Добавлены модули создания проектов сборки и подготовки датасетов

server/src/core/models/robossembler_assets.ts

@@ -1,160 +1,23 @@
-import { IsArray, IsEnum, IsNumber, IsOptional, IsString, ValidateNested } from "class-validator";
+import { IsArray, IsString } from "class-validator";
 import { Type } from "class-transformer";
-
-export class Gravity {
-  @IsNumber()
-  x: number;
-  @IsNumber()
-  y: number;
-  @IsNumber()
-  z: number;
+class Asset {
+  @IsString()
+  public name: string;
+  @IsString()
+  public mesh: string;
+  @IsString()
+  public image: string;
 }
-
-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;
-}
-
-export class Physics {
-  @IsString()
-  engine_name: string;
-  @Type(() => Gravity)
-  gravity: Gravity;
-}
-
 export class RobossemblerAssets {
-  @ValidateNested()
+  @IsArray()
   @Type(() => Asset)
   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 {
+  convertLocalPathsToServerPaths(serverAddress: string): RobossemblerAssets {
     this.assets = this.assets.map((el) => {
-      el.meshPath = server_address + el.meshPath;
+      el.mesh = `${serverAddress}/${el.mesh.slice(2, el.mesh.length)}`;
+      el.image = `${serverAddress}/${el.image.slice(2, el.image.length)}`;
       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];
-  }
 }