From d8b5018cb21da5c8807cac2e46bb1b807c16c739 Mon Sep 17 00:00:00 2001 From: IDONTSUDO Date: Sat, 13 Jul 2024 18:18:14 +0300 Subject: [PATCH] progress --- .vscode/launch.json | 4 - README.md | 3 +- server/package-lock.json | 2478 +---------------- server/package.json | 8 - server/src/core/models/static_files.ts | 3 +- .../features/scene/create_robot_scenario.ts | 39 + server/src/features/scene/robot_model.ts | 12 + .../src/features/scene/scene_presentation.ts | 8 +- ui/package-lock.json | 30 +- ui/package.json | 8 +- ui/readme.md | 2 +- ui/src/core/extensions/array.ts | 6 + ui/src/core/extensions/extensions.ts | 7 +- ui/src/core/extensions/string.ts | 8 + ui/src/core/model/camera_model.ts | 52 + ui/src/core/model/light_model.ts | 57 + ui/src/core/model/point_model.ts | 35 + ui/src/core/model/robossembler_assets.ts | 172 -- ui/src/core/model/robot_model.ts | 75 + ui/src/core/model/scene_asset.ts | 40 + ui/src/core/model/scene_models_type.ts | 8 + ui/src/core/model/solid_model.ts | 26 + ui/src/core/model/zone_model.ts | 33 + .../core/repository/core_three_repository.ts | 180 +- ui/src/core/store/base_store.ts | 14 +- ui/src/core/ui/icons/icons.tsx | 148 +- ui/src/core/ui/input/input.tsx | 18 +- ui/src/core/ui/inputNumber/input_number.tsx | 109 + ui/src/core/ui/select/select.tsx | 3 +- ui/src/core/ui/slider/slider.tsx | 43 + ui/src/core/ui/text/text.tsx | 3 +- .../data/scene_http_repository.ts | 93 + .../scene_manager/model/camera_view_model.ts | 30 - .../scene_manager/model/scene_assets.ts | 163 -- .../scene_manager/model/scene_view.ts | 15 - .../scene_manager/model/solid_body_model.ts | 30 - .../presentation/components/coords_form.tsx | 60 + .../components/static_asset_item_view.tsx | 43 - .../presentation/forms/camera/camera_form.tsx | 66 +- .../forms/camera/camera_store.tsx | 35 + .../presentation/forms/light/light_store.tsx | 6 +- .../forms/light/light_view_model.ts | 9 - .../presentation/forms/point/point_form.tsx | 24 +- .../presentation/forms/point/point_store.ts | 40 +- .../forms/point/point_view_model.ts | 16 - .../presentation/forms/robot/robot_form.tsx | 6 - .../forms/robot_form/robot_form.tsx | 97 + .../robot_form/robot_form_http_repository.ts | 10 + .../forms/robot_form/robot_form_store.ts | 86 + .../forms/scene_manager_forms.tsx | 10 +- .../forms/solid_body/solid_body_form.tsx | 106 +- .../forms/solid_body/solid_body_store.tsx | 45 +- .../forms/solid_body/solid_body_view_model.ts | 7 - .../presentation/forms/zone/zone_form.tsx | 28 +- .../presentation/forms/zone/zone_store.ts | 53 +- .../forms/zone/zone_view_model.ts | 14 - .../presentation/scene_manager.tsx | 43 +- .../presentation/scene_manager_store.ts | 232 +- ui/src/index.tsx | 6 +- web_p/rbs_train.py | 1 + web_p/robot_builder.py | 26 + web_p/robot_builder/base.dae | 169 +- web_p/robot_builder/ee_link.dae | 102 +- web_p/robot_builder/finger.dae | 93 +- web_p/robot_builder/fork_link.dae | 102 +- web_p/robot_builder/main_link.dae | 102 +- web_p/robot_builder/robot.xml | 1130 +++++--- web_p/robot_builder/rotor.dae | 122 +- web_p/robot_builder/start_link.dae | 102 +- 69 files changed, 3302 insertions(+), 3652 deletions(-) create mode 100644 server/src/features/scene/create_robot_scenario.ts create mode 100644 server/src/features/scene/robot_model.ts create mode 100644 ui/src/core/model/camera_model.ts create mode 100644 ui/src/core/model/light_model.ts create mode 100644 ui/src/core/model/point_model.ts delete mode 100644 ui/src/core/model/robossembler_assets.ts create mode 100644 ui/src/core/model/robot_model.ts create mode 100644 ui/src/core/model/scene_asset.ts create mode 100644 ui/src/core/model/scene_models_type.ts create mode 100644 ui/src/core/model/solid_model.ts create mode 100644 ui/src/core/model/zone_model.ts create mode 100644 ui/src/core/ui/inputNumber/input_number.tsx create mode 100644 ui/src/core/ui/slider/slider.tsx delete mode 100644 ui/src/features/scene_manager/model/camera_view_model.ts delete mode 100644 ui/src/features/scene_manager/model/scene_assets.ts delete mode 100644 ui/src/features/scene_manager/model/solid_body_model.ts create mode 100644 ui/src/features/scene_manager/presentation/components/coords_form.tsx delete mode 100644 ui/src/features/scene_manager/presentation/components/static_asset_item_view.tsx create mode 100644 ui/src/features/scene_manager/presentation/forms/camera/camera_store.tsx delete mode 100644 ui/src/features/scene_manager/presentation/forms/light/light_view_model.ts delete mode 100644 ui/src/features/scene_manager/presentation/forms/point/point_view_model.ts delete mode 100644 ui/src/features/scene_manager/presentation/forms/robot/robot_form.tsx create mode 100644 ui/src/features/scene_manager/presentation/forms/robot_form/robot_form.tsx create mode 100644 ui/src/features/scene_manager/presentation/forms/robot_form/robot_form_http_repository.ts create mode 100644 ui/src/features/scene_manager/presentation/forms/robot_form/robot_form_store.ts delete mode 100644 ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_view_model.ts delete mode 100644 ui/src/features/scene_manager/presentation/forms/zone/zone_view_model.ts create mode 100644 web_p/robot_builder.py mode change 120000 => 100644 web_p/robot_builder/base.dae mode change 120000 => 100644 web_p/robot_builder/ee_link.dae mode change 120000 => 100644 web_p/robot_builder/finger.dae mode change 120000 => 100644 web_p/robot_builder/fork_link.dae mode change 120000 => 100644 web_p/robot_builder/main_link.dae mode change 120000 => 100644 web_p/robot_builder/rotor.dae mode change 120000 => 100644 web_p/robot_builder/start_link.dae diff --git a/.vscode/launch.json b/.vscode/launch.json index d71c8c4..86e893f 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -1,9 +1,5 @@ { - // Use IntelliSense to learn about possible attributes. - // Hover to view descriptions of existing attributes. - // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", - "configurations": [ { "type": "node", diff --git a/README.md b/README.md index c0f7be8..ed361eb 100644 --- a/README.md +++ b/README.md @@ -41,8 +41,9 @@ git clone https://gitlab.com/robossembler/webservice export PYTHON_BLENDER="/путь_к_директории_с_файлами_из/rcg_pipeline" export PYTHON_BLENDER_PROC="/путь_к_генератору_датасетов_/renderBOPdataset.py" export PYTHON_EDUCATION="absolute_path/webp/education.py" -``` +export PYTHON_ROBOT_BUILDER="/путь_к_генератору_датасетов_/robot_builder.py" +``` ## Запуск сервера Из директории `server` в корне репозитория diff --git a/server/package-lock.json b/server/package-lock.json index ad65cb0..00d8a3e 100644 --- a/server/package-lock.json +++ b/server/package-lock.json @@ -8,17 +8,12 @@ "name": "step-by-step-server", "version": "0.0.1", "dependencies": { - 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+5836,6 @@ "node": ">= 8" } }, - "node_modules/which-module": { - "version": "2.0.1", - "resolved": "https://registry.npmjs.org/which-module/-/which-module-2.0.1.tgz", - "integrity": "sha512-iBdZ57RDvnOR9AGBhML2vFZf7h8vmBjhoaZqODJBFWHVtKkDmKuHai3cx5PgVMrX5YDNp27AofYbAwctSS+vhQ==", - "dev": true - }, "node_modules/workerpool": { "version": "6.2.1", "resolved": "https://registry.npmjs.org/workerpool/-/workerpool-6.2.1.tgz", @@ -8260,6 +5846,7 @@ "version": "7.0.0", "resolved": "https://registry.npmjs.org/wrap-ansi/-/wrap-ansi-7.0.0.tgz", "integrity": "sha512-YVGIj2kamLSTxw6NsZjoBxfSwsn0ycdesmc4p+Q21c5zPuZ1pl+NfxVdxPtdHvmNVOQ6XSYG4AUtyt/Fi7D16Q==", + "dev": true, "dependencies": { "ansi-styles": "^4.0.0", "string-width": "^4.1.0", @@ -8342,6 +5929,7 @@ "version": "5.0.1", "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-5.0.1.tgz", "integrity": "sha512-quJQXlTSUGL2LH9SUXo8VwsY4soanhgo6LNSm84E1LBcE8s3O0wpdiRzyR9z/ZZJMlMWv37qOOb9pdJlMUEKFQ==", + "dev": true, "engines": { "node": ">=8" } @@ -8350,6 +5938,7 @@ "version": "4.3.0", "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-4.3.0.tgz", "integrity": "sha512-zbB9rCJAT1rbjiVDb2hqKFHNYLxgtk8NURxZ3IZwD3F6NtxbXZQCnnSi1Lkx+IDohdPlFp222wVALIheZJQSEg==", + "dev": true, "dependencies": { "color-convert": "^2.0.1" }, @@ -8364,6 +5953,7 @@ "version": "2.0.1", "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-2.0.1.tgz", "integrity": "sha512-RRECPsj7iu/xb5oKYcsFHSppFNnsj/52OVTRKb4zP5onXwVF3zVmmToNcOfGC+CRDpfK/U584fMg38ZHCaElKQ==", + "dev": true, "dependencies": { "color-name": "~1.1.4" }, @@ -8374,12 +5964,14 @@ "node_modules/wrap-ansi/node_modules/color-name": { "version": "1.1.4", "resolved": "https://registry.npmjs.org/color-name/-/color-name-1.1.4.tgz", - "integrity": "sha512-dOy+3AuW3a2wNbZHIuMZpTcgjGuLU/uBL/ubcZF9OXbDo8ff4O8yVp5Bf0efS8uEoYo5q4Fx7dY9OgQGXgAsQA==" + "integrity": "sha512-dOy+3AuW3a2wNbZHIuMZpTcgjGuLU/uBL/ubcZF9OXbDo8ff4O8yVp5Bf0efS8uEoYo5q4Fx7dY9OgQGXgAsQA==", + "dev": true }, "node_modules/wrap-ansi/node_modules/strip-ansi": { "version": "6.0.1", "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-6.0.1.tgz", "integrity": "sha512-Y38VPSHcqkFrCpFnQ9vuSXmquuv5oXOKpGeT6aGrr3o3Gc9AlVa6JBfUSOCnbxGGZF+/0ooI7KrPuUSztUdU5A==", + "dev": true, "dependencies": { "ansi-regex": "^5.0.1" }, @@ -8392,18 +5984,6 @@ "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz", "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ==" }, - "node_modules/write-file-atomic": { - "version": "3.0.3", - "resolved": "https://registry.npmjs.org/write-file-atomic/-/write-file-atomic-3.0.3.tgz", - "integrity": "sha512-AvHcyZ5JnSfq3ioSyjrBkH9yW4m7Ayk8/9My/DD9onKeu/94fwrMocemO2QAJFAlnnDN+ZDS+ZjAR5ua1/PV/Q==", - "dev": true, - "dependencies": { - "imurmurhash": "^0.1.4", - "is-typedarray": "^1.0.0", - "signal-exit": "^3.0.2", - "typedarray-to-buffer": "^3.1.5" - } - }, "node_modules/ws": { "version": "8.11.0", "resolved": "https://registry.npmjs.org/ws/-/ws-8.11.0.tgz", @@ -8436,16 +6016,11 @@ "version": "5.0.8", "resolved": "https://registry.npmjs.org/y18n/-/y18n-5.0.8.tgz", "integrity": "sha512-0pfFzegeDWJHJIAmTLRP2DwHjdF5s7jo9tuztdQxAhINCdvS+3nGINqPd00AphqJR/0LhANUS6/+7SCb98YOfA==", + "dev": true, "engines": { "node": ">=10" } }, - "node_modules/yallist": { - "version": "3.1.1", - "resolved": "https://registry.npmjs.org/yallist/-/yallist-3.1.1.tgz", - "integrity": "sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g==", - "dev": true - }, "node_modules/yamljs": { "version": "0.3.0", "resolved": "https://registry.npmjs.org/yamljs/-/yamljs-0.3.0.tgz", @@ -8511,23 +6086,6 @@ "resolved": "https://registry.npmjs.org/sprintf-js/-/sprintf-js-1.0.3.tgz", "integrity": "sha512-D9cPgkvLlV3t3IzL0D0YLvGA9Ahk4PcvVwUbN0dSGr1aP0Nrt4AEnTUbuGvquEC0mA64Gqt1fzirlRs5ibXx8g==" }, - "node_modules/yargs": { - "version": "17.7.2", - "resolved": "https://registry.npmjs.org/yargs/-/yargs-17.7.2.tgz", - "integrity": "sha512-7dSzzRQ++CKnNI/krKnYRV7JKKPUXMEh61soaHKg9mrWEhzFWhFnxPxGl+69cD1Ou63C13NUPCnmIcrvqCuM6w==", - "dependencies": { - "cliui": "^8.0.1", - "escalade": "^3.1.1", - "get-caller-file": "^2.0.5", - "require-directory": "^2.1.1", - "string-width": "^4.2.3", - "y18n": "^5.0.5", - "yargs-parser": "^21.1.1" - }, - "engines": { - "node": ">=12" - } - }, "node_modules/yargs-parser": { "version": "20.2.4", "resolved": "https://registry.npmjs.org/yargs-parser/-/yargs-parser-20.2.4.tgz", @@ -8576,14 +6134,6 @@ "url": "https://github.com/sponsors/sindresorhus" } }, - "node_modules/yargs/node_modules/yargs-parser": { - "version": "21.1.1", - "resolved": "https://registry.npmjs.org/yargs-parser/-/yargs-parser-21.1.1.tgz", - "integrity": "sha512-tVpsJW7DdjecAiFpbIB1e3qxIQsE6NoPc5/eTdrbbIC4h0LVsWhnoa3g+m2HclBIujHzsxZ4VJVA+GUuc2/LBw==", - "engines": { - "node": ">=12" - } - }, "node_modules/yn": { "version": "3.1.1", "resolved": "https://registry.npmjs.org/yn/-/yn-3.1.1.tgz", diff --git a/server/package.json b/server/package.json index c0fa527..2b4663a 100644 --- a/server/package.json +++ b/server/package.json @@ -24,24 +24,18 @@ "eslint": "^8.47.0", "mocha": "latest", "node-watch": "^0.7.4", - "nodemon": "^3.0.1", - "nyc": "latest", "source-map-support": "latest", "ts-node": "^10.9.1", "tslint": "latest", "typescript": "^5.1.6" }, "dependencies": { - "@grpc/grpc-js": "^1.9.0", "axios": "^1.6.2", - "babel-register": "^6.26.0", "class-transformer": "^0.5.1", "class-validator": "^0.14.0", "cors": "^2.8.5", "express": "^4.18.2", "express-fileupload": "^1.4.2", - "first-di": "^1.0.11", - "md5": "^2.3.0", "mongoose": "^7.6.2", "mongoose-autopopulate": "^1.1.0", "pattern-matching-ts": "^2.0.0", @@ -50,8 +44,6 @@ "rimraf": "^5.0.5", "socket.io": "^4.7.2", "socket.io-client": "^4.7.2", - "spark-md5": "^3.0.2", - "ts-md5": "^1.3.1", "ts-pattern": "^5.1.1", "tsc-watch": "^6.0.4", "uuid": "^9.0.1" diff --git a/server/src/core/models/static_files.ts b/server/src/core/models/static_files.ts index d14ff48..c60ee6a 100644 --- a/server/src/core/models/static_files.ts +++ b/server/src/core/models/static_files.ts @@ -1,5 +1,6 @@ export enum StaticFiles { robossembler_assets = "robossembler_assets.json", assets = "/assets/assets.json", - parts = '/assets/parts.json' + parts = '/assets/parts.json', + robots = '/robots/' } diff --git a/server/src/features/scene/create_robot_scenario.ts b/server/src/features/scene/create_robot_scenario.ts new file mode 100644 index 0000000..957d19b --- /dev/null +++ b/server/src/features/scene/create_robot_scenario.ts @@ -0,0 +1,39 @@ +import { CallbackStrategyWithValidationModel, ResponseBase } from "../../core/controllers/http_controller"; +import { Result } from "../../core/helpers/result"; +import { RobotModel } from "./robot_model"; +import { StaticFiles } from "../../core/models/static_files"; +import { GetServerAddressUseCase } from "../../core/usecases/get_server_address_usecase"; +import { SearchManyDataBaseModelUseCase } from "../../core/usecases/search_many_database_model_usecase"; +import { IProjectModel, ProjectDBModel } from "../projects/models/project_model_database_model"; +import { ExecProcessUseCase } from "../../core/usecases/exec_process_usecase"; + +export class CreateRobotScenario extends CallbackStrategyWithValidationModel { + validationModel: RobotModel = new RobotModel(); + call = async (model: RobotModel): ResponseBase => + ( + await new SearchManyDataBaseModelUseCase(ProjectDBModel).call( + { isActive: true }, + "is dont active projects" + ) + ).map((projectModel) => { + const { rootDir } = projectModel[0]; + + return new GetServerAddressUseCase().call().map(async (serverAddress) => + ( + await new ExecProcessUseCase().call( + rootDir, + `python3 $PYTHON_ROBOT_BUILDER --path ${projectModel[0].rootDir + StaticFiles.robots} --name ${ + model.name + } --nDOF ${model.nDof} --toolType ${model.toolType}`, + "" + ) + ).map(() => + Result.ok({ + robotUrl: `${serverAddress}/${ + rootDir.match(new RegExp(/[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}/gm))[0] + }${StaticFiles.robots}${model.name}/robot.xml`, + }) + ) + ); + }); +} diff --git a/server/src/features/scene/robot_model.ts b/server/src/features/scene/robot_model.ts new file mode 100644 index 0000000..82c6e97 --- /dev/null +++ b/server/src/features/scene/robot_model.ts @@ -0,0 +1,12 @@ +import { IsNotEmpty, IsNumber, IsString } from "class-validator"; + +export class RobotModel { + @IsNotEmpty() + @IsString() + name: string; + @IsNumber() + nDof: number; + @IsNotEmpty() + @IsString() + toolType: string; +} diff --git a/server/src/features/scene/scene_presentation.ts b/server/src/features/scene/scene_presentation.ts index a071195..e25d0b9 100644 --- a/server/src/features/scene/scene_presentation.ts +++ b/server/src/features/scene/scene_presentation.ts @@ -1,7 +1,8 @@ import { CrudController } from "../../core/controllers/crud_controller"; +import { CreateRobotScenario } from "./create_robot_scenario"; import { SceneDBModel } from "./scene_database_model"; import { SceneValidationModel } from "./scene_validation_model"; - + export class ScenePresentation extends CrudController { constructor() { super({ @@ -9,5 +10,10 @@ export class ScenePresentation extends CrudController { } }; } + if ([].add === undefined) { + Array.prototype.add = function (element) { + this.push(element); + return this; + }; + } }; diff --git a/ui/src/core/extensions/extensions.ts b/ui/src/core/extensions/extensions.ts index efc6575..bf891bc 100644 --- a/ui/src/core/extensions/extensions.ts +++ b/ui/src/core/extensions/extensions.ts @@ -23,6 +23,7 @@ declare global { repeat(quantity: number): Array; rFind(predicate: (value: T, index: number, obj: never[]) => boolean, thisArg?: any): Result; maxLength(length: number): Array; + add(element: T): Array; } interface Number { fromArray(): number[]; @@ -34,12 +35,13 @@ declare global { isNegative(): boolean; isEven(): boolean; isOdd(): boolean; - isEqualR(num: number): Result; + isEqualR(number: number): Result; } interface String { isEmpty(): boolean; isNotEmpty(): boolean; + isNotEmptyR(): Result; replaceMany(searchValues: string[], replaceValue: string): string; isEqual(str: string): boolean; isEqualMany(str: string[]): boolean; @@ -58,6 +60,9 @@ declare global { getPredicateValue(callBack: (value: V) => boolean): K[]; incrementValue(key: K): void; } + interface Boolean { + r(): Result; + } } export const extensions = () => { StringExtensions(); diff --git a/ui/src/core/extensions/string.ts b/ui/src/core/extensions/string.ts index 700aaad..fd86e99 100644 --- a/ui/src/core/extensions/string.ts +++ b/ui/src/core/extensions/string.ts @@ -12,6 +12,14 @@ export const StringExtensions = () => { return this.length !== 0; }; } + if ("".isNotEmptyR === undefined) { + String.prototype.isNotEmptyR = function () { + if (this.isEmpty()) { + return Result.error(undefined); + } + return Result.ok(String(this)); + }; + } if ("".isEqualR === undefined) { String.prototype.isEqualR = function (str) { if (this === str) { diff --git a/ui/src/core/model/camera_model.ts b/ui/src/core/model/camera_model.ts new file mode 100644 index 0000000..4b6bebc --- /dev/null +++ b/ui/src/core/model/camera_model.ts @@ -0,0 +1,52 @@ +import { Quaternion, Vector3, PerspectiveCamera, CameraHelper } from "three"; +import { CoreThreeRepository, UserData } from "../repository/core_three_repository"; +import { Result } from "../helper/result"; +import { SceneModelsTypes } from "./scene_models_type"; +import { Instance } from "./scene_asset"; + +export enum CameraTypes { + RGB = "RGB", +} +export class CameraModel implements Instance { + type = SceneModelsTypes.CAMERA; + constructor( + public quaternion: number[], + public vector3: Vector3, + public name: string, + public cameraType: CameraTypes, + public width: number, + public updateRate: number, + public fov: number, + public near: number, + public far: number, + public height: number, + public topic: string, + public aspect: number, + public parent?: string, + public fixed?: string + ) {} + update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository); + icon: string = "Camera"; + toWebGl = (coreThreeRepository: CoreThreeRepository) => { + const camera = coreThreeRepository.scene.getObjectByName(this.name); + + if (camera) { + coreThreeRepository.scene.remove(coreThreeRepository.scene.getObjectByName(this.name + "camera_helper")!); + coreThreeRepository.scene.remove(camera); + } + const perspectiveCamera = new PerspectiveCamera(this.fov, this.aspect, this.near, this.far); + perspectiveCamera.name = this.name; + perspectiveCamera.position.copy(this.vector3); + perspectiveCamera.quaternion.copy(new Quaternion().fromArray(this.quaternion)); + const cameraHelper = new CameraHelper(perspectiveCamera); + cameraHelper.name = this.name + "camera_helper"; + perspectiveCamera.userData[UserData.selectedObject] = true; + cameraHelper.userData[UserData.selectedObject] = true; + coreThreeRepository.scene.add(...[perspectiveCamera, cameraHelper]); + }; + validate = (): Result => { + return Result.ok(this); + }; + + static empty = () => new CameraModel([], new Vector3(0, 0, 0), "", CameraTypes.RGB, 0, 0, 50, 0.1, 2000, 0, "", 0); +} diff --git a/ui/src/core/model/light_model.ts b/ui/src/core/model/light_model.ts new file mode 100644 index 0000000..b4289ae --- /dev/null +++ b/ui/src/core/model/light_model.ts @@ -0,0 +1,57 @@ +import { DirectionalLight, Object3D, PointLight, Quaternion, SpotLight, Vector3 } from "three"; +import { Result } from "../helper/result"; +import { SceneModelsTypes } from "./scene_models_type"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { Instance } from "./scene_asset"; +import { Type } from "class-transformer"; +export enum TypeLight { + POINT = "POINT", + DIRECTIONAL = "DIRECTIONAL", + SPOT = "SPOT", +} +export class LightModel implements Instance { + type = SceneModelsTypes.LIGHT; + color: string; + typeLight: TypeLight; + intensity: number; + width: number; + height: number; + distance: number; + angle: number; + penumbra: number; + decay: number; + @Type(() => Vector3) + vector3: Vector3; + quaternion: number[]; + constructor() {} + update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository); + icon: string = "Light"; + name: string; + isValid = (): Result => { + // SDF -> point, directional, spot. + // THREE -> PointLight,DirectionalLight,SpotLight + return Result.ok(this); + }; + toWebGl = (coreThreeRepository: CoreThreeRepository) => { + // TODO: maybe change mapper + let light: Object3D; + this.typeLight + .isEqualR(TypeLight.DIRECTIONAL) + .map(() => (light = new DirectionalLight(this.color, this.intensity))); + this.typeLight + .isEqualR(TypeLight.POINT) + .map(() => (light = new PointLight(this.color, this.intensity, this.distance, this.decay))); + this.typeLight + .isEqualR(TypeLight.SPOT) + .map( + () => (light = new SpotLight(this.color, this.intensity, this.distance, this.angle, this.penumbra, this.decay)) + ); + + light!.castShadow = true; + light!.position.copy(this.vector3); + light!.quaternion.copy(new Quaternion().fromArray(this.quaternion)); + + coreThreeRepository.scene.add(light!); + }; + static empty = () => new LightModel(); +} diff --git a/ui/src/core/model/point_model.ts b/ui/src/core/model/point_model.ts new file mode 100644 index 0000000..458df1a --- /dev/null +++ b/ui/src/core/model/point_model.ts @@ -0,0 +1,35 @@ +import { Quaternion, Vector3 } from "three"; +import { Result } from "../helper/result"; +import { SceneModelsTypes } from "./scene_models_type"; +import { Instance } from "./scene_asset"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { Type } from "class-transformer"; + +export class PointModel implements Instance { + type = SceneModelsTypes.POINT; + name: string; + @Type(() => Vector3) + vector3: Vector3; + color: string = "#E91E63"; + size: number = 0.5; + quaternion: number[]; + icon: string = "Point"; + + constructor() {} + update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository); + toWebGl = (coreThreeRepository: CoreThreeRepository) => + coreThreeRepository.makePoint( + this.name, + this.vector3, + new Quaternion().fromArray(this.quaternion), + this.color, + this.size + ); + + isValid(): Result { + return Result.ok(); + } + static empty() { + return new PointModel(); + } +} diff --git a/ui/src/core/model/robossembler_assets.ts b/ui/src/core/model/robossembler_assets.ts deleted file mode 100644 index 8e26306..0000000 --- a/ui/src/core/model/robossembler_assets.ts +++ /dev/null @@ -1,172 +0,0 @@ -import { IsArray, IsEnum, IsNumber, IsOptional, IsString, ValidateNested } from "class-validator"; -import { Type } from "class-transformer"; - -export class Gravity { - @IsNumber() - x: number; - @IsNumber() - y: number; - @IsNumber() - z: number; -} - -export class Pose { - @IsNumber() - x: number; - @IsNumber() - y: number; - @IsNumber() - z: number; - @IsNumber() - roll: number; - @IsNumber() - pitch: number; - @IsNumber() - yaw: number; -} - -export class Position { - @IsNumber() - x: number; - @IsNumber() - y: number; - @IsNumber() - z: number; -} - -export enum InstanceType { - RGB_CAMERA = "rgb_camera", - SCENE_SIMPLE_OBJECT = "scene_simple_object", -} - -abstract class CoreInstances {} - -export class Instance extends CoreInstances { - @IsEnum(InstanceType) - instanceType: InstanceType; - @Type(() => Position) - position: Position; - @IsArray() - quaternion: number[]; - @IsOptional() - @IsString() - instanceAt: null | string = null; -} - -export class SceneSimpleObject extends Instance {} - -export class InstanceRgbCamera extends Instance { - @IsString() - cameraLink: string; - @IsString() - topicCameraInfo: string; - @IsOptional() - @IsString() - topicDepth: string | null; - @IsString() - topicImage: string; -} -export class Asset { - @IsString() - name: string; - @IsString() - ixx: string; - @IsString() - ixy: string; - @IsString() - ixz: string; - @IsString() - iyy: string; - @IsString() - izz: string; - @IsString() - mass: string; - @IsString() - posX: string; - @IsString() - posY: string; - @IsString() - posZ: string; - @IsString() - eulerX: string; - @IsString() - eulerY: string; - @IsString() - eulerZ: string; - @IsString() - iyz: string; - @IsString() - meshPath: string; - @IsString() - friction: string; - @IsString() - centerMassX: string; - @IsString() - centerMassY: string; - @IsString() - centerMassZ: string; - @IsArray() - @IsOptional() - actions: string[]; -} - -export class Physics { - @IsString() - engine_name: string; - @Type(() => Gravity) - gravity: Gravity; -} - -export class RobossemblerAssets { - @ValidateNested() - @Type(() => Asset, { - discriminator: { - property: "type", - subTypes: [ - { value: InstanceRgbCamera, name: InstanceType.RGB_CAMERA }, - { value: SceneSimpleObject, name: InstanceType.SCENE_SIMPLE_OBJECT }, - ], - }, - keepDiscriminatorProperty: true, - }) - assets: Asset[]; - - @IsArray() - @Type(() => Instance, { - discriminator: { - property: "type", - subTypes: [ - { value: InstanceRgbCamera, name: InstanceType.RGB_CAMERA }, - { value: SceneSimpleObject, name: InstanceType.SCENE_SIMPLE_OBJECT }, - ], - }, - keepDiscriminatorProperty: true, - }) - instances: Instance[]; - - @IsOptional() - @ValidateNested() - @Type(() => Physics) - physics: Physics; - - convertLocalPathsToServerPaths(server_address: string): RobossemblerAssets { - this.assets = this.assets.map((el) => { - el.meshPath = server_address + el.meshPath; - return el; - }); - return this; - } - - getAssetPath(assetName: string): string { - const findElement = this.assets.find((el) => el.name === assetName); - - if (findElement === undefined) { - throw new Error("RobossemblerAssets.getAssetPath not found asset by name:" + assetName); - } - return findElement.meshPath; - } - - getAssetAtInstance(instanceAt: string): Asset { - return this.assets.filter((el) => el.name === instanceAt)[0]; - } -} diff --git a/ui/src/core/model/robot_model.ts b/ui/src/core/model/robot_model.ts new file mode 100644 index 0000000..27c9c0d --- /dev/null +++ b/ui/src/core/model/robot_model.ts @@ -0,0 +1,75 @@ +import { Quaternion, Vector3 } from "three"; +import { SceneModelsTypes } from "./scene_models_type"; +import { Result } from "../helper/result"; +import { Instance } from "./scene_asset"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { Type } from "class-transformer"; +import { URDFRobot } from "urdf-loader"; +import { SceneItems, SceneMangerStore } from "../../features/scene_manager/presentation/scene_manager_store"; + +export enum ToolTypes { + RBS_GRIPPER = "RBS_GRIPPER", +} + +interface RobotJoint { + limit: { + lower: Number; + upper: Number; + }; + angel: Number; + name: string; +} + +export class RobotModel implements Instance { + type = SceneModelsTypes.ROBOT; + @Type(() => Vector3) + vector3: Vector3; + jointPosition: RobotJoint[]; + quaternion: number[]; + name: string; + httpUrl: string; + nDof: number; + toolType: string; + constructor( + vector3: Vector3, + quaternion: number[], + name: string, + httpUrl: string, + nDof: number, + toolType: string, + jointPosition: RobotJoint[] + ) { + this.quaternion = quaternion; + this.vector3 = vector3; + this.name = name; + this.httpUrl = httpUrl; + this.nDof = nDof; + this.toolType = toolType; + this.jointPosition = jointPosition; + } + icon: string = "Robot"; + toSceneItems = (sceneMangerStore: SceneMangerStore): SceneItems => { + return { + fn: () => { }, + name: this.name, + isSelected: false, + icon: "Robot", + }; + }; + toWebGl = (coreThreeRepository: CoreThreeRepository) => { + console.log(JSON.stringify(this)); + coreThreeRepository.loadUrdfRobot(this); + }; + update(coreThreeRepository: CoreThreeRepository): any { + const robot = coreThreeRepository.scene.getObjectByName(this.name) as URDFRobot; + robot.position.copy(this.vector3); + robot.quaternion.copy(new Quaternion().fromArray(this.quaternion)); + this.jointPosition.forEach((el) => { + robot.setJointValue(el.name, el.angel); + }); + } + isValid(): Result { + return Result.ok(this); + } + static empty = () => new RobotModel(new Vector3(0, 0, 0), [0, 0, 0, 1], "", "", 1, ToolTypes.RBS_GRIPPER, []); +} diff --git a/ui/src/core/model/scene_asset.ts b/ui/src/core/model/scene_asset.ts new file mode 100644 index 0000000..e8bbea6 --- /dev/null +++ b/ui/src/core/model/scene_asset.ts @@ -0,0 +1,40 @@ +import { IsArray, IsEnum, IsNumber, IsOptional, IsString, ValidateNested } from "class-validator"; +import { Type } from "class-transformer"; +import { CameraModel } from "./camera_model"; +import { SceneModelsTypes } from "./scene_models_type"; +import { RobotModel } from "./robot_model"; +import { SolidModel } from "./solid_model"; +import { PointModel } from "./point_model"; +import { ZoneModel } from "./zone_model"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { LightModel } from "./light_model"; +import { Vector3 } from "three"; + +export abstract class Instance { + abstract icon: string; + @Type(() => Vector3) + vector3: Vector3; + quaternion: number[]; + name: string; + toWebGl = (coreThreeRepository: CoreThreeRepository) => {}; + update = (coreThreeRepository: CoreThreeRepository) => {}; +} + +export class SceneAsset { + @IsArray() + @Type(() => Instance, { + discriminator: { + property: "type", + subTypes: [ + { value: SolidModel, name: SceneModelsTypes.SOLID }, + { value: CameraModel, name: SceneModelsTypes.CAMERA }, + { value: RobotModel, name: SceneModelsTypes.ROBOT }, + { value: PointModel, name: SceneModelsTypes.POINT }, + { value: LightModel, name: SceneModelsTypes.LIGHT }, + { value: ZoneModel, name: SceneModelsTypes.ZONE }, + ], + }, + keepDiscriminatorProperty: true, + }) + scene: (Instance | SolidModel | CameraModel | RobotModel | PointModel | ZoneModel)[]; +} diff --git a/ui/src/core/model/scene_models_type.ts b/ui/src/core/model/scene_models_type.ts new file mode 100644 index 0000000..9bb8978 --- /dev/null +++ b/ui/src/core/model/scene_models_type.ts @@ -0,0 +1,8 @@ +export enum SceneModelsTypes { + SOLID = "SOLID", + ROBOT = "ROBOT", + LIGHT = "LIGHT", + CAMERA = "CAMERA", + POINT = "POINT", + ZONE = "ZONE", +} diff --git a/ui/src/core/model/solid_model.ts b/ui/src/core/model/solid_model.ts new file mode 100644 index 0000000..e9d54de --- /dev/null +++ b/ui/src/core/model/solid_model.ts @@ -0,0 +1,26 @@ +import { Quaternion, Scene, Vector3 } from "three"; +import { SceneModelsTypes } from "./scene_models_type"; +import { Instance } from "./scene_asset"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { Type } from "class-transformer"; + +export class SolidModel implements Instance { + type = SceneModelsTypes.SOLID; + @Type(() => Vector3) + public vector3: Vector3; + constructor( + vector3:Vector3, + public quaternion: number[], + public name: string, + public solidType: string, + public mesh: string, + public collisionMesh: string + ) { + this.vector3 = vector3 + } + update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository) + icon: string = "Solid"; + toWebGl = (coreThreeRepository: CoreThreeRepository) => coreThreeRepository.loader(this.mesh, () => {}, this.name); + + static empty = () => new SolidModel(new Vector3(0, 0, 0), [], "", "", "", ""); +} diff --git a/ui/src/core/model/zone_model.ts b/ui/src/core/model/zone_model.ts new file mode 100644 index 0000000..5dde601 --- /dev/null +++ b/ui/src/core/model/zone_model.ts @@ -0,0 +1,33 @@ +import { Vector3 } from "three"; +import { Result } from "../helper/result"; +import { SceneModelsTypes } from "./scene_models_type"; +import { Instance } from "./scene_asset"; +import { CoreThreeRepository } from "../repository/core_three_repository"; +import { Type } from "class-transformer"; + +export class ZoneModel implements Instance { + type = SceneModelsTypes.ZONE; + color: string = "#E91E63"; + @Type(() => Vector3) + vector3: Vector3; + + constructor( + vector3: Vector3, + public quaternion: number[], + public name: string, + public width: number, + public height: number, + public length: number + ) { + this.vector3 = vector3; + } + update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository) + icon: string = "Zone"; + toWebGl = (coreThreeRepository: CoreThreeRepository) => coreThreeRepository.makeZone(this); + isValid(): Result { + return Result.ok(); + } + static empty() { + return new ZoneModel(new Vector3(0, 0, 0), [0, 0, 0, 0], "", 0, 0, 0); + } +} diff --git a/ui/src/core/repository/core_three_repository.ts b/ui/src/core/repository/core_three_repository.ts index 285d8da..7fa3b2d 100644 --- a/ui/src/core/repository/core_three_repository.ts +++ b/ui/src/core/repository/core_three_repository.ts @@ -22,25 +22,25 @@ import { MeshBasicMaterial, BoxGeometry, MeshStandardMaterial, + LoadingManager, } from "three"; -import { TypedEvent } from "../helper/typed_event"; -import { Result } from "../helper/result"; +import URDFLoader, { URDFLink } from "urdf-loader"; import { ColladaLoader } from "three/examples/jsm/loaders/ColladaLoader"; import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader"; import { OBJLoader } from "three/examples/jsm/loaders/OBJLoader"; import { STLLoader } from "three/examples/jsm/loaders/STLLoader"; -import { OrbitControls, TransformControls } from "three/examples/jsm/Addons"; -import { - BaseSceneItemModel, - CameraViewModel, - StaticAssetItemModel, -} from "../../features/scene_manager/model/scene_assets"; -import { LoadingManager } from "three"; - +import { OrbitControls } from "three/examples/jsm/controls/OrbitControls"; +import { TransformControls } from "three/examples/jsm/controls/TransformControls"; import { SceneMode } from "../../features/scene_manager/model/scene_view"; import { UrdfTransforms, coordsToQuaternion } from "../../features/simulations/tranforms_model"; -import URDFLoader, { URDFLink } from "urdf-loader"; -import { ISolidSpawnHelper } from "../../features/scene_manager/presentation/scene_manager_store"; +import { ISpawnHelper, SceneItems } from "../../features/scene_manager/presentation/scene_manager_store"; +import { CameraModel } from "../model/camera_model"; +import { SolidModel } from "../model/solid_model"; +import { Instance, SceneAsset } from "../model/scene_asset"; +import { ZoneModel } from "../model/zone_model"; +import { TypedEvent } from "../helper/typed_event"; +import { Result } from "../helper/result"; +import { RobotModel } from "../model/robot_model"; Object3D.DEFAULT_UP = new Vector3(0, 0, 1); @@ -63,7 +63,8 @@ interface IEmissiveCache { } type SceneFrames = { [K in string]: URDFLink }; -export class CoreThreeRepository extends TypedEvent { +export class CoreThreeRepository extends TypedEvent { + scene = new Scene(); camera: PerspectiveCamera; webGlRender: WebGLRenderer; @@ -95,7 +96,7 @@ export class CoreThreeRepository extends TypedEvent { }); const aspectCamera = this.htmlSceneWidth / this.htmlSceneHeight; this.camera = new PerspectiveCamera(100, aspectCamera, 0.1, 2000); - this.camera.position.set(60, 20, 10); + this.camera.position.set(1, 1, 1); this.webGlRender = renderer; this.htmlCanvasRef = htmlCanvasRef; @@ -108,6 +109,9 @@ export class CoreThreeRepository extends TypedEvent { this.init(); } + updateInstance = (viewModel: Instance) => ( + this.scene.remove(this.scene.getObjectByName(viewModel.name)!), viewModel.toWebGl(this) + ); deleteAllObjectsScene = () => { this.getAllSceneNameModels().forEach((el) => @@ -124,25 +128,40 @@ export class CoreThreeRepository extends TypedEvent { this.scene.add(cube); return cube; } + loadScene = (sceneAssets: SceneAsset) => sceneAssets.scene.forEach((el) => el.toWebGl(this)); + getCenterPoint = (object: Object3D) => object.getWorldPosition(new Box3().setFromObject(object).getCenter(object.position)); - + makeZone = (zoneModel: ZoneModel) => { + const mesh = new Mesh( + new BoxGeometry(zoneModel.width, zoneModel.height, zoneModel.length), + new MeshBasicMaterial({ + color: zoneModel.color, + transparent: true, + }) + ); + mesh.name = zoneModel.name; + mesh.userData[UserData.selectedObject] = ""; + mesh.position.copy(zoneModel.vector3); + mesh.quaternion.copy(new Quaternion().fromArray(zoneModel.quaternion)); + this.scene.add(mesh); + }; makeCube(inc: number, vector?: Vector3, color?: string, size?: number) { - const cube = new Mesh( + const mesh = new Mesh( new BoxGeometry(size ?? 10, size ?? 10, size ?? 10), new MeshBasicMaterial({ color: color ?? 0x0095dd, transparent: true, opacity: 0.5 }) ); - cube.userData[UserData.objectForMagnetism] = true; - cube.userData[UserData.selectedObject] = true; - cube.name = "cube" + String(inc); + mesh.userData[UserData.objectForMagnetism] = true; + mesh.userData[UserData.selectedObject] = true; + mesh.name = "cube" + String(inc); if (vector) { - cube.position.copy(vector); + mesh.position.copy(vector); } - this.scene.add(cube); + this.scene.add(mesh); } - makePoint(vector?: Vector3, color?: string, size?: number) { + makePoint(name: string, vector?: Vector3, quaternion?: Quaternion, color?: string, size?: number) { const cube = new Mesh( new BoxGeometry(size ?? 10, size ?? 10, size ?? 10), new MeshBasicMaterial({ color: color ?? 0x0095dd, transparent: true, opacity: 0.5 }) @@ -153,24 +172,68 @@ export class CoreThreeRepository extends TypedEvent { if (vector) { cube.position.copy(vector); } + if (quaternion) { + cube.quaternion.copy(quaternion); + } + cube.name = name; this.scene.add(cube); } - deleteSceneItem = (item: string) => - this.scene.children.forEach((el) => el.name.isEqualR(item).map(() => this.scene.remove(el))); + deleteSceneItemByName = (name: string) => + this.scene.children.forEach((el) => el.name.isEqualR(name).map(() => this.scene.remove(el))); + + deleteSceneItem = (item: SceneItems) => + item.icon.isEqualR("Camera").fold( + () => this.deleteSceneItemByName(item.name + "camera_helper"), + () => this.deleteSceneItemByName(item.name) + ); + loadUrdfRobot = (robotModel: RobotModel) => + this.urdfLoader.load(robotModel.httpUrl, (robot) => { + robot.userData[UserData.selectedObject] = true; + robot.name = robotModel.name; + if (robotModel.vector3) robot.position.copy(new Vector3(0, 0, 0)); + if (robotModel.quaternion) robot.quaternion.copy(new Quaternion().fromArray(robotModel.quaternion)); + // robot.setJointValue("ee_link_joint", 4); + if (robotModel.jointPosition.isEmpty()) { + Object.entries(robot.joints).forEach(([name, uRDFJoint]) => { + if (uRDFJoint.jointType !== "fixed") { + robotModel.jointPosition.push({ + angel: uRDFJoint.angle, + limit: { + lower: uRDFJoint.limit.lower, + upper: uRDFJoint.limit.upper, + }, + name: name, + }); + } + }); + } + + // Object.entries(robot.joints).forEach(([k, v]) => robot.setJointValue(k, 1)); - loadUrdf = (urlPath: string) => { - this.urdfLoader.load(urlPath, (robot) => { this.scene.add(robot); + // @ts-expect-error this.sceneFrame = robot.frames; }); - }; + loadUrdf = (urlPath: string, vector3?: Vector3, quaternion?: Quaternion) => + this.urdfLoader.load(urlPath, (robot) => { + robot.userData[UserData.selectedObject] = true; - solidSpawn( - solidSpawn: ISolidSpawnHelper, + if (vector3) robot.position.copy(new Vector3(0, 0, 0)); + if (quaternion) robot.quaternion.copy(quaternion); + Object.entries(robot.joints).forEach(([k, v]) => robot.setJointValue(k, 1)); + + this.scene.add(robot); + + // @ts-expect-error + this.sceneFrame = robot.frames; + }); + + solidSpawn = ( + solidSpawn: ISpawnHelper, loadCallback?: (obj: Object3D | undefined) => void, vector3?: Vector3 - ) { + ) => this.loader( solidSpawn.url, () => { @@ -180,7 +243,7 @@ export class CoreThreeRepository extends TypedEvent { solidSpawn.name, vector3 ); - } + loadHttpAndPreview(path: string, name: string, loadCallback?: Function) { this.loader( path, @@ -208,13 +271,15 @@ export class CoreThreeRepository extends TypedEvent { } } - addSceneCamera(cameraModel: CameraViewModel) { - cameraModel.mapPerspectiveCamera(this.htmlSceneWidth, this.htmlSceneHeight).forEach((el) => this.scene.add(el)); - } + addSceneCamera = (cameraModel: CameraModel) => cameraModel.toWebGl(this); - disposeTransformControlsMode() { - this.transformControls.detach(); - } + updateSolidBody = (solidBodyModel: SolidModel) => { + const mesh = this.scene.getObjectByName(solidBodyModel.name); + mesh?.position.copy(solidBodyModel.vector3); + mesh?.quaternion.copy(new Quaternion().fromArray(solidBodyModel.quaternion)); + }; + + disposeTransformControlsMode = () => this.transformControls.detach(); setRayCastAndGetFirstObjectName(vector: Vector2): Result { this.scene.add(this.transformControls); @@ -310,13 +375,13 @@ export class CoreThreeRepository extends TypedEvent { init() { this.light(); this.addListeners(); - const floor = new GridHelper(1000, 100, 0x888888, 0x444444); - floor.geometry.rotateX(Math.PI * 0.5); - floor.userData = {}; - floor.userData[UserData.cameraInitialization] = true; - floor.up.copy(new Vector3(0, 0, 1)); + const gridHelper = new GridHelper(1000, 100, 0x888888, 0x444444); + gridHelper.geometry.rotateX(Math.PI * 0.5); + gridHelper.userData = {}; + gridHelper.userData[UserData.cameraInitialization] = true; + gridHelper.up.copy(new Vector3(0, 0, 1)); - this.scene.add(floor); + this.scene.add(gridHelper); } render() { @@ -326,13 +391,6 @@ export class CoreThreeRepository extends TypedEvent { }); } - getAllSceneModels(): BaseSceneItemModel[] { - return this.getAllSceneNameModels().map( - (name) => - new StaticAssetItemModel(name, this.getObjectsAtName(name).position, this.getObjectsAtName(name).quaternion) - ); - } - getAllSceneNameModels(): string[] { return this.scene.children.filter((el) => el.name !== "").map((el) => el.name); } @@ -367,7 +425,7 @@ export class CoreThreeRepository extends TypedEvent { if (position) el.position.copy(position); if (quaternion) el.quaternion.copy(quaternion); - this.emit(new StaticAssetItemModel(el.name, el.position, el.quaternion)); + // this.emit(new StaticAssetItemModel(el.name, el.position, el.quaternion)); this.scene.add(el); callBack(); }); @@ -379,6 +437,13 @@ export class CoreThreeRepository extends TypedEvent { this.daeLoader.load( url, (result) => { + result.scene.children.forEach((el) => { + el.userData[UserData.selectedObject] = true; + el.name = name; + }); + result.scene.name = name; + if (position) result.scene.position.copy(position); + if (quaternion) result.scene.quaternion.copy(quaternion); this.scene.add(result.scene); }, (err) => console.log(err) @@ -420,13 +485,13 @@ export class CoreThreeRepository extends TypedEvent { objects.map((el) => this.getObjectsAtName(el)).map((el) => el.position) ); - var size = new Vector3(); - boundingBox.getSize(size); + var vector3 = new Vector3(); + boundingBox.getSize(vector3); const fov = this.camera.fov * (Math.PI / 180); const fovh = 2 * Math.atan(Math.tan(fov / 2) * this.camera.aspect); - let dx = size.z / 2 + Math.abs(size.x / 2 / Math.tan(fovh / 2)); - let dy = size.z / 2 + Math.abs(size.y / 2 / Math.tan(fov / 2)); + let dx = vector3.z / 2 + Math.abs(vector3.x / 2 / Math.tan(fovh / 2)); + let dy = vector3.z / 2 + Math.abs(vector3.y / 2 / Math.tan(fov / 2)); let cameraZ = Math.max(dx, dy); if (offset !== undefined && offset !== 0) cameraZ *= offset; @@ -473,8 +538,9 @@ export class CoreThreeRepository extends TypedEvent { fitSelectedObjectToScreen(objects: string[]) { //https://stackoverflow.com/questions/14614252/how-to-fit-camera-to-object - let boundBox = new Box3().setFromPoints(objects.map((el) => this.getObjectsAtName(el)).map((el) => el.position)); - let boundSphere = boundBox.getBoundingSphere(new Sphere()); + let boundSphere = new Box3() + .setFromPoints(objects.map((el) => this.getObjectsAtName(el)).map((el) => el.position)) + .getBoundingSphere(new Sphere()); let vFoV = this.camera.getEffectiveFOV(); let hFoV = this.camera.fov * this.camera.aspect; let FoV = Math.min(vFoV, hFoV); diff --git a/ui/src/core/store/base_store.ts b/ui/src/core/store/base_store.ts index 8d8fa25..98893a9 100644 --- a/ui/src/core/store/base_store.ts +++ b/ui/src/core/store/base_store.ts @@ -62,21 +62,21 @@ export class SimpleErrorState extends UiLoader { export class ModalStore extends SimpleErrorState { isModalOpen: boolean = false; showModal = () => { - this.isModalOpen = true + this.isModalOpen = true; }; handleOk = () => { - this.isModalOpen = false + this.isModalOpen = false; }; handleCancel = () => { - this.isModalOpen = false + this.isModalOpen = false; }; } export abstract class UiErrorState extends UiLoader { abstract errorHandingStrategy: (error: T) => void; abstract init(navigate?: NavigateFunction): Promise; - dispose() { } + dispose() {} errors: UiBaseError[] = []; } @@ -108,6 +108,9 @@ export abstract class UiDrawerFormState extends DrawerState { //@ts-ignore this.viewModel = Object.assign(this.viewModel, value); } + loadDependency = (viewModel: V) => { + this.viewModel = viewModel; + }; } export abstract class FormState extends UiErrorState { abstract viewModel: V; @@ -115,4 +118,7 @@ export abstract class FormState extends UiErrorState { //@ts-ignore this.viewModel = Object.assign(this.viewModel, value); } + loadDependency = (viewModel: V) => { + this.viewModel = viewModel; + }; } diff --git a/ui/src/core/ui/icons/icons.tsx b/ui/src/core/ui/icons/icons.tsx index 94c1a8c..7484ed1 100644 --- a/ui/src/core/ui/icons/icons.tsx +++ b/ui/src/core/ui/icons/icons.tsx @@ -7,6 +7,7 @@ export interface IIconsProps extends IStyle { onClick?: Function; height?: number; width?: number; + isNeedStopPropagation?: boolean; } export function Icon(props: IIconsProps) { @@ -14,8 +15,9 @@ export function Icon(props: IIconsProps) { (node) => { return (
{ + onClick={(e) => { if (props.onClick) props.onClick(); + if (props.isNeedStopPropagation) e.stopPropagation(); }} style={props.style} > @@ -480,6 +482,150 @@ const getIconSvg = ( /> ); + case "Plus": + return Result.ok( + + + + ); + case "Minus": + return Result.ok( + + + + ); + case "Zone": + return Result.ok( + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ); + case "Point": + return Result.ok( + + + + + + + + ); + case "Light": + return Result.ok( + + + + + + + ); + case "Robot": + return Result.ok( + + + + ); case "Camera": return Result.ok( diff --git a/ui/src/core/ui/input/input.tsx b/ui/src/core/ui/input/input.tsx index 0711597..157ea7f 100644 --- a/ui/src/core/ui/input/input.tsx +++ b/ui/src/core/ui/input/input.tsx @@ -1,7 +1,10 @@ import * as React from "react"; import { CoreText, CoreTextType } from "../text/text"; import { IStyle } from "../../model/style"; - +export enum CoreInputType { + small = "small", + default = "default", +} interface IInputProps extends IStyle { label: string; value?: string; @@ -9,6 +12,7 @@ interface IInputProps extends IStyle { onChange?: (value: string) => void; validation?: (value: string) => boolean; error?: string; + type?: CoreInputType; } export const CoreInput = (props: IInputProps) => { @@ -21,34 +25,38 @@ export const CoreInput = (props: IInputProps) => { setAppendInnerText(false); } }, [ref, value, isAppendInnerText, setAppendInnerText, props]); - + const isSmall = props.type !== undefined && props.type.isEqual(CoreInputType.small); return (
- + { const val = e.target.value; diff --git a/ui/src/core/ui/inputNumber/input_number.tsx b/ui/src/core/ui/inputNumber/input_number.tsx new file mode 100644 index 0000000..7252cfe --- /dev/null +++ b/ui/src/core/ui/inputNumber/input_number.tsx @@ -0,0 +1,109 @@ +import * as React from "react"; +import { CoreText, CoreTextType } from "../text/text"; +import { IStyle } from "../../model/style"; +import { Icon } from "../icons/icons"; + +interface IInputProps extends IStyle { + label: string; + value?: number; + step: number; + max: number; + min: number; + subLabel?: React.ReactNode; + onChange?: (value: number) => void; + validation?: (value: number) => boolean; + error?: string; +} + +export const CoreInputNumber = (props: IInputProps) => { + const [value, setValue] = React.useState(() => props.value ?? 0); + const ref = React.useRef(null); + const [isAppendInnerText, setAppendInnerText] = React.useState(true); + React.useEffect(() => { + if (ref.current && isAppendInnerText) { + ref.current.innerText = String(value); + setAppendInnerText(false); + } + }, [ref, value, isAppendInnerText, setAppendInnerText, props]); + + return ( + <> + {/*
+
+ + +
+
*/} +
+
+ +
+ +
+ { + const val = e.target.value; + + setValue(Number(val)); + if (val) { + if (props.validation !== undefined && props.validation(Number(val)) && props.onChange) { + props.onChange(Number(val)); + return; + } + + if (props.onChange && props.validation === undefined) { + props.onChange(Number(val)); + return; + } + } + }} + /> + {value ? ( + props.validation ? ( + props.validation(value) ? null : ( +
{props.error ? props.error : "error"}
+ ) + ) : null + ) : null} + { + setValue(value + props.step); + if (props.onChange) props.onChange(value); + }} + /> + { + setValue(value - props.step); + if (props.onChange) props.onChange(value); + }} + /> +
+
+ + ); +}; diff --git a/ui/src/core/ui/select/select.tsx b/ui/src/core/ui/select/select.tsx index 9fab762..42178b2 100644 --- a/ui/src/core/ui/select/select.tsx +++ b/ui/src/core/ui/select/select.tsx @@ -43,8 +43,9 @@ export const CoreSelect = (props: ICoreSelectProps) => { }} > {cursorIsCorses - ? props.items.map((el) => ( + ? props.items.map((el, i) => (
{ setValue(el); props.onChange(el); diff --git a/ui/src/core/ui/slider/slider.tsx b/ui/src/core/ui/slider/slider.tsx new file mode 100644 index 0000000..6549868 --- /dev/null +++ b/ui/src/core/ui/slider/slider.tsx @@ -0,0 +1,43 @@ +import React, { useRef, useState } from "react"; +// TODO: need +export const CoreSlider = ({ + max, + min, + step, + initialValue, + onChange, +}: { + max: number; + min: number; + step: number; + initialValue: number; + onChange: (value: number) => void; +}) => { + const refSlider = useRef(null); + const refWheel = useRef(null); + const [value, setValue] = useState(initialValue); + + React.useEffect(() => { + if (refSlider.current && refWheel.current) { + console.log((max - min) / step); + console.log(refSlider.current.clientWidth / ((max - min) / step)); + const oneStep = refSlider.current.clientWidth / ((max - min) / step); + + refWheel.current.style.left = ((value - min) / step) * oneStep + "px"; + } + }, []); + return ( +
{ + console.log(event) + }} + style={{ width: "100%", height: 11, backgroundColor: "rgba(104, 80, 164, 1)" }} + > +
+
+ ); +}; diff --git a/ui/src/core/ui/text/text.tsx b/ui/src/core/ui/text/text.tsx index 6559377..6503f3f 100644 --- a/ui/src/core/ui/text/text.tsx +++ b/ui/src/core/ui/text/text.tsx @@ -48,7 +48,6 @@ const getStyle = (type: CoreTextType, color: string | undefined) => { fontFamily: "Roboto", fontWeight: 500, textOverflow: "ellipsis", - fontSizeAdjust: 16, } if (type.isEqual(CoreTextType.big)) return { @@ -84,4 +83,4 @@ export function CoreText(props: ITextProps) {
); } -// CREATE COMPONENT , HTML WRITE , JSX->JS TSX -> TS, PROPS , LIFE CYCLE , REACT HOOK, STATE MANAGMENT -> PUBSUB -> Конечный автомат -> ROUTER + \ No newline at end of file diff --git a/ui/src/features/scene_manager/data/scene_http_repository.ts b/ui/src/features/scene_manager/data/scene_http_repository.ts index 1326bb2..3c83540 100644 --- a/ui/src/features/scene_manager/data/scene_http_repository.ts +++ b/ui/src/features/scene_manager/data/scene_http_repository.ts @@ -1,10 +1,103 @@ +import { plainToInstance } from "class-transformer"; import { Result } from "../../../core/helper/result"; import { HttpMethod, CoreHttpRepository } from "../../../core/repository/http_repository"; import { CoreError } from "../../../core/store/base_store"; import { SceneModel } from "../model/scene_model"; import { SceneViewModel } from "../model/scene_view_model"; +import { SceneAsset } from "../../../core/model/scene_asset"; export class SceneHttpRepository extends CoreHttpRepository { + getScene = () => { + return plainToInstance(SceneAsset, { + scene: [ + // { + // quaternion: [0, 0, 0, 1], + // vector3: { x: 1, y: 1, z: 1 }, + // name: "body_down", + // solidType: "active", + // mesh: "http://localhost:4001/d370204b-205b-44bb-9698-3bf083b4b7a7/assets/libs/objects/body_down.dae", + // collisionMesh: "http://localhost:4001/d370204b-205b-44bb-9698-3bf083b4b7a7/assets/libs/objects/body_down.dae", + // type: "SOLID", + // }, + // { + // quaternion: [0.3797976276673656, 0.5269410603416079, 0.6168038601812418, 0.44456706919183975], + // vector3: { x: 60, y: 20.000000000000004, z: 9.999999999999993 }, + // name: "231", + // cameraType: "RGB", + // width: 0, + // updateRate: 0, + // fov: 50, + // near: 0.1, + // far: 2000, + // height: 0, + // topic: "231", + // type: "CAMERA", + // aspect: 0.48721804511278194, + // }, + + // { + // type: "POINT", + // name: "POINT 1", + // quaternion: [0, 0, 0, 1], + // vector3: { x: 0.504300334422403, y: 0.66062343475878, z: 1 }, + // }, + // { + // type: "ZONE", + // name: "ZONE 1", + // quaternion: [0, 0, 0, 1], + // vector3: { x: 0, y: 0, z: 0 }, + // width: 100, + // height: 100, + // length: 10, + // }, + { + quaternion: [0, 0, 0, 1], + vector3: { x: 0, y: 10, z: 0 }, + name: "ARM0", + nDof: 6, + httpUrl: "http://localhost:4001/d370204b-205b-44bb-9698-3bf083b4b7a7/robots/124/robot.xml", + toolType: "", + jointPosition: [], + type: "ROBOT", + }, + // { + // type: "LIGHT", + // name:"light1S", + + // typeLight: "SPOT", + // color: "0xffffff", + // intensity: 100, + // distance: 100, + // angle: 100, + // penumbra: 100, + // decay: 100, + // quaternion: [0, 0, 0, 1], + // vector3: { x: 0, y: 0, z: 0 }, + // }, + // { + // type: "LIGHT", + // name:"light1P", + + // typeLight: "POINT", + // color: "0xffffff", + // intensity: 100, + // distance: 100, + // decay: 100, + // quaternion: [0, 0, 0, 1], + // vector3: { x: 0, y: 0, z: 0 }, + // }, + // { + // name:"light1D", + // type: "LIGHT", + // typeLight: "DIRECTIONAL", + // color: "0xffffff", + // intensity: 100, + // quaternion: [0, 0, 0, 1], + // vector3: { x: 0, y: 0, z: 0 }, + // }, + ], + }); + }; getAllScenes = () => this._jsonRequest(HttpMethod.GET, "/scenes"); newScene = (sceneViewModel: SceneViewModel) => diff --git a/ui/src/features/scene_manager/model/camera_view_model.ts b/ui/src/features/scene_manager/model/camera_view_model.ts deleted file mode 100644 index e86be00..0000000 --- a/ui/src/features/scene_manager/model/camera_view_model.ts +++ /dev/null @@ -1,30 +0,0 @@ -import { Quaternion, Vector3 } from "three"; -import { SceneModelsTypes } from "./solid_body_model"; -import { Result } from "../../../core/helper/result"; -export enum CameraTypes { - RGB = "RGB", -} -export class CameraModel { - type = SceneModelsTypes.CAMERA; - - constructor( - public quaternion: Quaternion, - public vector3: Vector3, - public name: string, - public cameraType: CameraTypes, - public width: number, - public updateRate: number, - public fov: number, - public near: number, - public far: number, - public height: number, - public topic: string, - public parent?: string, - public fixed?: string - ) {} - validate = (): Result => { - return Result.ok(this); - }; - static empty = () => - new CameraModel(new Quaternion(0, 0, 0, 0), new Vector3(0, 0, 0), "", CameraTypes.RGB, 0, 0, 0, 0, 0, 0, ""); -} diff --git a/ui/src/features/scene_manager/model/scene_assets.ts b/ui/src/features/scene_manager/model/scene_assets.ts deleted file mode 100644 index cc340e2..0000000 --- a/ui/src/features/scene_manager/model/scene_assets.ts +++ /dev/null @@ -1,163 +0,0 @@ -import { CameraHelper, Object3D, PerspectiveCamera, Quaternion, Scene, Vector3 } from "three"; -import { v4 as uuidv4 } from "uuid"; -import { UserData } from "../../../core/repository/core_three_repository"; -import { - Asset, - Instance, - InstanceRgbCamera, - InstanceType, - SceneSimpleObject, -} from "../../../core/model/robossembler_assets"; -import { Result } from "../../../core/helper/result"; - -export enum RobossemblerFiles { - robossemblerAssets = "robossembler_assets.json", -} - -export enum SceneModelsType { - ASSET, -} - -export abstract class BaseSceneItemModel { - id: string; - name: string; - position: Vector3; - quaternion: Quaternion; - - constructor(name: string) { - this.id = uuidv4(); - this.name = name; - } - - abstract toInstance(): Instance; - - abstract deleteToScene(scene: Scene): Object3D[]; - - toQuaternionArray() { - return [this.quaternion.x, this.quaternion.y, this.quaternion.z, this.quaternion.w]; - } -} - -export class StaticAssetItemModel extends BaseSceneItemModel { - name: string; - type = SceneModelsType.ASSET; - - constructor(name: string, position: Vector3, quaternion: Quaternion) { - super(name); - this.name = name; - this.position = position; - this.quaternion = quaternion; - } - - static fromSceneSimpleObjectAndAsset(sceneSimpleObject: SceneSimpleObject, asset: Asset) { - const { x, y, z } = sceneSimpleObject.position; - const quaternion = sceneSimpleObject.quaternion; - return new StaticAssetItemModel( - asset.name, - new Vector3(x, y, z), - new Quaternion(quaternion[0], quaternion[1], quaternion[2], quaternion[3]) - ); - } - - toInstance(): Instance { - const instance = new Instance(); - instance.instanceType = InstanceType.SCENE_SIMPLE_OBJECT; - instance.position = this.position; - instance.instanceAt = this.name; - instance.quaternion = this.toQuaternionArray(); - - return instance; - } - - deleteToScene(scene: Scene): Object3D[] { - return scene.children.filter((el) => el.name !== this.name); - } -} - -export interface ICoreInstance { - instanceAt: null | string; - type: string; - position: Vector3; - quaternion: Quaternion; -} - -export interface ICameraInstance extends ICoreInstance { - cameraLink: string; - topicImage: string; - topicCameraInfo: string; - topicDepth: string | null; -} - -export class CameraViewModel extends BaseSceneItemModel { - cameraLink: string; - topicImage: string; - topicCameraInfo: string; - topicDepth: null | string; - - constructor(cameraLink: string, topicImage: string, topicCameraInfo: string, topicDepth: string | null) { - super(cameraLink); - this.cameraLink = cameraLink; - this.topicImage = topicImage; - this.topicCameraInfo = topicCameraInfo; - this.topicDepth = topicDepth; - } - - static fromInstanceRgbCamera(instanceRgbCamera: InstanceRgbCamera) { - const { cameraLink, topicImage, topicCameraInfo, topicDepth, position, quaternion } = instanceRgbCamera; - const instance = new CameraViewModel(cameraLink, topicImage, topicCameraInfo, topicDepth); - const { x, y, z } = position; - - instance.position = new Vector3(x, y, z); - instance.quaternion = new Quaternion(quaternion[0], quaternion[1], quaternion[2], quaternion[3]); - - return instance; - } - - deleteToScene(scene: Scene): Object3D[] { - return scene.children.filter((el) => { - if (el.name === this.name) { - return false; - } - if (el.name === this.cameraLink + "camera_helper") { - return false; - } - return true; - }); - } - - toInstance(): InstanceRgbCamera { - return { - instanceType: InstanceType.RGB_CAMERA, - position: this.position, - quaternion: this.toQuaternionArray(), - instanceAt: null, - cameraLink: this.cameraLink, - topicCameraInfo: this.topicCameraInfo, - topicDepth: this.topicDepth, - topicImage: this.topicImage, - }; - } - - validate(): Result { - if (this.cameraLink.isEmpty()) { - return Result.error("cameraLink is empty"); - } - return Result.ok(this); - } - - mapPerspectiveCamera(htmlSceneWidth: number, htmlSceneHeight: number) { - const perspectiveCamera = new PerspectiveCamera(48, htmlSceneWidth / htmlSceneHeight, 7.1, 28.5); - perspectiveCamera.position.copy(this.position); - perspectiveCamera.quaternion.copy(this.quaternion); - perspectiveCamera.name = this.cameraLink; - const cameraHelper = new CameraHelper(perspectiveCamera); - perspectiveCamera.userData[UserData.selectedObject] = true; - cameraHelper.userData[UserData.selectedObject] = true; - cameraHelper.name = this.cameraLink + "camera_helper"; - return [cameraHelper, perspectiveCamera]; - } - - static empty() { - return new CameraViewModel("", "", "", ""); - } -} diff --git a/ui/src/features/scene_manager/model/scene_view.ts b/ui/src/features/scene_manager/model/scene_view.ts index 3ce24e1..1b78a62 100644 --- a/ui/src/features/scene_manager/model/scene_view.ts +++ b/ui/src/features/scene_manager/model/scene_view.ts @@ -1,18 +1,3 @@ -export class SceneMenu { - x?: number; - y?: number; - isShow?: boolean; - - constructor(x: number | undefined, y: number | undefined, isShow: boolean | undefined) { - this.x = x; - this.y = y; - this.isShow = isShow; - } - - static empty() { - return new SceneMenu(undefined, undefined, false); - } -} export interface SceneManagerView { name: string; diff --git a/ui/src/features/scene_manager/model/solid_body_model.ts b/ui/src/features/scene_manager/model/solid_body_model.ts deleted file mode 100644 index 734fc24..0000000 --- a/ui/src/features/scene_manager/model/solid_body_model.ts +++ /dev/null @@ -1,30 +0,0 @@ -import { Quaternion, Vector3 } from "three"; - -export enum SceneModelsTypes { - SOLID = "SOLID", - ROBOT = "ROBOT", - LIGHT = "LIGHT", - CAMERA = 'CAMERA' -} -export enum SolidBodyTypes { - ACTIVE = "ACTIVE", - STATIC = "STATIC", -} -interface ISpawnTypes { - type: "POINT"; - name: "123"; -} -export class SolidBodyModel { - type = SceneModelsTypes.SOLID; - spawn?: ISpawnTypes; - constructor( - public quaternion: Quaternion, - public vector3: Vector3, - public name: string, - public solidType: SolidBodyTypes | string, - public mesh: string, - public collisionMesh: string, - public inertia?: number, - public mass?: number - ) {} -} diff --git a/ui/src/features/scene_manager/presentation/components/coords_form.tsx b/ui/src/features/scene_manager/presentation/components/coords_form.tsx new file mode 100644 index 0000000..2a1898f --- /dev/null +++ b/ui/src/features/scene_manager/presentation/components/coords_form.tsx @@ -0,0 +1,60 @@ +import { FormState } from "../../../../core/store/base_store"; +import { CoreInput } from "../../../../core/ui/input/input"; +import { CoreText, CoreTextType } from "../../../../core/ui/text/text"; + +export const CoordsForm = ({ store, update }: { store: FormState; update: Function }) => { + return ( + <> + + { + store.updateForm({ vector3: store.viewModel.vector3.setX(Number(text)) }); + update(); + }} + /> + { + store.updateForm({ vector3: store.viewModel.vector3.setY(Number(text)) }); + update(); + }} + /> + { + store.updateForm({ vector3: store.viewModel.vector3.setZ(Number(text)) }); + update(); + }} + /> + + { + store.updateForm({ vector3: store.viewModel.vector3.setX(Number(text)) }); + update(); + }} + /> + { + store.updateForm({ vector3: store.viewModel.vector3.setY(Number(text)) }); + update(); + }} + /> + { + store.updateForm({ vector3: store.viewModel.vector3.setZ(Number(text)) }); + update(); + }} + /> + + ); +}; diff --git a/ui/src/features/scene_manager/presentation/components/static_asset_item_view.tsx b/ui/src/features/scene_manager/presentation/components/static_asset_item_view.tsx deleted file mode 100644 index ecfadd3..0000000 --- a/ui/src/features/scene_manager/presentation/components/static_asset_item_view.tsx +++ /dev/null @@ -1,43 +0,0 @@ -import * as React from "react"; -import { BaseSceneItemModel, CameraViewModel, StaticAssetItemModel } from "../../model/scene_assets"; -import { Button } from "antd"; - -export interface IStaticAssetModelViewProps { - model: BaseSceneItemModel; - onTap: Function; -} - -export function StaticAssetModelView(props: IStaticAssetModelViewProps) { - if (props.model instanceof CameraViewModel) { - return ( -
- {props.model.cameraLink} - -
- ); - } - - if (props.model instanceof StaticAssetItemModel) { - return ( -
- {props.model.name} - -
- ); - } - return <>; -} diff --git a/ui/src/features/scene_manager/presentation/forms/camera/camera_form.tsx b/ui/src/features/scene_manager/presentation/forms/camera/camera_form.tsx index b3ed464..8a88ee4 100644 --- a/ui/src/features/scene_manager/presentation/forms/camera/camera_form.tsx +++ b/ui/src/features/scene_manager/presentation/forms/camera/camera_form.tsx @@ -1,25 +1,19 @@ -import { NavigateFunction } from "react-router-dom"; -import { CoreError, FormState } from "../../../../../core/store/base_store"; -import { CoreButton } from "../../../../../core/ui/button/button"; -import { CameraViewModel } from "../../../model/scene_assets"; -import { IDefaultSceneManagerFormProps } from "../scene_manager_forms"; import React from "react"; +import { message } from "antd"; +import { CoreButton } from "../../../../../core/ui/button/button"; +import { IDefaultSceneManagerFormProps, isPreviewMode } from "../scene_manager_forms"; import { CoreInput } from "../../../../../core/ui/input/input"; import { CoreText, CoreTextType } from "../../../../../core/ui/text/text"; -import { message } from "antd"; -import { CameraModel, CameraTypes } from "../../../model/camera_view_model"; import { CoreSelect } from "../../../../../core/ui/select/select"; +import { CameraFormStore } from "./camera_store"; +import { Loader } from "../../../../../core/ui/loader/loader"; +import { observer } from "mobx-react-lite"; +import { CameraTypes } from "../../../../../core/model/camera_model"; -class CameraFormStore extends FormState { - errorHandingStrategy = (error: CoreError) => {}; - init = async (navigate?: NavigateFunction | undefined) => {}; - viewModel: CameraModel = CameraModel.empty(); - constructor() { - super(); - } -} -export const CameraForm = (props: IDefaultSceneManagerFormProps) => { - const [store] = React.useState(() => new CameraFormStore()); + + +export const CameraForm = observer((props: IDefaultSceneManagerFormProps) => { + const [store] = React.useState(() => new CameraFormStore(props.store)); React.useEffect(() => { store.init(); @@ -27,7 +21,6 @@ export const CameraForm = (props: IDefaultSceneManagerFormProps) => { return (
- store.updateForm({ topic: text })} /> store.updateForm({ name: text })} /> { onChange={(text) => store.updateForm({ height: Number(text) })} /> Number().isValid(text)} label={"Width"} onChange={(text) => store.updateForm({ width: Number(text) })} /> + Number().isValid(text)} + onChange={(text) => (store.updateForm({ fov: Number(text) }), store.updateCameraScene())} + /> + Number().isValid(text)} + onChange={(text) => (store.updateForm({ far: Number(text) }), store.updateCameraScene())} + /> + Number().isValid(text)} + onChange={(text) => (store.updateForm({ near: Number(text) }), store.updateCameraScene())} + /> + v)} value={store.viewModel.cameraType} - label={"Типы камер"} + label={"Тип камеры"} onChange={(text) => store.updateForm({ cameraType: text as CameraTypes })} />
+ onClick={() => { store.viewModel.validate().fold( (model) => { - // props.store.addNewCamera(model); + props.store.addNewCamera(model); }, (error) => message.error(error) - ) - } + ); + }} /> +
); -}; - -// onClick={props.store.addNewCamera()} +}); diff --git a/ui/src/features/scene_manager/presentation/forms/camera/camera_store.tsx b/ui/src/features/scene_manager/presentation/forms/camera/camera_store.tsx new file mode 100644 index 0000000..f0c7f81 --- /dev/null +++ b/ui/src/features/scene_manager/presentation/forms/camera/camera_store.tsx @@ -0,0 +1,35 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { NavigateFunction } from "react-router-dom"; +import { FormState, CoreError } from "../../../../../core/store/base_store"; +import { SceneMangerStore } from "../../scene_manager_store"; +import { isPreviewMode } from "../scene_manager_forms"; +import { CameraModel } from "../../../../../core/model/camera_model"; + +export class CameraFormStore extends FormState { + viewModel: CameraModel = CameraModel.empty(); + sceneMangerStore: SceneMangerStore; + type?: string; + constructor(sceneMangerStore: SceneMangerStore) { + super(); + makeAutoObservable(this); + this.sceneMangerStore = sceneMangerStore; + } + + errorHandingStrategy = (error: CoreError) => {}; + updateCameraScene = () => + this.type?.isNotEmptyR().map(() => this.viewModel.toWebGl(this.sceneMangerStore.coreThreeRepository!)); + + init = async (navigate?: NavigateFunction | undefined) => { + isPreviewMode(this.sceneMangerStore.activeFormDependency).map(() => + this.sceneMangerStore.scene + .rFind((el) => el.name.isEqual(this.sceneMangerStore.selectedItemName ?? "")) + .fold( + (cameraModel) => { + this.loadDependency(cameraModel); + this.type = "preview"; + }, + () => console.log(`Unknown FormType`) + ) + ); + }; +} diff --git a/ui/src/features/scene_manager/presentation/forms/light/light_store.tsx b/ui/src/features/scene_manager/presentation/forms/light/light_store.tsx index afa5ea6..9017531 100644 --- a/ui/src/features/scene_manager/presentation/forms/light/light_store.tsx +++ b/ui/src/features/scene_manager/presentation/forms/light/light_store.tsx @@ -1,9 +1,9 @@ import { NavigateFunction } from "react-router-dom"; import { FormState, CoreError } from "../../../../../core/store/base_store"; -import { LightViewModel } from "./light_view_model"; +import { LightModel } from "../../../../../core/model/light_model"; -export class LightStore extends FormState { - viewModel: LightViewModel = LightViewModel.empty(); +export class LightStore extends FormState { + viewModel: LightModel = LightModel.empty(); constructor() { super(); } diff --git a/ui/src/features/scene_manager/presentation/forms/light/light_view_model.ts b/ui/src/features/scene_manager/presentation/forms/light/light_view_model.ts deleted file mode 100644 index 0feb6de..0000000 --- a/ui/src/features/scene_manager/presentation/forms/light/light_view_model.ts +++ /dev/null @@ -1,9 +0,0 @@ -import { Result } from "../../../../../core/helper/result"; - -export class LightViewModel { - constructor() {} - isValid = (): Result => { - return Result.ok(this); - }; - static empty = () => new LightViewModel(); -} diff --git a/ui/src/features/scene_manager/presentation/forms/point/point_form.tsx b/ui/src/features/scene_manager/presentation/forms/point/point_form.tsx index 85811ba..71bd807 100644 --- a/ui/src/features/scene_manager/presentation/forms/point/point_form.tsx +++ b/ui/src/features/scene_manager/presentation/forms/point/point_form.tsx @@ -9,7 +9,7 @@ import { match } from "ts-pattern"; import { SpawnPositionTypesForm } from "../../components/spawn_position_types"; export const PointForm = observer((props: IDefaultSceneManagerFormProps) => { - const [store] = React.useState(() => new PointStore()); + const [store] = React.useState(() => new PointStore(props.store)); React.useEffect(() => { store.init(); }, [store]); @@ -17,6 +17,28 @@ export const PointForm = observer((props: IDefaultSceneManagerFormProps) => { return (
{match(store.storeType) + .with(PointStoreType.previewPoint, () => ( + <> + + + + (store.updateForm({ vector3: store.viewModel.vector3.setX(Number(text)) }), store.updateWebGl())} + /> + (store.updateForm({ vector3: store.viewModel.vector3.setY(Number(text)) }),store.updateWebGl())} + /> + (store.updateForm({ vector3: store.viewModel.vector3.setZ(Number(text)) }), store.updateWebGl())} + /> + + )) .with(PointStoreType.initNewPoint, () => ( <> diff --git a/ui/src/features/scene_manager/presentation/forms/point/point_store.ts b/ui/src/features/scene_manager/presentation/forms/point/point_store.ts index ca9d5b6..a2f1ecd 100644 --- a/ui/src/features/scene_manager/presentation/forms/point/point_store.ts +++ b/ui/src/features/scene_manager/presentation/forms/point/point_store.ts @@ -1,26 +1,54 @@ import makeAutoObservable from "mobx-store-inheritance"; import { NavigateFunction } from "react-router-dom"; -import { PointViewModel } from "./point_view_model"; +import { PointModel } from "../../../../../core/model/point_model"; import { PointHttpRepository } from "./point_http_repository"; import { FormState, CoreError } from "../../../../../core/store/base_store"; import { SpawnPositionTypes } from "../../../../../core/model/spawn_position_types"; +import { isPreviewMode } from "../scene_manager_forms"; +import { SceneMangerStore } from "../../scene_manager_store"; + export enum PointStoreType { makeSceneSolidAndEditPosition = "makeSceneSolidAndEditPosition", initNewPoint = "initNewPoint", + previewPoint = "previewPoint", } -export class PointStore extends FormState { - onClickNext = (pointStoreType: PointStoreType) => (this.storeType = pointStoreType); - viewModel: PointViewModel = PointViewModel.empty(); + +export class PointStore extends FormState { + viewModel: PointModel = PointModel.empty(); cameraDeviceHttpRepository: PointHttpRepository = new PointHttpRepository(); storeType: PointStoreType = PointStoreType.initNewPoint; spawnPositionTypes: SpawnPositionTypes; - constructor() { + sceneMangerStore: SceneMangerStore; + constructor(sceneMangerStore: SceneMangerStore) { super(); makeAutoObservable(this); + this.sceneMangerStore = sceneMangerStore; } selectSpawnType = (type: SpawnPositionTypes) => { this.spawnPositionTypes = type; }; + updateWebGl = () => + this.storeType + .isEqualR(PointStoreType.previewPoint) + .map(() => this.sceneMangerStore.coreThreeRepository!.updateInstance(this.viewModel)); + onClickNext = (pointStoreType: PointStoreType) => (this.storeType = pointStoreType); + errorHandingStrategy = (error: CoreError) => {}; - init = async (navigate?: NavigateFunction | undefined) => {}; + init = async (navigate?: NavigateFunction | undefined) => + isPreviewMode(this.sceneMangerStore.activeFormDependency).map(() => + this.sceneMangerStore.scene + .rFind((el) => el.name.isEqual(this.sceneMangerStore.selectedItemName ?? "")) + .fold( + (solidBodyModel) => { + this.loadDependency(solidBodyModel); + this.storeType = PointStoreType.previewPoint; + }, + () => + console.log( + `Unknown FormType ${this.sceneMangerStore.selectedItemName} : ${JSON.stringify( + this.sceneMangerStore.scene + )}` + ) + ) + ); } diff --git a/ui/src/features/scene_manager/presentation/forms/point/point_view_model.ts b/ui/src/features/scene_manager/presentation/forms/point/point_view_model.ts deleted file mode 100644 index 28795cb..0000000 --- a/ui/src/features/scene_manager/presentation/forms/point/point_view_model.ts +++ /dev/null @@ -1,16 +0,0 @@ -import { Quaternion, Vector3 } from "three"; -import { Result } from "../../../../../core/helper/result"; - -export class PointViewModel { - type = "POINT"; - name: string; - vector3: Vector3; - quaternion: Quaternion; - constructor() {} - isValid(): Result { - return Result.ok(); - } - static empty() { - return new PointViewModel(); - } -} diff --git a/ui/src/features/scene_manager/presentation/forms/robot/robot_form.tsx b/ui/src/features/scene_manager/presentation/forms/robot/robot_form.tsx deleted file mode 100644 index 8eb6775..0000000 --- a/ui/src/features/scene_manager/presentation/forms/robot/robot_form.tsx +++ /dev/null @@ -1,6 +0,0 @@ -import { IDefaultSceneManagerFormProps } from "../scene_manager_forms"; - - -export const RobotForm = (props: IDefaultSceneManagerFormProps) => { - return
ROBOT
; -}; diff --git a/ui/src/features/scene_manager/presentation/forms/robot_form/robot_form.tsx b/ui/src/features/scene_manager/presentation/forms/robot_form/robot_form.tsx new file mode 100644 index 0000000..085b644 --- /dev/null +++ b/ui/src/features/scene_manager/presentation/forms/robot_form/robot_form.tsx @@ -0,0 +1,97 @@ +import React from "react"; +import { observer } from "mobx-react-lite"; +import { RobotFormStore, RobotStoreType } from "./robot_form_store"; +import { IDefaultSceneManagerFormProps } from "../scene_manager_forms"; +import { CoreText, CoreTextType } from "../../../../../core/ui/text/text"; +import { CoreInputNumber } from "../../../../../core/ui/inputNumber/input_number"; +import { CoreInput, CoreInputType } from "../../../../../core/ui/input/input"; +import { match } from "ts-pattern"; +import { CoreSelect } from "../../../../../core/ui/select/select"; +import { ToolTypes } from "../../../../../core/model/robot_model"; +import { CoreButton } from "../../../../../core/ui/button/button"; +import { SpawnPositionTypesForm } from "../../components/spawn_position_types"; +import { CoordsForm } from "../../components/coords_form"; + +export const RobotForm = observer((props: IDefaultSceneManagerFormProps) => { + const [store] = React.useState(() => new RobotFormStore(props.store)); + React.useEffect(() => { + store.init(); + }, []); + return ( +
+ {match(store.storeType) + .with(RobotStoreType.awaitMouseClick, () => ( + <> + + + )) + .with(RobotStoreType.selectSpawnPosition, () => ( + <> + + + )) + .with(RobotStoreType.initNewRobot, () => ( + <> + + store.updateForm({ name: text })} + /> + store.updateForm({ nDof: Number(text) })} + /> + store.updateForm({ toolType: text })} + /> + store.createNewRobot()} text="Создать" /> + + )) + .with(RobotStoreType.previewRobot, () => ( + <> + store.updateScene()} /> + +
+ + {store.viewModel.jointPosition.map((el, i) => ( +
+ ( + store.updateForm({ + jointPosition: store.viewModel.jointPosition.map((element, index) => + index.isEqualR(i).fold( + () => { + element.angel = value; + return element; + }, + () => element + ) + ), + }), + store.updateScene() + )} + label={el.name} + /> +
+ ))} +
+ + )) + .otherwise(() => ( + <> + ))} +
+ ); +}); diff --git a/ui/src/features/scene_manager/presentation/forms/robot_form/robot_form_http_repository.ts b/ui/src/features/scene_manager/presentation/forms/robot_form/robot_form_http_repository.ts new file mode 100644 index 0000000..582f186 --- /dev/null +++ b/ui/src/features/scene_manager/presentation/forms/robot_form/robot_form_http_repository.ts @@ -0,0 +1,10 @@ +import { RobotModel } from "../../../../../core/model/robot_model"; +import { HttpMethod, HttpRepository } from "../../../../../core/repository/http_repository"; +export interface RobotURL { + robotUrl: string; +} + +export class RobotFormHttpRepository extends HttpRepository { + createNewRobot = (robotModel: RobotModel) => + this._jsonRequest(HttpMethod.POST, "/scenes/create/robot", robotModel); +} diff --git a/ui/src/features/scene_manager/presentation/forms/robot_form/robot_form_store.ts b/ui/src/features/scene_manager/presentation/forms/robot_form/robot_form_store.ts new file mode 100644 index 0000000..c68b555 --- /dev/null +++ b/ui/src/features/scene_manager/presentation/forms/robot_form/robot_form_store.ts @@ -0,0 +1,86 @@ +import makeAutoObservable from "mobx-store-inheritance"; +import { NavigateFunction } from "react-router-dom"; +import { RobotFormHttpRepository } from "./robot_form_http_repository"; +import { FormState, CoreError } from "../../../../../core/store/base_store"; +import { RobotModel } from "../../../../../core/model/robot_model"; +import { SceneMangerStore } from "../../scene_manager_store"; +import { isPreviewMode } from "../scene_manager_forms"; +import { message } from "antd"; +import { SceneModelsTypes } from "../../../../../core/model/scene_models_type"; +import { Vector3 } from "three"; + +export enum RobotStoreType { + previewRobot = "previewRobot", + selectSpawnPosition = "selectSpawnPosition", + initNewRobot = "createNewRobot", + awaitMouseClick = "awaitMouseClick", +} +export class RobotFormStore extends FormState { + sceneMangerStore: SceneMangerStore; + storeType: RobotStoreType = RobotStoreType.initNewRobot; + viewModel: RobotModel = RobotModel.empty(); + robotFormHttpRepository: RobotFormHttpRepository = new RobotFormHttpRepository(); + spawnType: string; + listener: Function; + clickLister = (event: MouseEvent) => + this.storeType.isEqualR(RobotStoreType.awaitMouseClick).map(() => + this.sceneMangerStore!.clickScene(event, this.sceneMangerStore!.canvasOffsetX).map((vector3) => { + this.viewModel.vector3 = vector3; + this.viewModel.toWebGl(this.sceneMangerStore.coreThreeRepository!); + this.sceneMangerStore.activeFormType = undefined; + this.sceneMangerStore.sceneItems.push(this.viewModel.toSceneItems(this.sceneMangerStore)) + this.sceneMangerStore.scene.push(this.viewModel) + window.removeEventListener("click", this.clickLister); + }) + ); + + selectSpawnType = (type: string) => { + this.spawnType = type; + setTimeout(() => window.addEventListener("click", this.clickLister), 1000); + this.storeType = RobotStoreType.awaitMouseClick; + }; + dispose = (): void => { + window.removeEventListener("click", this.clickLister); + }; + constructor(sceneMangerStore: SceneMangerStore) { + super(); + makeAutoObservable(this); + this.sceneMangerStore = sceneMangerStore; + } + updateScene = () => + this.storeType + .isEqualR(RobotStoreType.previewRobot) + .map(() => this.viewModel.update(this.sceneMangerStore.coreThreeRepository!)); + createNewRobot = () => + this.viewModel.isValid().fold( + async (s) => + (await this.robotFormHttpRepository.createNewRobot(s)).fold( + (s) => { + this.viewModel.httpUrl = s.robotUrl; + this.storeType = RobotStoreType.selectSpawnPosition; + }, + (e) => { + message.error(e.error); + } + ), + async (e) => message.error(e) + ); + errorHandingStrategy = (error: CoreError) => {}; + init = async (navigate?: NavigateFunction | undefined) => + isPreviewMode(this.sceneMangerStore.activeFormDependency).map(() => + this.sceneMangerStore.scene + .rFind((el) => el.name.isEqual(this.sceneMangerStore.selectedItemName ?? "")) + .fold( + (solidBodyModel) => { + this.loadDependency(solidBodyModel); + this.storeType = RobotStoreType.previewRobot; + }, + () => + console.log( + `Unknown FormType ${this.sceneMangerStore.selectedItemName} : ${JSON.stringify( + this.sceneMangerStore.scene + )}` + ) + ) + ); +} diff --git a/ui/src/features/scene_manager/presentation/forms/scene_manager_forms.tsx b/ui/src/features/scene_manager/presentation/forms/scene_manager_forms.tsx index 0c00974..dfbdbf9 100644 --- a/ui/src/features/scene_manager/presentation/forms/scene_manager_forms.tsx +++ b/ui/src/features/scene_manager/presentation/forms/scene_manager_forms.tsx @@ -1,8 +1,9 @@ +import { Result } from "../../../../core/helper/result"; import { SceneMangerStore } from "../scene_manager_store"; import { CameraForm } from "./camera/camera_form"; import { LightForm } from "./light/light_form"; import { PointForm } from "./point/point_form"; -import { RobotForm } from "./robot/robot_form"; +import { RobotForm } from "./robot_form/robot_form"; import { SolidBodyForm } from "./solid_body/solid_body_form"; import { Trajectory } from "./trajectory/trajectory_form"; import { ZoneForm } from "./zone/zone_form"; @@ -16,6 +17,7 @@ export enum SceneManagerForms { point = "point", trajectory = "trajectory", zone = "zone", + capturePoints = "capturePoints", } interface IForms { name: string; @@ -25,7 +27,10 @@ export interface IDefaultSceneManagerFormProps { dependency: Object; store: SceneMangerStore; } - +export const isPreviewMode = (dependency: Object): Result => { + if (Object.hasOwn(dependency, "type")) return Result.ok(); + return Result.error(undefined); +}; export const sceneManagerForms = (props: Object, store: SceneMangerStore): IForms[] => [ { name: SceneManagerForms.camera, component: }, { name: SceneManagerForms.robot, component: }, @@ -34,4 +39,5 @@ export const sceneManagerForms = (props: Object, store: SceneMangerStore): IForm { name: SceneManagerForms.light, component: }, { name: SceneManagerForms.zone, component: }, { name: SceneManagerForms.trajectory, component: }, + { name: SceneManagerForms.capturePoints, component: }, ]; diff --git a/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_form.tsx b/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_form.tsx index 86f22be..917515c 100644 --- a/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_form.tsx +++ b/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_form.tsx @@ -6,57 +6,79 @@ import { observer } from "mobx-react-lite"; import { CoreButton } from "../../../../../core/ui/button/button"; import { match } from "ts-pattern"; import { SpawnPositionTypesForm } from "../../components/spawn_position_types"; +import { CoreInput } from "../../../../../core/ui/input/input"; export const SolidBodyForm = observer((props: IDefaultSceneManagerFormProps) => { const [store] = React.useState(() => new SolidBodyStore(props.store)); React.useEffect(() => { store.init(); }, []); + return (
- {Object.hasOwn(props.dependency, "type") && Object.hasOwn(props.dependency, "name") ? ( - <> - x:{props.store.scene.find((el) => el.name.isEqual(props.store.selectedItemName ?? ""))?.vector3.x} - y:{props.store.scene.find((el) => el.name.isEqual(props.store.selectedItemName ?? ""))?.vector3.y} - y:{props.store.scene.find((el) => el.name.isEqual(props.store.selectedItemName ?? ""))?.vector3.z} - solidType:{props.store.scene.find((el) => el.name.isEqual(props.store.selectedItemName ?? ""))?.solidType} - - - ) : ( - <> - {match(store.solidBodyStoreType) - .with(SolidBodyStoreType.selectBody, () => ( - <> - - - {store.parts.map((el, i) => ( -
- - - store.clickSelectBody(el)} /> -
- ))} - - )) - .with(SolidBodyStoreType.selectSpawnPositionType, () => ( - <> - - - )) - .with(SolidBodyStoreType.spawn2DVector, () => ( - <> - {props.store.mousePosition ? ( - "" - ) : ( - + <> + {match(store.solidBodyStoreType) + .with(SolidBodyStoreType.previewSolid, () => ( + <> + + ( + store.updateForm({ vector3: store.viewModel.vector3.setX(Number(text)) }), + store.updateBodySimulation() )} - - )) - .otherwise(() => ( - <> - ))} - - )} + /> + ( + store.updateForm({ vector3: store.viewModel.vector3.setY(Number(text)) }), + store.updateBodySimulation() + )} + /> + ( + store.updateForm({ vector3: store.viewModel.vector3.setZ(Number(text)) }), + store.updateBodySimulation() + )} + /> + + + )) + .with(SolidBodyStoreType.selectBody, () => ( + <> + + + {store.parts.map((el, i) => ( +
+ + + store.clickSelectBody(el)} /> +
+ ))} + + )) + .with(SolidBodyStoreType.selectSpawnPositionType, () => ( + <> + + + )) + .with(SolidBodyStoreType.spawn2DVector, () => ( + <> + {props.store.mousePosition ? ( + "" + ) : ( + + )} + + )) + .otherwise(() => ( + <> + ))} +
); }); diff --git a/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_store.tsx b/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_store.tsx index 18309f6..4a303e3 100644 --- a/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_store.tsx +++ b/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_store.tsx @@ -1,34 +1,53 @@ import makeAutoObservable from "mobx-store-inheritance"; -import { SolidBodyViewModel } from "./solid_body_view_model"; import { FormState, CoreError } from "../../../../../core/store/base_store"; import { CoreHttpRepository } from "../../../../../core/repository/http_repository"; import { Parts } from "../../../../details/details_http_repository"; import { Vector2 } from "three"; import { SceneMangerStore } from "../../scene_manager_store"; import { SpawnPositionTypes } from "../../../../../core/model/spawn_position_types"; +import { isPreviewMode } from "../scene_manager_forms"; +import { SolidModel } from "../../../../../core/model/solid_model"; +import { SceneModelsTypes } from "../../../../../core/model/scene_models_type"; export enum SolidBodyStoreType { selectBody = "selectBody", selectSpawnPositionType = "selectSpawnPositionType", spawn2DVector = "spawn2DVector", + previewSolid = "previewSolid", } -export class SolidBodyStore extends FormState { - viewModel: SolidBodyViewModel = SolidBodyViewModel.empty(); +export class SolidBodyStore extends FormState { + viewModel: SolidModel = SolidModel.empty(); parts: Parts[] = []; spawnPositionTypes = Object.keys(SpawnPositionTypes); coreHttpRepository: CoreHttpRepository = new CoreHttpRepository(); solidBodyStoreType: SolidBodyStoreType = SolidBodyStoreType.selectBody; selectBody: Parts; spawnType: string; - sceneManagerStore: SceneMangerStore; + sceneMangerStore: SceneMangerStore; vector2d?: Vector2; - constructor(sceneManagerStore: SceneMangerStore) { + constructor(sceneMangerStore: SceneMangerStore) { super(); - this.sceneManagerStore = sceneManagerStore; + this.sceneMangerStore = sceneMangerStore; makeAutoObservable(this); } init = async () => { + isPreviewMode(this.sceneMangerStore.activeFormDependency).map(() => + this.sceneMangerStore.scene + .rFind((el) => el.name.isEqual(this.sceneMangerStore.selectedItemName ?? "")) + .fold( + (solidBodyModel) => { + this.loadDependency(solidBodyModel); + this.solidBodyStoreType = SolidBodyStoreType.previewSolid; + }, + () => + console.log( + `Unknown FormType ${this.sceneMangerStore.selectedItemName} : ${JSON.stringify( + this.sceneMangerStore.scene + )}` + ) + ) + ); this.mapOk("parts", this.coreHttpRepository.getAssetsActiveProject()); }; errorHandingStrategy = (error: CoreError) => {}; @@ -37,16 +56,20 @@ export class SolidBodyStore extends FormState { selectSpawnType = (type: string) => { this.spawnType = type; this.solidBodyStoreType = SolidBodyStoreType.spawn2DVector; - this.sceneManagerStore.mousePositionAwait = true; - this.sceneManagerStore.solidSpawnHelper = { - url: this.selectBody.objUrl, + this.sceneMangerStore.mousePositionAwait = true; + this.sceneMangerStore.spawnHelper = { + url: this.selectBody.daeUrl, name: this.selectBody.name, + spawn: SceneModelsTypes.SOLID, isFinished: false, - solidType: this.selectBody.solidType, type: this.spawnType, }; - this.sceneManagerStore.activeFormType = undefined; + this.sceneMangerStore.activeFormType = undefined; }; + updateBodySimulation = () => + this.solidBodyStoreType + .isEqualR(SolidBodyStoreType.previewSolid) + .map(() => this.viewModel.update(this.sceneMangerStore.coreThreeRepository!)); clickSelectBody = (el: Parts) => { this.selectBody = el; this.solidBodyStoreType = SolidBodyStoreType.selectSpawnPositionType; diff --git a/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_view_model.ts b/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_view_model.ts deleted file mode 100644 index a1875f1..0000000 --- a/ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_view_model.ts +++ /dev/null @@ -1,7 +0,0 @@ -export class SolidBodyViewModel { - name: string; - - static empty() { - return new SolidBodyViewModel(); - } - } \ No newline at end of file diff --git a/ui/src/features/scene_manager/presentation/forms/zone/zone_form.tsx b/ui/src/features/scene_manager/presentation/forms/zone/zone_form.tsx index 822848a..4322ffe 100644 --- a/ui/src/features/scene_manager/presentation/forms/zone/zone_form.tsx +++ b/ui/src/features/scene_manager/presentation/forms/zone/zone_form.tsx @@ -2,14 +2,34 @@ import React from "react"; import { observer } from "mobx-react-lite"; import { ZoneStore } from "./zone_store"; import { IDefaultSceneManagerFormProps } from "../scene_manager_forms"; - - +import { CoreText, CoreTextType } from "../../../../../core/ui/text/text"; +import { CoreInput } from "../../../../../core/ui/input/input"; export const ZoneForm = observer((props: IDefaultSceneManagerFormProps) => { - const [store] = React.useState(() => new ZoneStore()); + const [store] = React.useState(() => new ZoneStore(props.store)); React.useEffect(() => { store.init(); }, [store]); - return <>zone; + return ( + <> + + + (store.updateForm({ length: Number(text) }), store.updateWebGl())} + /> + (store.updateForm({ height: Number(text) }), store.updateWebGl())} + /> + (store.updateForm({ width: Number(text) }), store.updateWebGl())} + /> + + ); }); diff --git a/ui/src/features/scene_manager/presentation/forms/zone/zone_store.ts b/ui/src/features/scene_manager/presentation/forms/zone/zone_store.ts index 89a7838..2927f3b 100644 --- a/ui/src/features/scene_manager/presentation/forms/zone/zone_store.ts +++ b/ui/src/features/scene_manager/presentation/forms/zone/zone_store.ts @@ -1,19 +1,42 @@ import makeAutoObservable from "mobx-store-inheritance"; import { NavigateFunction } from "react-router-dom"; -import { ZoneViewModel } from "./zone_view_model"; - import { ZoneHttpRepository } from "./zone_http_repository"; +import { ZoneModel } from "../../../../../core/model/zone_model"; +import { ZoneHttpRepository } from "./zone_http_repository"; import { FormState, CoreError } from "../../../../../core/store/base_store"; - -export class ZoneStore extends FormState { - constructor() { - super(); - makeAutoObservable(this); - } - viewModel: ZoneViewModel = ZoneViewModel.empty(); - cameraDeviceHttpRepository: ZoneHttpRepository = new ZoneHttpRepository(); - errorHandingStrategy = (error: CoreError) => { } - init = async (navigate?: NavigateFunction | undefined) => { - - } - +import { isPreviewMode } from "../scene_manager_forms"; +import { SceneMangerStore } from "../../scene_manager_store"; +export enum ZoneStoreType { + preview = "preview", +} +export class ZoneStore extends FormState { + + constructor(sceneMangerStore: SceneMangerStore) { + super(); + this.sceneMangerStore = sceneMangerStore; + makeAutoObservable(this); + } + storeType: ZoneStoreType; + sceneMangerStore: SceneMangerStore; + viewModel: ZoneModel = ZoneModel.empty(); + cameraDeviceHttpRepository: ZoneHttpRepository = new ZoneHttpRepository(); + errorHandingStrategy = (error: CoreError) => {}; + init = async (navigate?: NavigateFunction | undefined) => { + isPreviewMode(this.sceneMangerStore.activeFormDependency).map(() => + this.sceneMangerStore.scene + .rFind((el) => el.name.isEqual(this.sceneMangerStore.selectedItemName ?? "")) + .fold( + (zoneModel) => { + this.loadDependency(zoneModel); + this.storeType = ZoneStoreType.preview; + }, + () => + console.log( + `Unknown FormType ${this.sceneMangerStore.selectedItemName} : ${JSON.stringify( + this.sceneMangerStore.scene + )}` + ) + ) + ); + }; + updateWebGl = () => this.storeType.isEqualR(ZoneStoreType.preview).map(() => this.sceneMangerStore.coreThreeRepository!.updateInstance(this.viewModel)) } diff --git a/ui/src/features/scene_manager/presentation/forms/zone/zone_view_model.ts b/ui/src/features/scene_manager/presentation/forms/zone/zone_view_model.ts deleted file mode 100644 index dc9acf0..0000000 --- a/ui/src/features/scene_manager/presentation/forms/zone/zone_view_model.ts +++ /dev/null @@ -1,14 +0,0 @@ -import { Result } from "../../../../../core/helper/result"; - -export class ZoneViewModel { - name: string; - constructor(name: string) { - this.name = name; - } - isValid(): Result { - return Result.ok(); - } - static empty() { - return new ZoneViewModel(""); - } -} diff --git a/ui/src/features/scene_manager/presentation/scene_manager.tsx b/ui/src/features/scene_manager/presentation/scene_manager.tsx index 8fae690..e61cacc 100644 --- a/ui/src/features/scene_manager/presentation/scene_manager.tsx +++ b/ui/src/features/scene_manager/presentation/scene_manager.tsx @@ -10,6 +10,7 @@ import { CoreInput } from "../../../core/ui/input/input"; import { DrawersDataset } from "../../dataset/dataset_store"; import { Icon } from "../../../core/ui/icons/icons"; import { sceneManagerForms } from "./forms/scene_manager_forms"; +import { SceneMode } from "../model/scene_view"; export const SceneManagerPath = "/scene/manager/"; @@ -33,7 +34,12 @@ export const SceneManger = observer(() => { return ( "", + () => "none" + ), + }} panelChildren={
@@ -75,6 +81,23 @@ export const SceneManger = observer(() => {
))} + {store.isVisibleSaveButton ? ( + <> +
store.sceneSave()} + style={{ + marginTop: 4, + width: 50, + height: 50, + backgroundColor: "rgba(99, 81, 159, 1)", + border: "1px solid", + borderRadius: 5, + }} + > + +
+ + ) : null}
@@ -104,7 +127,7 @@ export const SceneManger = observer(() => { justifyContent: "space-between", width: "100%", }} - onClick={() => store.selectSceneItems(el.name, index, !el.isSelected)} + onClick={() => store.selectSceneItems(el.name, index, !el.isSelected, el.icon)} >
@@ -112,6 +135,7 @@ export const SceneManger = observer(() => { store.deleteSceneItem(el)} style={{ marginRight: 10 }} @@ -124,19 +148,18 @@ export const SceneManger = observer(() => {
- {sceneManagerForms(store.activeFormDependency ?? {}, store).map((el, i) => { - if (el.name.isEqual(store.activeFormType ?? "")) { - return {el.component}; - } - return <>; - })} + {sceneManagerForms(store.activeFormDependency ?? {}, store).map((el, i) => + el.name.isEqualR(store.activeFormType ?? "").fold( + () => {el.component}, + () => + ) + )}
} diff --git a/ui/src/features/scene_manager/presentation/scene_manager_store.ts b/ui/src/features/scene_manager/presentation/scene_manager_store.ts index 3e2f7e7..dc5b86c 100644 --- a/ui/src/features/scene_manager/presentation/scene_manager_store.ts +++ b/ui/src/features/scene_manager/presentation/scene_manager_store.ts @@ -1,19 +1,23 @@ import makeAutoObservable from "mobx-store-inheritance"; -import { Object3D, Object3DEventMap, Vector2 } from "three"; +import { Object3D, Object3DEventMap, Vector2, Vector3 } from "three"; import { message } from "antd"; import { CoreThreeRepository } from "../../../core/repository/core_three_repository"; import { HttpError } from "../../../core/repository/http_repository"; import { UiDrawerFormState } from "../../../core/store/base_store"; import { UiBaseError } from "../../../core/model/ui_base_error"; -import { SceneMenu, SceneMode } from "../model/scene_view"; -import { BaseSceneItemModel, CameraViewModel, RobossemblerFiles, StaticAssetItemModel } from "../model/scene_assets"; +import { SceneMode } from "../model/scene_view"; import { SceneHttpRepository } from "../data/scene_http_repository"; -import { RobossemblerAssets } from "../../../core/model/robossembler_assets"; +import { Instance, SceneAsset } from "../../../core/model/scene_asset"; import { SceneViewModel } from "../model/scene_view_model"; import { SceneModel } from "../model/scene_model"; import { SceneManagerForms } from "./forms/scene_manager_forms"; -import { SolidBodyViewModel } from "./forms/solid_body/solid_body_view_model"; -import { SolidBodyModel } from "../model/solid_body_model"; +import { CameraModel } from "../../../core/model/camera_model"; +import { SolidModel } from "../../../core/model/solid_model"; +import { PointModel } from "../../../core/model/point_model"; +import { RobotModel } from "../../../core/model/robot_model"; +import { ZoneModel } from "../../../core/model/zone_model"; +import { SceneModelsTypes } from "../../../core/model/scene_models_type"; +import { Result } from "../../../core/helper/result"; export enum DrawersSceneManager { NewScene = "Новая сцена", @@ -22,9 +26,9 @@ export enum StoreMode { sceneInstance = "sceneInstance", allScenes = "allScenes", } -export interface ISolidSpawnHelper { +export interface ISpawnHelper { url: string; - solidType: string; + spawn: SceneModelsTypes; name: string; isFinished: boolean; type: string; @@ -33,7 +37,7 @@ interface IPopoverItem { name: string; fn: Function; } -interface SceneItems { +export interface SceneItems { fn: Function; name: string; isSelected: boolean; @@ -42,17 +46,15 @@ interface SceneItems { export class SceneMangerStore extends UiDrawerFormState { activeFormType?: string; selectedItemName?: string; - activeFormDependency?: Object; + activeFormDependency: Object = {}; viewModel: SceneViewModel = SceneViewModel.empty(); sceneMode: SceneMode; - sceneMenu: SceneMenu; - sceneItems: SceneItems[]; + sceneItems: SceneItems[] = []; isVisibleSaveButton: boolean = false; coreThreeRepository: null | CoreThreeRepository = null; sceneHttpRepository: SceneHttpRepository; - sceneModels: BaseSceneItemModel[] = []; isSceneMenuShow = false; - robossemblerAssets?: RobossemblerAssets; + robossemblerAssets?: SceneAsset; objectForMagnetism: string; objectMagnetism: string; scenes: SceneModel[] = []; @@ -60,46 +62,80 @@ export class SceneMangerStore extends UiDrawerFormState this.setMode(SceneMode.Select), isSelected: false }, { icon: SceneMode.Move, onClick: () => this.setMode(SceneMode.Move), isSelected: false }, { icon: SceneMode.Rotate, onClick: () => this.setMode(SceneMode.Rotate), isSelected: false }, - { - icon: SceneMode.Save, - onClick: () => { - this.setMode(SceneMode.Rotate); - this.sceneSave(); - }, - isSelected: false, - }, ]; popoverItems: IPopoverItem[] = [ - { name: "Камера", fn: () => this.createNewForm(SceneManagerForms.camera) }, - { name: "Твердое тело", fn: () => this.createNewForm(SceneManagerForms.solidBody) }, - { name: "Источник света", fn: () => this.createNewForm(SceneManagerForms.light) }, - { name: "Робот", fn: () => this.createNewForm(SceneManagerForms.robot) }, - { name: "Точка", fn: () => this.createNewForm(SceneManagerForms.point) }, - { name: "Траектория", fn: () => this.createNewForm(SceneManagerForms.trajectory) }, - { name: "Зона", fn: () => this.createNewForm(SceneManagerForms.zone) }, + { name: "Камера", fn: () => this.createNewForm(SceneManagerForms.camera, true) }, + { name: "Твердое тело", fn: () => this.createNewForm(SceneManagerForms.solidBody, true) }, + { name: "Источник света", fn: () => this.createNewForm(SceneManagerForms.light, true) }, + { name: "Робот", fn: () => this.createNewForm(SceneManagerForms.robot, true) }, + { name: "Точка", fn: () => this.createNewForm(SceneManagerForms.point, true) }, + { name: "Траектория", fn: () => this.createNewForm(SceneManagerForms.trajectory, true) }, + { name: "Зона", fn: () => this.createNewForm(SceneManagerForms.zone, true) }, + { name: "Точки захвата", fn: () => this.createNewForm(SceneManagerForms.capturePoints, true) }, ]; + canvasOffsetX?: number; constructor() { super(DrawersSceneManager); makeAutoObservable(this); - this.sceneItems = []; + this.sceneHttpRepository = new SceneHttpRepository(); this.sceneMode = SceneMode.Select; - this.sceneMenu = SceneMenu.empty(); } - sceneSave = () => {}; - selectSceneItems = (name: string, index: number, selected: boolean) => { + sceneSave = () => { + console.log(JSON.stringify(this.scene)); + }; + iconToSceneManagerForm = (icon: string): SceneManagerForms => { + if (icon.isEqual("Camera")) { + this.activeFormDependency = { + type: "Preview", + }; + return SceneManagerForms.camera; + } + if (icon.isEqual("Zone")) { + this.activeFormDependency = { + type: "Preview", + }; + return SceneManagerForms.zone; + } + if (icon.isEqual("Robot")) { + this.activeFormDependency = { + type: "Preview", + }; + return SceneManagerForms.robot; + } + if (icon.isEqual("Point")) { + this.activeFormDependency = { + type: "Preview", + }; + return SceneManagerForms.point; + } + + this.activeFormDependency = { + type: "Preview", + }; + return SceneManagerForms.solidBody; + }; + selectSceneItems = (name: string, index: number, selected: boolean, icon: string) => { + this.sceneItems.map((el) => { + el.isSelected = false; + return el; + }); this.sceneItems.map((el, i) => i.isEqualR(index).map(() => (el.isSelected = selected))); if (selected) { - this.createNewForm(SceneManagerForms.solidBody); + this.createNewForm(this.iconToSceneManagerForm(icon)); this.selectedItemName = name; } @@ -107,28 +143,21 @@ export class SceneMangerStore extends UiDrawerFormState { this.sceneHelperInstruments.map((el) => { el.isSelected = false; - if (el.icon.isEqual(mode)) { - el.isSelected = true; - } + el.icon.isEqualR(mode).map(() => (el.isSelected = true)); + return el; }); this.sceneMode = mode; this.coreThreeRepository?.setTransformMode(this.sceneMode); this.sceneModeWatcher(); }; - createNewForm = (formType: SceneManagerForms | undefined) => { - this.activeFormDependency = { - store: this, - }; + createNewForm = (formType: SceneManagerForms | undefined, isNeedClearDependency?: boolean) => { + this.activeFormDependency = Object.assign(this.activeFormDependency, { store: this }); + if (isNeedClearDependency) this.activeFormDependency = { store: this }; this.activeFormType = formType; }; createNewScene = () => @@ -143,7 +172,8 @@ export class SceneMangerStore extends UiDrawerFormState { this.sceneItems = this.sceneItems.filter((el) => !el.name.isEqual(item.name)); - this.coreThreeRepository?.deleteSceneItem(item.name); + + this.coreThreeRepository?.deleteSceneItem(item); this.visibleSaveButton(); }; @@ -151,48 +181,26 @@ export class SceneMangerStore extends UiDrawerFormState { - model.position = this.coreThreeRepository!.camera.position; - model.quaternion = this.coreThreeRepository!.camera.quaternion; - this.sceneItems.push({ name: model.cameraLink, icon: "Camera", fn: () => {}, isSelected: false }); - + addNewCamera = (model: CameraModel) => { + model.vector3 = this.coreThreeRepository!.camera.position; + // model.quaternion = this.coreThreeRepository!.camera.quaternion; + this.sceneItems.push({ name: model.name, icon: "Camera", fn: () => {}, isSelected: false }); + this.scene.push(model); this.coreThreeRepository?.addSceneCamera(model); this.visibleSaveButton(); }; - getCameraLinkNames = (): string[] => { - return this.sceneModels.map((el) => { - if (el instanceof CameraViewModel) { - return el.cameraLink; - } - return ""; - }); - }; - loaderWatcher = () => {}; loadSceneRobossemblerAsset = (name: string) => { try { - const assetPath = this.robossemblerAssets?.getAssetPath(name) as string; - - this.coreThreeRepository?.loader(assetPath, this.loaderWatcher, name); - this.visibleSaveButton(); + // this.coreThreeRepository?.loader(assetPath, this.loaderWatcher, name); + // this.visibleSaveButton(); } catch (error) { message.error(String(error)); } }; - isRenderedAsset(name: string): boolean { - return this.sceneModels - .filter((el) => { - if (el instanceof StaticAssetItemModel) { - return el.name === name; - } - return false; - }) - .isNotEmpty(); - } - hiddenMenu = () => (this.isSceneMenuShow = false); sceneModeWatcher() {} @@ -207,9 +215,7 @@ export class SceneMangerStore extends UiDrawerFormState - error.status - .isEqualR(404) - .map(() => this.errors.push(new UiBaseError(`${RobossemblerFiles.robossemblerAssets} not found to project`))); + error.status.isEqualR(404).map(() => this.errors.push(new UiBaseError(`not found to project`))); loadScene = (canvasRef: HTMLCanvasElement) => { this.canvasRef = canvasRef; @@ -222,36 +228,52 @@ export class SceneMangerStore extends UiDrawerFormState this.clickLister(event, canvasRef.getBoundingClientRect().x)); - canvasRef.addEventListener("mousedown", (e) => this.sceneContextMenu(e)); + const sceneAssets = this.sceneHttpRepository.getScene(); + this.coreThreeRepository?.loadScene(sceneAssets); + this.sceneItems = sceneAssets.scene.map((el) => { + return { + fn: () => {}, + name: el.name, + icon: el.icon, + isSelected: false, + }; + }); + this.scene = sceneAssets.scene; } + clickScene = (event: MouseEvent, offset: number = 0): Result => { + const vector = new Vector2(); + const boundingRect = this.canvasRef!.getBoundingClientRect(); + vector.x = ((event.clientX - offset) / boundingRect.width) * 2 - 1; + vector.y = -(event.clientY / boundingRect.height) * 2 + 1; + return this.coreThreeRepository!.setRayCastAndGetFirstObjectAndPointToObject(vector); + }; clickLister = (event: MouseEvent, offset: number = 0) => { const vector = new Vector2(); const boundingRect = this.canvasRef!.getBoundingClientRect(); vector.x = ((event.clientX - offset) / boundingRect.width) * 2 - 1; vector.y = -(event.clientY / boundingRect.height) * 2 + 1; - if (this.mousePositionAwait && this.solidSpawnHelper) { + if (this.mousePositionAwait && this.spawnHelper) { this.mousePositionAwait = false; this.mousePosition = vector; this.coreThreeRepository?.setRayCastAndGetFirstObjectAndPointToObject(vector).map((v3) => { this.coreThreeRepository?.solidSpawn( - this.solidSpawnHelper as ISolidSpawnHelper, + this.spawnHelper as ISpawnHelper, (obj: Object3D | undefined) => { - const { solidType, name, url } = this.solidSpawnHelper as ISolidSpawnHelper; - this.scene.push(new SolidBodyModel(obj!.quaternion, obj!.position, name, solidType, url, url)); this.sceneItems.push({ - name: String(this.solidSpawnHelper?.name), + name: String(this.spawnHelper?.name), icon: "Solid", isSelected: false, fn: () => this.createNewForm(SceneManagerForms.solidBody), }); + this.visibleSaveButton(); }, v3 ); @@ -261,38 +283,27 @@ export class SceneMangerStore extends UiDrawerFormState - e.button.isEqualR(2).map(() => { - this.isSceneMenuShow = true; - this.sceneMenu.x = e.clientX; - this.sceneMenu.y = e.clientY; - }); - - watcherThereObjects = (sceneItemModel: BaseSceneItemModel) => { - // this.sceneModels.push(sceneItemModel); - console.log(sceneItemModel); - }; - - watcherSceneEditorObject = (mesh: Object3D) => { - this.scene = this.scene.map((el) => + watcherSceneEditorObject = (mesh: Object3D) => ( + (this.scene = this.scene.map((el) => el.name.isEqualR(mesh.name).fold( () => { el.vector3 = mesh.position; - el.quaternion = mesh.quaternion; + el.quaternion = mesh.quaternion.toArray(); return el; }, () => el ) - ); - this.visibleSaveButton(); - }; + )), + this.visibleSaveButton() + ); transformContollsCall = (vector: Vector2) => + // @ts-ignore this.coreThreeRepository?.setRayCastAndGetFirstObject(vector).fold( (object) => this.coreThreeRepository?.setTransformControlsAttach(object), (_) => this.coreThreeRepository?.disposeTransformControlsMode() @@ -300,6 +311,5 @@ export class SceneMangerStore extends UiDrawerFormState { window.removeEventListener("click", this.clickLister); - window.removeEventListener("mousedown", (e) => this.sceneContextMenu(e)); }; } diff --git a/ui/src/index.tsx b/ui/src/index.tsx index eff0d0e..2332018 100644 --- a/ui/src/index.tsx +++ b/ui/src/index.tsx @@ -5,11 +5,11 @@ import { extensions } from "./core/extensions/extensions"; import { SocketLister } from "./features/socket_lister/socket_lister"; import { RouterProvider } from "react-router-dom"; import { router } from "./core/routers/routers"; -import { configure } from "mobx" +import { configure } from "mobx"; configure({ - enforceActions: "never", -}) + enforceActions: "never", +}); extensions(); const root = ReactDOM.createRoot(document.getElementById("root") as HTMLElement); diff --git a/web_p/rbs_train.py b/web_p/rbs_train.py index 2a78759..5ebba66 100644 --- a/web_p/rbs_train.py +++ b/web_p/rbs_train.py @@ -8,6 +8,7 @@ 27.04.2024 @shalenikol release 0.1 """ + import argparse from train_Yolo import train_YoloV8 from train_Dope import train_Dope_i diff --git a/web_p/robot_builder.py b/web_p/robot_builder.py new file mode 100644 index 0000000..12bf58a --- /dev/null +++ b/web_p/robot_builder.py @@ -0,0 +1,26 @@ +import shutil +import argparse +import os.path + +parser = argparse.ArgumentParser() +parser.add_argument("--path") +parser.add_argument("--nDOF") +parser.add_argument("--toolType") +parser.add_argument("--name") + +args = parser.parse_args() +2 + +def copy_and_move_folder(src, dst): + try: + if os.path.exists(dst): + shutil.rmtree(dst) + shutil.copytree(src, dst) + print(f"Folder {src} successfully copied") + except shutil.Error as e: + print(f"Error: {e}") + + +source_folder = os.path.dirname(os.path.abspath(__file__)) + "/robot_builder/" + +copy_and_move_folder(source_folder, args.path + args.name) diff --git a/web_p/robot_builder/base.dae b/web_p/robot_builder/base.dae deleted file mode 120000 index dd414ea..0000000 --- a/web_p/robot_builder/base.dae +++ /dev/null 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9997 2470 3129 9998 2472 3131 9999 2473 3132 10000 8870 3133 10001 2471 3130 10002 2473 3132 10003 2472 3131 10004 8870 3133 10005 2474 3134 10006 8871 3135 10007 2473 3132 10008 2474 3134 10009 8870 3133 10010 8871 3135 10011 2475 3136 10012 2476 3137 10013 2474 3134 10014 2475 3136 10015 8871 3135 10016 2476 3137 10017 2477 3138 10018 2478 3139 10019 2475 3136 10020 2477 3138 10021 2476 3137 10022 2478 3139 10023 2479 3140 10024 8874 3141 10025 2477 3138 10026 2479 3140 10027 2478 3139 10028 8874 3141 10029 2480 3142 10030 8875 3143 10031 2479 3140 10032 2480 3142 10033 8874 3141 10034 2480 3142 10035 2481 3144 10036 8875 3143 10037 8875 3143 10038 2481 3144 10039 8904 3145 10040 2481 3144 10041 2482 3146 10042 8904 3145 10043 8904 3145 10044 2482 3146 10045 2483 3147 10046 2482 3146 10047 2484 3148 10048 2483 3147 10049 2483 3147 10050 2484 3148 10051 8880 3149 10052 2484 3148 10053 2485 3150 10054 8880 3149 10055 8880 3149 10056 2485 3150 10057 8881 3151 10058 2485 3150 10059 2486 3152 10060 8881 3151 10061 8881 3151 10062 2486 3152 10063 2487 3153 10064 2486 3152 10065 2488 3154 10066 2487 3153 10067 2487 3153 10068 2488 3154 10069 2489 3155 10070 2488 3154 10071 2490 3156 10072 2489 3155 10073 2489 3155 10074 2490 3156 10075 8882 3157 10076 2490 3156 10077 2491 3158 10078 8882 3157 10079 8882 3157 10080 2491 3158 10081 8883 3159 10082 2491 3158 10083 2492 3160 10084 8883 3159 10085 8883 3159 10086 2492 3160 10087 8908 3161 10088 2492 3160 10089 2493 3162 10090 8908 3161 10091 8908 3161 10092 2493 3162 10093 2494 3163 10094 2493 3162 10095 2495 3164 10096 2494 3163 10097 2494 3163 10098 2495 3164 10099 8925 3165 10100 2495 3164 10101 2496 3166 10102 8925 3165 10103 8925 3165 10104 2496 3166 10105 8924 737 10106 2496 3166 10107 590 735 10108 8924 737 10109 2463 3118 10110 8901 3119 10111 8879 2196 10112 9881 3167 10113 2497 3168 10114 2498 3169 10115 2497 3168 10116 2499 3170 10117 2498 3169 10118 2498 3169 10119 2500 3171 10120 9839 3172 10121 2499 3170 10122 2500 3171 10123 2498 3169 10124 9839 3172 10125 2501 3173 10126 9840 3174 10127 2500 3171 10128 2501 3173 10129 9839 3172 10130 9869 3175 10131 2502 3176 10132 2503 3177 10133 9840 3174 10134 2502 3176 10135 9869 3175 10136 2501 3173 10137 2502 3176 10138 9840 3174 10139 2503 3177 10140 2504 3178 10141 9809 3179 10142 2502 3176 10143 2504 3178 10144 2503 3177 10145 2504 3178 10146 2505 3180 10147 9809 3179 10148 9810 3181 10149 2506 3182 10150 9857 3183 10151 9809 3179 10152 2506 3182 10153 9810 3181 10154 2505 3180 10155 2506 3182 10156 9809 3179 10157 2506 3182 10158 2507 3184 10159 9857 3183 10160 2508 3185 10161 2509 3186 10162 9811 3187 10163 9857 3183 10164 2509 3186 10165 2508 3185 10166 2507 3184 10167 2509 3186 10168 9857 3183 10169 2509 3186 10170 2510 3188 10171 9811 3187 10172 9811 3187 10173 2511 3189 10174 9812 3190 10175 2510 3188 10176 2511 3189 10177 9811 3187 10178 2511 3189 10179 2512 3191 10180 9812 3190 10181 9812 3190 10182 2512 3191 10183 2513 3192 10184 2512 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14021 31845 100866 14024 31838 100867 13696 31837 100868 14026 31840 100869 14020 31844 100870 13696 31837 100871 13690 31846 100872 13689 31835 100873 13691 19865 100874 13695 31836 100875 14024 31838 100876 14025 31847 100877 13692 31848 100878 13690 31846 100879 13691 19865 100880 13693 19864 100881 13692 31848 100882 13691 19865 100883 13695 31836 100884 14025 31847 100885 13694 19863 100886 13691 19866 100887 13687 20407 100888 14126 19867 100889 13871 19869 100890 13868 31849 100891 13864 19870 100892 13888 19872 100893 13848 19991 100894 13851 19873 100895 13794 19875 100896 13790 31850 100897 13789 19876 100898 14061 19878 100899 13952 20091 100900 13949 19879 100901 14216 19881 100902 14025 20430 100903 14024 19882 100904 14121 19884 100905 14120 20532 100906 14026 19885 100907 14101 19887 100908 14102 20426 100909 13773 19888 100910 13660 19890 100911 13659 20341 100912 13657 19891 100913 13882 19892 100914 13968 20266 100915 13890 19893 100916 14040 19895 100917 13734 31851 100918 13735 19896 100919 14056 19898 100920 14039 20084 100921 13731 19899 100922 13927 19901 100923 13926 20204 100924 13665 19902 100925 14043 19904 100926 14042 20303 100927 13738 19905 100928 14000 19907 100929 14003 31852 100930 14004 19908 100931 14063 19910 100932 13943 31853 100933 13948 19911 100934 13810 19913 100935 13822 19995 100936 13711 19914 100937 13800 19916 100938 14005 19909 100939 13798 19917 100940 13799 19922 100941 13806 19928 100942 13802 19923 100943 13987 19925 100944 13988 20123 100945 13985 19926 100946 13806 19928 100947 13807 19956 100948 13805 19929 100949 13779 19930 100950 13786 20116 100951 13782 19931 100952 13815 19933 100953 13861 20137 100954 13860 19934 100955 14215 19936 100956 13693 20367 100957 13694 19937 100958 13731 19939 100959 13718 20059 100960 13728 19940 100961 13725 19942 100962 13720 31854 100963 13717 19943 100964 13857 19945 100965 13856 20132 100966 13858 19946 100967 13726 19948 100968 13724 19944 100969 13723 19949 100970 13845 19951 100971 13842 19958 100972 13832 19952 100973 13835 19954 100974 13834 19992 100975 13833 19955 100976 13807 19956 100977 13806 19928 100978 13987 19925 100979 13842 19958 100980 13844 19994 100981 13843 19959 100982 13837 19950 100983 13833 19955 100984 13840 19960 100985 13849 19963 100986 13848 19991 100987 13846 19964 100988 13706 19965 100989 13819 20008 100990 13705 19966 100991 13820 19920 100992 13823 19997 100993 13813 19969 100994 14072 19971 100995 14077 20095 100996 14012 19972 100997 13978 19974 100998 13866 19980 100999 13865 19975 101000 13796 19976 101001 13988 20123 101002 13799 19922 101003 13826 19977 101004 13836 20127 101005 13721 19978 101006 13866 19980 101007 13978 19974 101008 13976 19981 101009 13978 19974 101010 13986 19927 101011 13977 19983 101012 13986 19927 101013 13985 19926 101014 13983 19984 101015 13979 19985 101016 13976 19989 101017 13977 19986 101018 13975 19988 101019 13974 19852 101020 13976 19989 101021 13887 19990 101022 13847 20130 101023 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101076 14092 31856 101077 13689 20028 101078 14071 20030 101079 14072 19971 101080 14011 19973 101081 13787 19932 101082 13792 19877 101083 13789 19876 101084 14128 20033 101085 13682 20242 101086 13685 20034 101087 13813 19969 101088 13811 20076 101089 13812 20036 101090 13818 20037 101091 13829 20125 101092 13828 20038 101093 13724 19944 101094 13717 19943 101095 13721 19978 101096 13720 31854 101097 13719 20040 101098 13717 19943 101099 13719 20040 101100 14081 1086 101101 14034 20041 101102 13743 20042 101103 13758 20398 101104 14051 20043 101105 14052 20045 101106 13757 31857 101107 13759 20046 101108 13888 20051 101109 13854 20337 101110 13879 20052 101111 13733 31858 101112 13939 31859 101113 13727 31860 101114 13727 31860 101115 13719 31861 101116 13733 31858 101117 13719 31861 101118 13740 20062 101119 13739 20064 101120 13735 31862 101121 13719 31861 101122 13738 31863 101123 13740 20062 101124 13747 31864 101125 13746 31865 101126 13747 31864 101127 13755 31866 101128 13748 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20035 101287 13685 20034 101288 13721 19978 101289 13717 19943 101290 13722 20118 101291 13807 19956 101292 13989 19957 101293 13812 20036 101294 13808 19968 101295 13807 19956 101296 13811 20076 101297 13702 20001 101298 13705 19966 101299 13826 19977 101300 13704 19967 101301 13705 19966 101302 13702 20001 101303 13845 19951 101304 13846 19964 101305 13844 19994 101306 13803 20120 101307 13800 19916 101308 13801 19924 101309 13702 20001 101310 13999 19979 101311 13701 20121 101312 13801 19924 101313 13800 19916 101314 13797 19918 101315 13796 19976 101316 13992 20275 101317 13990 20122 101318 13830 20108 101319 13828 20038 101320 13829 20125 101321 13723 19949 101322 13721 19978 101323 13836 20127 101324 13831 20126 101325 13850 19953 101326 13832 19952 101327 13793 20128 101328 13992 20275 101329 13796 19976 101330 13829 20125 101331 13860 19934 101332 13859 20129 101333 13833 19955 101334 13832 19952 101335 13842 19958 101336 13806 19928 101337 13799 19922 101338 13988 20123 101339 13841 20119 101340 13996 20077 101341 13838 19961 101342 13669 20134 101343 13924 20206 101344 13921 20135 101345 13861 20137 101346 13858 19946 101347 13859 20129 101348 13779 20145 101349 13720 31886 101350 13785 20143 101351 13720 31886 101352 13725 31887 101353 13871 31888 101354 13874 31889 101355 13720 31886 101356 13873 31890 101357 13725 31887 101358 13870 31891 101359 13871 31888 101360 13871 31888 101361 13872 31892 101362 13720 31886 101363 13995 31893 101364 13786 31894 101365 13975 31895 101366 13786 31894 101367 13779 20145 101368 13783 31896 101369 13981 31897 101370 13994 31898 101371 13995 31893 101372 13980 31899 101373 13982 31900 101374 13995 31893 101375 13982 31900 101376 13981 31897 101377 13995 31893 101378 13975 31895 101379 13979 31901 101380 13980 31899 101381 13783 31896 101382 13975 31895 101383 13786 31894 101384 13975 31895 101385 13980 31899 101386 13995 31893 101387 13872 31892 101388 13873 31890 101389 13720 31886 101390 13720 31886 101391 13874 31889 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101550 14064 20369 101551 13938 20282 101552 14080 20072 101553 14083 20412 101554 13701 20121 101555 13825 20039 101556 13826 19977 101557 13705 19966 101558 13714 31919 101559 13776 31920 101560 13781 31921 101561 13776 31920 101562 14018 20287 101563 14006 20286 101564 13781 31921 101565 13776 31920 101566 13778 31922 101567 14018 20287 101568 14016 31923 101569 14010 31924 101570 14010 31924 101571 14009 31925 101572 14007 20285 101573 14007 20285 101574 14008 31926 101575 14006 20286 101576 14006 20286 101577 13778 31922 101578 13776 31920 101579 14018 20287 101580 14010 31924 101581 14007 20285 101582 14002 20289 101583 13710 31927 101584 13788 20290 101585 13710 31927 101586 13713 31928 101587 13780 31929 101588 13777 31930 101589 13710 31927 101590 13780 31929 101591 13777 31930 101592 13788 20290 101593 13710 31927 101594 13788 20290 101595 13789 31931 101596 14003 20288 101597 13789 31931 101598 13790 31932 101599 13791 31933 101600 13791 31933 101601 14004 31934 101602 13789 31931 101603 14004 31934 101604 14003 20288 101605 13789 31931 101606 13778 1908 101607 14006 20380 101608 13740 20291 101609 14006 20380 101610 14071 20030 101611 13740 20291 101612 13788 20032 101613 13777 31935 101614 13779 19930 101615 14002 20292 101616 14003 31852 101617 14000 19907 101618 14063 19910 101619 13947 31936 101620 13940 20234 101621 13715 31937 101622 13764 31938 101623 13775 20295 101624 13764 31938 101625 13765 31939 101626 13775 20295 101627 13765 31939 101628 13763 31940 101629 13775 20295 101630 13763 31940 101631 14011 20293 101632 13775 20295 101633 14011 20293 101634 14012 31941 101635 14013 20294 101636 14013 20294 101637 14014 31942 101638 14015 31943 101639 14015 31943 101640 14017 31944 101641 14013 20294 101642 14017 31944 101643 13775 20295 101644 14013 20294 101645 13766 31945 101646 14019 31946 101647 13767 31947 101648 14019 31946 101649 13716 31948 101650 13767 31947 101651 13767 31947 101652 13770 20296 101653 13768 20298 101654 13766 31945 101655 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20258 101761 13895 20329 101762 13912 20330 101763 13964 20210 101764 13963 20331 101765 13656 20316 101766 13905 20164 101767 13658 20166 101768 13883 19894 101769 13890 19893 101770 13891 20333 101771 13883 20163 101772 13663 19839 101773 13880 20156 101774 13879 20336 101775 13878 31956 101776 13877 31957 101777 13877 31957 101778 13876 31958 101779 13880 20334 101780 13876 31958 101781 13875 31959 101782 13880 20334 101783 13875 31959 101784 13881 31960 101785 13880 20334 101786 13880 20334 101787 13885 31961 101788 13884 20335 101789 13884 20335 101790 13886 31962 101791 13879 20336 101792 13879 20336 101793 13877 31957 101794 13880 20334 101795 13859 20129 101796 13858 19946 101797 13856 20132 101798 13868 20142 101799 13869 19947 101800 13858 19946 101801 13854 20337 101802 13855 20271 101803 13878 20272 101804 13926 20338 101805 13927 20165 101806 13919 20339 101807 13971 20328 101808 13969 20327 101809 13657 19891 101810 13963 20342 101811 13964 20344 101812 13957 20343 101813 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+ + + + + + + + -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file