?>
         <root main_tree_to_execute="Main">
             <BehaviorTree ID="Main">
                 ${s}
@@ -117,15 +81,12 @@ export class BehaviorTreeBuilderStore extends UiErrorState<HttpError> {
                 </Action>
             </TreeNodesModel>
         
-        </root>`)
+        </root>`));
-        );
       },
       (_) => _
     );
   };
-  copyBt = () => {
+ 
-    this.reteNode?.emit("200");
-  };
   errorHandingStrategy: (error: HttpError) => void;
 
   dragEnd = (e: EventTarget) => {
@@ -155,7 +116,20 @@ export class BehaviorTreeBuilderStore extends UiErrorState<HttpError> {
     }
   }
 
-  async init(): Promise<any> {}
+  async init(): Promise<any> {
+    (await this.behaviorTreeBuilderRepository.getBtSkills()).fold(
+      (model) => {
+        this.skills = model;
+        this.skillTree.children = this.skillTree.children?.map((el) => {
+          if (el.name === "Actions") {
+            el.children = model.toSkillView();
+          }
+          return el;
+        });
+      },
+      (e) => console.log(e)
+    );
+  }
   dragZoneSetOffset(offsetTop: number, offsetWidth: number, width: number, height: number) {
     this.area = {
       x: offsetTop,

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

@@ -93,7 +93,7 @@ export function CustomNode<Scheme extends ClassicScheme>(props: Props<Scheme>) {
   const controls = Object.entries(props.data.controls);
   const selected = props.data.selected || false;
   const { id, label, width, height } = props.data;
-
+  console.log(label)
   sortByIndex(inputs);
   sortByIndex(outputs);
   sortByIndex(controls);

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

@@ -21,6 +21,7 @@ export async function createEditor(container: HTMLElement) {
 
   behaviorTreeBuilderStore.btNodeView.on(async (event) => {
     setTimeout(async () => {
+      console.log(event)
       const node = new ClassicPreset.Node(event.name);
 
       const { x, y } = areaContainer.area.pointer;
@@ -33,6 +34,7 @@ export async function createEditor(container: HTMLElement) {
   });
 
   observer.on(() => {
+    console.log(200)
     behaviorTreeBuilderStore.bt(editor, areaContainer);
   });
 

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

@@ -8,7 +8,7 @@ const { RefSocket, RefControl } = Presets.classic;
 type NodeExtraData = { width?: number; height?: number };
 
 export const NodeStyles = styled.div<NodeExtraData & { selected: boolean; styles?: (props: any) => any }>`
-  background: blue;
+  background: red;
   border: 2px solid grey;
 
   cursor: pointer;
@@ -97,7 +97,6 @@ export function SequenceNode<Scheme extends ClassicScheme>(props: Props<Scheme>)
   const selected = props.data.selected || false;
 
   const { id, label, width, height } = props.data;
-
   sortByIndex(inputs);
   sortByIndex(outputs);
   sortByIndex(controls);

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

@@ -2,8 +2,16 @@ 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";
+
+export interface ISkillView {
+  name: string;
+  children?: ISkillView[];
+  id?: string;
+  interface?: string;
+  out?: string;
+}
 export interface ISkillTreeProps {
-  skills: any;
+  skills: ISkillView;
   dragEnd: CallBackEventTarget;
 }
 
@@ -16,12 +24,12 @@ interface IRefListerProps {
 }
 
 export const RefListener = (props: IRefListerProps) => {
-  const ref = React.useRef<HTMLDataElement>(null);
+  const ref = React.useRef<HTMLSpanElement>(null);
   React.useEffect(() => {
     if (ref.current) {
       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);
         }
@@ -36,13 +44,13 @@ export const RefListener = (props: IRefListerProps) => {
           props.handleSelect(e);
         }}
       />
-      <span ref={ref} style={{ color: "white" }} draggable="true">
+      <span ref={ref} style={{ color: "black" }} draggable="true">
         {props.element.name}
       </span>
     </div>
   );
 };
-export function SkillTree(props: ISkillTreeProps) {
+export const SkillTree = (props: ISkillTreeProps) => {
   return (
     <div>
       <TreeView
@@ -66,4 +74,4 @@ export function SkillTree(props: ISkillTreeProps) {
       />
     </div>
   );
-}
+};

ui/src/features/skils/skills_screen.tsx

@@ -0,0 +1,20 @@
+import { MainPage } from "../../core/ui/pages/main_page";
+
+export const SkillPath = "/skills";
+export const SkillScreen = () => {
+  return (
+    <>
+      <MainPage
+        page={"Навыки"}
+     
+        bodyChildren={
+          <>
+            <div style={{ display: "flex", width: "100%" }}>
+              
+            </div>
+          </>
+        }
+      />
+    </>
+  );
+};

ui/src/features/skils/skills_store.tsx

@@ -0,0 +1,3 @@
+export class SkillStore{
+    
+}

ui/src/features/socket_lister/socket_lister.tsx

@@ -10,7 +10,7 @@ export interface ISocketListerProps {
 export const SocketLister = observer((props: ISocketListerProps) => {
   return (
     <div>
-      {socketListerStore.socketHasDisconnect ? (
+      {/* {socketListerStore.socketHasDisconnect ? (
         <ReloadIcon
           onClick={() => {
             socketListerStore.reconnect();
@@ -25,7 +25,7 @@ export const SocketLister = observer((props: ISocketListerProps) => {
         />
       ) : (
         <></>
-      )}
+      )} */}
 
       {props.children}
     </div>