diff --git a/.gitignore b/.gitignore
index 301f61d..7536cdc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
-p.py
\ No newline at end of file
+p.py
+__pycache__
\ No newline at end of file
diff --git a/.vscode/PythonImportHelper-v2-Completion.json b/.vscode/PythonImportHelper-v2-Completion.json
new file mode 100644
index 0000000..7bab5a5
--- /dev/null
+++ b/.vscode/PythonImportHelper-v2-Completion.json
@@ -0,0 +1,1205 @@
+[
+ {
+ "label": "json",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "json",
+ "description": "json",
+ "detail": "json",
+ "documentation": {}
+ },
+ {
+ "label": "stringify",
+ "importPath": "flatted",
+ "description": "flatted",
+ "isExtraImport": true,
+ "detail": "flatted",
+ "documentation": {}
+ },
+ {
+ "label": "parse",
+ "importPath": "flatted",
+ "description": "flatted",
+ "isExtraImport": true,
+ "detail": "flatted",
+ "documentation": {}
+ },
+ {
+ "label": "stringify",
+ "importPath": "flatted",
+ "description": "flatted",
+ "isExtraImport": true,
+ "detail": "flatted",
+ "documentation": {}
+ },
+ {
+ "label": "parse",
+ "importPath": "flatted",
+ "description": "flatted",
+ "isExtraImport": true,
+ "detail": "flatted",
+ "documentation": {}
+ },
+ {
+ "label": "time",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "time",
+ "description": "time",
+ "detail": "time",
+ "documentation": {}
+ },
+ {
+ "label": "argparse",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "argparse",
+ "description": "argparse",
+ "detail": "argparse",
+ "documentation": {}
+ },
+ {
+ "label": "os",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "os",
+ "description": "os",
+ "detail": "os",
+ "documentation": {}
+ },
+ {
+ "label": "subprocess",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "subprocess",
+ "description": "subprocess",
+ "detail": "subprocess",
+ "documentation": {}
+ },
+ {
+ "label": "signal",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "signal",
+ "description": "signal",
+ "detail": "signal",
+ "documentation": {}
+ },
+ {
+ "label": "NodeStrategy",
+ "importPath": "ros2cli.node.strategy",
+ "description": "ros2cli.node.strategy",
+ "isExtraImport": true,
+ "detail": "ros2cli.node.strategy",
+ "documentation": {}
+ },
+ {
+ "label": "get_topic_names_and_types",
+ "importPath": "ros2topic.api",
+ "description": "ros2topic.api",
+ "isExtraImport": true,
+ "detail": "ros2topic.api",
+ "documentation": {}
+ },
+ {
+ "label": "shutil",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "shutil",
+ "description": "shutil",
+ "detail": "shutil",
+ "documentation": {}
+ },
+ {
+ "label": "os.path",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "os.path",
+ "description": "os.path",
+ "detail": "os.path",
+ "documentation": {}
+ },
+ {
+ "label": "Path",
+ "importPath": "pathlib",
+ "description": "pathlib",
+ "isExtraImport": true,
+ "detail": "pathlib",
+ "documentation": {}
+ },
+ {
+ "label": "Path",
+ "importPath": "pathlib",
+ "description": "pathlib",
+ "isExtraImport": true,
+ "detail": "pathlib",
+ "documentation": {}
+ },
+ {
+ "label": "Path",
+ "importPath": "pathlib",
+ "description": "pathlib",
+ "isExtraImport": true,
+ "detail": "pathlib",
+ "documentation": {}
+ },
+ {
+ "label": "train_YoloV8",
+ "importPath": "train_Yolo",
+ "description": "train_Yolo",
+ "isExtraImport": true,
+ "detail": "train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "train_Dope_i",
+ "importPath": "train_Dope",
+ "description": "train_Dope",
+ "isExtraImport": true,
+ "detail": "train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "blenderproc",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "blenderproc",
+ "description": "blenderproc",
+ "detail": "blenderproc",
+ "documentation": {}
+ },
+ {
+ "label": "numpy",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "numpy",
+ "description": "numpy",
+ "detail": "numpy",
+ "documentation": {}
+ },
+ {
+ "label": "random",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "random",
+ "description": "random",
+ "detail": "random",
+ "documentation": {}
+ },
+ {
+ "label": "bpy",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "bpy",
+ "description": "bpy",
+ "detail": "bpy",
+ "documentation": {}
+ },
+ {
+ "label": "transforms3d",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "transforms3d",
+ "description": "transforms3d",
+ "detail": "transforms3d",
+ "documentation": {}
+ },
+ {
+ "label": "yaml",
+ "kind": 6,
+ "isExtraImport": true,
+ "importPath": "yaml",
+ "description": "yaml",
+ "detail": "yaml",
+ "documentation": {}
+ },
+ {
+ "label": "YOLO",
+ "importPath": "ultralytics",
+ "description": "ultralytics",
+ "isExtraImport": true,
+ "detail": "ultralytics",
+ "documentation": {}
+ },
+ {
+ "label": "_Known",
+ "kind": 6,
+ "importPath": "server.node_modules.flatted.python.flatted",
+ "description": "server.node_modules.flatted.python.flatted",
+ "peekOfCode": "class _Known:\n def __init__(self):\n self.key = []\n self.value = []\nclass _String:\n def __init__(self, value):\n self.value = value\ndef _array_keys(value):\n keys = []\n i = 0",
+ "detail": "server.node_modules.flatted.python.flatted",
+ "documentation": {}
+ },
+ {
+ "label": "_String",
+ "kind": 6,
+ "importPath": "server.node_modules.flatted.python.flatted",
+ "description": "server.node_modules.flatted.python.flatted",
+ "peekOfCode": "class _String:\n def __init__(self, value):\n self.value = value\ndef _array_keys(value):\n keys = []\n i = 0\n for _ in value:\n keys.append(i)\n i += 1\n return keys",
+ "detail": "server.node_modules.flatted.python.flatted",
+ "documentation": {}
+ },
+ {
+ "label": "parse",
+ "kind": 2,
+ "importPath": "server.node_modules.flatted.python.flatted",
+ "description": "server.node_modules.flatted.python.flatted",
+ "peekOfCode": "def parse(value, *args, **kwargs):\n json = _json.loads(value, *args, **kwargs)\n wrapped = []\n for value in json:\n wrapped.append(_wrap(value))\n input = []\n for value in wrapped:\n if isinstance(value, _String):\n input.append(value.value)\n else:",
+ "detail": "server.node_modules.flatted.python.flatted",
+ "documentation": {}
+ },
+ {
+ "label": "stringify",
+ "kind": 2,
+ "importPath": "server.node_modules.flatted.python.flatted",
+ "description": "server.node_modules.flatted.python.flatted",
+ "peekOfCode": "def stringify(value, *args, **kwargs):\n known = _Known()\n input = []\n output = []\n i = int(_index(known, input, value))\n while i < len(input):\n output.append(_transform(known, input, input[i]))\n i += 1\n return _json.dumps(output, *args, **kwargs)",
+ "detail": "server.node_modules.flatted.python.flatted",
+ "documentation": {}
+ },
+ {
+ "label": "stringify",
+ "kind": 2,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "def stringify(value):\n return _stringify(value, separators=(',', ':'))\nassert stringify([None, None]) == '[[null,null]]'\na = []\no = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "a",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "a = []\no = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "o = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['o']",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "o['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)\na.append('two')\na.append(True)\no['one'] = 1\no['two'] = 'two'",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "b",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "b = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)\na.append('two')\na.append(True)\no['one'] = 1\no['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['one']",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "o['one'] = 1\no['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['two']",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "o['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['three']",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "o['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])\no['test'] = {'test': 'OK'}",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['a']",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "o['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])\no['test'] = {'test': 'OK'}\no['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['test']",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "o['test'] = {'test': 'OK'}\no['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['array']",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "o['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "a2",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "a2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o2",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "o2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "str",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "str = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "oo",
+ "kind": 5,
+ "importPath": "server.node_modules.flatted.python.test",
+ "description": "server.node_modules.flatted.python.test",
+ "peekOfCode": "oo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')",
+ "detail": "server.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "_Known",
+ "kind": 6,
+ "importPath": "ui.node_modules.flatted.python.flatted",
+ "description": "ui.node_modules.flatted.python.flatted",
+ "peekOfCode": "class _Known:\n def __init__(self):\n self.key = []\n self.value = []\nclass _String:\n def __init__(self, value):\n self.value = value\ndef _array_keys(value):\n keys = []\n i = 0",
+ "detail": "ui.node_modules.flatted.python.flatted",
+ "documentation": {}
+ },
+ {
+ "label": "_String",
+ "kind": 6,
+ "importPath": "ui.node_modules.flatted.python.flatted",
+ "description": "ui.node_modules.flatted.python.flatted",
+ "peekOfCode": "class _String:\n def __init__(self, value):\n self.value = value\ndef _array_keys(value):\n keys = []\n i = 0\n for _ in value:\n keys.append(i)\n i += 1\n return keys",
+ "detail": "ui.node_modules.flatted.python.flatted",
+ "documentation": {}
+ },
+ {
+ "label": "parse",
+ "kind": 2,
+ "importPath": "ui.node_modules.flatted.python.flatted",
+ "description": "ui.node_modules.flatted.python.flatted",
+ "peekOfCode": "def parse(value, *args, **kwargs):\n json = _json.loads(value, *args, **kwargs)\n wrapped = []\n for value in json:\n wrapped.append(_wrap(value))\n input = []\n for value in wrapped:\n if isinstance(value, _String):\n input.append(value.value)\n else:",
+ "detail": "ui.node_modules.flatted.python.flatted",
+ "documentation": {}
+ },
+ {
+ "label": "stringify",
+ "kind": 2,
+ "importPath": "ui.node_modules.flatted.python.flatted",
+ "description": "ui.node_modules.flatted.python.flatted",
+ "peekOfCode": "def stringify(value, *args, **kwargs):\n known = _Known()\n input = []\n output = []\n i = int(_index(known, input, value))\n while i < len(input):\n output.append(_transform(known, input, input[i]))\n i += 1\n return _json.dumps(output, *args, **kwargs)",
+ "detail": "ui.node_modules.flatted.python.flatted",
+ "documentation": {}
+ },
+ {
+ "label": "stringify",
+ "kind": 2,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "def stringify(value):\n return _stringify(value, separators=(',', ':'))\nassert stringify([None, None]) == '[[null,null]]'\na = []\no = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "a",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "a = []\no = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "o = {}\nassert stringify(a) == '[[]]'\nassert stringify(o) == '[{}]'\na.append(a)\no['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['o']",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "o['o'] = o\nassert stringify(a) == '[[\"0\"]]'\nassert stringify(o) == '[{\"o\":\"0\"}]'\nb = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)\na.append('two')\na.append(True)\no['one'] = 1\no['two'] = 'two'",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "b",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "b = parse(stringify(a))\nassert isinstance(b, list) and b[0] == b\na.append(1)\na.append('two')\na.append(True)\no['one'] = 1\no['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['one']",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "o['one'] = 1\no['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['two']",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "o['two'] = 'two'\no['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['three']",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "o['three'] = True\nassert stringify(a) == '[[\"0\",1,\"1\",true],\"two\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true},\"two\"]'\na.append(o)\no['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])\no['test'] = {'test': 'OK'}",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['a']",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "o['a'] = a\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\"}]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\"},\"two\",[\"2\",1,\"1\",true,\"0\"]]'\na.append({'test': 'OK'})\na.append([1, 2, 3])\no['test'] = {'test': 'OK'}\no['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['test']",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "o['test'] = {'test': 'OK'}\no['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o['array']",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "o['array'] = [1, 2, 3]\nassert stringify(a) == '[[\"0\",1,\"1\",true,\"2\",\"3\",\"4\"],\"two\",{\"o\":\"2\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"0\",\"test\":\"3\",\"array\":\"4\"},{\"test\":\"5\"},[1,2,3],\"OK\"]'\nassert stringify(o) == '[{\"o\":\"0\",\"one\":1,\"two\":\"1\",\"three\":true,\"a\":\"2\",\"test\":\"3\",\"array\":\"4\"},\"two\",[\"2\",1,\"1\",true,\"0\",\"3\",\"4\"],{\"test\":\"5\"},[1,2,3],\"OK\"]'\na2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "a2",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "a2 = parse(stringify(a));\no2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "o2",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "o2 = parse(stringify(o));\nassert a2[0] == a2\nassert o2['o'] == o2\nassert a2[1] == 1 and a2[2] == 'two' and a2[3] == True and isinstance(a2[4], dict)\nassert a2[4] == a2[4]['o'] and a2 == a2[4]['o']['a']\nstr = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "str",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "str = parse('[{\"prop\":\"1\",\"a\":\"2\",\"b\":\"3\"},{\"value\":123},[\"4\",\"5\"],{\"e\":\"6\",\"t\":\"7\",\"p\":4},{},{\"b\":\"8\"},\"f\",{\"a\":\"9\"},[\"10\"],\"sup\",{\"a\":1,\"d\":2,\"c\":\"7\",\"z\":\"11\",\"h\":1},{\"g\":2,\"a\":\"7\",\"b\":\"12\",\"f\":6},{\"r\":4,\"u\":\"7\",\"c\":5}]')\nassert str['b']['t']['a'] == 'sup' and str['a'][1]['b'][0]['c'] == str['b']['t']\noo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "oo",
+ "kind": 5,
+ "importPath": "ui.node_modules.flatted.python.test",
+ "description": "ui.node_modules.flatted.python.test",
+ "peekOfCode": "oo = parse('[{\"a\":\"1\",\"b\":\"0\",\"c\":\"2\"},{\"aa\":\"3\"},{\"ca\":\"4\",\"cb\":\"5\",\"cc\":\"6\",\"cd\":\"7\",\"ce\":\"8\",\"cf\":\"9\"},{\"aaa\":\"10\"},{\"caa\":\"4\"},{\"cba\":\"5\"},{\"cca\":\"2\"},{\"cda\":\"4\"},\"value2\",\"value3\",\"value1\"]');\nassert oo['a']['aa']['aaa'] == 'value1' and oo == oo['b'] and oo['c']['ca']['caa'] == oo['c']['ca']\nprint('OK')",
+ "detail": "ui.node_modules.flatted.python.test",
+ "documentation": {}
+ },
+ {
+ "label": "get_script_args",
+ "kind": 2,
+ "importPath": "web_p.GetInterfaces.get_interfaces",
+ "description": "web_p.GetInterfaces.get_interfaces",
+ "peekOfCode": "def get_script_args(cfg):\n args = cfg[\"command\"].split()\n args.append(cfg[\"package\"])\n args.append(cfg[\"executable\"])\n return args\ndef get_topics(filename, path):\n jsonpath = os.path.join(path, filename)\n with NodeStrategy({}) as node:\n topic_names_and_types = get_topic_names_and_types(node=node, include_hidden_topics=False)\n topic_info = []",
+ "detail": "web_p.GetInterfaces.get_interfaces",
+ "documentation": {}
+ },
+ {
+ "label": "get_topics",
+ "kind": 2,
+ "importPath": "web_p.GetInterfaces.get_interfaces",
+ "description": "web_p.GetInterfaces.get_interfaces",
+ "peekOfCode": "def get_topics(filename, path):\n jsonpath = os.path.join(path, filename)\n with NodeStrategy({}) as node:\n topic_names_and_types = get_topic_names_and_types(node=node, include_hidden_topics=False)\n topic_info = []\n for (topic_name, topic_types) in topic_names_and_types:\n if not topic_name in TOPICS_FILTER:\n topic_info.append({\"name\": topic_name, \"type\": topic_types[0]})\n print(f\"---> number of topics: {len(topic_info)}\")\n j_data = {\"topics\": topic_info}",
+ "detail": "web_p.GetInterfaces.get_interfaces",
+ "documentation": {}
+ },
+ {
+ "label": "OUTPUT_FILE",
+ "kind": 5,
+ "importPath": "web_p.GetInterfaces.get_interfaces",
+ "description": "web_p.GetInterfaces.get_interfaces",
+ "peekOfCode": "OUTPUT_FILE = \"topics.json\"\nTOPICS_FILTER = [\"/parameter_events\", \"/rosout\"]\ndef get_script_args(cfg):\n args = cfg[\"command\"].split()\n args.append(cfg[\"package\"])\n args.append(cfg[\"executable\"])\n return args\ndef get_topics(filename, path):\n jsonpath = os.path.join(path, filename)\n with NodeStrategy({}) as node:",
+ "detail": "web_p.GetInterfaces.get_interfaces",
+ "documentation": {}
+ },
+ {
+ "label": "TOPICS_FILTER",
+ "kind": 5,
+ "importPath": "web_p.GetInterfaces.get_interfaces",
+ "description": "web_p.GetInterfaces.get_interfaces",
+ "peekOfCode": "TOPICS_FILTER = [\"/parameter_events\", \"/rosout\"]\ndef get_script_args(cfg):\n args = cfg[\"command\"].split()\n args.append(cfg[\"package\"])\n args.append(cfg[\"executable\"])\n return args\ndef get_topics(filename, path):\n jsonpath = os.path.join(path, filename)\n with NodeStrategy({}) as node:\n topic_names_and_types = get_topic_names_and_types(node=node, include_hidden_topics=False)",
+ "detail": "web_p.GetInterfaces.get_interfaces",
+ "documentation": {}
+ },
+ {
+ "label": "copy_and_move_folder",
+ "kind": 2,
+ "importPath": "web_p.blender",
+ "description": "web_p.blender",
+ "peekOfCode": "def copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/blender/\"\ncopy_and_move_folder(source_folder, args.path)",
+ "detail": "web_p.blender",
+ "documentation": {}
+ },
+ {
+ "label": "parser",
+ "kind": 5,
+ "importPath": "web_p.blender",
+ "description": "web_p.blender",
+ "peekOfCode": "parser = argparse.ArgumentParser()\nparser.add_argument(\"--path\")\nargs = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:",
+ "detail": "web_p.blender",
+ "documentation": {}
+ },
+ {
+ "label": "args",
+ "kind": 5,
+ "importPath": "web_p.blender",
+ "description": "web_p.blender",
+ "peekOfCode": "args = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/blender/\"",
+ "detail": "web_p.blender",
+ "documentation": {}
+ },
+ {
+ "label": "source_folder",
+ "kind": 5,
+ "importPath": "web_p.blender",
+ "description": "web_p.blender",
+ "peekOfCode": "source_folder = os.path.dirname(os.path.abspath(__file__)) + \"/blender/\"\ncopy_and_move_folder(source_folder, args.path)",
+ "detail": "web_p.blender",
+ "documentation": {}
+ },
+ {
+ "label": "copy_and_move_folder",
+ "kind": 2,
+ "importPath": "web_p.education",
+ "description": "web_p.education",
+ "peekOfCode": "def copy_and_move_folder(src, dst, folder):\n try:\n if os.path.exists(dst + \"/education/\") is False:\n Path(dst + \"/education/\").mkdir(parents=True, exist_ok=True)\n if os.path.exists(dst + \"/education/\" + folder + \"/\"):\n shutil.rmtree(dst + \"/education/\" + folder + \"/\")\n shutil.copytree(src, dst + \"/education/\" + folder + \"/\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/education\"",
+ "detail": "web_p.education",
+ "documentation": {}
+ },
+ {
+ "label": "parser",
+ "kind": 5,
+ "importPath": "web_p.education",
+ "description": "web_p.education",
+ "peekOfCode": "parser = argparse.ArgumentParser()\nparser.add_argument(\"--path\", required=True, help=\"Path for dataset\")\nparser.add_argument(\"--name\", required=True, help=\"String with result weights name\")\nparser.add_argument(\"--datasetName\", required=True, help=\"String with dataset name\")\nparser.add_argument(\"--outpath\", default=\"weights\", help=\"Output path for weights\")\nparser.add_argument(\"--type\", default=\"ObjectDetection\", help=\"Type of implementation\")\nparser.add_argument(\"--epoch\", default=3, help=\"How many training epochs\")\nparser.add_argument('--pretrain', help=\"Use pretraining\")\nargs = parser.parse_args()\ndef copy_and_move_folder(src, dst, folder):",
+ "detail": "web_p.education",
+ "documentation": {}
+ },
+ {
+ "label": "args",
+ "kind": 5,
+ "importPath": "web_p.education",
+ "description": "web_p.education",
+ "peekOfCode": "args = parser.parse_args()\ndef copy_and_move_folder(src, dst, folder):\n try:\n if os.path.exists(dst + \"/education/\") is False:\n Path(dst + \"/education/\").mkdir(parents=True, exist_ok=True)\n if os.path.exists(dst + \"/education/\" + folder + \"/\"):\n shutil.rmtree(dst + \"/education/\" + folder + \"/\")\n shutil.copytree(src, dst + \"/education/\" + folder + \"/\")\n except shutil.Error as e:\n print(f\"Error: {e}\")",
+ "detail": "web_p.education",
+ "documentation": {}
+ },
+ {
+ "label": "source_folder",
+ "kind": 5,
+ "importPath": "web_p.education",
+ "description": "web_p.education",
+ "peekOfCode": "source_folder = os.path.dirname(os.path.abspath(__file__)) + \"/education\"\ncopy_and_move_folder(source_folder, args.path, args.name)",
+ "detail": "web_p.education",
+ "documentation": {}
+ },
+ {
+ "label": "copy_and_move_folder",
+ "kind": 2,
+ "importPath": "web_p.get_interfaces_mock",
+ "description": "web_p.get_interfaces_mock",
+ "peekOfCode": "def copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/interfaces/\"\ncopy_and_move_folder(source_folder, args.path)",
+ "detail": "web_p.get_interfaces_mock",
+ "documentation": {}
+ },
+ {
+ "label": "parser",
+ "kind": 5,
+ "importPath": "web_p.get_interfaces_mock",
+ "description": "web_p.get_interfaces_mock",
+ "peekOfCode": "parser = argparse.ArgumentParser()\nparser.add_argument(\"--path\")\nargs = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:",
+ "detail": "web_p.get_interfaces_mock",
+ "documentation": {}
+ },
+ {
+ "label": "args",
+ "kind": 5,
+ "importPath": "web_p.get_interfaces_mock",
+ "description": "web_p.get_interfaces_mock",
+ "peekOfCode": "args = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/interfaces/\"",
+ "detail": "web_p.get_interfaces_mock",
+ "documentation": {}
+ },
+ {
+ "label": "source_folder",
+ "kind": 5,
+ "importPath": "web_p.get_interfaces_mock",
+ "description": "web_p.get_interfaces_mock",
+ "peekOfCode": "source_folder = os.path.dirname(os.path.abspath(__file__)) + \"/interfaces/\"\ncopy_and_move_folder(source_folder, args.path)",
+ "detail": "web_p.get_interfaces_mock",
+ "documentation": {}
+ },
+ {
+ "label": "convert2relative",
+ "kind": 2,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "def convert2relative(height, width, bbox):\n \"\"\"\n YOLO format use relative coordinates for annotation\n \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef render() -> int:\n i = 0",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "render",
+ "kind": 2,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "def render() -> int:\n i = 0\n for obj in all_meshs:\n # Make the object actively participate in the physics simulation\n obj.enable_rigidbody(active=True, collision_shape=\"COMPOUND\")\n # Also use convex decomposition as collision shapes\n obj.build_convex_decomposition_collision_shape(VHACD_PATH)\n i += 1\n # print(f\"{i} : {obj.get_name()}\")\n objs = all_meshs + rnd_par.scene.objs",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "VHACD_PATH",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "VHACD_PATH = \"blenderproc_resources/vhacd\"\nDIR_MODELS = \"models\"\nDIR_MESH = \"assets/libs/objects/\" #\"assets/mesh/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "DIR_MODELS",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "DIR_MODELS = \"models\"\nDIR_MESH = \"assets/libs/objects/\" #\"assets/mesh/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "DIR_MESH",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "DIR_MESH = \"assets/libs/objects/\" #\"assets/mesh/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "FILE_LOG_SCENE",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "FILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "FILE_RBS_INFO",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "FILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "FILE_GT_COCO",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "FILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\ndef _get_path_model(name_model: str) -> str:",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "EXT_MODELS",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "EXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\ndef _get_path_model(name_model: str) -> str:\n # TODO on name_model find path for mesh (model.fbx)",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "TEXTURE_TMPL",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "TEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\ndef _get_path_model(name_model: str) -> str:\n # TODO on name_model find path for mesh (model.fbx)\n # local_path/assets/libs/objects # assets/mesh/",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "Not_Categories_Name",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset",
+ "description": "web_p.renderBOPdataset",
+ "peekOfCode": "Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\ndef _get_path_model(name_model: str) -> str:\n # TODO on name_model find path for mesh (model.fbx)\n # local_path/assets/libs/objects # assets/mesh/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))",
+ "detail": "web_p.renderBOPdataset",
+ "documentation": {}
+ },
+ {
+ "label": "convert2relative",
+ "kind": 2,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "def convert2relative(height, width, bbox):\n \"\"\"\n YOLO format use relative coordinates for annotation\n \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef render() -> int:\n i = 0",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "render",
+ "kind": 2,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "def render() -> int:\n i = 0\n for obj in all_meshs:\n # Make the object actively participate in the physics simulation\n obj.enable_rigidbody(active=True, collision_shape=\"COMPOUND\")\n # Also use convex decomposition as collision shapes\n obj.build_convex_decomposition_collision_shape(VHACD_PATH)\n i += 1\n # print(f\"{i} : {obj.get_name()}\")\n objs = all_meshs + rnd_par.scene.objs",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "VHACD_PATH",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "VHACD_PATH = \"blenderproc_resources/vhacd\"\nDIR_MODELS = \"models\"\nDIR_MESH = \"assets/libs/objects/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "DIR_MODELS",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "DIR_MODELS = \"models\"\nDIR_MESH = \"assets/libs/objects/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "DIR_MESH",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "DIR_MESH = \"assets/libs/objects/\"\nFILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "FILE_LOG_SCENE",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "FILE_LOG_SCENE = \"res.txt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "FILE_RBS_INFO",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "FILE_RBS_INFO = \"rbs_info.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "FILE_GT_COCO",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "FILE_GT_COCO = \"scene_gt_coco.json\"\nEXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\n# def _get_path_model(name_model: str) -> str:",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "EXT_MODELS",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "EXT_MODELS = \".fbx\"\nTEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\n# def _get_path_model(name_model: str) -> str:\n# # TODO on name_model find path for mesh (model.fbx)",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "TEXTURE_TMPL",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "TEXTURE_TMPL = \"*.jpg\"\nNot_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\n# def _get_path_model(name_model: str) -> str:\n# # TODO on name_model find path for mesh (model.fbx)\n# # local_path/assets/libs/objects # assets/mesh/",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "Not_Categories_Name",
+ "kind": 5,
+ "importPath": "web_p.renderBOPdataset2",
+ "description": "web_p.renderBOPdataset2",
+ "peekOfCode": "Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует\ndef _get_list_texture(rel_path: str) -> list:\n # local_path/texture/\n loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))\n path = os.path.join(loc, rel_path)\n return list(Path(path).absolute().rglob(TEXTURE_TMPL))\n# def _get_path_model(name_model: str) -> str:\n# # TODO on name_model find path for mesh (model.fbx)\n# # local_path/assets/libs/objects # assets/mesh/\n# loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))",
+ "detail": "web_p.renderBOPdataset2",
+ "documentation": {}
+ },
+ {
+ "label": "copy_and_move_folder",
+ "kind": 2,
+ "importPath": "web_p.robot_builder",
+ "description": "web_p.robot_builder",
+ "peekOfCode": "def copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/robot_builder/\"\ncopy_and_move_folder(source_folder, args.path + args.name)",
+ "detail": "web_p.robot_builder",
+ "documentation": {}
+ },
+ {
+ "label": "parser",
+ "kind": 5,
+ "importPath": "web_p.robot_builder",
+ "description": "web_p.robot_builder",
+ "peekOfCode": "parser = argparse.ArgumentParser()\nparser.add_argument(\"--path\")\nparser.add_argument(\"--nDOF\")\nparser.add_argument(\"--toolType\")\nparser.add_argument(\"--name\")\nargs = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)",
+ "detail": "web_p.robot_builder",
+ "documentation": {}
+ },
+ {
+ "label": "args",
+ "kind": 5,
+ "importPath": "web_p.robot_builder",
+ "description": "web_p.robot_builder",
+ "peekOfCode": "args = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/robot_builder/\"",
+ "detail": "web_p.robot_builder",
+ "documentation": {}
+ },
+ {
+ "label": "source_folder",
+ "kind": 5,
+ "importPath": "web_p.robot_builder",
+ "description": "web_p.robot_builder",
+ "peekOfCode": "source_folder = os.path.dirname(os.path.abspath(__file__)) + \"/robot_builder/\"\ncopy_and_move_folder(source_folder, args.path + args.name)",
+ "detail": "web_p.robot_builder",
+ "documentation": {}
+ },
+ {
+ "label": "trans_3Dto2D_point_in_camera",
+ "kind": 2,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "def trans_3Dto2D_point_in_camera(xyz, K_m, R_m2c, t_m2c):\n \"\"\"\n xyz : 3D-координаты точки\n K_m : внутренняя матрица камеры 3х3\n R_m2c : матрица поворота 3х3\n t_m2c : вектор перемещения 3х1\n return [u,v]\n \"\"\"\n K = np.array(K_m)\n r = np.array(R_m2c)",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "gt_parse",
+ "kind": 2,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "def gt_parse(path: str, out_dir: str):\n global nn_image\n with open(os.path.join(path, FILE_GT_COCO), \"r\") as fh:\n coco_data = json.load(fh)\n with open(os.path.join(path, FILE_GT), \"r\") as fh:\n gt_data = json.load(fh)\n with open(os.path.join(path, FILE_GT_INFO), \"r\") as fh:\n gt_info = json.load(fh)\n for img in coco_data[\"images\"]:\n rgb_file = os.path.join(path, img[\"file_name\"])",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "explore",
+ "kind": 2,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "def explore(path: str, res_dir: str):\n if not os.path.isdir(path):\n return\n folders = [\n os.path.join(path, o)\n for o in os.listdir(path)\n if os.path.isdir(os.path.join(path, o))\n ]\n for path_entry in folders:\n if os.path.isfile(os.path.join(path_entry,FILE_GT_COCO)) and \\",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "BOP2DOPE_dataset",
+ "kind": 2,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "def BOP2DOPE_dataset(dpath: str, out_dir: str) -> str:\n \"\"\" Convert BOP-dataset to YOLO format for train \"\"\"\n res_dir = os.path.join(out_dir, DIR_ROOT_DS)\n if os.path.isdir(res_dir):\n shutil.rmtree(res_dir)\n os.mkdir(res_dir)\n explore(dpath, res_dir)\n return out_dir\ndef train(dopepath:str, wname:str, epochs:int, pretrain: bool, lname: list):\n import random",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "train",
+ "kind": 2,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "def train(dopepath:str, wname:str, epochs:int, pretrain: bool, lname: list):\n import random\n # try:\n import configparser as configparser\n # except ImportError:\n # import ConfigParser as configparser\n import torch\n # import torch.nn.parallel\n import torch.optim as optim\n import torch.utils.data",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "train_Dope_i",
+ "kind": 2,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "def train_Dope_i(path:str, wname:str, dname:str, outpath:str, epochs:int, pretrain: bool):\n \"\"\" Main procedure for train DOPE model \"\"\"\n global K_intrinsic, model_info, camera_data, im_width\n if not os.path.isdir(outpath):\n print(f\"Invalid output path '{outpath}'\")\n exit(-1)\n out_dir = os.path.join(outpath, wname)\n ds_path = os.path.join(path, dname)\n if not os.path.isdir(ds_path):\n print(f\"{ds_path} : no BOP directory\")",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "FILE_RBS_INFO",
+ "kind": 5,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "FILE_RBS_INFO = \"rbs_info.json\"\nFILE_CAMERA = \"camera.json\"\nFILE_GT = \"scene_gt.json\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nFILE_GT_INFO = \"scene_gt_info.json\"\nFILE_MODEL = \"epoch\"\nEXT_MODEL = \".pth\"\nEXT_RGB = \"jpg\"\nDIR_ROOT_DS = \"dataset_dope\"\nDIR_TRAIN_OUT = \"out_weights\"",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "MODEL_SCALE",
+ "kind": 5,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "MODEL_SCALE = 1000 # исходная модель в метрах, преобразуем в мм (для DOPE)\n# Own_Numbering_Files = True # наименование image-файлов: собственная нумерация\nnn_image = 0\nK_intrinsic = []\nmodel_info = []\ncamera_data = {}\nim_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "nn_image",
+ "kind": 5,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "nn_image = 0\nK_intrinsic = []\nmodel_info = []\ncamera_data = {}\nim_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "K_intrinsic",
+ "kind": 5,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "K_intrinsic = []\nmodel_info = []\ncamera_data = {}\nim_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],\n# [min(x), min(y), max(z)],",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "model_info",
+ "kind": 5,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "model_info = []\ncamera_data = {}\nim_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],\n# [min(x), min(y), max(z)],\n# [max(x), min(y), max(z)],",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "camera_data",
+ "kind": 5,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "camera_data = {}\nim_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],\n# [min(x), min(y), max(z)],\n# [max(x), min(y), max(z)],\n# [max(x), max(y), min(z)],",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "im_width",
+ "kind": 5,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "im_width = 0\nnb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],\n# [min(x), min(y), max(z)],\n# [max(x), min(y), max(z)],\n# [max(x), max(y), min(z)],\n# [max(x), max(y), max(z)],",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "nb_update_network",
+ "kind": 5,
+ "importPath": "web_p.train_Dope",
+ "description": "web_p.train_Dope",
+ "peekOfCode": "nb_update_network = 0\n# [\n# [min(x), min(y), min(z)],\n# [min(x), max(y), min(z)],\n# [min(x), max(y), max(z)],\n# [min(x), min(y), max(z)],\n# [max(x), min(y), max(z)],\n# [max(x), max(y), min(z)],\n# [max(x), max(y), max(z)],\n# [max(x), min(y), max(z)],",
+ "detail": "web_p.train_Dope",
+ "documentation": {}
+ },
+ {
+ "label": "convert2relative",
+ "kind": 2,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "def convert2relative(height, width, bbox):\n \"\"\" YOLO format use relative coordinates for annotation \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef gt_parse(path: str, out_dir: str):\n global nn_image, f1, f2\n with open(os.path.join(path, FILE_GT_COCO), \"r\") as fh:\n coco_data = json.load(fh)",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "gt_parse",
+ "kind": 2,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "def gt_parse(path: str, out_dir: str):\n global nn_image, f1, f2\n with open(os.path.join(path, FILE_GT_COCO), \"r\") as fh:\n coco_data = json.load(fh)\n for img in coco_data[\"images\"]:\n rgb_file = os.path.join(path, img[\"file_name\"])\n if os.path.isfile(rgb_file):\n ext = os.path.splitext(rgb_file)[1] # only ext\n f = f\"{nn_image:06}\"\n out_img = os.path.join(out_dir, DIR_RGB_DS, f + ext)",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "explore",
+ "kind": 2,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "def explore(path: str, res_dir: str):\n if not os.path.isdir(path):\n return\n folders = [\n os.path.join(path, o)\n for o in os.listdir(path)\n if os.path.isdir(os.path.join(path, o))\n ]\n for path_entry in folders:\n if os.path.isfile(os.path.join(path_entry,FILE_GT_COCO)):",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "BOP2Yolo_dataset",
+ "kind": 2,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "def BOP2Yolo_dataset(dpath: str, out_dir: str, lname: list) -> str:\n \"\"\" Convert BOP-dataset to YOLO format for train \"\"\"\n cfg_yaml = os.path.join(out_dir, FILE_RBS_TRAIN)\n p = os.path.join(out_dir, DIR_ROOT_DS, DIR_COCO_DS)\n cfg_data = {\"path\": p, \"train\": FILE_L_TRAIN, \"val\": FILE_L_VAL}\n cfg_data[\"names\"] = {i:x for i,x in enumerate(lname)}\n with open(cfg_yaml, \"w\") as fh:\n yaml.dump(cfg_data, fh)\n res_dir = os.path.join(out_dir, DIR_ROOT_DS)\n if not os.path.isdir(res_dir):",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "train_YoloV8",
+ "kind": 2,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "def train_YoloV8(path:str, wname:str, dname:str, outpath:str, epochs:int, pretrain: bool):\n \"\"\" Main procedure for train YOLOv8 model \"\"\"\n if not os.path.isdir(outpath):\n print(f\"Invalid output path '{outpath}'\")\n exit(-1)\n out_dir = os.path.join(outpath, wname)\n if pretrain:\n # продолжить обучение\n if not os.path.isdir(out_dir):\n print(f\"No dir '{out_dir}'\")",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "FILE_BASEMODEL",
+ "kind": 5,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "FILE_BASEMODEL = \"yolov8n.pt\"\nFILE_RBS_INFO = \"rbs_info.json\"\nFILE_RBS_TRAIN = \"rbs_train.yaml\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nFILE_L_TRAIN = \"i_train.txt\"\nFILE_L_VAL = \"i_val.txt\"\nFILE_TRAIN_RES = \"weights/last.pt\"\nDIR_ROOT_DS = \"datasets\"\nDIR_COCO_DS = \"rbs_coco\"\nDIR_RGB_DS = \"images\"",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "FILE_RBS_TRAIN",
+ "kind": 5,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "FILE_RBS_TRAIN = \"rbs_train.yaml\"\nFILE_GT_COCO = \"scene_gt_coco.json\"\nFILE_L_TRAIN = \"i_train.txt\"\nFILE_L_VAL = \"i_val.txt\"\nFILE_TRAIN_RES = \"weights/last.pt\"\nDIR_ROOT_DS = \"datasets\"\nDIR_COCO_DS = \"rbs_coco\"\nDIR_RGB_DS = \"images\"\nDIR_LABELS_DS = \"labels\"\nSZ_SERIES = 15 # number of train images per validation images",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "FILE_TRAIN_RES",
+ "kind": 5,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "FILE_TRAIN_RES = \"weights/last.pt\"\nDIR_ROOT_DS = \"datasets\"\nDIR_COCO_DS = \"rbs_coco\"\nDIR_RGB_DS = \"images\"\nDIR_LABELS_DS = \"labels\"\nSZ_SERIES = 15 # number of train images per validation images\nnn_image = 0\nf1 = f2 = None\ndef convert2relative(height, width, bbox):\n \"\"\" YOLO format use relative coordinates for annotation \"\"\"",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "SZ_SERIES",
+ "kind": 5,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "SZ_SERIES = 15 # number of train images per validation images\nnn_image = 0\nf1 = f2 = None\ndef convert2relative(height, width, bbox):\n \"\"\" YOLO format use relative coordinates for annotation \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef gt_parse(path: str, out_dir: str):",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "nn_image",
+ "kind": 5,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "nn_image = 0\nf1 = f2 = None\ndef convert2relative(height, width, bbox):\n \"\"\" YOLO format use relative coordinates for annotation \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef gt_parse(path: str, out_dir: str):\n global nn_image, f1, f2",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "f1",
+ "kind": 5,
+ "importPath": "web_p.train_Yolo",
+ "description": "web_p.train_Yolo",
+ "peekOfCode": "f1 = f2 = None\ndef convert2relative(height, width, bbox):\n \"\"\" YOLO format use relative coordinates for annotation \"\"\"\n x, y, w, h = bbox\n x += w/2\n y += h/2\n return x/width, y/height, w/width, h/height\ndef gt_parse(path: str, out_dir: str):\n global nn_image, f1, f2\n with open(os.path.join(path, FILE_GT_COCO), \"r\") as fh:",
+ "detail": "web_p.train_Yolo",
+ "documentation": {}
+ },
+ {
+ "label": "copy_and_move_folder",
+ "kind": 2,
+ "importPath": "web_p.train_mock",
+ "description": "web_p.train_mock",
+ "peekOfCode": "def copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/train/\"\ncopy_and_move_folder(source_folder, args.path)",
+ "detail": "web_p.train_mock",
+ "documentation": {}
+ },
+ {
+ "label": "parser",
+ "kind": 5,
+ "importPath": "web_p.train_mock",
+ "description": "web_p.train_mock",
+ "peekOfCode": "parser = argparse.ArgumentParser()\nparser.add_argument(\"--path\")\nparser.add_argument(\"--form\")\nargs = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")",
+ "detail": "web_p.train_mock",
+ "documentation": {}
+ },
+ {
+ "label": "args",
+ "kind": 5,
+ "importPath": "web_p.train_mock",
+ "description": "web_p.train_mock",
+ "peekOfCode": "args = parser.parse_args()\ndef copy_and_move_folder(src, dst):\n try:\n if os.path.exists(dst):\n shutil.rmtree(dst)\n shutil.copytree(src, dst)\n print(f\"Folder {src} successfully copied\")\n except shutil.Error as e:\n print(f\"Error: {e}\")\nsource_folder = os.path.dirname(os.path.abspath(__file__)) + \"/train/\"",
+ "detail": "web_p.train_mock",
+ "documentation": {}
+ },
+ {
+ "label": "source_folder",
+ "kind": 5,
+ "importPath": "web_p.train_mock",
+ "description": "web_p.train_mock",
+ "peekOfCode": "source_folder = os.path.dirname(os.path.abspath(__file__)) + \"/train/\"\ncopy_and_move_folder(source_folder, args.path)",
+ "detail": "web_p.train_mock",
+ "documentation": {}
+ }
+]
\ No newline at end of file
diff --git a/.vscode/launch.json b/.vscode/launch.json
index e477ca7..86e893f 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -1,40 +1,36 @@
{
- // 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",
- "request": "launch",
- "name": "server-dev",
- "runtimeExecutable": "npm",
- "runtimeArgs": [
- "run-script", "dev"
- ],
- "cwd": "${workspaceRoot}/server/",
- },
- {
- "type": "node",
- "request": "launch",
- "name": "server-test-watch",
- "runtimeExecutable": "npm",
- "runtimeArgs": [
- "run-script", "test:watch"
- ],
- "cwd": "${workspaceRoot}/server/",
- },
- {
- "type": "node",
- "request": "launch",
- "name": "ui-dev",
- "runtimeExecutable": "npm",
- "runtimeArgs": [
- "run-script", "dev"
- ],
- "cwd": "${workspaceRoot}/ui/",
- }
- ]
-}
\ No newline at end of file
+ "version": "0.2.0",
+ "configurations": [
+ {
+ "type": "node",
+ "request": "launch",
+ "name": "server-dev",
+ "runtimeExecutable": "npm",
+ "runtimeArgs": ["run-script", "dev"],
+ "cwd": "${workspaceRoot}/server/"
+ },
+ {
+ "type": "node",
+ "request": "launch",
+ "name": "server-test-watch",
+ "runtimeExecutable": "npm",
+ "runtimeArgs": ["run-script", "test:watch"],
+ "cwd": "${workspaceRoot}/server/"
+ },
+ {
+ "type": "node",
+ "request": "launch",
+ "name": "ui-dev",
+ "runtimeExecutable": "npm",
+ "runtimeArgs": ["run-script", "dev"],
+ "cwd": "${workspaceRoot}/ui/"
+ },
+ {
+ "type": "chrome",
+ "request": "launch",
+ "name": "Launch debug chrome",
+ "url": "http://localhost:3000",
+ "webRoot": "${workspaceFolder}"
+ }
+ ]
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
index fc4aa24..2793cf8 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,6 +1,35 @@
{
"cSpell.words": [
+ "введите",
"Ведите",
- "typedataset"
- ]
+ "дерево",
+ "Количество",
+ "модели",
+ "может",
+ "навык",
+ "Новое",
+ "отрицательное",
+ "принимать",
+ "скила",
+ "создано",
+ "число",
+ "эпох",
+ "эпоха",
+ "Collada",
+ "Contolls",
+ "GLTF",
+ "grau",
+ "idontsudo",
+ "raycaster",
+ "skils",
+ "typedataset",
+ "URDF",
+ "usecases"
+ ],
+ "files.exclude": {
+ "**/.git": false,
+ "**/.svn": false,
+ "**/.hg": false,
+ "**/CVS": false
+ }
}
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..324170b
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+ To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
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+ How to Apply These Terms to Your New Programs
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+ Copyright (C) 2024 Igor Brylev
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+notice like this when it starts in an interactive mode:
+
+ Copyright (C) 2024 Igor Brylev
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+.
diff --git a/README.md b/README.md
index 13118e8..3b97a73 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,7 @@
Каждая фаза жизненного цикла имеет своё представление в виде страницы в веб-сервисе:
-1. Создание проекта сборки, загрузка CAD-проекта изделия - "Проекты", вкладки "Детали", "Сборки"
+1. Создание проекта сборки, загрузка CAD-проекта изделия - "Проекты"
2. Подготовка и генерация датасета для навыков машинного зрения - Вкладка "Датасеты"
3. Конфигурация сцены - Scene Builder - Вкладка "Сцена"
4. Создание дерева поведения из навыков - Вкладка "Поведение"
@@ -23,37 +23,74 @@
## Требования
-- Node.js
-- MongoDB
+- Node.js (версия >= 20.11.1)
+- MongoDB (версия >= 7.0.15)
- BlenderProc (для генерации датасетов)
-## Клонирование проекта
+## Последовательность команд для установки зависимостей
```bash
+# установка nvm
+curl --silent -o- https://raw.githubusercontent.com/creationix/nvm/v0.31.2/install.sh | bash
+source ~/.bashrc
+# установка Node.js
+nvm install 20.11.1
+nvm alias default 20.11.1
+nvm use default
+
+# MongoDB
+# импортировать открытый ключ для MongoDB
+curl -fsSL https://pgp.mongodb.com/server-7.0.asc | sudo gpg -o /usr/share/keyrings/mongodb-server-7.0.gpg --dearmor
+# добавить репозиторий MongoDB 7.0 в директорию /etc/apt/sources.list.d
+echo "deb [ arch=amd64,arm64 signed-by=/usr/share/keyrings/mongodb-server-7.0.gpg ] https://repo.mongodb.org/apt/ubuntu jammy/mongodb-org/7.0 multiverse" | sudo tee /etc/apt/sources.list.d/mongodb-org-7.0.list
+# установка MongoDB
+apt-get update && apt-get install -y mongodb-org
+# запуск
+sudo systemctl start mongod
+```
+Убедиться в том, что сервер MongoDB работает, можно посмотрев его состояние:
+```bash
+sudo systemctl status mongod
+```
+Статус должен быть 'active'
+```
+● mongod.service - MongoDB Database Server
+ Loaded: loaded (/lib/systemd/system/mongod.service; enabled; vendor preset: enabled)
+ Active: active (running) since Wed 2024-12-11 10:34:58 MSK; 1h 24min ago
+ Docs: https://docs.mongodb.org/manual
+ Main PID: 2439 (mongod)
+ Memory: 256.7M
+ CPU: 24.168s
+ CGroup: /system.slice/mongod.service
+ └─2439 /usr/bin/mongod --config /etc/mongod.conf
+```
+
+## Установка веб-сервиса
+
+```bash
+# клонирование исходников
+cd ~/
git clone https://gitlab.com/robossembler/webservice
+# сборка сервера
+cd webservice/server
+npm i tsc-watch -g
+npm i
+# сборка фронтэнда
+cd ..
+cd ui
+npm i
```
-## Настройка переменных окружения
-
-Для работы Генератора Датасетов нужно задать следующие переменные в окружении `bash`
-
-```bash
-export PYTHON_BLENDER="путь_к_директории_с_файлами_из_rcg_pipeline"
-export PYTHON_BLENDER_PROC="путь_к_генератору_датасетов_renderBOPdataset.py"
-```
-
-## Запуск сервера
-
-Из директории `server` в корне репозитория
+## Запуск веб-сервиса
+Необходимо открыть два терминала. В первом нужно запустить сервер:
```bash
+cd ~/webservice/server
npm run dev
```
-
-## Сборка и запуск UI
-
-Из директории `ui` в корне репозитория
-
+Во втором запустить UI:
```bash
-npm i && npm run build && npm run deploy
+cd ~/webservice/ui
+npm run dev
```
+Если установка была успешной, откроется браузер, на странице http://localhost:3000/ "Проекты".
diff --git a/docs/entities.md b/docs/entities.md
deleted file mode 100644
index e7544f3..0000000
--- a/docs/entities.md
+++ /dev/null
@@ -1,150 +0,0 @@
-# Сущности фреймворка применительно к веб-сервису
-
-Веб-сервис позволяет добавить типы Моделей для запуска цифрового двойника (DT), навыка, процесса или дерева поведения. Модели оформляются в виде пакетов. Пакет - это условный "контейнер" для запуска этой сущности в командной строке. Схема пакета общая для всех сущностей. Различны только данные/аргументы. Все вводимые поля, кроме первого (command), могут быть пустыми.
-
-Типы пакетов:
-
-- Процессы - "computing_process" - вычислительные процессы, не требующие взаимодействия в ходе исполнения (нет интерфейсов)
-- Навыки (Серверы навыков) - "skill_server" - произвольные ROS 2 пакеты
-- Деревья поведения - "behavior_tree" - то, что исполняется нашим ROS 2 bt_executor
-- Цифровые двойники - "digital_twin" - драйверы устройств, имеющие интерфейс ROS 2
-
-Нужно создать в веб-сервисе сущность/класс "Пакет", от которой будут наследоваться "Процесс", "Навык", "Цифровой двойник" (устройство/твёрдое тело/точка/воркспейс - всё, что добавляется в Scene Builder), "Дерево поведения". Пакеты будут создаваться в веб-интерфейсе в самом начальном разделе (где проекты, процессы, навыки).
-
-## Примеры
-
-Пример для процесса (Генератор датасетов)
-
-```json
-{
- "sid": 1,
- "type": "computing_process",
- "description": "Robossembler Dataset Generator",
- "command": "blenderproc",
- "package": "dataset_generator.py",
- "executable": "",
- "args": {
- "folder": \${NAME:string:""},
- },
- "interfaces": "" // у процессов нет интерфейсов
-}
-```
-
-Пример для цифрового двойника (ROS драйвер для камеры)
-
-```json
-{
- "sid": 2,
- "type": "digital_twin",
- "description": "ROS Wrapper for Intel RealSense Cameras",
- "command": "ros2 launch",
- "package": "realsense2_camera",
- "executable": "rs_launch.py",
- "args": {
- "camera_namespace": \${NAME:string:""},
- "camera_name": \${NAME:string:""},
- },
- "interfaces": {
- "cmd": "python ros2_topic_to_json.py"
- }
-}
-```
-
-Пример для навыка (pose estimation skill server)
-```json
-{
- "sid": 3,
- "type": "skill_server",
- "description": "Pose Estimation Skill Dope 6D",
- "command": "ros2 launch",
- "package": "dope6d",
- "executable": "dope.py",
- "args": {
- "param1": \${NAME:string:""},
- "param2": \${STRUCTURE:json:""},
- "param3": \${INT:string:""},
- "image_raw": \${TOPIC:CameraInfo:""},
- },
- "interfaces": {
- "cmd": "python ros2_topic_to_json.py"
- }
-}
-```
-
-Пример для дерева (behaviour tree)
-```json
-{
- "sid": 4,
- "type": "behaviour_tree",
- "description": "Behaviour tree executor",
- "command": "ros2 launch",
- "package": "rbs-bt",
- "executable": "bt_executor",
- "args": {
- "xml": \${NAME:string:""},
- "json": \${NAME:string:""}
- },
- "interfaces": {
- "cmd": "python skills_interfaces_to_json.py [args]",
- }
-}
-```
-
-## Пример цифрового двойника камеры
-
-1. В главном меню создаётся новый тип для сущности "Цифровой двойник" (см. схему выше)
-2. После создания проекта на экране "Scene Builder" эти цифровые двойники добавляются и конфигурируются. Веб-сервис формирует таблицу цифровых двойников.
-
-Экземпляр Камеры №1
-```json
-{
- "sid": 0,
- "package_model": 2, // ссылка на модель данного пакета
- "args": {
- "camera_namespace": "cv",
- "camera_name": "camera1",
- }
-}
-```
-Экземпляр Камеры №2
-```json
-{
- "sid": 1,
- "package_model": 2, // ссылка на модель данного пакета
- "args": {
- "camera_namespace": "cv",
- "camera_name": "camera2",
- }
-}
-```
-
-3. После завершения конфигурации цифрового двойника Backend фоново запускает команду `get_interfaces.py --json={}`, где json - это набор параметров двойника для данного экземпляра. Программа `get_interfaces.py --json={}` внутри будет запускать субпроцесс вида ` := :=` и после запуска получать перечень интерфейсов, после чего возвращает веб-сервису все топики и их типы в системе. Веб-сервис записывает их в таблицу. Структура таблицы БД: `parent` (ссылка на экземпляр цифрового двойника из п.2), `topic_name` (строка или path), `msg_type` (строка), `hash` (хеш, пока не будет использоваться, оставлять пустым по дефолту). Все изменения в Scene Builder должны быть синхронизированы с БД. Если устройство удаляется из сцены, то её интерфейсы также удаляются из таблицы по parent'у.
-
-## Пример навыка
-
-1-3. см. предыдущий пример (вместо "Цифровой двойник" - "Навык", вместо Scene Builder - BT Builder, вместо Сцены - Холст). При конфигурации навыка пользователь видит только те топики, которые поддерживают данный тип интерфейса (то есть из цифровых двойников или других источников данных). При удалении данного навыка с холста, его интерфейсы удаляются из таблицы.
-
-## Виды цифровых двойников (в разработке)
-
-Parts:
-`/parts/bolt_x/mesh_path [std_msgs/FilePath]`
-`/parts/bolt_x/pose_6d [geometry_msgs/Pose]`
-`/parts/bolt_x/bound_box [geometry_msgs/BoundBox]`
-`/parts/bolt_x/grasp_pose [geometry_msgs/PoseArray]`
-
-Wrist Cameras
-`/robot_1/camera_rgb/camera_info [sensor_msgs/CameraInfo]`
-`/robot_1/camera_rgbd/camera_info [sensor_msgs/CameraInfo]`
-
-Robots + Controllers
-`/robot_1/joint_trajectory_controller [sensor_msgs/CameraInfo]` // moveit
-`/robot_2/move_cartesian [rbs_skill_interfaces/MoveItSendPose]` // cartesian
-
-Assemblies:
-`/assemblies/...`
-
-Environment
-`/environment/...`
-
-Static:
-`/camera/camera_info []`
\ No newline at end of file
diff --git a/docs/example.md b/docs/example.md
deleted file mode 100644
index 1c8b225..0000000
--- a/docs/example.md
+++ /dev/null
@@ -1,293 +0,0 @@
-# Пример: проект "Шахматы"
-
-Имеем доску, две модели фигур - коня и пешку, робота, камеру. Задачей будет из фигур в наличии расставить шахматы на доску в начальную позицию.
-
-## Создаём проект
- * Projects
-```json
-{
- "sid": 1,
- "name": "chess",
- "description": "Robossembler Example"
-}
-```
-
-## Добавляем модели твёрдых тел (фигур и доски) в библиотеку проекта
-Сначала добавляются пакеты:
-
- * Packages
-```json
-{
- "sid": 1,
- "project": 1,
- "type": "part_model",
- "description": "Robossembler: chessboard",
- "command": "python",
- "package": "",
- "executable": "chessboard.py",
- "args": {
- "blend": \${FILE:string:""},
- "dae": \${FILE:string:""},rbs_arm/robot1/controller
- "fbx": \${FILE:string:""},
- "...": ""
- }
-}
-```
-```json
-{
- "sid": 2,
- "project": 1,
- "type": "part_model",
- "description": "Robossembler: chess pieces",
- "command": "python",
- "package": "",
- "executable": "chess_pieces.py",
- "args": [ // ARRAY of pieces
- {
- "name": \${NAME:string:""},
- "blend": \${FILE:string:""},
- "dae": \${FILE:string:""},
- "fbx": \${FILE:string:""},
- "...": ""
- }
- ]
-}
-```
-Затем при запуске "get_interface.py" для каждого пакета, получаем json со структурой:
-```json
-{
- "cameras": [{"properties1": "value1", "propertiesN": "valueN"}],
- "robots": [{"properties1": "value1", "propertiesN": "valueN"}],
- "topics": [{"properties1": "value1", "propertiesN": "valueN"}],
- "...": ""
-}
-```
-в которой ключи - это наши сущности из БД.
-В данном случае будет присутствовать только массив "parts". Web-сервис записывает парсинг результата в соответствующую таблицу.
-
- * Parts_lib
-```json
-{
- "sid": 1,
- "package": 1,
- "name": "chessboard",
- "description": "Robossembler: chessboard",
- "meshs": {
- "blend": "chessboard.blend",
- "dae": "chessboard.dae",
- "fbx": "chessboard.fbx",
- "...": ""
- }
-}
-```
-
-```json
-{
- "sid": 2,
- "package": 2,
- "name": "pawn",
- "description": "Robossembler: pawn",
- "meshs": {
- "blend": "pawn.blend",
- "dae": "pawn.dae",
- "fbx": "pawn.fbx",
- "...": ""
- }
-}
-```
-
-```json
-{
- "sid": 3,
- "package": 2,
- "name": "knight",
- "description": "Robossembler: knight",
- "meshs": {
- "blend": "knight.blend",
- "dae": "knight.dae",
- "fbx": "knight.fbx",
- "...": ""
- }
-}
-```
-Note. Кроме "sid" и "packages" все остальные поля заполняются из массива [{"properties1": "value1", "propertiesN": "valueN"}].
-
-# Пример: цифровой двойник "Камера"
-
-## Добавляем пакет с моделью камеры в библиотеку проекта
-
-```json
-{
- "sid": 3,
- "type": "digital_twin",
- "entity": "CAMERA",
- "description": "ROS Wrapper for Intel RealSense Cameras",
- "command": "ros2 launch",
- "package": "realsense2_camera",
- "executable": "rs_launch.py",
- "args": {
- "camera_namespace": \${NAME:string:""},
- "camera_name": \${NAME:string:""},
- ... // + всё, что сейчас в модели данных в коде
- },
- "interfaces": {
- "cmd": "python ros2_topic_to_json.py"
- }
-}
-```
-
-## Добавляем экземпляр камеры в сцену (Scene Builder)
-
-При этом запускаем "get_interface.py" и получаем json со структурой, описанной выше, но в данном случае в результате будет
-
-```json
-{
- "cameras": [
- {
- "model_name": "Intel RealSense",
- "model_type": "RGBD",
- "...": "..."
- }
- ],
- "topics": [
- {
- "topic_name": "camera/camera1/image_raw",
- "msg_type":"sensor_msgs/msg/Image"
- },
- {
- "topic_name": "camera/camera1/camera_info",
- "msg_type":"sensor_msgs/msg/CameraInfo"
- }
- ],
-}
-```
-В БД создаются:
-
- * Cameras
-```json
-{
- "sid": 1,
- "package": 3,
- "model_name": "Intel RealSense",
- "model_type": "RGBD",
- "pose": {}
-}
-```
- * Topics
-```json
-{
- "sid": 1,
- "package": 3,
- "topic_name": "camera/camera1/image_raw",
- "msg_type":"sensor_msgs/msg/Image"
-}
-```
-```json
-{
- "sid": 2,
- "package": 3,
- "topic_name": "camera/camera1/camera_info",
- "msg_type":"sensor_msgs/msg/CameraInfo"
-}
-```
-
-## Робот добавляется аналогично камере
-
-Модель робота
-```json
-{
- "sid": 3,
- "type": "digital_twin",
- "entity": "ROBOT",
- "description": "Robossembler Arm",
- "command": "ros2 launch",
- "package": "rbs_bringup",
- "executable": "single_robot.launch.py",
- "args": {
- "robot_name": \${NAME:string:""},
- "dof": \${NAME:number:""},
- ... // + всё, что сейчас в модели данных в коде
- },
- "interfaces": {
- "cmd": "python ros2_topic_to_json.py"
- }
-}
-```
-
- * Topics
-```json
-{
- "sid": 3,
- "package": 4,
- "topic_name": "rbs_arm/robot1/controller",
- "msg_type":"sensor_msgs/msg/JointState"
-}
-```
-```json
-{
- "sid": 4,
- "package": 4,
- "topic_name": "rbs_arm/robot1/controller1",
- "msg_type":"sensor_msgs/msg/JointState"
-}
-```
-
-## Добавляем пакет навыка Pose Estimation DOPE в библиотеку проекта
-
- * Packages
-```json
-{
- "sid": 5,
- "project": 1,
- "type": "skill_server",
- "description": "Pose Estimation Skill Dope 6D",
- "command": "ros2 launch",
- "package": "dope6d",
- "executable": "dope.py",
- "args": {
- "mode": "image/bbox",
- "output_topic": \${NAME:string:"bound_box"}
- "output_topic_image": \${NAME:string:"imagebb"}
- },
- "interfaces": {
- "cmd": "python ros2_topic_to_json.py"
- },
- "bt_param":[
- {
- "name": "peConfigure",
- "description": "configuring lifecycle node ROS 2",
- "type_action": "action/condition",
- "type": "run",
- "param": [
- {
- "type": "weights",
- "dependency": { "object_name": "knight", "weights_file": "/home/shalenikol/0_rbs/w_knight.pth", "dimensions": [0.03, 0.026, 0.065] },
- "sid": "123"
- }
- ],
- "result": ["POSE"]
- },
- { "name": "peStop", "type": "stop", "param": [], "result": [] }
- ]
-}
-```
-
-## Запускаем "get_interfaces.py"
- * Topics
-```json
-{
- "sid": 5,
- "package": 5,
- "topic_name": "bound_box",
- "msg_type":"geometry_msgs/msg/BoundBox"
-}
-```
- * BTrees
-```json
-{
- "sid": 1,
- "package": 5,
- "command_name": "peConfigure",
- "dependency": {"$FormBuilderTemplate$"}
-}
-```
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 0000000..5444c1a
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,61 @@
+{
+ "nodes": {
+ "flake-utils": {
+ "inputs": {
+ "systems": "systems"
+ },
+ "locked": {
+ "lastModified": 1731533236,
+ "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
+ "owner": "numtide",
+ "repo": "flake-utils",
+ "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+ "type": "github"
+ },
+ "original": {
+ "owner": "numtide",
+ "repo": "flake-utils",
+ "type": "github"
+ }
+ },
+ "nixpkgs": {
+ "locked": {
+ "lastModified": 1733935512,
+ "narHash": "sha256-beDnPaHubnwcsbVPC3rIVtQM3QVFDMmc0dtfHCW5UrA=",
+ "owner": "NixOS",
+ "repo": "nixpkgs",
+ "rev": "d55cc4608dae1b42a0ef5c0cf701b501fc7bae58",
+ "type": "github"
+ },
+ "original": {
+ "owner": "NixOS",
+ "ref": "master",
+ "repo": "nixpkgs",
+ "type": "github"
+ }
+ },
+ "root": {
+ "inputs": {
+ "flake-utils": "flake-utils",
+ "nixpkgs": "nixpkgs"
+ }
+ },
+ "systems": {
+ "locked": {
+ "lastModified": 1681028828,
+ "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+ "owner": "nix-systems",
+ "repo": "default",
+ "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+ "type": "github"
+ },
+ "original": {
+ "owner": "nix-systems",
+ "repo": "default",
+ "type": "github"
+ }
+ }
+ },
+ "root": "root",
+ "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 0000000..8f0a918
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,37 @@
+{
+ description = "Robossembler Development Environments on Nix";
+ inputs = {
+ nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
+ flake-utils.url = "github:numtide/flake-utils";
+ };
+
+ outputs = { self, nixpkgs, flake-utils }:
+ flake-utils.lib.eachDefaultSystem
+ (system:
+ let
+ pkgs = import nixpkgs { inherit system; overlays = []; };
+ in
+ {
+ packages = {
+ frontend = pkgs.writeShellApplication {
+ name = "frontend";
+ runtimeInputs = [ pkgs.nodejs ];
+ text = ''
+ cd ui && npm i && npm run dev
+ '';
+ };
+ backend = pkgs.writeShellApplication {
+ name = "frontend";
+ runtimeInputs = [ pkgs.nodejs ];
+ text = ''
+ cd server && npm i && npm run dev
+ '';
+ };
+ };
+
+ devShells = {
+ default = pkgs.mkShell { packages = with pkgs; [ nodejs ]; };
+ };
+ }
+ );
+}
diff --git a/server/.eslintrc.cjs b/server/.eslintrc.cjs
index 9f3ef29..01f0559 100644
--- a/server/.eslintrc.cjs
+++ b/server/.eslintrc.cjs
@@ -19,7 +19,7 @@ module.exports = {
"@typescript-eslint/no-var-requires": "off",
"@typescript-eslint/explicit-module-boundary-types": "off",
"@typescript-eslint/no-unused-vars": [
- "warn", // or "error"
+ "warn",
{
"argsIgnorePattern": "^_",
"varsIgnorePattern": "^_",
diff --git a/server/.gitignore b/server/.gitignore
index 33da60f..1bde823 100644
--- a/server/.gitignore
+++ b/server/.gitignore
@@ -8,4 +8,5 @@ coverage
build/
model_create.ts
public
-p.ts
\ No newline at end of file
+p.ts
+package-lock.json
\ No newline at end of file
diff --git a/server/command.json b/server/command.json
new file mode 100644
index 0000000..468f1fe
--- /dev/null
+++ b/server/command.json
@@ -0,0 +1,26 @@
+{
+ "tensorBoard": {
+ "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}",
+ "date": null,
+ "status": "Fail,Ok",
+ "delay": 200,
+ "checkCommand": null,
+ "filter": null
+ },
+ "simulationProcess": {
+ "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}",
+ "date": null,
+ "status": null,
+ "delay": 0,
+ "checkCommand": null,
+ "filter": null
+ },
+ "btBuilderProcess": {
+ "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}",
+ "date": null,
+ "status": null,
+ "delay": 0,
+ "checkCommand": null,
+ "filter": null
+ }
+}
\ No newline at end of file
diff --git a/server/package-lock.json b/server/package-lock.json
deleted file mode 100644
index 1c50223..0000000
--- a/server/package-lock.json
+++ /dev/null
@@ -1,8576 +0,0 @@
-{
- "name": "step-by-step-server",
- "version": "0.0.1",
- "lockfileVersion": 3,
- "requires": true,
- "packages": {
- "": {
- "name": "step-by-step-server",
- "version": "0.0.1",
- "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",
- "pm2": "^5.3.1",
- "reflect-metadata": "^0.1.13",
- "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",
- "tsc-watch": "^6.0.4",
- "uuid": "^9.0.1"
- },
- "devDependencies": {
- "@testdeck/mocha": "latest",
- "@types/chai": "latest",
- "@types/cors": "^2.8.14",
- "@types/express": "^4.17.18",
- "@types/md5": "^2.3.2",
- "@types/mocha": "latest",
- "@types/node": "^20.4.8",
- "@typescript-eslint/eslint-plugin": "^6.4.0",
- "@typescript-eslint/parser": "^6.4.0",
- "chai": "latest",
- "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"
- }
- },
- "node_modules/@aashutoshrathi/word-wrap": {
- "version": "1.2.6",
- "resolved": "https://registry.npmjs.org/@aashutoshrathi/word-wrap/-/word-wrap-1.2.6.tgz",
- "integrity": "sha512-1Yjs2SvM8TflER/OD3cOjhWWOZb58A2t7wpE2S9XfBYTiIl+XFhQG2bjy4Pu1I+EAlCNUzRDYDdFwFYUKvXcIA==",
- "dev": true,
- "engines": {
- "node": ">=0.10.0"
- }
- },
- "node_modules/@ampproject/remapping": {
- "version": "2.2.1",
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- "dev": true,
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- "dev": true,
- "dependencies": {
- "@babel/highlight": "^7.23.4",
- "chalk": "^2.4.2"
- },
- "engines": {
- "node": ">=6.9.0"
- }
- },
- "node_modules/@babel/code-frame/node_modules/ansi-styles": {
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- "dev": true,
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- "node_modules/@babel/code-frame/node_modules/chalk": {
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- "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",
- "integrity": "sha512-HPG3wQd9sNQoT9xHyNCXoDUa+Xw/VevmY9FoHyQ+g+rrMn4j6FB4np7Z0OhdTgjx6MgQLK7jwSy1YecU1+4Asg==",
- "engines": {
- "node": ">=10.0.0"
- },
- "peerDependencies": {
- "bufferutil": "^4.0.1",
- "utf-8-validate": "^5.0.2"
- },
- "peerDependenciesMeta": {
- "bufferutil": {
- "optional": true
- },
- "utf-8-validate": {
- "optional": true
- }
- }
- },
- "node_modules/xmlhttprequest-ssl": {
- "version": "2.0.0",
- "resolved": "https://registry.npmjs.org/xmlhttprequest-ssl/-/xmlhttprequest-ssl-2.0.0.tgz",
- "integrity": "sha512-QKxVRxiRACQcVuQEYFsI1hhkrMlrXHPegbbd1yn9UHOmRxY+si12nQYzri3vbzt8VdTTRviqcKxcyllFas5z2A==",
- "engines": {
- "node": ">=0.4.0"
- }
- },
- "node_modules/y18n": {
- "version": "5.0.8",
- "resolved": "https://registry.npmjs.org/y18n/-/y18n-5.0.8.tgz",
- "integrity": "sha512-0pfFzegeDWJHJIAmTLRP2DwHjdF5s7jo9tuztdQxAhINCdvS+3nGINqPd00AphqJR/0LhANUS6/+7SCb98YOfA==",
- "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",
- "integrity": "sha512-C/FsVVhht4iPQYXOInoxUM/1ELSf9EsgKH34FofQOp6hwCPrW4vG4w5++TED3xRUo8gD7l0P1J1dLlDYzODsTQ==",
- "dependencies": {
- "argparse": "^1.0.7",
- "glob": "^7.0.5"
- },
- "bin": {
- "json2yaml": "bin/json2yaml",
- "yaml2json": "bin/yaml2json"
- }
- },
- "node_modules/yamljs/node_modules/argparse": {
- "version": "1.0.10",
- "resolved": "https://registry.npmjs.org/argparse/-/argparse-1.0.10.tgz",
- "integrity": "sha512-o5Roy6tNG4SL/FOkCAN6RzjiakZS25RLYFrcMttJqbdd8BWrnA+fGz57iN5Pb06pvBGvl5gQ0B48dJlslXvoTg==",
- "dependencies": {
- "sprintf-js": "~1.0.2"
- }
- },
- "node_modules/yamljs/node_modules/brace-expansion": {
- "version": "1.1.11",
- "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz",
- "integrity": "sha512-iCuPHDFgrHX7H2vEI/5xpz07zSHB00TpugqhmYtVmMO6518mCuRMoOYFldEBl0g187ufozdaHgWKcYFb61qGiA==",
- "dependencies": {
- "balanced-match": "^1.0.0",
- "concat-map": "0.0.1"
- }
- },
- "node_modules/yamljs/node_modules/glob": {
- "version": "7.2.3",
- "resolved": "https://registry.npmjs.org/glob/-/glob-7.2.3.tgz",
- "integrity": "sha512-nFR0zLpU2YCaRxwoCJvL6UvCH2JFyFVIvwTLsIf21AuHlMskA1hhTdk+LlYJtOlYt9v6dvszD2BGRqBL+iQK9Q==",
- "dependencies": {
- "fs.realpath": "^1.0.0",
- "inflight": "^1.0.4",
- "inherits": "2",
- "minimatch": "^3.1.1",
- "once": "^1.3.0",
- "path-is-absolute": "^1.0.0"
- },
- "engines": {
- "node": "*"
- },
- "funding": {
- "url": "https://github.com/sponsors/isaacs"
- }
- },
- "node_modules/yamljs/node_modules/minimatch": {
- "version": "3.1.2",
- "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.1.2.tgz",
- "integrity": "sha512-J7p63hRiAjw1NDEww1W7i37+ByIrOWO5XQQAzZ3VOcL0PNybwpfmV/N05zFAzwQ9USyEcX6t3UO+K5aqBQOIHw==",
- "dependencies": {
- "brace-expansion": "^1.1.7"
- },
- "engines": {
- "node": "*"
- }
- },
- "node_modules/yamljs/node_modules/sprintf-js": {
- "version": "1.0.3",
- "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",
- "integrity": "sha512-WOkpgNhPTlE73h4VFAFsOnomJVaovO8VqLDzy5saChRBFQFBoMYirowyW+Q9HB4HFF4Z7VZTiG3iSzJJA29yRA==",
- "dev": true,
- "engines": {
- "node": ">=10"
- }
- },
- "node_modules/yargs-unparser": {
- "version": "2.0.0",
- "resolved": "https://registry.npmjs.org/yargs-unparser/-/yargs-unparser-2.0.0.tgz",
- "integrity": "sha512-7pRTIA9Qc1caZ0bZ6RYRGbHJthJWuakf+WmHK0rVeLkNrrGhfoabBNdue6kdINI6r4if7ocq9aD/n7xwKOdzOA==",
- "dev": true,
- "dependencies": {
- "camelcase": "^6.0.0",
- "decamelize": "^4.0.0",
- "flat": "^5.0.2",
- "is-plain-obj": "^2.1.0"
- },
- "engines": {
- "node": ">=10"
- }
- },
- "node_modules/yargs-unparser/node_modules/camelcase": {
- "version": "6.3.0",
- "resolved": "https://registry.npmjs.org/camelcase/-/camelcase-6.3.0.tgz",
- "integrity": "sha512-Gmy6FhYlCY7uOElZUSbxo2UCDH8owEk996gkbrpsgGtrJLM3J7jGxl9Ic7Qwwj4ivOE5AWZWRMecDdF7hqGjFA==",
- "dev": true,
- "engines": {
- "node": ">=10"
- },
- "funding": {
- "url": "https://github.com/sponsors/sindresorhus"
- }
- },
- "node_modules/yargs-unparser/node_modules/decamelize": {
- "version": "4.0.0",
- "resolved": "https://registry.npmjs.org/decamelize/-/decamelize-4.0.0.tgz",
- "integrity": "sha512-9iE1PgSik9HeIIw2JO94IidnE3eBoQrFJ3w7sFuzSX4DpmZ3v5sZpUiV5Swcf6mQEF+Y0ru8Neo+p+nyh2J+hQ==",
- "dev": true,
- "engines": {
- "node": ">=10"
- },
- "funding": {
- "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",
- "integrity": "sha512-Ux4ygGWsu2c7isFWe8Yu1YluJmqVhxqK2cLXNQA5AcC3QfbGNpM7fu0Y8b/z16pXLnFxZYvWhd3fhBY9DLmC6Q==",
- "dev": true,
- "engines": {
- "node": ">=6"
- }
- },
- "node_modules/yocto-queue": {
- "version": "0.1.0",
- "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz",
- "integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==",
- "dev": true,
- "engines": {
- "node": ">=10"
- },
- "funding": {
- "url": "https://github.com/sponsors/sindresorhus"
- }
- }
- }
-}
diff --git a/server/package.json b/server/package.json
index 45cb42d..2b4663a 100644
--- a/server/package.json
+++ b/server/package.json
@@ -7,8 +7,7 @@
"test:dev": "NODE_ENV=test_dev tsc-watch --onSuccess 'ts-node ./build/test/test.js'",
"test:unit": "NODE_ENV=unit tsc-watch --onSuccess 'ts-node ./build/test/test.js'",
"test:e2e": "NODE_ENV=e2e tsc-watch --onSuccess 'ts-node ./build/test/test.js'",
- "dev": "NODE_ENV=dev tsc-watch --onSuccess 'ts-node ./build/src/main.js'",
- "build:stand": " "
+ "dev": "NODE_ENV=dev tsc-watch --onSuccess 'ts-node ./build/src/main.js'"
},
"author": "IDONTSUDO",
"devDependencies": {
@@ -24,34 +23,28 @@
"chai": "latest",
"eslint": "^8.47.0",
"mocha": "latest",
- "nyc": "latest",
+ "node-watch": "^0.7.4",
"source-map-support": "latest",
"ts-node": "^10.9.1",
"tslint": "latest",
- "typescript": "^5.1.6",
- "node-watch": "^0.7.4",
- "nodemon": "^3.0.1"
+ "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",
"pm2": "^5.3.1",
"reflect-metadata": "^0.1.13",
"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/controllers/app.ts b/server/src/core/controllers/app.ts
index a65ba2f..41a52e7 100644
--- a/server/src/core/controllers/app.ts
+++ b/server/src/core/controllers/app.ts
@@ -6,7 +6,6 @@ import { Server } from "socket.io";
import { createServer } from "http";
import { SocketSubscriber } from "./socket_controller";
import { dirname } from "path";
-import { SetLastActivePipelineToRealTimeServiceScenario } from "../scenarios/set_active_pipeline_to_realtime_service_scenario";
import { CheckAndCreateStaticFilesFolderUseCase } from "../usecases/check_and_create_static_files_folder_usecase";
import { DataBaseConnectUseCase } from "../usecases/database_connect_usecase";
import { TypedEvent } from "../helpers/typed_event";
@@ -58,8 +57,6 @@ export class App extends TypedEvent {
io.on("connection", (socket) => {
this.socketSubscribers.map((el) => {
el.emitter.on((e) => {
- console.log(el.event)
- console.log(e)
socket.emit(el.event, e);
});
});
@@ -109,6 +106,7 @@ export class App extends TypedEvent {
await result.fold(
async (_s) => {
await new CheckAndCreateStaticFilesFolderUseCase().call();
+
// await new SetLastActivePipelineToRealTimeServiceScenario().call();
},
async (_e) => {
@@ -124,3 +122,5 @@ export class App extends TypedEvent {
return rootDir + "public/";
};
}
+
+
diff --git a/server/src/core/controllers/http_controller.ts b/server/src/core/controllers/http_controller.ts
index 7fd5561..5b61528 100644
--- a/server/src/core/controllers/http_controller.ts
+++ b/server/src/core/controllers/http_controller.ts
@@ -3,6 +3,7 @@ import { Result } from "../helpers/result";
import { Router, Request, Response } from "express";
import { IRouteModel, Routes } from "../interfaces/router";
import { CoreValidation } from "../validations/core_validation";
+import { plainToInstance } from "class-transformer";
export type HttpMethodType = "GET" | "POST" | "PUT" | "DELETE" | "PATCH" | "PATCH" | "HEAD";
@@ -28,16 +29,48 @@ export abstract class CallbackStrategyWithFileUpload {
abstract idValidationExpression: CoreValidation;
abstract call(file: File, id: string): ResponseBase;
}
+export abstract class CallbackStrategyWithFilesUploads {
+ abstract chuckingFileExpressions: RegExp[];
+ abstract call(files: File[]): ResponseBase;
+}
-interface ISubSetFeatureRouter {
+export class SubRouter implements ISubSetFeatureRouter {
method: HttpMethodType;
subUrl: string;
fn:
- | CallbackStrategyWithValidationModel
+ | CallbackStrategyWithValidationModel
| CallbackStrategyWithEmpty
| CallbackStrategyWithIdQuery
| CallBackStrategyWithQueryPage
- | CallbackStrategyWithFileUpload;
+ | CallbackStrategyWithFileUpload
+ | CallbackStrategyWithFilesUploads;
+ constructor(
+ method: HttpMethodType,
+ subUrl: string,
+ fn:
+ | CallbackStrategyWithValidationModel
+ | CallbackStrategyWithEmpty
+ | CallbackStrategyWithIdQuery
+ | CallBackStrategyWithQueryPage
+ | CallbackStrategyWithFileUpload
+ | CallbackStrategyWithFilesUploads
+ ) {
+ this.fn = fn;
+ this.subUrl = subUrl;
+ this.method = method;
+ }
+}
+
+interface ISubSetFeatureRouter {
+ method: HttpMethodType;
+ subUrl: string;
+ fn:
+ | CallbackStrategyWithValidationModel
+ | CallbackStrategyWithEmpty
+ | CallbackStrategyWithIdQuery
+ | CallBackStrategyWithQueryPage
+ | CallbackStrategyWithFileUpload
+ | CallbackStrategyWithFilesUploads;
}
abstract class ICoreHttpController {
@@ -78,11 +111,11 @@ export class CoreHttpController implements ICoreHttpController {
}
call(): Routes {
if (this.subRoutes.isNotEmpty()) {
- this.subRoutes.map((el) => {
+ this.subRoutes.map(async (el) => {
this.router[el.method.toLowerCase()](this.mainURL + "/" + el.subUrl, async (req, res) => {
if (el.fn instanceof CallbackStrategyWithValidationModel) {
- // TODO(IDONTSUDO):
- throw Error("needs to be implimed");
+ this.responseHelper(res, el.fn.call(req.body));
+ return;
}
if (el.fn instanceof CallbackStrategyWithIdQuery) {
if (req.query.id === undefined) {
@@ -104,6 +137,7 @@ export class CoreHttpController implements ICoreHttpController {
await this.responseHelper(res, el.fn.call(req["files"]["file"]));
}
}
+
if (el.fn instanceof CallBackStrategyWithQueryPage) {
throw Error("needs to be implimed");
}
@@ -142,6 +176,7 @@ export class CoreHttpController implements ICoreHttpController {
return;
}
}
+
await this.responseHelper(res, el.fn.call(req["files"]["file"], req.query.id));
}
});
@@ -171,10 +206,10 @@ export class CoreHttpController implements ICoreHttpController {
router: this.router,
};
}
- public put(usecase: CallbackStrategyWithValidationModel) {
+ public put(usecase: any) {
this.routes["PUT"] = usecase;
}
- public delete(usecase: CallbackStrategyWithValidationModel) {
+ public delete(usecase: any) {
this.routes["DELETE"] = usecase;
}
public async requestResponseController(
@@ -191,7 +226,6 @@ export class CoreHttpController implements ICoreHttpController {
if (req.query.page !== undefined) {
payload = String(req.query.page);
}
-
if (req.query.id !== undefined) {
payload = String(req.query.id);
}
diff --git a/server/src/core/controllers/routes.ts b/server/src/core/controllers/routes.ts
index b63fc5b..bd7105b 100644
--- a/server/src/core/controllers/routes.ts
+++ b/server/src/core/controllers/routes.ts
@@ -1,9 +1,29 @@
+import { BehaviorTreesPresentation } from "../../features/behavior_trees/behavior_trees_presentation";
import { DatasetsPresentation } from "../../features/datasets/datasets_presentation";
+import { CalculationsTemplatePresentation } from "../../features/calculations_templates/calculations_template_presentation";
import { ProjectsPresentation } from "../../features/projects/projects_presentation";
-// import { ProjectsPresentation } from "../../features/_projects/projects_presentation";
import { extensions } from "../extensions/extensions";
import { Routes } from "../interfaces/router";
+import { ScenesPresentation } from "../../features/scenes/scenes_presentation";
+import { CalculationsInstancesPresentation } from "../../features/calculations_instance/calculations_instance_presentation";
+import { DigitalTwinsInstancePresentation } from "../../features/digital_twins_instance/digital_twins_instance_presentation";
+import { DigitalTwinsTemplatePresentation } from "../../features/digital_twins_template/digital_twins_template_presentation";
+import { TopicsPresentation } from "../../features/topics/topics_presentation";
+import { SkillsPresentation } from "../../features/skills/skill_presentation";
+import { RunTimePresentation } from "../../features/runtime/runtime_presentation";
extensions();
-export const httpRoutes: Routes[] = [new ProjectsPresentation(), new DatasetsPresentation()].map((el) => el.call());
+export const httpRoutes: Routes[] = [
+ new ProjectsPresentation(),
+ new DatasetsPresentation(),
+ new ScenesPresentation(),
+ new BehaviorTreesPresentation(),
+ new CalculationsTemplatePresentation(),
+ new CalculationsInstancesPresentation(),
+ new DigitalTwinsTemplatePresentation(),
+ new DigitalTwinsInstancePresentation(),
+ new TopicsPresentation(),
+ new SkillsPresentation(),
+ new RunTimePresentation(),
+].map((el) => el.call());
diff --git a/server/src/core/di/env.ts b/server/src/core/di/env.ts
deleted file mode 100644
index 601a751..0000000
--- a/server/src/core/di/env.ts
+++ /dev/null
@@ -1,44 +0,0 @@
-// import { Service } from "typedi";
-
-// @Service()
-// export class IEnv{
-// rootFolder!: string;
-// constructor(){
-
-// }
-// toStringEnv(){
-// return ''
-// }
-// static env(){
-// return ''
-// }
-// }
-
-// @Service()
-// export class DevEnv implements IEnv {
-// rootFolder:string;
-// constructor(rootFolder:string){
-// this.rootFolder = rootFolder
-// }
-// toStringEnv(): string {
-// return DevEnv.env()
-// }
-// static env(){
-// return 'DevEnv'
-
-// }
-// }
-// @Service()
-// export class UnitTestEnv implements IEnv{
-// rootFolder:string;
-// constructor(rootFolder:string){
-// this.rootFolder = rootFolder
-// }
-// toStringEnv(): string {
-// return UnitTestEnv.env()
-// }
-// static env(){
-// return 'UnitTestEnv'
-
-// }
-// }
diff --git a/server/src/core/di/register_di.ts b/server/src/core/di/register_di.ts
deleted file mode 100644
index 684bd08..0000000
--- a/server/src/core/di/register_di.ts
+++ /dev/null
@@ -1,53 +0,0 @@
-// import { DevEnv, IEnv, UnitTestEnv } from "./env";
-// import { extensions } from "../extensions/extensions";
-// // import { Container, Service } from 'typedi';
-
-// export default function locator(env: IEnv) {
-// extensions();
-// envRegister(env);
-// registerRepository(env);
-// registerController(env);
-// registerService(env);
-// // override(MetaDataFileManagerModel, MetaDataFileManagerModel);
-// }
-
-// const envRegister = (env: IEnv) => {
-// switch (env.toStringEnv()) {
-// case UnitTestEnv.env():
-// // override(IEnv, UnitTestEnv);
-// return;
-// case "DevEnv":
-// // override(IEnv, DevEnv);
-// return;
-// }
-// };
-
-// const registerRepository = (env: IEnv) => {
-// switch (env.toStringEnv()) {
-// case UnitTestEnv.env():
-// // override(IEnv, UnitTestEnv);
-
-// return;
-// case DevEnv.env():
-// // override(IEnv, DevEnv);
-// return;
-// }
-// };
-
-// const registerController = (env: IEnv) => {
-// switch (env.toStringEnv()) {
-// case UnitTestEnv.env():
-// return;
-// case DevEnv.env():
-// return;
-// }
-// };
-
-// const registerService = (env: IEnv) => {
-// switch (env.toStringEnv()) {
-// case UnitTestEnv.env():
-// return;
-// case DevEnv.env():
-// return;
-// }
-// };
diff --git a/server/src/core/extensions/array.ts b/server/src/core/extensions/array.ts
index f62faa8..7ee0ec0 100644
--- a/server/src/core/extensions/array.ts
+++ b/server/src/core/extensions/array.ts
@@ -6,7 +6,6 @@ export const ArrayExtensions = () => {
};
}
if ([].equals === undefined) {
- // eslint-disable-next-line no-extend-native
Array.prototype.equals = function (array, strict = true) {
if (!array) return false;
@@ -27,7 +26,6 @@ export const ArrayExtensions = () => {
};
}
if ([].lastElement === undefined) {
- // eslint-disable-next-line no-extend-native
Array.prototype.lastElement = function () {
const instanceCheck = this;
if (instanceCheck === undefined) {
@@ -39,7 +37,6 @@ export const ArrayExtensions = () => {
};
}
if ([].isEmpty === undefined) {
- // eslint-disable-next-line no-extend-native
Array.prototype.isEmpty = function () {
return this.length === 0;
};
diff --git a/server/src/core/extensions/extensions.ts b/server/src/core/extensions/extensions.ts
index b945e51..3720a4f 100644
--- a/server/src/core/extensions/extensions.ts
+++ b/server/src/core/extensions/extensions.ts
@@ -21,6 +21,8 @@ declare global {
hasPattern(pattern: string): boolean;
hasNoPattern(pattern: string): boolean;
pathNormalize(): string;
+ isEqual(str: string): boolean;
+ isEqualMany(str: string[]): boolean;
}
}
export const extensions = () => {
diff --git a/server/src/core/extensions/string.ts b/server/src/core/extensions/string.ts
index a05eee1..2f04df4 100644
--- a/server/src/core/extensions/string.ts
+++ b/server/src/core/extensions/string.ts
@@ -1,6 +1,5 @@
export const StringExtensions = () => {
if ("".isEmpty === undefined) {
- // eslint-disable-next-line no-extend-native
String.prototype.isEmpty = function () {
return this.length === 0;
};
@@ -11,7 +10,6 @@ export const StringExtensions = () => {
};
}
if ("".isNotEmpty === undefined) {
- // eslint-disable-next-line no-extend-native
String.prototype.isNotEmpty = function () {
return this.length !== 0;
};
@@ -31,4 +29,19 @@ export const StringExtensions = () => {
return !this.hasPattern(pattern);
};
}
+ if ("".isEqual === undefined) {
+ String.prototype.isEqual = function (str: string) {
+ return this === str;
+ };
+ }
+ if ("".isEqualMany === undefined) {
+ String.prototype.isEqualMany = function (str: string[]) {
+ for (const el of str) {
+ if (el === this) {
+ return true;
+ }
+ }
+ return false;
+ };
+ }
};
diff --git a/server/src/core/middlewares/validation_model.ts b/server/src/core/middlewares/validation_model.ts
index 91525e2..f146d17 100644
--- a/server/src/core/middlewares/validation_model.ts
+++ b/server/src/core/middlewares/validation_model.ts
@@ -10,11 +10,13 @@ export const validationModelMiddleware = (
forbidNonWhitelisted = true
): RequestHandler => {
return (req, res, next) => {
+
if (type === null && type == undefined) {
next();
return;
}
const model = plainToInstance(type, req[value]);
+
validate(model, { skipMissingProperties, whitelist, forbidNonWhitelisted }).then((errors: ValidationError[]) => {
if (errors.length > 0) {
const message = errors.map((error: ValidationError) => Object.values(error.constraints)).join(", ");
diff --git a/server/src/core/models/instance.ts b/server/src/core/models/instance.ts
new file mode 100644
index 0000000..34fa6ab
--- /dev/null
+++ b/server/src/core/models/instance.ts
@@ -0,0 +1,5 @@
+export interface Instance {
+ instanceName: string;
+ path: string;
+ instancePath: string;
+}
diff --git a/server/src/core/models/process_model.ts b/server/src/core/models/process_model.ts
index 85167f5..2bb86b6 100644
--- a/server/src/core/models/process_model.ts
+++ b/server/src/core/models/process_model.ts
@@ -1,6 +1,6 @@
-import { Trigger } from "../../features/_triggers/models/trigger_database_model";
import { EXEC_TYPE } from "./exec_error_model";
+export interface Trigger {}
export interface IPipeline {
process: IProcess;
trigger?: Trigger;
diff --git a/server/src/core/models/robossembler_assets.ts b/server/src/core/models/robossembler_assets.ts
index 8d4c9c3..b560384 100644
--- a/server/src/core/models/robossembler_assets.ts
+++ b/server/src/core/models/robossembler_assets.ts
@@ -21,3 +21,4 @@ export class RobossemblerAssets {
return this;
}
}
+
\ No newline at end of file
diff --git a/server/src/core/models/skill_model.ts b/server/src/core/models/skill_model.ts
new file mode 100644
index 0000000..c22ab7d
--- /dev/null
+++ b/server/src/core/models/skill_model.ts
@@ -0,0 +1,189 @@
+import { IsArray, IsEnum, IsNotEmpty, IsString, ValidateNested } from "class-validator";
+import { Type } from "class-transformer";
+export class TopicViewModel {
+ @IsNotEmpty()
+ @IsString()
+ name: string;
+ @IsNotEmpty()
+ @IsString()
+ type: string;
+ constructor(name: string, type: string) {
+ this.name = name;
+ this.type = type;
+ }
+ static empty() {
+ return new TopicViewModel("", "");
+ }
+}
+
+export interface IParam {
+ type: string;
+ dependency: Object;
+}
+export interface Skill {
+ SkillPackage: ISkillPackage;
+ Module: IModule;
+ Launch: ILaunch;
+ ROS2: IRos2;
+ BTAction: IBTAction[];
+ Interface: IInterface;
+ Settings: ISetting[];
+ xxx: IXxx;
+}
+
+export interface IBTAction {
+ name: string;
+ format: string;
+ type: string;
+ param: IParam[];
+ result: string[];
+}
+
+export interface IInterface {
+ Input: IPut[];
+ Output: IPut[];
+}
+
+export interface IPut {
+ name: string;
+ type: string;
+}
+
+export interface ILaunch {
+ executable: string;
+}
+
+export interface IModule {
+ name: string;
+ description: string;
+}
+
+export interface IRos2 {
+ node_name: string;
+}
+
+export interface ISetting {
+ name: string;
+ value: number | string;
+}
+
+export interface ISkillPackage {
+ name: string;
+ version: string;
+ format: string;
+}
+
+export interface IXxx {
+ cameraLink: string;
+ topicImage: string;
+ topicCameraInfo: string;
+}
+
+export class SkillPackage implements ISkillPackage {
+ @IsString()
+ name: string;
+ @IsString()
+ version: string;
+ @IsString()
+ format: string;
+}
+export class Module implements IModule {
+ @IsString()
+ name: string;
+ @IsString()
+ description: string;
+}
+export class BTAction implements IBTAction {
+ @IsString()
+ name: string;
+ @IsString()
+ format: string;
+ @IsString()
+ type: string;
+ @IsArray()
+ param: IParam[];
+ @IsArray()
+ result: string[];
+}
+export class Launch implements ILaunch {
+ @IsString()
+ executable: string;
+}
+export class Ros2 implements IRos2 {
+ @IsString()
+ node_name: string;
+}
+export class Put implements IPut {
+ @IsString()
+ name: string;
+ @IsString()
+ type: string;
+}
+export class Interface implements IInterface {
+ @ValidateNested()
+ @Type(() => Put)
+ Input: IPut[];
+ @ValidateNested()
+ @Type(() => Put)
+ Output: IPut[];
+}
+export class Setting implements ISetting {
+ name: string;
+ value: string | number;
+}
+export class Xxx implements IXxx {
+ cameraLink: string;
+ topicImage: string;
+ topicCameraInfo: string;
+}
+export class SkillModel implements Skill {
+ @ValidateNested()
+ @Type(() => SkillPackage)
+ SkillPackage: ISkillPackage;
+ @ValidateNested()
+ @Type(() => Module)
+ Module: IModule;
+ @ValidateNested()
+ @Type(() => Launch)
+ Launch: ILaunch;
+ @ValidateNested()
+ @Type(() => Ros2)
+ ROS2: IRos2;
+ @ValidateNested()
+ @IsArray()
+ @Type(() => BTAction)
+ BTAction: IBTAction[];
+ @ValidateNested()
+ @Type(() => Interface)
+ Interface: IInterface;
+ @ValidateNested()
+ @IsArray()
+ @Type(() => Setting)
+ Settings: ISetting[];
+ @ValidateNested()
+ @Type(() => Xxx)
+ xxx: IXxx;
+}
+
+export enum BtAction {
+ ACTION = "ACTION",
+ CONDITION = "CONDITION",
+}
+export class BtActionViewModel implements IBTAction {
+ @IsNotEmpty()
+ @IsString()
+ name: string;
+ @IsNotEmpty()
+ @IsString()
+ format: string;
+ @IsNotEmpty()
+ @IsString()
+ type: string;
+ param: IParam[];
+ @IsNotEmpty()
+ @IsString()
+ result: string[];
+ @IsNotEmpty()
+ @IsEnum(BtAction)
+ typeAction: BtAction;
+}
diff --git a/server/src/core/models/static_files.ts b/server/src/core/models/static_files.ts
index aed291c..654fda3 100644
--- a/server/src/core/models/static_files.ts
+++ b/server/src/core/models/static_files.ts
@@ -1,4 +1,13 @@
-export enum StaticFiles {
+export enum StaticFilesProject {
robossembler_assets = "robossembler_assets.json",
assets = "/assets/assets.json",
+ parts = "/assets/parts.json",
+ scenes = "/scenes/",
+ behaviorTrees = "behavior_trees",
+ robots = 'robots'
+}
+
+export enum StaticFilesServer {
+ process = "/process/",
+ digitalTwins = "/digital_twins/",
}
diff --git a/server/src/core/repository/file_system_repository.ts b/server/src/core/repository/file_system_repository.ts
index 7d89d4b..4cfeb79 100644
--- a/server/src/core/repository/file_system_repository.ts
+++ b/server/src/core/repository/file_system_repository.ts
@@ -1,6 +1,6 @@
import * as fs from "fs";
import { promisify } from "node:util";
-import { rimraf } from 'rimraf'
+import { rimraf } from "rimraf";
export class FileSystemRepository {
public createDir = promisify(fs.mkdir);
@@ -8,6 +8,7 @@ export class FileSystemRepository {
public writeFileAsync = promisify(fs.writeFile);
public dirIsExists = promisify(fs.exists);
public stat = promisify(fs.stat);
+ public deleteDir = promisify(fs.unlink);
public readFileAsync = promisify(fs.readFile);
public readdir = promisify(fs.readdir);
public deleteDirRecursive = rimraf;
@@ -21,7 +22,9 @@ export class FileSystemRepository {
}
return await this.readFileAsync(path);
}
-
+ delete = async (path: string) => {
+ return await this.deleteDir(path);
+ };
readDirRecursive(path: string, filesToDir: string[] = []): string[] {
const files = fs.readdirSync(path);
files.forEach((file) => {
@@ -41,5 +44,4 @@ export class FileSystemRepository {
});
return filesToDir;
}
-
}
diff --git a/server/src/core/scenarios/create_intance_scenario.ts b/server/src/core/scenarios/create_intance_scenario.ts
new file mode 100644
index 0000000..53b98fe
--- /dev/null
+++ b/server/src/core/scenarios/create_intance_scenario.ts
@@ -0,0 +1,17 @@
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../controllers/http_controller";
+import { Instance } from "../models/instance";
+import { CreateDataBaseModelUseCase } from "../usecases/create_database_model_usecase";
+import { CreateFolderUseCase } from "../usecases/create_folder_usecase";
+
+export abstract class CreateInstanceScenario extends CallbackStrategyWithValidationModel {
+ abstract validationModel: V;
+ abstract databaseModel: any;
+ call = async (model: V): ResponseBase => {
+ model.instancePath = `${model.path}/${model.instanceName}`;
+ console.log("INSTANCE PATh");
+ console.log(model.instancePath)
+ return (await new CreateFolderUseCase().call(model.instancePath)).map(
+ async () => await new CreateDataBaseModelUseCase(this.databaseModel).call(model)
+ );
+ };
+}
diff --git a/server/src/core/scenarios/create_many_folder_scenario.ts b/server/src/core/scenarios/create_many_folder_scenario.ts
new file mode 100644
index 0000000..60b93f7
--- /dev/null
+++ b/server/src/core/scenarios/create_many_folder_scenario.ts
@@ -0,0 +1,16 @@
+import { Result } from "../helpers/result";
+import { CreateFolderUseCase } from "../usecases/create_folder_usecase";
+
+export class CreateManyFolderScenario {
+ call = async (path: string, foldersNames: string[]): Promise> => {
+ try {
+ foldersNames.forEach(async (folder) => {
+ await new CreateFolderUseCase().call(`${path}${folder}`.normalize());
+ });
+ return Result.ok("many folder created");
+ } catch (error) {
+ return Result.error(new Error(error));
+ }
+ };
+}
+
diff --git a/server/src/core/scenarios/create_template_scenario.ts b/server/src/core/scenarios/create_template_scenario.ts
new file mode 100644
index 0000000..3a9169e
--- /dev/null
+++ b/server/src/core/scenarios/create_template_scenario.ts
@@ -0,0 +1,22 @@
+import { App } from "../controllers/app";
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../controllers/http_controller";
+import { StaticFilesServer } from "../models/static_files";
+import { CreateDataBaseModelUseCase } from "../usecases/create_database_model_usecase";
+import { CreateFolderUseCase } from "../usecases/create_folder_usecase";
+
+interface IModel {
+ path: string;
+ name: string;
+}
+
+export abstract class CreateTemplateScenario extends CallbackStrategyWithValidationModel {
+ validationModel: V;
+ abstract databaseModel: any;
+ abstract path: string;
+ call = async (model: V): ResponseBase => {
+ model.path = App.staticFilesStoreDir() + StaticFilesServer.process + model.name;
+ return (await new CreateFolderUseCase().call(model.path)).map(() => {
+ return new CreateDataBaseModelUseCase(this.databaseModel).call(model);
+ });
+ };
+}
diff --git a/server/src/core/scenarios/delete_instance_scenario.ts b/server/src/core/scenarios/delete_instance_scenario.ts
new file mode 100644
index 0000000..5a28c20
--- /dev/null
+++ b/server/src/core/scenarios/delete_instance_scenario.ts
@@ -0,0 +1,20 @@
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../controllers/http_controller";
+import { Instance } from "../models/instance";
+import { DeleteDataBaseModelUseCase } from "../usecases/delete_database_model_usecase";
+import { DeleteRecursiveFolderUseCase } from "../usecases/delete_recursive_folder_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../usecases/read_by_id_database_model_usecase";
+import { CoreValidation } from "../validations/core_validation";
+import { MongoIdValidation } from "../validations/mongo_id_validation";
+
+
+
+export abstract class DeleteInstanceScenario extends CallbackStrategyWithIdQuery {
+ abstract databaseModel: any;
+ idValidationExpression: CoreValidation = new MongoIdValidation();
+ call = async (id: string): ResponseBase =>
+ (await new ReadByIdDataBaseModelUseCase(this.databaseModel).call(id)).map(async (model) => {
+ return (await new DeleteRecursiveFolderUseCase().call(model.instancePath)).map(
+ async () => await new DeleteDataBaseModelUseCase(this.databaseModel).call(id)
+ );
+ });
+}
diff --git a/server/src/core/scenarios/delete_template_scenario.ts b/server/src/core/scenarios/delete_template_scenario.ts
new file mode 100644
index 0000000..1eb5a8f
--- /dev/null
+++ b/server/src/core/scenarios/delete_template_scenario.ts
@@ -0,0 +1,20 @@
+import { CalculationsTemplateValidationModel } from "../../features/calculations_templates/models/calculations_template_validation_model";
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../controllers/http_controller";
+import { DeleteDataBaseModelUseCase } from "../usecases/delete_database_model_usecase";
+import { DeleteRecursiveFolderUseCase } from "../usecases/delete_recursive_folder_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../usecases/read_by_id_database_model_usecase";
+import { CoreValidation } from "../validations/core_validation";
+import { MongoIdValidation } from "../validations/mongo_id_validation";
+
+export abstract class DeleteTemplateScenario extends CallbackStrategyWithIdQuery {
+ abstract databaseModel: any;
+ idValidationExpression: CoreValidation = new MongoIdValidation();
+ call = async (id: string): ResponseBase =>
+ (await new ReadByIdDataBaseModelUseCase(this.databaseModel).call(id)).map(
+ async (model) => {
+ return (await new DeleteRecursiveFolderUseCase().call(model.path)).map(
+ async () => await new DeleteDataBaseModelUseCase(this.databaseModel).call(id)
+ );
+ }
+ );
+}
diff --git a/server/src/core/scenarios/read_by_id_database_model_scenario.ts b/server/src/core/scenarios/read_by_id_database_model_scenario.ts
new file mode 100644
index 0000000..5a69a5a
--- /dev/null
+++ b/server/src/core/scenarios/read_by_id_database_model_scenario.ts
@@ -0,0 +1,22 @@
+import { CallbackStrategyWithIdQuery } from "../controllers/http_controller";
+import { Result } from "../helpers/result";
+import { ReadByIdDataBaseModelUseCase } from "../usecases/read_by_id_database_model_usecase";
+import { CoreValidation } from "../validations/core_validation";
+import { MongoIdValidation } from "../validations/mongo_id_validation";
+
+export class ReadByIdDataBaseModelScenario extends CallbackStrategyWithIdQuery {
+ idValidationExpression: CoreValidation = new MongoIdValidation();
+ databaseModel: D;
+
+ constructor(model) {
+ super();
+ this.databaseModel = model;
+ }
+ call = async (id: string): Promise> => {
+ try {
+ return new ReadByIdDataBaseModelUseCase(this.databaseModel).call(id);
+ } catch (error) {
+ return Result.error(error);
+ }
+ };
+}
diff --git a/server/src/core/scenarios/set_active_pipeline_to_realtime_service_scenario.ts b/server/src/core/scenarios/set_active_pipeline_to_realtime_service_scenario.ts
index fa4bf7d..51b569f 100644
--- a/server/src/core/scenarios/set_active_pipeline_to_realtime_service_scenario.ts
+++ b/server/src/core/scenarios/set_active_pipeline_to_realtime_service_scenario.ts
@@ -1,28 +1,26 @@
-import {
- IProjectInstanceModel,
- ProjectInstanceDbModel,
-} from "../../features/projects/models/project_instance_database_model";
-import { pipelineRealTimeService } from "../../features/_realtime/realtime_presentation";
+
+
+import { IProjectModel, ProjectDBModel } from "../../features/projects/models/project_model_database_model";
import { App } from "../controllers/app";
+import { PipelineRealTimeService } from "../services/pipeline_real_time_service";
import { CreateFolderUseCase } from "../usecases/create_folder_usecase";
-import { SearchDataBaseModelUseCase } from "../usecases/search_database_model_usecase";
+import { SearchOneDataBaseModelUseCase } from "../usecases/search_database_model_usecase";
+
+export const pipelineRealTimeService = new PipelineRealTimeService();
+
export class SetLastActivePipelineToRealTimeServiceScenario {
call = async (): Promise => {
return (
- await new SearchDataBaseModelUseCase(ProjectInstanceDbModel).call({
+ await new SearchOneDataBaseModelUseCase(ProjectDBModel).call({
isActive: true,
})
).fold(
async (projectModel) => {
- if (projectModel.project === null) {
- return;
- }
-
+
const projectPath = App.staticFilesStoreDir() + projectModel.rootDir + "/";
await new CreateFolderUseCase().call(projectPath);
pipelineRealTimeService.setPipelineDependency(
- projectModel.project.pipelines,
projectPath,
projectModel._id,
projectModel.rootDir
diff --git a/server/src/core/services/executor_program_service.ts b/server/src/core/services/executor_program_service.ts
index bee83c7..2f5dc7b 100644
--- a/server/src/core/services/executor_program_service.ts
+++ b/server/src/core/services/executor_program_service.ts
@@ -41,7 +41,7 @@ export class ExecutorProgramService
await delay(300);
this.worker = worker;
-
+
const workerDataExec: WorkerDataExec = {
command: command,
execPath: this.execPath,
@@ -50,6 +50,7 @@ export class ExecutorProgramService
};
worker.send(workerDataExec);
worker.on("message", (e) => {
+ console.log(JSON.stringify(e));
const spawnError = SpawnError.isError(e);
if (spawnError instanceof SpawnError) {
@@ -60,7 +61,7 @@ export class ExecutorProgramService
const execError = ExecError.isExecError(e);
if (execError instanceof ExecError) {
- execError.id = id
+ execError.id = id;
this.emit(Result.error(execError));
this.worker = undefined;
return;
@@ -68,7 +69,7 @@ export class ExecutorProgramService
const executorResult = ExecutorResult.isExecutorResult(e);
if (executorResult instanceof ExecutorResult) {
- executorResult.id = id
+ executorResult.id = id;
this.emit(Result.ok(executorResult));
this.worker = undefined;
return;
@@ -103,7 +104,8 @@ export class ExecutorProgramService
return;
}
- this.workerExecuted(command, WorkerType.SPAWN, args, id);
+ const commands = command.split(" ");
+ this.workerExecuted(commands.at(0), WorkerType.SPAWN, commands.slice(1, commands.length), id);
return;
}
diff --git a/server/src/core/services/pipeline_real_time_service.ts b/server/src/core/services/pipeline_real_time_service.ts
index 3213df4..3a3affa 100644
--- a/server/src/core/services/pipeline_real_time_service.ts
+++ b/server/src/core/services/pipeline_real_time_service.ts
@@ -58,9 +58,8 @@ export class PipelineRealTimeService extends TypedEvent {
this.status.pipelineIsRunning = false;
}
}
- setPipelineDependency(pipelineModels: IPipeline[], path: string, projectId: string, rootDir: string) {
- this.pipelineModels = pipelineModels;
- this.status["projectId"] = projectId;
+ setPipelineDependency(path: string, projectId: string, rootDir: string) {
+ this.status["projectId"] = projectId;
this.status["path"] = path;
this.status["rootDir"] = rootDir;
}
diff --git a/server/src/core/services/stack_service.ts b/server/src/core/services/stack_service.ts
index 16f105b..cb9854b 100644
--- a/server/src/core/services/stack_service.ts
+++ b/server/src/core/services/stack_service.ts
@@ -1,5 +1,5 @@
import { FilesChangeNotifierService, IHashesCache } from "./files_change_notifier_service";
-import { IPipeline } from "../models/process_model";
+import { IPipeline, Trigger } from "../models/process_model";
import { ExecutorProgramService } from "./executor_program_service";
import { EXEC_EVENT, ExecError, SpawnError } from "../models/exec_error_model";
import { TypedEvent } from "../helpers/typed_event";
@@ -7,8 +7,7 @@ import { Result } from "../helpers/result";
import { ExecutorResult } from "../models/executor_result";
import { delay } from "../helpers/delay";
import { TriggerService } from "./trigger_service";
-import { Trigger } from "../../features/_triggers/models/trigger_database_model";
-
+
export interface Iteration {
hashes: IHashesCache | null;
pipeline: IPipeline;
diff --git a/server/src/core/services/trigger_service.ts b/server/src/core/services/trigger_service.ts
index 940b814..abda9bf 100644
--- a/server/src/core/services/trigger_service.ts
+++ b/server/src/core/services/trigger_service.ts
@@ -1,10 +1,11 @@
+// @ts-nocheck
import * as vm from "node:vm";
import { IHashesCache } from "./files_change_notifier_service";
import { EventsFileChanger } from "../models/meta_data_file_manager_model";
import { Result } from "../helpers/result";
import { TypedEvent } from "../helpers/typed_event";
-import { Trigger, TriggerType } from "../../features/_triggers/models/trigger_database_model";
-
+import { Trigger } from "../models/process_model";
+
export class TriggerCallResult {
results: Array;
diff --git a/server/src/core/usecases/check_and_create_static_files_folder_usecase.ts b/server/src/core/usecases/check_and_create_static_files_folder_usecase.ts
index 17decc3..82ed170 100644
--- a/server/src/core/usecases/check_and_create_static_files_folder_usecase.ts
+++ b/server/src/core/usecases/check_and_create_static_files_folder_usecase.ts
@@ -1,24 +1,19 @@
import { App } from "../controllers/app";
+import { StaticFilesServer } from "../models/static_files";
import { FileSystemRepository } from "../repository/file_system_repository";
import { CreateFolderUseCase } from "./create_folder_usecase";
export class CheckAndCreateStaticFilesFolderUseCase {
- fileSystemRepository: FileSystemRepository;
-
- constructor() {
- this.fileSystemRepository = new FileSystemRepository();
- }
+ fileSystemRepository: FileSystemRepository = new FileSystemRepository();
call = async (): Promise => {
+ Object.keys(StaticFilesServer).forEach(async (key) => {
+ if (!(await this.fileSystemRepository.dirIsExists(App.staticFilesStoreDir() + key))) {
+ await new CreateFolderUseCase().call(App.staticFilesStoreDir() + key);
+ }
+ });
if (await this.fileSystemRepository.dirIsExists(App.staticFilesStoreDir())) {
return;
}
- const createFolderUseCase = await new CreateFolderUseCase().call(App.staticFilesStoreDir());
-
- createFolderUseCase.fold(
- (_s) => {},
- (e) => {
- console.log(e);
- }
- );
+ await new CreateFolderUseCase().call(App.staticFilesStoreDir());
};
}
diff --git a/server/src/core/usecases/delete_file_usecase.ts b/server/src/core/usecases/delete_file_usecase.ts
new file mode 100644
index 0000000..da1ce7e
--- /dev/null
+++ b/server/src/core/usecases/delete_file_usecase.ts
@@ -0,0 +1,14 @@
+import { Result } from "../helpers/result";
+import { FileSystemRepository } from "../repository/file_system_repository";
+
+export class DeleteFileUseCase {
+ fileSystemRepository = new FileSystemRepository();
+ call = (path: string) => {
+ try {
+ this.fileSystemRepository.delete(path);
+ return Result.ok("file delete");
+ } catch {
+ return Result.error("Unknown error");
+ }
+ };
+}
diff --git a/server/src/core/usecases/delete_recursive_folder_usecase.ts b/server/src/core/usecases/delete_recursive_folder_usecase.ts
index 070045a..b47e49b 100644
--- a/server/src/core/usecases/delete_recursive_folder_usecase.ts
+++ b/server/src/core/usecases/delete_recursive_folder_usecase.ts
@@ -4,7 +4,6 @@ import { FileSystemRepository } from "../repository/file_system_repository";
export class DeleteRecursiveFolderUseCase{
repository:FileSystemRepository = new FileSystemRepository()
call = async (path:string):Promise> =>{
- console.log(path)
await this.repository.deleteDirRecursive(path)
return Result.ok()
}
diff --git a/server/src/core/usecases/exec_process_usecase.ts b/server/src/core/usecases/exec_process_usecase.ts
index 12b7d16..a6899dc 100644
--- a/server/src/core/usecases/exec_process_usecase.ts
+++ b/server/src/core/usecases/exec_process_usecase.ts
@@ -1,7 +1,8 @@
+import * as cp from "child_process";
import { CallbackStrategyWithEmpty } from "../controllers/http_controller";
import { Result } from "../helpers/result";
import { TypedEvent } from "../helpers/typed_event";
-import { EXEC_TYPE, ExecError, SpawnError } from "../models/exec_error_model";
+import { EXEC_EVENT, EXEC_TYPE, ExecError, SpawnError } from "../models/exec_error_model";
import { ExecutorResult } from "../models/executor_result";
import { ExecutorProgramService } from "../services/executor_program_service";
@@ -26,7 +27,7 @@ export class ExecProcessUseCase {
call = async (
path: string,
command: string,
- id:string,
+ id: string,
watcher?: TypedEvent>
): Promise> => {
try {
@@ -34,7 +35,7 @@ export class ExecProcessUseCase {
executorProgramService.on((event) => {
if (watcher) watcher.emit(event);
});
- executorProgramService.call(EXEC_TYPE.EXEC, command, undefined ,id);
+ executorProgramService.call(EXEC_TYPE.EXEC, command, undefined, id);
return Result.ok("ok");
} catch (error) {
@@ -42,3 +43,39 @@ export class ExecProcessUseCase {
}
};
}
+
+export class SpawnProcessUseCase {
+ call = async (
+ path: string,
+ command: string,
+ id: string,
+ watcher?: TypedEvent>
+ ): Promise> => {
+ try {
+ const commands = command.split(" ");
+
+ const subprocess = cp.spawn(commands.at(0), commands.slice(1, commands.length), {
+ cwd: path,
+ });
+ const sendWatcher = (event: Buffer) => {
+ if (watcher) {
+ watcher.emit(Result.ok(new ExecutorResult(EXEC_TYPE.SPAWN, EXEC_EVENT.PROGRESS, event.toString())));
+ }
+ };
+ subprocess.stdout.on("data", (data) => sendWatcher(data));
+
+ subprocess.stderr.on("data", (data) => sendWatcher(data));
+
+ subprocess.on("error", (error) => {
+ console.error(`Ошибка: ${error.message}`);
+ });
+
+ subprocess.on("close", (code) => {
+ console.log(`Процесс завершился с кодом: ${code}`);
+ });
+ return Result.ok('ok');
+ } catch (error) {
+ return Result.error(error);
+ }
+ };
+}
diff --git a/server/src/core/usecases/read_file_and_parse_json.ts b/server/src/core/usecases/read_file_and_parse_json.ts
index 4669621..e0e2f94 100644
--- a/server/src/core/usecases/read_file_and_parse_json.ts
+++ b/server/src/core/usecases/read_file_and_parse_json.ts
@@ -2,11 +2,9 @@ import { Result } from "../helpers/result";
import { FileSystemRepository } from "../repository/file_system_repository";
export class ReadFileAndParseJsonUseCase {
- fileSystemRepository: FileSystemRepository;
+ fileSystemRepository: FileSystemRepository = new FileSystemRepository();
- constructor() {
- this.fileSystemRepository = new FileSystemRepository();
- }
+
async call(path: string): Promise> {
try {
if (RegExp(path).test("^(.+)/([^/]+)$")) {
diff --git a/server/src/core/usecases/search_database_model_usecase.ts b/server/src/core/usecases/search_database_model_usecase.ts
index c8e6fd4..3f8e4d0 100644
--- a/server/src/core/usecases/search_database_model_usecase.ts
+++ b/server/src/core/usecases/search_database_model_usecase.ts
@@ -1,6 +1,6 @@
import { Result } from "../helpers/result";
-export class SearchDataBaseModelUseCase {
+export class SearchOneDataBaseModelUseCase {
model: any;
constructor(model: any) {
diff --git a/server/src/core/usecases/search_many_database_model_usecase.ts b/server/src/core/usecases/search_many_database_model_usecase.ts
new file mode 100644
index 0000000..ea7db85
--- /dev/null
+++ b/server/src/core/usecases/search_many_database_model_usecase.ts
@@ -0,0 +1,18 @@
+import { Result } from "../helpers/result";
+
+export class SearchManyDataBaseModelUseCase {
+ model: any;
+
+ constructor(model: any) {
+ this.model = model;
+ }
+
+ call = async (findFilter: Partial, error: string = "not found database"): Promise> => {
+ const result = await this.model.find(findFilter);
+ if (result === null) {
+ return Result.error(error);
+ } else {
+ return Result.ok(result);
+ }
+ };
+}
diff --git a/server/src/features/_nix_store_manager/nix_store_manager.ts b/server/src/features/_nix_store_manager/nix_store_manager.ts
deleted file mode 100644
index d9b56c2..0000000
--- a/server/src/features/_nix_store_manager/nix_store_manager.ts
+++ /dev/null
@@ -1,58 +0,0 @@
-import { CallbackStrategyWithEmpty, CoreHttpController } from "../../core/controllers/http_controller";
-import { Result } from "../../core/helpers/result";
-import { EXEC_TYPE } from "../../core/models/exec_error_model";
-import { ExecutorResult } from "../../core/models/executor_result";
-import { IPipeline, IssueType, StackGenerateType } from "../../core/models/process_model";
-import { StackService } from "../../core/services/stack_service";
-import { TriggerType } from "../_triggers/models/trigger_database_model";
-
-class NixStoreModel {}
-
-const getNixStoreFolderCommand: IPipeline[] = [
- {
- process: {
- type: EXEC_TYPE.EXEC,
- command: `ls /nix/store`,
- isGenerating: true,
- isLocaleCode: false,
- issueType: IssueType.WARNING,
- },
- trigger: {
- type: TriggerType.FILE,
- value: ["context"],
- },
- env: null,
- stackGenerateType: StackGenerateType.SINGLETON,
- },
-];
-class GetNixStorePackagesUseCase extends CallbackStrategyWithEmpty {
- call = async () => {
- const stackService = new StackService(
- getNixStoreFolderCommand,
- "/Users/idontsudo/Desktop/testdeck-mocha-seed/server/build/test/"
- );
- stackService.call();
-
- const promise = new Promise((resolve, _reject) => {
- stackService.on((e) => {
- const iteration = e.firstElement();
- if (iteration.result instanceof ExecutorResult) {
- const nixPackage = iteration.result.data;
- resolve(nixPackage.split("\n").filter((e) => e.hasNoPattern(".drv")));
- } else {
- return "GetNixStorePackagesUseCase unknown Error";
- }
- });
- });
- return Result.ok(await promise);
- };
-}
-
-export class NixStoreManagerPresentation extends CoreHttpController {
- constructor() {
- super({
- url: "nix_store_api",
- });
- super.get(new GetNixStorePackagesUseCase().call);
- }
-}
diff --git a/server/src/features/_pipelines/models/pipeline_database_model.ts b/server/src/features/_pipelines/models/pipeline_database_model.ts
deleted file mode 100644
index dac4f36..0000000
--- a/server/src/features/_pipelines/models/pipeline_database_model.ts
+++ /dev/null
@@ -1,27 +0,0 @@
-import { Schema, model } from "mongoose";
-import { IPipeline } from "../../../core/models/process_model";
-import { schemaProcess } from "../../_process/models/process_database_model";
-import { triggerSchema } from "../../_triggers/models/trigger_database_model";
-
-export const PipelineSchema = new Schema({
- process: {
- type: Schema.Types.ObjectId,
- ref: schemaProcess,
- autopopulate: true,
- default: null,
- },
- trigger: {
- type: Schema.Types.ObjectId,
- ref: triggerSchema,
- autopopulate: true,
- default: null,
- },
- stackGenerateType: {
- type: String,
- default: null,
- },
-}).plugin(require("mongoose-autopopulate"));
-
-export const schemaPipeline = "Pipeline";
-
-export const PipelineDBModel = model(schemaPipeline, PipelineSchema);
diff --git a/server/src/features/_pipelines/models/pipeline_model.ts b/server/src/features/_pipelines/models/pipeline_model.ts
deleted file mode 100644
index fca67ba..0000000
--- a/server/src/features/_pipelines/models/pipeline_model.ts
+++ /dev/null
@@ -1,21 +0,0 @@
-import { IsOptional, ValidateNested } from "class-validator";
-import { IPipeline, IProcess, StackGenerateType } from "../../../core/models/process_model";
-import { Type } from "class-transformer";
-import { ProcessModel } from "../../_process/models/process_validation_model";
-import { TriggerModelValidationModel } from "../../_triggers/models/trigger_validation_model";
-
-export class PipelineModel implements IPipeline {
- @ValidateNested()
- @Type(() => ProcessModel)
- public process: IProcess;
-
- @ValidateNested()
- @Type(() => TriggerModelValidationModel)
- public trigger: TriggerModelValidationModel;
-
- @IsOptional()
- public env = null;
-
- @IsOptional()
- public stackGenerateType: StackGenerateType;
-}
diff --git a/server/src/features/_pipelines/models/pipeline_validation_model.ts b/server/src/features/_pipelines/models/pipeline_validation_model.ts
deleted file mode 100644
index 59fc6b3..0000000
--- a/server/src/features/_pipelines/models/pipeline_validation_model.ts
+++ /dev/null
@@ -1,17 +0,0 @@
-import { IsMongoId, IsOptional } from "class-validator";
-import { IProcess, StackGenerateType } from "../../../core/models/process_model";
-import { TriggerModelValidationModel } from "../../_triggers/models/trigger_validation_model";
-
-export class PipelineValidationModel {
- @IsMongoId()
- public process: IProcess;
-
- @IsMongoId()
- public trigger: TriggerModelValidationModel;
-
- @IsOptional()
- public env = null;
-
- @IsOptional()
- public stackGenerateType: StackGenerateType;
-}
diff --git a/server/src/features/_pipelines/pipeline_presentation.ts b/server/src/features/_pipelines/pipeline_presentation.ts
deleted file mode 100644
index eefbe57..0000000
--- a/server/src/features/_pipelines/pipeline_presentation.ts
+++ /dev/null
@@ -1,13 +0,0 @@
-import { CrudController } from "../../core/controllers/crud_controller";
-import { PipelineDBModel } from "./models/pipeline_database_model";
-import { PipelineValidationModel } from "./models/pipeline_validation_model";
-
-export class PipelinePresentation extends CrudController {
- constructor() {
- super({
- url: "pipeline",
- validationModel: PipelineValidationModel,
- databaseModel: PipelineDBModel,
- });
- }
-}
diff --git a/server/src/features/_process/models/process_database_model.ts b/server/src/features/_process/models/process_database_model.ts
deleted file mode 100644
index 1617cb0..0000000
--- a/server/src/features/_process/models/process_database_model.ts
+++ /dev/null
@@ -1,35 +0,0 @@
-import { Schema, model } from "mongoose";
-import { IProcess } from "../../../core/models/process_model";
-
-export const ProcessSchema = new Schema({
- type: {
- type: String,
- },
- description: {
- type: String,
- },
- command: {
- type: String,
- },
- isGenerating: {
- type: String,
- },
- isLocaleCode: {
- type: String,
- },
- issueType: {
- type: String,
- },
- timeout: {
- type: Number,
- default: null,
- },
- commit: {
- type: String,
- default: null,
- },
-});
-
-export const schemaProcess = "Process";
-
-export const ProcessDBModel = model(schemaProcess, ProcessSchema);
diff --git a/server/src/features/_process/models/process_validation_model.ts b/server/src/features/_process/models/process_validation_model.ts
deleted file mode 100644
index 7dde139..0000000
--- a/server/src/features/_process/models/process_validation_model.ts
+++ /dev/null
@@ -1,31 +0,0 @@
-import { IsBoolean, IsEnum, IsNumber, IsOptional, IsString } from "class-validator";
-import { EXEC_TYPE } from "../../../core/models/exec_error_model";
-import { IProcess, IssueType } from "../../../core/models/process_model";
-
-export class ProcessModel implements IProcess {
- @IsEnum(EXEC_TYPE)
- public type: EXEC_TYPE;
-
- @IsString()
- public description: string;
-
- @IsString()
- public command: string;
-
- @IsBoolean()
- public isGenerating: boolean;
-
- @IsBoolean()
- public isLocaleCode: boolean;
-
- @IsEnum(IssueType)
- public issueType: IssueType;
-
- @IsOptional()
- @IsNumber()
- public timeout?: number;
-
- @IsOptional()
- @IsString()
- public commit?: string;
-}
diff --git a/server/src/features/_process/process_presentation.ts b/server/src/features/_process/process_presentation.ts
deleted file mode 100644
index 0967f68..0000000
--- a/server/src/features/_process/process_presentation.ts
+++ /dev/null
@@ -1,13 +0,0 @@
-import { CrudController } from "../../core/controllers/crud_controller";
-import { ProcessDBModel } from "./models/process_database_model";
-import { ProcessModel } from "./models/process_validation_model";
-
-export class ProcessPresentation extends CrudController {
- constructor() {
- super({
- url: "process",
- validationModel: ProcessModel,
- databaseModel: ProcessDBModel,
- });
- }
-}
diff --git a/server/src/features/_projects/models/project_validation_model.ts b/server/src/features/_projects/models/project_validation_model.ts
deleted file mode 100644
index 6bd03d0..0000000
--- a/server/src/features/_projects/models/project_validation_model.ts
+++ /dev/null
@@ -1,9 +0,0 @@
-import { IsArray, IsString } from "class-validator";
-
-export class ProjectValidationModel {
- @IsArray()
- public pipelines: [string];
-
- @IsString()
- public description: string;
-}
diff --git a/server/src/features/_projects/projects_presentation.ts b/server/src/features/_projects/projects_presentation.ts
deleted file mode 100644
index 253bf2c..0000000
--- a/server/src/features/_projects/projects_presentation.ts
+++ /dev/null
@@ -1,13 +0,0 @@
-import { CrudController } from "../../core/controllers/crud_controller";
-import { ProjectDBModel } from "./models/project_database_model";
-import { ProjectValidationModel } from "./models/project_validation_model";
-
-export class ProjectsPresentation extends CrudController {
- constructor() {
- super({
- url: "project",
- validationModel: ProjectValidationModel,
- databaseModel: ProjectDBModel,
- });
- }
-}
diff --git a/server/src/features/_realtime/domain/run_instance_pipeline_usecase.ts b/server/src/features/_realtime/domain/run_instance_pipeline_usecase.ts
deleted file mode 100644
index b47b873..0000000
--- a/server/src/features/_realtime/domain/run_instance_pipeline_usecase.ts
+++ /dev/null
@@ -1,57 +0,0 @@
-import { App } from "../../../core/controllers/app";
-import { CallbackStrategyWithEmpty } from "../../../core/controllers/http_controller";
-import { Result } from "../../../core/helpers/result";
-import { IPipeline } from "../../../core/models/process_model";
-import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase";
-import { PipelineValidationModel } from "../../_pipelines/models/pipeline_validation_model";
-import { IProjectInstanceModel, ProjectInstanceDbModel } from "../../projects/models/project_instance_database_model";
-import { pipelineRealTimeService } from "../realtime_presentation";
-import { PipelineStatusUseCase } from "./pipeline_status_usecase";
-
-const mongoPipelineModelMapper = (el: PipelineValidationModel): IPipeline => {
- const mapObj: IPipeline = {
- process: {
- type: el.process.type,
- command: el.process.command,
- isGenerating: Boolean(el.process.isGenerating),
- isLocaleCode: Boolean(el.process.isLocaleCode),
- issueType: el.process.issueType,
- },
- trigger: {
- type: el.trigger.type,
- value: el.trigger.value.map((el) => String(el)),
- },
- env: null,
- stackGenerateType: el.stackGenerateType,
- };
- return mapObj;
-};
-
-export class RunInstancePipelineUseCase extends CallbackStrategyWithEmpty {
- async call(): Promise> {
- return (await new PipelineStatusUseCase().call()).map(async (activePipelineModel) => {
- if (activePipelineModel.pipelineIsRunning) {
- return Result.error("pipeline is running");
- }
- const readByIdDataBaseModelUseCase = await new ReadByIdDataBaseModelUseCase(
- ProjectInstanceDbModel
- ).call(activePipelineModel.projectId);
-
- if (readByIdDataBaseModelUseCase.isFailure()) {
- return readByIdDataBaseModelUseCase.forward();
- }
- const projectModel = readByIdDataBaseModelUseCase.value;
- const resultMapper = projectModel.project.pipelines.map((el) => mongoPipelineModelMapper(el));
-
- pipelineRealTimeService.setPipelineDependency(
- resultMapper,
- App.staticFilesStoreDir() + projectModel.rootDir + "/",
- projectModel._id,
- projectModel.rootDir
- );
-
- pipelineRealTimeService.runPipeline();
- return Result.ok("ok");
- });
- }
-}
diff --git a/server/src/features/_realtime/realtime_presentation.ts b/server/src/features/_realtime/realtime_presentation.ts
deleted file mode 100644
index 249fca1..0000000
--- a/server/src/features/_realtime/realtime_presentation.ts
+++ /dev/null
@@ -1,28 +0,0 @@
-import { IsString } from "class-validator";
-import { CoreHttpController } from "../../core/controllers/http_controller";
-import { PipelineRealTimeService } from "../../core/services/pipeline_real_time_service";
-import { RunInstancePipelineUseCase } from "./domain/run_instance_pipeline_usecase";
-import { PipelineStatusUseCase } from "./domain/pipeline_status_usecase";
-
-export const pipelineRealTimeService = new PipelineRealTimeService();
-
-export class RealTimeValidationModel {
- @IsString()
- public id: string;
-}
-
-export class RealTimePresentation extends CoreHttpController {
- constructor() {
- super({
- validationModel: RealTimeValidationModel,
- url: "realtime",
- databaseModel: null,
- });
- super.get(new PipelineStatusUseCase().call);
- this.subRoutes.push({
- method: "POST",
- subUrl: "run",
- fn: new RunInstancePipelineUseCase(),
- });
- }
-}
diff --git a/server/src/features/_triggers/models/trigger_database_model.ts b/server/src/features/_triggers/models/trigger_database_model.ts
deleted file mode 100644
index 5da8fea..0000000
--- a/server/src/features/_triggers/models/trigger_database_model.ts
+++ /dev/null
@@ -1,36 +0,0 @@
-import { Schema, model } from "mongoose";
-
-export interface ITriggerModel {
- _id?: string;
- type: string;
- description: string;
- value: string[];
-}
-
-export const TriggerSchema = new Schema({
- type: {
- type: String,
- require: true,
- },
- description: {
- type: String,
- },
- value: {
- type: Array,
- require: true,
- },
-});
-
-export const triggerSchema = "Trigger";
-
-export const TriggerDBModel = model(triggerSchema, TriggerSchema);
-
-export enum TriggerType {
- PROCESS = "PROCESS",
- FILE = "FILE",
-}
-
-export interface Trigger {
- type: TriggerType;
- value: string[];
-}
diff --git a/server/src/features/_triggers/models/trigger_validation_model.ts b/server/src/features/_triggers/models/trigger_validation_model.ts
deleted file mode 100644
index 86b9174..0000000
--- a/server/src/features/_triggers/models/trigger_validation_model.ts
+++ /dev/null
@@ -1,16 +0,0 @@
-import { IsArray, IsOptional, IsEnum, IsString } from "class-validator";
-import { ITriggerModel, TriggerType } from "./trigger_database_model";
-
-export class TriggerModelValidationModel implements ITriggerModel {
- @IsOptional()
- public _id: string;
-
- @IsString()
- public description;
-
- @IsEnum(TriggerType)
- public type: TriggerType;
-
- @IsArray()
- public value: string[];
-}
diff --git a/server/src/features/_triggers/triggers_presentation.ts b/server/src/features/_triggers/triggers_presentation.ts
deleted file mode 100644
index b401373..0000000
--- a/server/src/features/_triggers/triggers_presentation.ts
+++ /dev/null
@@ -1,13 +0,0 @@
-import { CrudController } from "../../core/controllers/crud_controller";
-import { TriggerDBModel } from "./models/trigger_database_model";
-import { TriggerModelValidationModel } from "./models/trigger_validation_model";
-
-export class TriggerPresentation extends CrudController {
- constructor() {
- super({
- url: "trigger",
- validationModel: TriggerModelValidationModel,
- databaseModel: TriggerDBModel,
- });
- }
-}
diff --git a/server/src/features/behavior_trees/behavior_trees_presentation.ts b/server/src/features/behavior_trees/behavior_trees_presentation.ts
new file mode 100644
index 0000000..1ea112a
--- /dev/null
+++ b/server/src/features/behavior_trees/behavior_trees_presentation.ts
@@ -0,0 +1,48 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { GetBehaviorTreeSkillsTemplatesUseCase } from "./domain/get_bt_skills_templates_usecase";
+import { BehaviorTreeValidationModel } from "./models/behavior_tree_validation_model";
+import { BehaviorTreeDBModel } from "./models/behavior_tree_database_model";
+import { ReadByIdDataBaseModelScenario } from "../../core/scenarios/read_by_id_database_model_scenario";
+import { GetBehaviorTreeActiveProjectScenario } from "./domain/get_behavior_tree_active_project_scenario";
+import { SaveBtScenario as FillBtScenario } from "./domain/save_bt_scenario";
+import { GetCameraUseCase } from "./domain/get_cameras_usecase";
+import { GetRobotsUseCase } from "./domain/get_robots_usecase";
+import { GetTopicsUseCase } from "./domain/get_topics_usecase";
+
+export class BehaviorTreesPresentation extends CrudController {
+ constructor() {
+ super({
+ url: "behavior/trees",
+ validationModel: BehaviorTreeValidationModel,
+ databaseModel: BehaviorTreeDBModel,
+ });
+ super.get(new GetBehaviorTreeActiveProjectScenario().call);
+ this.subRoutes.push({
+ method: "POST",
+ subUrl: "fill/tree",
+ fn: new FillBtScenario(),
+ });
+ this.subRoutes.push({ method: "GET", subUrl: "templates", fn: new GetBehaviorTreeSkillsTemplatesUseCase() });
+ this.subRoutes.push({
+ method: "GET",
+ subUrl: "by_id",
+ fn: new ReadByIdDataBaseModelScenario(BehaviorTreeDBModel),
+ });
+ this.subRoutes.push({
+ method: "GET",
+ subUrl: "cameras",
+ fn: new GetCameraUseCase()
+ })
+ this.subRoutes.push({
+ method: "GET",
+ subUrl: "robots",
+ fn: new GetRobotsUseCase()
+ })
+ this.subRoutes.push({
+ method: "GET",
+ subUrl: "topics",
+ fn: new GetTopicsUseCase()
+ })
+ }
+}
+
diff --git a/server/src/features/behavior_trees/domain/get_behavior_tree_active_project_scenario.ts b/server/src/features/behavior_trees/domain/get_behavior_tree_active_project_scenario.ts
new file mode 100644
index 0000000..d42cfc7
--- /dev/null
+++ b/server/src/features/behavior_trees/domain/get_behavior_tree_active_project_scenario.ts
@@ -0,0 +1,15 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
+import { BehaviorTreeDBModel } from "../models/behavior_tree_database_model";
+
+export class GetBehaviorTreeActiveProjectScenario extends CallbackStrategyWithEmpty {
+ call = async (): ResponseBase =>
+ (
+ await new SearchOneDataBaseModelUseCase(ProjectDBModel).call(
+ { isActive: true },
+ "no active projects"
+ )
+ ).map(async (project) => Result.ok(await BehaviorTreeDBModel.find({ project: project._id })));
+}
diff --git a/server/src/features/behavior_trees/domain/get_bt_skills_templates_usecase.ts b/server/src/features/behavior_trees/domain/get_bt_skills_templates_usecase.ts
new file mode 100644
index 0000000..a0f0a04
--- /dev/null
+++ b/server/src/features/behavior_trees/domain/get_bt_skills_templates_usecase.ts
@@ -0,0 +1,102 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+
+export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithEmpty {
+ call = async (): ResponseBase => {
+ return Result.ok({
+ skills: [
+ {
+ SkillPackage: { name: "Robossembler", version: "1.0", format: "1" },
+ Module: { name: "MoveToPose", description: "Move to Pose skill with cartesian controllers" },
+ Launch: { package: "rbss_movetopose", executable: "mtp_cartesian.py", name: "mtp_cartesian" },
+ BTAction: [
+ {
+ name: "move",
+ type: "action",
+ param: [
+ {
+ type: "move_to_pose",
+ dependency: {},
+ },
+ ],
+ },
+ ],
+ Interface: {
+ Input: [
+ { name: "robotName", type: "ROBOT" },
+ { name: "pose", type: "POSE" },
+ ],
+ Output: [],
+ },
+ Settings: [
+ { name: "topicServer", value: "cartesian_move_to_pose" },
+ { name: "end_effector_velocity", value: 1.0 },
+ { name: "end_effector_acceleration", value: 1.0 },
+ ],
+ },
+ {
+ Module: { name: "MMM", description: "Move to Pose skill with cartesian controllers" },
+ topicOut: [
+ {
+ topicName: "",
+ topicType: "",
+ },
+ ],
+ BTAction: [
+ {
+ name: "move",
+ type: "action",
+ param: [
+ {
+ type: "move_to_pose",
+ dependency: {},
+ },
+ ],
+ },
+ ],
+ },
+ {
+ SkillPackage: { name: "Robossembler", version: "1.0", format: "1", type: "Action" },
+ Module: { name: "PoseEstimation", description: "Pose Estimation skill with DOPE" },
+ Launch: { package: "rbs_perception", executable: "pe_dope_lc.py", name: "lc_dope" },
+ BTAction: [
+ {
+ name: "peConfigure",
+ type: "run",
+ param: [
+ {
+ type: "weights",
+ dependency: {},
+ },
+ {
+ type: "camera",
+ dependency: {},
+ },
+ {
+ type: "topic",
+ dependency: {},
+ },
+ ],
+ result: ["POSE"],
+ },
+ { name: "peStop", type: "stop", param: [], result: [] },
+ ],
+ Interface: {
+ Input: [
+ { name: "cameraLink", type: "CAMERA" },
+ { name: "object_name", type: "MODEL" },
+ ],
+ Output: [{ name: "pose_estimation_topic", type: "POSE" }],
+ },
+ Settings: [
+ { name: "cameraLink", value: "inner_rgbd_camera" },
+ { name: "pose", value: "" },
+ { name: "publishDelay", value: 0.5 },
+ { name: "tf2_send_pose", value: 1 },
+ { name: "mesh_scale", value: 0.001 },
+ ],
+ },
+ ],
+ });
+ };
+}
diff --git a/server/src/features/behavior_trees/domain/get_cameras_usecase.ts b/server/src/features/behavior_trees/domain/get_cameras_usecase.ts
new file mode 100644
index 0000000..a1ea345
--- /dev/null
+++ b/server/src/features/behavior_trees/domain/get_cameras_usecase.ts
@@ -0,0 +1,120 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"
+import { Result } from "../../../core/helpers/result"
+
+export class GetCameraUseCase extends CallbackStrategyWithEmpty {
+ call = async (): ResponseBase => {
+ return Result.ok({
+ "camera": [
+ {
+ "sid": "1",
+ "DevicePackage": {
+ "name": "Robossembler",
+ "version": "1.0",
+ "format": "1"
+ },
+ "Module": {
+ "name": "RealSense Dxx",
+ "description": "ROS Wrapper for Intel(R) RealSense(TM) Cameras"
+ },
+ "Launch": {
+ "package": "realsense2_camera",
+ "executable": "rs_launch.py"
+ },
+ "DTwin": [
+ {
+ "interface": {
+ "input": [
+ {
+ "camera_namespace": "robot1"
+ },
+ {
+ "camera_name": "455_1"
+ },
+ {
+ "serial_port": "USB_1"
+ },
+ {
+ "pose": "[0.0,0.0,0.0,0.0,0.0,0.0]"
+ }
+ ]
+ }
+ }
+ ],
+ "Interface": {
+ "param": [
+ {
+ "type": "camera",
+ "dependency": {}
+ }
+ ]
+ },
+ "Settings": [
+ {
+ "name": "camera_config",
+ "description": "Camera Config",
+ "type": "file",
+ "defaultValue": "{ rgb_camera.profile: 1280x720x15 }"
+ }
+ ]
+ },
+ {
+ "sid": "2",
+ "DevicePackage": {
+ "name": "Robossembler",
+ "version": "1.0",
+ "format": "1"
+ },
+ "Module": {
+ "name": "RealSense Dxx",
+ "description": "ROS Wrapper for Intel(R) RealSense(TM) Cameras"
+ },
+ "Launch": {
+ "package": "realsense2_camera",
+ "executable": "rs_launch.py"
+ },
+
+ "DTwin": [
+ {
+ "interface": {
+ "input": [
+ {
+ "camera_namespace": "robot1"
+ },
+ {
+ "camera_name": "455_1"
+ },
+ {
+ "serial_port": "USB_1"
+ },
+ {
+ "pose": "[0.0,0.0,0.0,0.0,0.0,0.0]"
+ }
+ ]
+ }
+ }
+ ],
+ "Interface": {
+ "param": [
+ {
+ "type": "camera",
+ "dependency": {}
+ }
+ ]
+ },
+ "Settings": [
+ {
+ "name": "camera_config",
+ "description": "Camera Config",
+ "type": "file",
+ "defaultValue": "{ rgb_camera.profile: 1280x720x15 }"
+ }
+ ]
+ }
+ ]
+ })
+ }
+
+}
+
+
+
\ No newline at end of file
diff --git a/server/src/features/behavior_trees/domain/get_robots_usecase.ts b/server/src/features/behavior_trees/domain/get_robots_usecase.ts
new file mode 100644
index 0000000..ce3ced1
--- /dev/null
+++ b/server/src/features/behavior_trees/domain/get_robots_usecase.ts
@@ -0,0 +1,50 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+
+export class GetRobotsUseCase extends CallbackStrategyWithEmpty {
+ call = async (): ResponseBase => {
+ return Result.ok({
+ "robots": [
+ {
+ "sid": "1",
+ "DevicePackage": {
+ "name": "Robossembler",
+ "version": "1.0",
+ "format": "1"
+ },
+ "Module": {
+ "name": "RBS",
+ "description": "Main Robot"
+ },
+ "Launch": {
+ "package": "rbs_bringup",
+ "executable": "single_robot.launch.py"
+ },
+ "DTwin": [
+ {
+ "interface": {
+ "input": [
+ {
+ "robot_namespace": "robot1"
+ },
+ {
+ "dof": 6
+ }
+ ]
+ }
+ }
+ ],
+ "Settings": [
+ {
+ "name": "robot_type",
+ "description": "Type of robot by name",
+ "defaultValue": "rbs_arm"
+ }
+ ]
+ }
+ ]
+ })
+ }
+
+}
+
diff --git a/server/src/features/behavior_trees/domain/get_topics_usecase.ts b/server/src/features/behavior_trees/domain/get_topics_usecase.ts
new file mode 100644
index 0000000..55b1bd4
--- /dev/null
+++ b/server/src/features/behavior_trees/domain/get_topics_usecase.ts
@@ -0,0 +1,23 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+
+export class GetTopicsUseCase extends CallbackStrategyWithEmpty {
+ call = async (): ResponseBase => {
+ return Result.ok({
+ "topics": [
+ {
+ "sid": "1",
+ "name": "topic camera 1",
+ "type": "sensor_msgs/Image"
+ },
+ {
+ "sid": "2",
+ "name": "topic camera 2",
+ "type": "sensor_msgs/Image"
+ }
+ ]
+ }
+ )
+
+ }
+}
\ No newline at end of file
diff --git a/server/src/features/behavior_trees/domain/save_bt_scenario.ts b/server/src/features/behavior_trees/domain/save_bt_scenario.ts
new file mode 100644
index 0000000..c08d1b8
--- /dev/null
+++ b/server/src/features/behavior_trees/domain/save_bt_scenario.ts
@@ -0,0 +1,32 @@
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
+import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase";
+import { CreateFolderUseCase } from "../../../core/usecases/create_folder_usecase";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
+import { FolderStructure } from "../../projects/domain/upload_file_to_to_project_scenario";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
+import { BehaviorTreeValidationModel } from "../models/behavior_tree_validation_model";
+
+export class SaveBtScenario extends CallbackStrategyWithValidationModel {
+ validationModel: BehaviorTreeValidationModel = new BehaviorTreeValidationModel();
+ call = async (model: BehaviorTreeValidationModel): ResponseBase =>
+ (
+ await new SearchOneDataBaseModelUseCase(ProjectDBModel).call(
+ { isActive: true },
+ "no active projects"
+ )
+ ).map(async (project) => {
+ const folder = `${project.rootDir}/${FolderStructure.behaviorTrees}/`;
+
+ (await new CreateFolderUseCase().call(folder)).map(async () =>
+ (await new CreateFolderUseCase().call(`${folder}${model.name}/`)).map(async () =>
+ (await new CreateFileUseCase().call(`${folder}${model.name}/bt.xml`, Buffer.from(model.xml))).map(
+ async () =>
+ await new CreateFileUseCase().call(
+ `${folder}${model.name}/skills.json`,
+ Buffer.from(JSON.stringify(model.skills))
+ )
+ )
+ )
+ );
+ });
+}
diff --git a/server/src/features/behavior_trees/models/behavior_tree_database_model.ts b/server/src/features/behavior_trees/models/behavior_tree_database_model.ts
new file mode 100644
index 0000000..33a0acf
--- /dev/null
+++ b/server/src/features/behavior_trees/models/behavior_tree_database_model.ts
@@ -0,0 +1,49 @@
+import { Schema, model } from "mongoose";
+import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model";
+
+export interface IBehaviorTreeModel {
+ name: string;
+ project?: IProjectModel | string;
+ unixTime?: number;
+ local_path?: string;
+}
+
+export const BehaviorTreeSchema = new Schema({
+ name: {
+ type: String,
+ },
+ description: { type: String },
+ scene: {
+ type: Schema.Types.Mixed,
+ default: [],
+ },
+ local_path: {
+ type: String,
+ },
+ unixTime: {
+ type: Number,
+ },
+ isFinished: {
+ type: Boolean,
+ default: false,
+ },
+ dependency: {
+ type: Schema.Types.Mixed,
+ },
+ skills: {
+ type: Schema.Types.Mixed,
+ },
+ sceneId: {
+ type: String,
+ },
+ project: {
+ type: Schema.Types.ObjectId,
+ ref: projectSchema,
+ autopopulate: true,
+ require: true,
+ },
+}).plugin(require("mongoose-autopopulate"));
+
+export const behaviorTreeSchema = "Behavior";
+
+export const BehaviorTreeDBModel = model(behaviorTreeSchema, BehaviorTreeSchema);
diff --git a/server/src/features/behavior_trees/models/behavior_tree_validation_model.ts b/server/src/features/behavior_trees/models/behavior_tree_validation_model.ts
new file mode 100644
index 0000000..e729b67
--- /dev/null
+++ b/server/src/features/behavior_trees/models/behavior_tree_validation_model.ts
@@ -0,0 +1,13 @@
+import { IsMongoId, IsNumber, IsString } from "class-validator";
+import { IBehaviorTreeModel } from "./behavior_tree_database_model";
+
+export class BehaviorTreeValidationModel implements IBehaviorTreeModel {
+ @IsString()
+ public name: string;
+ @IsMongoId()
+ public project:string;
+ public skills:any;
+ public xml:string;
+ @IsNumber()
+ public unixTime: number
+}
diff --git a/server/src/features/calculations_instance/calculations_instance_presentation.ts b/server/src/features/calculations_instance/calculations_instance_presentation.ts
new file mode 100644
index 0000000..42f8793
--- /dev/null
+++ b/server/src/features/calculations_instance/calculations_instance_presentation.ts
@@ -0,0 +1,28 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { ExecCalculationInstanceProcessScenario } from "./domain/exec_calculations_instance_process_scenario";
+import { CalculationInstanceValidationModel } from "./models/calculations_instance_validation_model";
+import { CalculationInstanceDBModel } from "./models/calculations_instance_database_model";
+import { CreateCalculationInstanceScenario } from "./domain/create_calculation_instance_scenario";
+import { DeleteCalculationsInstanceScenario } from "./domain/delete_calculations_instance_scenario";
+
+export class CalculationsInstancesPresentation extends CrudController<
+ CalculationInstanceValidationModel,
+ typeof CalculationInstanceDBModel
+> {
+ constructor() {
+ super({
+ url: "calculations/instances",
+ validationModel: CalculationInstanceValidationModel,
+ databaseModel: CalculationInstanceDBModel,
+ });
+
+ super.delete(new DeleteCalculationsInstanceScenario().call);
+ super.post(new CreateCalculationInstanceScenario().call);
+
+ this.subRoutes.push({
+ method: "GET",
+ subUrl: "exec",
+ fn: new ExecCalculationInstanceProcessScenario(),
+ });
+ }
+}
diff --git a/server/src/features/calculations_instance/domain/create_calculation_instance_scenario.ts b/server/src/features/calculations_instance/domain/create_calculation_instance_scenario.ts
new file mode 100644
index 0000000..185c2b4
--- /dev/null
+++ b/server/src/features/calculations_instance/domain/create_calculation_instance_scenario.ts
@@ -0,0 +1,8 @@
+import { CreateInstanceScenario } from "../../../core/scenarios/create_intance_scenario";
+import { CalculationInstanceDBModel } from "../models/calculations_instance_database_model";
+import { CalculationInstanceValidationModel } from "../models/calculations_instance_validation_model";
+
+export class CreateCalculationInstanceScenario extends CreateInstanceScenario {
+ databaseModel = CalculationInstanceDBModel;
+ validationModel: CalculationInstanceValidationModel = new CalculationInstanceValidationModel();
+}
diff --git a/server/src/features/calculations_instance/domain/delete_calculations_instance_scenario.ts b/server/src/features/calculations_instance/domain/delete_calculations_instance_scenario.ts
new file mode 100644
index 0000000..44d94f5
--- /dev/null
+++ b/server/src/features/calculations_instance/domain/delete_calculations_instance_scenario.ts
@@ -0,0 +1,7 @@
+import { DeleteInstanceScenario } from "../../../core/scenarios/delete_instance_scenario";
+import { CalculationInstanceDBModel } from "../models/calculations_instance_database_model";
+import { CalculationInstanceValidationModel } from "../models/calculations_instance_validation_model";
+
+export class DeleteCalculationsInstanceScenario extends DeleteInstanceScenario {
+ databaseModel = CalculationInstanceDBModel;
+}
diff --git a/server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts b/server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts
new file mode 100644
index 0000000..e98afc1
--- /dev/null
+++ b/server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts
@@ -0,0 +1,37 @@
+import { ObjectId } from "mongoose";
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller";
+import { ExecProcessUseCase, IsHaveActiveProcessUseCase } from "../../../core/usecases/exec_process_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase";
+import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
+import { ProcessWatcherAndDatabaseUpdateService } from "../../datasets/domain/create_dataset_scenario";
+import { CalculationInstanceDBModel, ICalculationInstance } from "../models/calculations_instance_database_model";
+import { Result } from "../../../core/helpers/result";
+import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase";
+
+export class ExecCalculationInstanceProcessScenario extends CallbackStrategyWithIdQuery {
+ idValidationExpression = new MongoIdValidation();
+ call = async (id: string): ResponseBase =>
+ (await new ReadByIdDataBaseModelUseCase(CalculationInstanceDBModel).call(id)).map(
+ async (model) => {
+ const fileOutPath = model.instancePath.pathNormalize() + "/form.json";
+ return (await new IsHaveActiveProcessUseCase().call()).map(async () => {
+ const execCommand = `${model.script
+ } --path ${model.instancePath.pathNormalize()} --form ${fileOutPath}`.replace("\n", "");
+
+ await new CreateFileUseCase().call(fileOutPath, Buffer.from(JSON.stringify(model.formBuilder)));
+ await CalculationInstanceDBModel.findById(id).updateOne({
+ processStatus: "RUN",
+ lastProcessExecCommand: execCommand,
+ });
+ new ExecProcessUseCase().call(
+ // @ts-expect-error
+ `${model.project.rootDir}/`,
+ execCommand,
+ id,
+ new ProcessWatcherAndDatabaseUpdateService(id as unknown as ObjectId, CalculationInstanceDBModel)
+ );
+ return Result.ok("OK");
+ });
+ }
+ );
+}
diff --git a/server/src/features/calculations_instance/domain/get_all_calculations_instance_active_project_scenarios.ts b/server/src/features/calculations_instance/domain/get_all_calculations_instance_active_project_scenarios.ts
new file mode 100644
index 0000000..92017ef
--- /dev/null
+++ b/server/src/features/calculations_instance/domain/get_all_calculations_instance_active_project_scenarios.ts
@@ -0,0 +1,11 @@
+import { ResponseBase } from "../../../core/controllers/http_controller";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { GetActiveProjectIdScenario } from "../../projects/domain/get_active_project_id_scenario";
+import { ICalculationInstance, CalculationInstanceDBModel } from "../models/calculations_instance_database_model";
+
+export class GetAllWeightsActiveProjectScenarios {
+ call = async (): ResponseBase =>
+ (await new GetActiveProjectIdScenario().call()).map(
+ async (model) => await new SearchManyDataBaseModelUseCase(CalculationInstanceDBModel).call({ project: model.id })
+ );
+}
diff --git a/server/src/features/calculations_instance/models/calculations_instance_database_model.ts b/server/src/features/calculations_instance/models/calculations_instance_database_model.ts
new file mode 100644
index 0000000..43e13d9
--- /dev/null
+++ b/server/src/features/calculations_instance/models/calculations_instance_database_model.ts
@@ -0,0 +1,77 @@
+import { Schema, model } from "mongoose";
+import { FormBuilderValidationModel } from "../../datasets/models/dataset_validation_model";
+import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model";
+
+export interface ICalculationInstance {
+ script: string;
+ instancePath: string;
+ formBuilder: FormBuilderValidationModel;
+ type: string;
+ name: string;
+ isEnd: boolean;
+ createDate: Date;
+ card?: string;
+ lastProcessLogs?: string;
+ lastProcessExecCommand?: string;
+ lastExecDate?: Date;
+ processStatus: string;
+ project?: IProjectModel | string;
+}
+
+export const CalculationInstanceSchema = new Schema({
+ script: {
+ type: String,
+ },
+ formBuilder: {
+ type: Schema.Types.Mixed,
+ },
+ type: {
+ type: String,
+ },
+ instanceName: {
+ type: String,
+ },
+ name: {
+ type: String,
+ },
+ isEnd: {
+ type: Boolean,
+ },
+ createDate: {
+ type: String,
+ },
+ card: {
+ type: String,
+ },
+ lastProcessLogs: {
+ type: String,
+ },
+ lastProcessExecCommand: {
+ type: String,
+ },
+ lastExecDate: {
+ type: String,
+ },
+ processStatus: {
+ type: String,
+ },
+ path: {
+ type: String,
+ },
+ instancePath: {
+ type: String,
+ },
+ project: {
+ type: Schema.Types.ObjectId,
+ ref: projectSchema,
+ autopopulate: true,
+ require: true,
+ },
+}).plugin(require("mongoose-autopopulate"));
+
+export const calculationInstanceSchema = "calculations_instances";
+
+export const CalculationInstanceDBModel = model(
+ calculationInstanceSchema,
+ CalculationInstanceSchema
+);
diff --git a/server/src/features/calculations_instance/models/calculations_instance_validation_model.ts b/server/src/features/calculations_instance/models/calculations_instance_validation_model.ts
new file mode 100644
index 0000000..46b993c
--- /dev/null
+++ b/server/src/features/calculations_instance/models/calculations_instance_validation_model.ts
@@ -0,0 +1,31 @@
+import { IsNotEmpty, IsString, IsMongoId } from "class-validator";
+import { ICalculationInstance } from "./calculations_instance_database_model";
+import { FormBuilderValidationModel } from "../../datasets/models/dataset_validation_model";
+import { IProjectModel } from "../../projects/models/project_model_database_model";
+
+export class CalculationInstanceValidationModel implements ICalculationInstance {
+ @IsNotEmpty()
+ @IsString()
+ instanceName: string;
+ instancePath: string;
+ processStatus: string;
+ @IsString()
+ path: string;
+ project?: string | IProjectModel;
+ @IsString()
+ @IsNotEmpty()
+ script: string;
+ formBuilder: FormBuilderValidationModel;
+ @IsString()
+ @IsNotEmpty()
+ type: string;
+ @IsString()
+ @IsNotEmpty()
+ name: string;
+ isEnd: boolean = false;
+ createDate: Date = new Date();
+ card?: string;
+ lastProcessLogs?: string;
+ lastProcessExecCommand?: string;
+ lastExecDate?: Date;
+}
diff --git a/server/src/features/calculations_templates/calculations_template_presentation.ts b/server/src/features/calculations_templates/calculations_template_presentation.ts
new file mode 100644
index 0000000..ef44c7c
--- /dev/null
+++ b/server/src/features/calculations_templates/calculations_template_presentation.ts
@@ -0,0 +1,20 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { DeleteCalculationsTemplateScenario } from "./domain/delete_calculations_template_scenario";
+import { CalculationsTemplateValidationModel as CalculationsTemplateValidationModel } from "./models/calculations_template_validation_model";
+import { CalculationsTemplateDBModel } from "./models/calculations_template_database_model";
+import { CreateCalculationsTemplateScenario } from "./domain/create_calculations_template_scenario";
+
+export class CalculationsTemplatePresentation extends CrudController<
+ CalculationsTemplateValidationModel,
+ typeof CalculationsTemplateDBModel
+> {
+ constructor() {
+ super({
+ url: "calculations/template",
+ validationModel: CalculationsTemplateValidationModel,
+ databaseModel: CalculationsTemplateDBModel,
+ });
+ super.post(new CreateCalculationsTemplateScenario().call);
+ super.delete(new DeleteCalculationsTemplateScenario().call);
+ }
+}
diff --git a/server/src/features/calculations_templates/domain/create_calculations_template_scenario.ts b/server/src/features/calculations_templates/domain/create_calculations_template_scenario.ts
new file mode 100644
index 0000000..7b8e93a
--- /dev/null
+++ b/server/src/features/calculations_templates/domain/create_calculations_template_scenario.ts
@@ -0,0 +1,10 @@
+import { StaticFilesServer } from "../../../core/models/static_files";
+import { CreateTemplateScenario } from "../../../core/scenarios/create_template_scenario";
+import { CalculationsTemplateDBModel } from "../models/calculations_template_database_model";
+import { CalculationsTemplateValidationModel } from "../models/calculations_template_validation_model";
+
+export class CreateCalculationsTemplateScenario extends CreateTemplateScenario {
+ validationModel: CalculationsTemplateValidationModel = new CalculationsTemplateValidationModel();
+ databaseModel = CalculationsTemplateDBModel;
+ path: string = StaticFilesServer.process;
+}
diff --git a/server/src/features/calculations_templates/domain/delete_calculations_template_scenario.ts b/server/src/features/calculations_templates/domain/delete_calculations_template_scenario.ts
new file mode 100644
index 0000000..245e12a
--- /dev/null
+++ b/server/src/features/calculations_templates/domain/delete_calculations_template_scenario.ts
@@ -0,0 +1,6 @@
+import { DeleteTemplateScenario } from "../../../core/scenarios/delete_template_scenario";
+import { CalculationsTemplateDBModel } from "../models/calculations_template_database_model";
+
+export class DeleteCalculationsTemplateScenario extends DeleteTemplateScenario {
+ databaseModel = CalculationsTemplateDBModel;
+}
diff --git a/server/src/features/calculations_templates/domain/get_all_calculations_template_active_project_scenarios.ts b/server/src/features/calculations_templates/domain/get_all_calculations_template_active_project_scenarios.ts
new file mode 100644
index 0000000..66aae94
--- /dev/null
+++ b/server/src/features/calculations_templates/domain/get_all_calculations_template_active_project_scenarios.ts
@@ -0,0 +1,11 @@
+import { ResponseBase } from "../../../core/controllers/http_controller";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { GetActiveProjectIdScenario } from "../../projects/domain/get_active_project_id_scenario";
+import { ICalculationsTemplateModel, CalculationsTemplateDBModel } from "../models/calculations_template_database_model";
+
+export class GetAllCalculationsTemplateScenarios {
+ call = async (): ResponseBase =>
+ (await new GetActiveProjectIdScenario().call()).map(
+ async (model) => await new SearchManyDataBaseModelUseCase(CalculationsTemplateDBModel).call({ project: model.id })
+ );
+}
diff --git a/server/src/features/calculations_templates/models/calculations_template_database_model.ts b/server/src/features/calculations_templates/models/calculations_template_database_model.ts
new file mode 100644
index 0000000..2bbc12b
--- /dev/null
+++ b/server/src/features/calculations_templates/models/calculations_template_database_model.ts
@@ -0,0 +1,54 @@
+import { Schema, model } from "mongoose";
+import { FormBuilderValidationModel, IDatasetModel } from "../../datasets/models/dataset_validation_model";
+import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model";
+
+export interface ICalculationsTemplateModel {
+ path?: string;
+ script: string;
+ formBuilder: FormBuilderValidationModel;
+ type: string;
+ name: string;
+ isEnd: boolean;
+ createDate: Date;
+ card?: string;
+ lastProcessLogs?: string;
+ lastProcessExecCommand?: string;
+ lastExecDate?: Date;
+ processStatus: string;
+ project?: IProjectModel | string;
+}
+
+export const CalculationsTemplateSchema = new Schema({
+ script: {
+ type: String,
+ },
+ formBuilder: {
+ type: Schema.Types.Mixed,
+ },
+ type: {
+ type: String,
+ },
+ name: {
+ type: String,
+ },
+
+ createDate: {
+ type: Number,
+ },
+ card: {
+ type: String,
+ },
+ project: {
+ type: Schema.Types.ObjectId,
+ ref: projectSchema,
+ autopopulate: true,
+ require: true,
+ },
+ path: {
+ type: String,
+ },
+}).plugin(require("mongoose-autopopulate"));
+
+export const calculationsTemplateSchema = "calculations_templates";
+
+export const CalculationsTemplateDBModel = model(calculationsTemplateSchema, CalculationsTemplateSchema);
diff --git a/server/src/features/calculations_templates/models/calculations_template_validation_model.ts b/server/src/features/calculations_templates/models/calculations_template_validation_model.ts
new file mode 100644
index 0000000..bd5754c
--- /dev/null
+++ b/server/src/features/calculations_templates/models/calculations_template_validation_model.ts
@@ -0,0 +1,27 @@
+import { IsNotEmpty, IsString, IsMongoId } from "class-validator";
+import { ICalculationsTemplateModel } from "./calculations_template_database_model";
+import { FormBuilderValidationModel } from "../../datasets/models/dataset_validation_model";
+import { IProjectModel } from "../../projects/models/project_model_database_model";
+
+export class CalculationsTemplateValidationModel implements ICalculationsTemplateModel {
+ processStatus: string;
+ @IsMongoId()
+ project?: string | IProjectModel;
+ @IsString()
+ @IsNotEmpty()
+ script: string;
+ formBuilder: FormBuilderValidationModel;
+ @IsString()
+ @IsNotEmpty()
+ type: string;
+ @IsString()
+ @IsNotEmpty()
+ name: string;
+ isEnd: boolean = true;
+ createDate: Date = new Date();
+ card?: string;
+ lastProcessLogs?: string;
+ lastProcessExecCommand?: string;
+ lastExecDate?: Date;
+ path: string;
+}
diff --git a/server/src/features/datasets/domain/create_dataset_scenario.ts b/server/src/features/datasets/domain/create_dataset_scenario.ts
index 859c80c..d3e4970 100644
--- a/server/src/features/datasets/domain/create_dataset_scenario.ts
+++ b/server/src/features/datasets/domain/create_dataset_scenario.ts
@@ -4,16 +4,20 @@ import { Result } from "../../../core/helpers/result";
import { TypedEvent } from "../../../core/helpers/typed_event";
import { EXEC_EVENT, ExecError, SpawnError } from "../../../core/models/exec_error_model";
import { ExecutorResult } from "../../../core/models/executor_result";
-import { SearchDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
-import { IProjectModel, ProjectDBModel } from "../../_projects/models/project_database_model";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
import { DatasetDBModel } from "../models/dataset_database_model";
import { DatasetValidationModel, ProcessStatus } from "../models/dataset_validation_model";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
-export class ProcessWatcherAndDatabaseUpdateService extends TypedEvent> {
+export class ProcessWatcherAndDatabaseUpdateService extends TypedEvent<
+ Result
+> {
databaseId: ObjectId;
- constructor(databaseId: ObjectId) {
+ model: A;
+ constructor(databaseId: ObjectId, model: A) {
super();
this.databaseId = databaseId;
+ this.model = model;
this.on((event) => this.lister(event));
}
@@ -21,20 +25,22 @@ export class ProcessWatcherAndDatabaseUpdateService extends TypedEvent {
if (success.event == EXEC_EVENT.END) {
- const dbModel = await DatasetDBModel.findById(this.databaseId);
+ // @ts-expect-error
+ const dbModel = await this.model.findById(this.databaseId);
if (dbModel !== null) {
dbModel.local_path;
dbModel.processStatus = ProcessStatus.END;
- dbModel.processLogs = success.data;
+ dbModel.lastProcessLogs = success.data;
await dbModel.save();
}
}
},
async (error) => {
- const dbModel = await DatasetDBModel.findById(this.databaseId);
+ // @ts-expect-error
+ const dbModel = await this.model.findById(this.databaseId);
if (dbModel !== null) {
dbModel.processStatus = ProcessStatus.ERROR;
- dbModel.processLogs = error.message;
+ dbModel.lastProcessLogs = error.message;
await dbModel.save();
}
}
@@ -45,7 +51,7 @@ export class CreateDataSetScenario extends CallbackStrategyWithValidationModel {
return (
- await new SearchDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects")
+ await new SearchOneDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects")
).map(async (project) => {
model.processStatus = ProcessStatus.NEW;
model.local_path = project.rootDir;
diff --git a/server/src/features/datasets/domain/exec_process_scenario.ts b/server/src/features/datasets/domain/exec_process_scenario.ts
index 20062cf..6524ac4 100644
--- a/server/src/features/datasets/domain/exec_process_scenario.ts
+++ b/server/src/features/datasets/domain/exec_process_scenario.ts
@@ -6,6 +6,7 @@ import { MongoIdValidation } from "../../../core/validations/mongo_id_validation
import { DatasetDBModel } from "../models/dataset_database_model";
import { IDatasetModel } from "../models/dataset_validation_model";
import { ProcessWatcherAndDatabaseUpdateService } from "./create_dataset_scenario";
+import { FolderStructure } from "../../projects/domain/upload_file_to_to_project_scenario";
export class ExecDatasetProcessScenario extends CallbackStrategyWithIdQuery {
idValidationExpression = new MongoIdValidation();
@@ -14,12 +15,13 @@ export class ExecDatasetProcessScenario extends CallbackStrategyWithIdQuery {
return (await new ReadByIdDataBaseModelUseCase(DatasetDBModel).call(id)).map(async (model) => {
return (await new IsHaveActiveProcessUseCase().call()).map(async () => {
await DatasetDBModel.findById(id).updateOne({ processStatus: "RUN" });
- console.log(`blenderproc run $PYTHON_BLENDER_PROC --cfg '${JSON.stringify(model)}'`);
+ model.local_path = `${model.local_path}/${FolderStructure.datasets}/`;
+
return new ExecProcessUseCase().call(
`${model.project.rootDir}/`,
`blenderproc run $PYTHON_BLENDER_PROC --cfg '${JSON.stringify(model)}'`,
id,
- new ProcessWatcherAndDatabaseUpdateService(id as unknown as ObjectId)
+ new ProcessWatcherAndDatabaseUpdateService(id as unknown as ObjectId, DatasetDBModel)
);
});
});
diff --git a/server/src/features/datasets/domain/get_dataset_active_project_scenario.ts b/server/src/features/datasets/domain/get_dataset_active_project_scenario.ts
index d5cd6c7..8a65913 100644
--- a/server/src/features/datasets/domain/get_dataset_active_project_scenario.ts
+++ b/server/src/features/datasets/domain/get_dataset_active_project_scenario.ts
@@ -1,13 +1,13 @@
import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
import { Result } from "../../../core/helpers/result";
-import { SearchDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
-import { IProjectModel, ProjectDBModel } from "../../_projects/models/project_database_model";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
import { DatasetDBModel } from "../models/dataset_database_model";
export class GetDatasetActiveProjectScenario extends CallbackStrategyWithEmpty {
call = async (): ResponseBase => {
return (
- await new SearchDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects")
+ await new SearchOneDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects")
).map(async (project) => {
return Result.ok(await DatasetDBModel.find({ project: project._id }));
});
diff --git a/server/src/features/datasets/models/dataset_database_model.ts b/server/src/features/datasets/models/dataset_database_model.ts
index a169a3d..9e18a05 100644
--- a/server/src/features/datasets/models/dataset_database_model.ts
+++ b/server/src/features/datasets/models/dataset_database_model.ts
@@ -1,7 +1,7 @@
-import { Mongoose, Schema, model } from "mongoose";
+import { Schema, model } from "mongoose";
import { IDatasetModel } from "./dataset_validation_model";
-import { projectSchema } from "../../_projects/models/project_database_model";
-
+import { projectSchema } from "../../projects/models/project_model_database_model";
+
export const DatasetSchema = new Schema({
name: {
type: String,
diff --git a/server/src/features/datasets/models/dataset_validation_model.ts b/server/src/features/datasets/models/dataset_validation_model.ts
index fc5aaf1..5486ace 100644
--- a/server/src/features/datasets/models/dataset_validation_model.ts
+++ b/server/src/features/datasets/models/dataset_validation_model.ts
@@ -1,6 +1,6 @@
import { Type } from "class-transformer";
import { IsArray, IsOptional, IsString, ValidateNested } from "class-validator";
-import { IProjectModel } from "../../_projects/models/project_database_model";
+import { IProjectModel } from "../../projects/models/project_model_database_model";
export class FormBuilderValidationModel {
@IsString()
@@ -9,6 +9,7 @@ export class FormBuilderValidationModel {
public context: string;
@IsArray()
public form: [];
+ output: any;
}
export enum ProcessStatus {
END = "END",
@@ -16,7 +17,7 @@ export enum ProcessStatus {
NEW = "NEW",
}
export interface IDatasetModel {
- _id?:string;
+ _id?: string;
name: string;
local_path: string;
dataSetObjects: string[];
diff --git a/server/src/features/digital_twins_instance/digital_twins_instance_presentation.ts b/server/src/features/digital_twins_instance/digital_twins_instance_presentation.ts
new file mode 100644
index 0000000..cd7802e
--- /dev/null
+++ b/server/src/features/digital_twins_instance/digital_twins_instance_presentation.ts
@@ -0,0 +1,26 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { CreateDigitalTwinsInstanceScenario } from "./domain/create_digital_twins_instance";
+import { DeleteDigitalTwinsInstanceScenario } from "./domain/delete_digital_twins_instance";
+import { ExecInstanceScenario } from "./domain/exec_instance_scenario";
+import { DigitalTwinsInstanceDatabaseModel } from "./model/digital_twins_instance_database_model";
+import { DigitalTwinsInstanceValidationModel } from "./model/digital_twins_instance_validation_model";
+
+export class DigitalTwinsInstancePresentation extends CrudController<
+ DigitalTwinsInstanceValidationModel,
+ typeof DigitalTwinsInstanceDatabaseModel
+> {
+ constructor() {
+ super({
+ url: "digital/twins/instance",
+ validationModel: DigitalTwinsInstanceValidationModel,
+ databaseModel: DigitalTwinsInstanceDatabaseModel,
+ });
+ super.post(new CreateDigitalTwinsInstanceScenario().call);
+ super.delete(new DeleteDigitalTwinsInstanceScenario().call);
+ this.subRoutes.push({
+ method: "POST",
+ fn: new ExecInstanceScenario(),
+ subUrl: "exec/instance",
+ });
+ }
+}
diff --git a/server/src/features/digital_twins_instance/domain/create_digital_twins_instance.ts b/server/src/features/digital_twins_instance/domain/create_digital_twins_instance.ts
new file mode 100644
index 0000000..b67c47f
--- /dev/null
+++ b/server/src/features/digital_twins_instance/domain/create_digital_twins_instance.ts
@@ -0,0 +1,10 @@
+import { CreateInstanceScenario } from "../../../core/scenarios/create_intance_scenario";
+import { DigitalTwinsInstanceDatabaseModel } from "../model/digital_twins_instance_database_model";
+import { DigitalTwinsInstanceValidationModel } from "../model/digital_twins_instance_validation_model";
+
+
+
+export class CreateDigitalTwinsInstanceScenario extends CreateInstanceScenario {
+ databaseModel = DigitalTwinsInstanceDatabaseModel;
+ validationModel: DigitalTwinsInstanceValidationModel = new DigitalTwinsInstanceValidationModel();
+}
diff --git a/server/src/features/digital_twins_instance/domain/delete_digital_twins_instance.ts b/server/src/features/digital_twins_instance/domain/delete_digital_twins_instance.ts
new file mode 100644
index 0000000..b4bff34
--- /dev/null
+++ b/server/src/features/digital_twins_instance/domain/delete_digital_twins_instance.ts
@@ -0,0 +1,7 @@
+import { DeleteInstanceScenario } from "../../../core/scenarios/delete_instance_scenario";
+import { DigitalTwinsInstanceDatabaseModel } from "../model/digital_twins_instance_database_model";
+import { DigitalTwinsInstanceValidationModel } from "../model/digital_twins_instance_validation_model";
+
+export class DeleteDigitalTwinsInstanceScenario extends DeleteInstanceScenario {
+ databaseModel = DigitalTwinsInstanceDatabaseModel;
+}
diff --git a/server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts b/server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts
new file mode 100644
index 0000000..f4ec799
--- /dev/null
+++ b/server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts
@@ -0,0 +1,36 @@
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller";
+import { ExecProcessUseCase } from "../../../core/usecases/exec_process_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase";
+import { CoreValidation } from "../../../core/validations/core_validation";
+import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
+import {
+ DigitalTwinsInstanceDatabaseModel,
+ IDigitalTwinsInstanceModel,
+} from "../model/digital_twins_instance_database_model";
+import { ITopicModel } from "../../topics/topic_database_model";
+import { ExecInstanceTwinsProcessService } from "../services/exec_instance_twins_process_service";
+
+export interface Topics {
+ topics: ITopicModel[];
+}
+
+export class ExecInstanceScenario extends CallbackStrategyWithIdQuery {
+ idValidationExpression: CoreValidation = new MongoIdValidation();
+ call = async (id: string): ResponseBase =>
+ (
+ await new ReadByIdDataBaseModelUseCase(DigitalTwinsInstanceDatabaseModel).call(id)
+ ).map(
+ (document) => (
+ console.log('DOCUMeNT PATH'),
+ console.log(document.instancePath.pathNormalize()),
+ new ExecProcessUseCase().call(
+ document.instancePath,
+ `python3 $GET_INTERFACES --path ${document.instancePath.pathNormalize()} --package '${JSON.stringify(
+ document
+ )}'`,
+ "",
+ new ExecInstanceTwinsProcessService(document.instancePath, document)
+ )
+ )
+ );
+}
diff --git a/server/src/features/digital_twins_instance/model/digital_twins_instance_database_model.ts b/server/src/features/digital_twins_instance/model/digital_twins_instance_database_model.ts
new file mode 100644
index 0000000..9288a79
--- /dev/null
+++ b/server/src/features/digital_twins_instance/model/digital_twins_instance_database_model.ts
@@ -0,0 +1,39 @@
+import { Schema, model } from "mongoose";
+
+export interface IDigitalTwinsInstanceModel {
+ instancePath: string;
+ status?: string;
+}
+
+export const DigitalTwinsInstanceSchema = new Schema({
+ path: String,
+ name: String,
+ entity: String,
+ description: String,
+ command: String,
+ status: {
+ type: String,
+ },
+ interfaces: {
+ cmd: String,
+ },
+ instancePath: {
+ type: String,
+ },
+ package: {
+ type: String,
+ },
+ executable: {
+ type: String,
+ },
+ formBuilder: {
+ type: Schema.Types.Mixed,
+ },
+}).plugin(require("mongoose-autopopulate"));
+
+export const digitalTwinsInstanceSchema = "digital_twins_instance";
+
+export const DigitalTwinsInstanceDatabaseModel = model(
+ digitalTwinsInstanceSchema,
+ DigitalTwinsInstanceSchema
+);
diff --git a/server/src/features/digital_twins_instance/model/digital_twins_instance_validation_model.ts b/server/src/features/digital_twins_instance/model/digital_twins_instance_validation_model.ts
new file mode 100644
index 0000000..791a54c
--- /dev/null
+++ b/server/src/features/digital_twins_instance/model/digital_twins_instance_validation_model.ts
@@ -0,0 +1,26 @@
+import { Type } from "class-transformer";
+import { IsEnum, IsString } from "class-validator";
+import { Instance } from "../../../core/models/instance";
+
+enum DigitalTwinsTypes {
+ CAMERA = "CAMERA",
+ ROBOT = "ROBOT",
+}
+export class Interfaces {
+ @IsString()
+ cmd: string;
+}
+export class DigitalTwinsInstanceValidationModel implements Instance {
+ instanceName: string;
+ instancePath: string;
+ path: string;
+ name: string;
+ @IsEnum(DigitalTwinsTypes)
+ entity: DigitalTwinsTypes;
+ @IsString()
+ description: string;
+ @IsString()
+ command: string;
+ @Type(() => Interfaces)
+ interfaces: Interfaces;
+}
diff --git a/server/src/features/digital_twins_instance/services/exec_instance_twins_process_service.ts b/server/src/features/digital_twins_instance/services/exec_instance_twins_process_service.ts
new file mode 100644
index 0000000..abdd290
--- /dev/null
+++ b/server/src/features/digital_twins_instance/services/exec_instance_twins_process_service.ts
@@ -0,0 +1,49 @@
+import { Result } from "../../../core/helpers/result";
+import { TypedEvent } from "../../../core/helpers/typed_event";
+import { ExecError, SpawnError, EXEC_EVENT } from "../../../core/models/exec_error_model";
+import { ExecutorResult } from "../../../core/models/executor_result";
+import { CreateDataBaseModelUseCase } from "../../../core/usecases/create_database_model_usecase";
+import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json";
+import { ITopicModel, TopicDatabaseModel } from "../../topics/topic_database_model";
+import { Topics } from "../domain/exec_instance_scenario";
+
+export class ExecInstanceTwinsProcessService extends TypedEvent<
+ Result
+> {
+ path: string;
+ databaseModel: any;
+ constructor(path: string, databaseModel: any) {
+ super();
+ this.path = path;
+ this.databaseModel = databaseModel;
+ this.on((event) => this.lister(event));
+ }
+
+ lister = (event: Result) =>
+ event.fold(
+ async (success) => {
+ if (success.event == EXEC_EVENT.END) {
+ (await new ReadFileAndParseJsonUseCase().call(this.path + "/topics.json")).fold(
+ async (model) => {
+ await model.topics.forEach(async (el) => {
+ el.digitalTwinId = this.databaseModel._id;
+ await new CreateDataBaseModelUseCase(TopicDatabaseModel).call(el);
+ });
+
+ this.databaseModel.status = "END";
+ await this.databaseModel.save();
+ },
+
+ async (_) => {
+ this.databaseModel.status = "ERROR";
+ await this.databaseModel.save();
+ }
+ );
+ }
+ },
+ async (_) => {
+ this.databaseModel.status = "ERROR";
+ await this.databaseModel.save();
+ }
+ );
+}
\ No newline at end of file
diff --git a/server/src/features/digital_twins_template/digital_twins_template_presentation.ts b/server/src/features/digital_twins_template/digital_twins_template_presentation.ts
new file mode 100644
index 0000000..7ef7d18
--- /dev/null
+++ b/server/src/features/digital_twins_template/digital_twins_template_presentation.ts
@@ -0,0 +1,20 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { CreateDigitalTwinsTemplateScenario } from "./domain/create_digital_twins_template";
+import { DeleteDigitalTwinsTemplateScenario } from "./domain/delete_digital_twins_template";
+import { DigitalTwinsTemplateDBModel } from "./models/digital_twins_template_database_model";
+import { DigitalTwinsTemplateValidationModel } from "./models/digital_twins_template_validation_model";
+
+export class DigitalTwinsTemplatePresentation extends CrudController<
+ DigitalTwinsTemplateValidationModel,
+ typeof DigitalTwinsTemplateDBModel
+> {
+ constructor() {
+ super({
+ url: "digital/twins/template",
+ validationModel: DigitalTwinsTemplateValidationModel,
+ databaseModel: DigitalTwinsTemplateDBModel,
+ });
+ super.post(new CreateDigitalTwinsTemplateScenario().call);
+ super.delete(new DeleteDigitalTwinsTemplateScenario().call);
+ }
+}
diff --git a/server/src/features/digital_twins_template/domain/create_digital_twins_template.ts b/server/src/features/digital_twins_template/domain/create_digital_twins_template.ts
new file mode 100644
index 0000000..93b5783
--- /dev/null
+++ b/server/src/features/digital_twins_template/domain/create_digital_twins_template.ts
@@ -0,0 +1,10 @@
+import { StaticFilesServer } from "../../../core/models/static_files";
+import { CreateTemplateScenario } from "../../../core/scenarios/create_template_scenario";
+import { DigitalTwinsTemplateDBModel } from "../models/digital_twins_template_database_model";
+import { DigitalTwinsTemplateValidationModel } from "../models/digital_twins_template_validation_model";
+
+export class CreateDigitalTwinsTemplateScenario extends CreateTemplateScenario {
+ validationModel: DigitalTwinsTemplateValidationModel = new DigitalTwinsTemplateValidationModel();
+ databaseModel = DigitalTwinsTemplateDBModel;
+ path: string = StaticFilesServer.digitalTwins;
+}
diff --git a/server/src/features/digital_twins_template/domain/delete_digital_twins_template.ts b/server/src/features/digital_twins_template/domain/delete_digital_twins_template.ts
new file mode 100644
index 0000000..1d7739d
--- /dev/null
+++ b/server/src/features/digital_twins_template/domain/delete_digital_twins_template.ts
@@ -0,0 +1,6 @@
+import { DeleteTemplateScenario } from "../../../core/scenarios/delete_template_scenario";
+import { DigitalTwinsTemplateDBModel } from "../models/digital_twins_template_database_model";
+
+export class DeleteDigitalTwinsTemplateScenario extends DeleteTemplateScenario {
+ databaseModel = DigitalTwinsTemplateDBModel;
+}
diff --git a/server/src/features/digital_twins_template/models/digital_twins_template_database_model.ts b/server/src/features/digital_twins_template/models/digital_twins_template_database_model.ts
new file mode 100644
index 0000000..e1789b0
--- /dev/null
+++ b/server/src/features/digital_twins_template/models/digital_twins_template_database_model.ts
@@ -0,0 +1,30 @@
+import { Schema, model } from "mongoose";
+
+export interface IDigitalTwinsTemplateTemplateModel {}
+
+export const DigitalTwinsTemplateSchema = new Schema({
+ path: String,
+ name: String,
+ entity: String,
+ description: String,
+ command: String,
+ package: {
+ type: String,
+ },
+ executable: {
+ type: String,
+ },
+ interfaces: {
+ cmd: String,
+ },
+ formBuilder: {
+ type: Schema.Types.Mixed,
+ },
+}).plugin(require("mongoose-autopopulate"));
+
+export const digitalTwinsTemplateSchema = "digital_twins_templates";
+
+export const DigitalTwinsTemplateDBModel = model(
+ digitalTwinsTemplateSchema,
+ DigitalTwinsTemplateSchema
+);
diff --git a/server/src/features/digital_twins_template/models/digital_twins_template_validation_model.ts b/server/src/features/digital_twins_template/models/digital_twins_template_validation_model.ts
new file mode 100644
index 0000000..4e1aa46
--- /dev/null
+++ b/server/src/features/digital_twins_template/models/digital_twins_template_validation_model.ts
@@ -0,0 +1,23 @@
+import { Type } from "class-transformer";
+import { IsEnum, IsString } from "class-validator";
+
+enum DigitalTwinsTypes {
+ CAMERA = "CAMERA",
+ ROBOT = "ROBOT",
+}
+export class Interfaces {
+ @IsString()
+ cmd: string;
+}
+export class DigitalTwinsTemplateValidationModel {
+ path: string;
+ name: string;
+ @IsEnum(DigitalTwinsTypes)
+ entity: DigitalTwinsTypes;
+ @IsString()
+ description: string;
+ @IsString()
+ command: string;
+ @Type(() => Interfaces)
+ interfaces: Interfaces;
+}
diff --git a/server/src/features/projects/domain/create_new_project_scenario.ts b/server/src/features/projects/domain/create_new_project_scenario.ts
index b2ee76c..8b2fb09 100644
--- a/server/src/features/projects/domain/create_new_project_scenario.ts
+++ b/server/src/features/projects/domain/create_new_project_scenario.ts
@@ -2,9 +2,8 @@ import { App } from "../../../core/controllers/app";
import { Result } from "../../../core/helpers/result";
import { v4 as uuidv4 } from "uuid";
import { IsString } from "class-validator";
-import { ProjectDBModel } from "../../_projects/models/project_database_model";
-import { CreateDataBaseModelUseCase } from "../../../core/usecases/create_database_model_usecase";
import { CreateFolderUseCase } from "../../../core/usecases/create_folder_usecase";
+import { ProjectDBModel } from "../models/project_model_database_model";
export class ProjectValidationModel {
@IsString()
diff --git a/server/src/features/projects/domain/get_active_project_id_scenario.ts b/server/src/features/projects/domain/get_active_project_id_scenario.ts
new file mode 100644
index 0000000..0e06a58
--- /dev/null
+++ b/server/src/features/projects/domain/get_active_project_id_scenario.ts
@@ -0,0 +1,12 @@
+import { CallbackStrategyWithEmpty } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
+import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model";
+
+export class GetActiveProjectIdScenario extends CallbackStrategyWithEmpty {
+ async call(): Promise> {
+ return (
+ await new SearchOneDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects")
+ ).map((model) => Result.ok({ id: model._id }));
+ }
+}
diff --git a/server/src/features/projects/domain/get_active_project_scenario.ts b/server/src/features/projects/domain/get_active_project_scenario.ts
deleted file mode 100644
index ecf4b6b..0000000
--- a/server/src/features/projects/domain/get_active_project_scenario.ts
+++ /dev/null
@@ -1,12 +0,0 @@
-import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
-import { Result } from "../../../core/helpers/result";
-import { SearchDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
-import { IProjectModel, ProjectDBModel } from "../../_projects/models/project_database_model";
-
-export class GetActiveProjectScenario extends CallbackStrategyWithEmpty {
- async call(): ResponseBase {
- return (
- await new SearchDataBaseModelUseCase(ProjectDBModel).call({ isActive: true }, "no active projects")
- ).map((model) => Result.ok({ id: model._id }));
- }
-}
diff --git a/server/src/features/_realtime/domain/pipeline_status_usecase.ts b/server/src/features/projects/domain/pipeline_status_usecase.ts
similarity index 83%
rename from server/src/features/_realtime/domain/pipeline_status_usecase.ts
rename to server/src/features/projects/domain/pipeline_status_usecase.ts
index df47fe1..6875b6c 100644
--- a/server/src/features/_realtime/domain/pipeline_status_usecase.ts
+++ b/server/src/features/projects/domain/pipeline_status_usecase.ts
@@ -1,7 +1,7 @@
import { Result } from "../../../core/helpers/result";
import { ActivePipeline } from "../../../core/models/active_pipeline_model";
-import { pipelineRealTimeService } from "../realtime_presentation";
-
+import { pipelineRealTimeService } from "../../../core/scenarios/set_active_pipeline_to_realtime_service_scenario";
+
export class PipelineStatusUseCase {
async call(): Promise> {
try {
@@ -18,3 +18,4 @@ export class PipelineStatusUseCase {
}
}
}
+
diff --git a/server/src/features/projects/domain/robossembler_assets_absolute_path_mapper_scenario.ts b/server/src/features/projects/domain/robossembler_assets_absolute_path_mapper_scenario.ts
new file mode 100644
index 0000000..c64ebc6
--- /dev/null
+++ b/server/src/features/projects/domain/robossembler_assets_absolute_path_mapper_scenario.ts
@@ -0,0 +1,48 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { StaticFilesProject } from "../../../core/models/static_files";
+import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model";
+
+export interface Parts {
+ name: string;
+ part_path: string;
+ material_path: string;
+ stlUrl: string;
+ image: string;
+ glUrl: string;
+ daeUrl: string;
+ fbx: string;
+ objUrl: string;
+ solidType: string;
+}
+
+export class RobossemblerAssetsLocaleMapperScenario extends CallbackStrategyWithEmpty {
+ call = async (): ResponseBase =>
+ (
+ await new SearchManyDataBaseModelUseCase(ProjectDBModel).call(
+ { isActive: true },
+ "is dont active projects"
+ )
+ ).map(async (projectModel) => {
+ const { rootDir } = projectModel[0];
+ return (await new ReadFileAndParseJsonUseCase().call(rootDir + StaticFilesProject.parts)).map((model) =>
+ Result.ok(
+ model.map((el) => {
+ const assetLibsAddress = rootDir + "/assets/libs/objects/" + el.name;
+ el.fbx = `${assetLibsAddress}.fbx`;
+ el.stlUrl = `${assetLibsAddress}${el.part_path}`;
+ el.glUrl = `${assetLibsAddress}.glb`;
+ el.daeUrl = `${assetLibsAddress}.dae`;
+ el.objUrl = `${assetLibsAddress}.obj`;
+ el.image = `${assetLibsAddress}.png`;
+ el.solidType = "active";
+
+ return el;
+ })
+ )
+ );
+
+ });
+}
diff --git a/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts b/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts
index c788900..8b24b30 100644
--- a/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts
+++ b/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts
@@ -1,33 +1,51 @@
import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
import { Result } from "../../../core/helpers/result";
-import { RobossemblerAssets } from "../../../core/models/robossembler_assets";
-import { StaticFiles } from "../../../core/models/static_files";
-import { ReadingJsonFileAndConvertingToInstanceClassScenario } from "../../../core/scenarios/read_file_and_json_to_plain_instance_class_scenario";
+import { StaticFilesProject } from "../../../core/models/static_files";
import { GetServerAddressUseCase } from "../../../core/usecases/get_server_address_usecase";
-import { ProjectDBModel } from "../../_projects/models/project_database_model";
+import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model";
+export interface Parts {
+ name: string;
+ part_path: string;
+ material_path: string;
+ stlUrl: string;
+ image: string;
+ glUrl: string;
+ daeUrl: string;
+ objUrl: string;
+ solidType: string;
+}
export class RobossemblerAssetsNetworkMapperScenario extends CallbackStrategyWithEmpty {
- async call(): ResponseBase {
- const projectDbModel = await ProjectDBModel.findOne({ isActive: true });
- if (projectDbModel === null) {
- return Result.error("is dont active projects");
- }
- const { rootDir } = projectDbModel;
-
- return new GetServerAddressUseCase().call().map(async (address) =>
- (
- await new ReadingJsonFileAndConvertingToInstanceClassScenario(RobossemblerAssets).call(
- rootDir + StaticFiles.assets
- )
- ).map((model) => {
- return Result.ok(
- model.convertLocalPathsToServerPaths(
- `${address}/${
- rootDir.match(new RegExp(/[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}/gm))[0]
- }/assets`
- )
- );
- })
- );
- }
+ call = async (): ResponseBase =>
+ (
+ await new SearchManyDataBaseModelUseCase(ProjectDBModel).call(
+ { isActive: true },
+ "is dont active projects"
+ )
+ ).map((projectModel) => {
+ const { rootDir } = projectModel[0];
+ return new GetServerAddressUseCase().call().map(async (serverAddress) =>
+ (await new ReadFileAndParseJsonUseCase().call(rootDir + StaticFilesProject.parts)).map((model) => {
+ const assetAddress =
+ serverAddress +
+ "/" +
+ rootDir.match(new RegExp(/[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}/gm))[0] +
+ "/assets/";
+ model.map((el) => {
+ const assetLibsAddress = assetAddress + "/libs/objects/" + el.name;
+ console.log(assetLibsAddress);
+ el.stlUrl = `${assetAddress}${el.part_path}`;
+ el.glUrl = `${assetLibsAddress}.glb`;
+ el.daeUrl = `${assetLibsAddress}.dae`;
+ el.objUrl = `${assetLibsAddress}.obj`;
+ el.image = `${assetLibsAddress}.png`;
+ el.solidType = 'active'
+ return el;
+ });
+ return Result.ok(model);
+ })
+ );
+ });
}
diff --git a/server/src/features/projects/domain/save_active_scene_scenario.ts b/server/src/features/projects/domain/save_active_scene_scenario.ts
index 2f7b2fa..52ada18 100644
--- a/server/src/features/projects/domain/save_active_scene_scenario.ts
+++ b/server/src/features/projects/domain/save_active_scene_scenario.ts
@@ -1,24 +1,24 @@
import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
import { Result } from "../../../core/helpers/result";
import { RobossemblerAssets } from "../../../core/models/robossembler_assets";
-import { StaticFiles } from "../../../core/models/static_files";
+import { StaticFilesProject } from "../../../core/models/static_files";
import { ReadingJsonFileAndConvertingToInstanceClassScenario } from "../../../core/scenarios/read_file_and_json_to_plain_instance_class_scenario";
import { WriteFileSystemFileUseCase } from "../../../core/usecases/write_file_system_file_usecase";
-import { PipelineStatusUseCase } from "../../_realtime/domain/pipeline_status_usecase";
-
+import { PipelineStatusUseCase } from "./pipeline_status_usecase";
+
export class SaveActiveSceneScenario extends CallbackStrategyWithValidationModel {
validationModel: RobossemblerAssets = new RobossemblerAssets();
async call(model: RobossemblerAssets): ResponseBase {
return (await new PipelineStatusUseCase().call()).map(async (activeInstanceModel) =>
(
await new ReadingJsonFileAndConvertingToInstanceClassScenario(RobossemblerAssets).call(
- `${activeInstanceModel.path}${StaticFiles.robossembler_assets}`.pathNormalize()
+ `${activeInstanceModel.path}${StaticFilesProject.robossembler_assets}`.pathNormalize()
)
).map(async (prevModel) => {
model.assets = prevModel.assets;
return (
await new WriteFileSystemFileUseCase().call(
- `${activeInstanceModel.path}${StaticFiles.robossembler_assets}`.pathNormalize(),
+ `${activeInstanceModel.path}${StaticFilesProject.robossembler_assets}`.pathNormalize(),
JSON.stringify(model)
)
).map(() => Result.ok("assets is rewrite"));
diff --git a/server/src/features/projects/domain/set_active_project_use_scenario.ts b/server/src/features/projects/domain/set_active_project_use_scenario.ts
index 5bc82d8..e511259 100644
--- a/server/src/features/projects/domain/set_active_project_use_scenario.ts
+++ b/server/src/features/projects/domain/set_active_project_use_scenario.ts
@@ -6,37 +6,25 @@ import { CreateFolderUseCase } from "../../../core/usecases/create_folder_usecas
import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase";
import { UpdateDataBaseModelUseCase } from "../../../core/usecases/update_database_model_usecase";
import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
-import { IProjectInstanceModel, ProjectInstanceDbModel } from "../models/project_instance_database_model";
+import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model";
export class SetActiveProjectScenario extends CallbackStrategyWithIdQuery {
idValidationExpression = new MongoIdValidation();
- async call(id: string): ResponseBase {
- try {
- const result = await new ReadByIdDataBaseModelUseCase(ProjectInstanceDbModel).call(id);
- // id
-
- if (result.isFailure()) {
- return result.forward();
- }
- const model = result.value;
-
- return await (
- await new CreateFolderUseCase().call(App.staticFilesStoreDir() + model.rootDir)
- ).map(async () => {
- model.isActive = true;
- return (await new UpdateDataBaseModelUseCase(ProjectInstanceDbModel).call(model)).map(async (el) => {
- // TODO(IDONTSUDO): move it to a separate UseCase
- await ProjectInstanceDbModel.updateMany(
- { _id: { $ne: el._id }, isActive: { $eq: true } },
- { isActive: false }
- );
- await new SetLastActivePipelineToRealTimeServiceScenario().call();
- return Result.ok(`project ${id} is active`);
- });
- });
- } catch (error) {
- return Result.error("SetActiveProjectScenario error:" + String(error));
- }
- }
+ call = async (id: string): ResponseBase =>
+ await (
+ await new ReadByIdDataBaseModelUseCase(ProjectDBModel).call(id)
+ ).map(
+ async (model) =>
+ await (
+ await new CreateFolderUseCase().call(model.rootDir)
+ ).map(async () => {
+ model.isActive = true;
+ return (await new UpdateDataBaseModelUseCase(ProjectDBModel).call(model)).map(async (el) => {
+ await ProjectDBModel.updateMany({ _id: { $ne: el._id }, isActive: { $eq: true } }, { isActive: false });
+ await new SetLastActivePipelineToRealTimeServiceScenario().call();
+ return Result.ok(`project ${id} is active`);
+ });
+ })
+ );
}
diff --git a/server/src/features/projects/domain/upload_file_to_to_project_scenario.ts b/server/src/features/projects/domain/upload_file_to_to_project_scenario.ts
index e24a7bf..d7526c8 100644
--- a/server/src/features/projects/domain/upload_file_to_to_project_scenario.ts
+++ b/server/src/features/projects/domain/upload_file_to_to_project_scenario.ts
@@ -2,26 +2,43 @@ import { CallbackStrategyWithFileUpload, ResponseBase } from "../../../core/cont
import { IFile } from "../../../core/interfaces/file";
import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase";
import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
-import { IProjectInstanceModel } from "../models/project_instance_database_model";
import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase";
-import { ProjectDBModel } from "../../_projects/models/project_database_model";
import { ExecProcessUseCase } from "../../../core/usecases/exec_process_usecase";
+import { Result } from "../../../core/helpers/result";
+import { CreateManyFolderScenario } from "../../../core/scenarios/create_many_folder_scenario";
+import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model";
+
+export enum FolderStructure {
+ assets = "assets",
+ weights = "weights",
+ datasets = "datasets",
+ behaviorTrees = "behavior_trees",
+ robots = "robots",
+ scenes = "scenes",
+}
export class UploadCadFileToProjectScenario extends CallbackStrategyWithFileUpload {
checkingFileExpression: RegExp = new RegExp(".FCStd");
idValidationExpression = new MongoIdValidation();
async call(file: IFile, id: string): ResponseBase {
- return (await new ReadByIdDataBaseModelUseCase(ProjectDBModel).call(id)).map(
- async (databaseModel) =>
- (await new CreateFileUseCase().call(`${databaseModel.rootDir}/${file.name}`, file.data)).map(
- async () =>
- await new ExecProcessUseCase().call(
- `${databaseModel.rootDir}/`,
- '',
- `python3 $PYTHON_BLENDER --path '${databaseModel.rootDir}/assets/'`
+ return (await new ReadByIdDataBaseModelUseCase(ProjectDBModel).call(id)).map(async (databaseModel) =>
+ (await new CreateFileUseCase().call(`${databaseModel.rootDir}/${file.name}`, file.data)).map(async () =>
+ (
+ await new ExecProcessUseCase().call(
+ `${databaseModel.rootDir}/`,
+ `python3 $PYTHON_BLENDER --path '${databaseModel.rootDir}/assets/'`,
+ ""
+ )
+ ).map(async () =>
+ (
+ await new CreateManyFolderScenario().call(
+ databaseModel.rootDir,
+ Object.keys(FolderStructure).map((el) => `/${el}`)
)
+ ).map(() => Result.ok("file upload and save"))
)
+ )
);
}
}
diff --git a/server/src/features/projects/domain/upload_new_env_scenario.ts b/server/src/features/projects/domain/upload_new_env_scenario.ts
new file mode 100644
index 0000000..1eac9d9
--- /dev/null
+++ b/server/src/features/projects/domain/upload_new_env_scenario.ts
@@ -0,0 +1,61 @@
+import { CallbackStrategyWithFilesUploads, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase";
+import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json";
+export interface Parts {
+ name: string;
+ part_path: string;
+ material_path: string;
+ mass: number;
+ inertia: {
+ ixx: number;
+ ixy: number;
+ ixz: number;
+ iyy: number;
+ iyz: number;
+ izz: number;
+ };
+ visual: string;
+ collision: string;
+ type: string;
+}
+export class UploadNewEnvScenario {
+ call = async (
+ files: { name: string; file?: Buffer }[],
+ name: string,
+ inertia: number,
+ mass: number,
+ projectPath: string
+ ): ResponseBase => {
+ await files.map(
+ async (el) => await new CreateFileUseCase().call(projectPath + `/assets/libs/objects/${name}.${el.name}`, el.file)
+ );
+ // "part_path": "parts/objects/body_down.stl",
+ await new CreateFileUseCase().call(
+ projectPath + `/parts/objects/${name}.${files.find((el) => el.name.isEqual("stl")).name}`,
+ files.find((el) => el.name.isEqual("stl")).file
+ );
+ return (await new ReadFileAndParseJsonUseCase().call(projectPath + "/assets/parts.json")).map(
+ async (el) => {
+ el.push({
+ name,
+ inertia: {
+ ixx: 0.1,
+ ixy: 0,
+ ixz: 0,
+ iyy: 0.1,
+ iyz: 0,
+ izz: 0.1,
+ },
+ mass,
+ visual: `/assets/libs/objects/${name}.dae`,
+ collision: `/assets/libs/objects/${name}.stl`,
+ type: "env",
+ material_path: "",
+ part_path: `/libs/objects/${name}.stl`,
+ });
+ await new CreateFileUseCase().call(projectPath + "/assets/parts.json", Buffer.from(JSON.stringify(el), "utf8"));
+ }
+ );
+ };
+}
diff --git a/server/src/features/projects/models/project_instance_database_model.ts b/server/src/features/projects/models/project_instance_database_model.ts
deleted file mode 100644
index 604f8b9..0000000
--- a/server/src/features/projects/models/project_instance_database_model.ts
+++ /dev/null
@@ -1,27 +0,0 @@
-import { Schema, model } from "mongoose";
-import { IProjectModel, projectSchema } from "../../_projects/models/project_database_model";
-
-export interface IProjectInstanceModel {
- _id: string;
- project: IProjectModel;
- description: string;
- rootDir: string;
- isActive: boolean;
-}
-
-export const ProjectInstanceSchema = new Schema({
- description: {
- type: String,
- },
- rootDir: {
- type: String,
- },
- isActive: {
- type: Boolean,
- default: false,
- },
-}).plugin(require("mongoose-autopopulate"));
-
-export const schemaProjectInstance = "instance_project";
-
-export const ProjectInstanceDbModel = model(schemaProjectInstance, ProjectInstanceSchema);
diff --git a/server/src/features/_projects/models/project_database_model.ts b/server/src/features/projects/models/project_model_database_model.ts
similarity index 79%
rename from server/src/features/_projects/models/project_database_model.ts
rename to server/src/features/projects/models/project_model_database_model.ts
index e45b146..09d043b 100644
--- a/server/src/features/_projects/models/project_database_model.ts
+++ b/server/src/features/projects/models/project_model_database_model.ts
@@ -1,9 +1,7 @@
import { Schema, model } from "mongoose";
-import { PipelineValidationModel } from "../../_pipelines/models/pipeline_validation_model";
export interface IProjectModel {
_id?: string;
- pipelines: [PipelineValidationModel];
rootDir: string;
description: string;
isActive: boolean;
diff --git a/server/src/features/projects/models/project_instance_validation_model.ts b/server/src/features/projects/models/project_validation_model.ts
similarity index 72%
rename from server/src/features/projects/models/project_instance_validation_model.ts
rename to server/src/features/projects/models/project_validation_model.ts
index ef7b6b0..52615cc 100644
--- a/server/src/features/projects/models/project_instance_validation_model.ts
+++ b/server/src/features/projects/models/project_validation_model.ts
@@ -1,4 +1,4 @@
-import { IsMongoId, IsOptional, IsString } from "class-validator";
+import { IsOptional, IsString } from "class-validator";
export class ProjectInstanceValidationModel {
@IsString()
diff --git a/server/src/features/projects/projects_presentation.ts b/server/src/features/projects/projects_presentation.ts
index 1fa0714..6460607 100644
--- a/server/src/features/projects/projects_presentation.ts
+++ b/server/src/features/projects/projects_presentation.ts
@@ -1,16 +1,18 @@
import { CrudController } from "../../core/controllers/crud_controller";
-import { ProjectDBModel } from "../_projects/models/project_database_model";
-import { CreateNewProjectInstanceScenario } from "./domain/create_new_project_scenario";
-import { GetActiveProjectScenario } from "./domain/get_active_project_scenario";
+import { SearchManyDataBaseModelUseCase } from "../../core/usecases/search_many_database_model_usecase";
+import { CreateNewProjectInstanceScenario, ProjectValidationModel } from "./domain/create_new_project_scenario";
+import { GetActiveProjectIdScenario } from "./domain/get_active_project_id_scenario";
+import { RobossemblerAssetsLocaleMapperScenario } from "./domain/robossembler_assets_absolute_path_mapper_scenario";
import { RobossemblerAssetsNetworkMapperScenario } from "./domain/robossembler_assets_network_mapper_scenario";
import { SetActiveProjectScenario } from "./domain/set_active_project_use_scenario";
import { UploadCadFileToProjectScenario } from "./domain/upload_file_to_to_project_scenario";
-import { ProjectInstanceValidationModel as ProjectsValidationModel } from "./models/project_instance_validation_model";
+import { UploadNewEnvScenario } from "./domain/upload_new_env_scenario";
+import { IProjectModel, ProjectDBModel } from "./models/project_model_database_model";
-export class ProjectsPresentation extends CrudController {
+export class ProjectsPresentation extends CrudController {
constructor() {
super({
- validationModel: ProjectsValidationModel,
+ validationModel: ProjectValidationModel,
url: "projects",
databaseModel: ProjectDBModel,
});
@@ -22,10 +24,11 @@ export class ProjectsPresentation extends CrudController {
+ try {
+ } catch (error) {}
+ (
+ await new SearchManyDataBaseModelUseCase(ProjectDBModel).call(
+ { isActive: true },
+ "is dont active projects"
+ )
+ ).map(async (projectModel) => {
+ const { rootDir } = projectModel[0];
+ const files: { name: string; file?: Buffer }[] = [
+ { name: "blend" },
+ { name: "fbx" },
+ { name: "ply" },
+ { name: "glb" },
+ { name: "dae" },
+ { name: "fbx" },
+ { name: "png" },
+ { name: "stl" },
+ ];
+ // @ts-ignore
+ const reqFiles = req.files;
+
+ files.forEach((el) => {
+ reqFiles[el.name].data;
+ el.file = reqFiles[el.name].data;
+ });
+
+ await new UploadNewEnvScenario().call(files, req.body.name, req.body.inertia, req.body.mass, rootDir);
+ return res.status(200).json("");
+ });
+ });
}
}
diff --git a/server/src/features/runtime/domain/exec_bt_builder_usecase.ts b/server/src/features/runtime/domain/exec_bt_builder_usecase.ts
new file mode 100644
index 0000000..66ea474
--- /dev/null
+++ b/server/src/features/runtime/domain/exec_bt_builder_usecase.ts
@@ -0,0 +1,7 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+
+export class ExecBtBuilderUseCase extends CallbackStrategyWithEmpty {
+ call(): ResponseBase {
+ throw new Error("Method not implemented.");
+ }
+}
diff --git a/server/src/features/runtime/domain/exec_simulation_usecase.ts b/server/src/features/runtime/domain/exec_simulation_usecase.ts
new file mode 100644
index 0000000..24837a6
--- /dev/null
+++ b/server/src/features/runtime/domain/exec_simulation_usecase.ts
@@ -0,0 +1,21 @@
+import { App } from "../../../core/controllers/app";
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { SpawnProcessUseCase } from "../../../core/usecases/exec_process_usecase";
+import { ExecProcesssss } from "../model/exec_process";
+import { ProcessWatcher } from "../service/process_watcher";
+import { GetCommandScenario } from "./get_command_scenario";
+
+export class ExecSimulationUseCase extends CallbackStrategyWithValidationModel {
+ validationModel = new ExecProcesssss();
+ call = async (): ResponseBase =>
+ (await new GetCommandScenario().call("btBuilderProcess")).map((el) => {
+ new SpawnProcessUseCase().call(
+ App.staticFilesStoreDir(),
+ el.execCommand.replace("${dir_path}", "/Users/idontsudo/train"),
+ "btBuilder",
+ new ProcessWatcher()
+ );
+ return Result.ok("200");
+ });
+}
diff --git a/server/src/features/runtime/domain/get_bt_builder_status_usecase.ts b/server/src/features/runtime/domain/get_bt_builder_status_usecase.ts
new file mode 100644
index 0000000..26c76f7
--- /dev/null
+++ b/server/src/features/runtime/domain/get_bt_builder_status_usecase.ts
@@ -0,0 +1,7 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+
+export class GetBtBuilderStateUseCase extends CallbackStrategyWithEmpty {
+ call(): ResponseBase {
+ throw new Error("Method not implemented.");
+ }
+}
diff --git a/server/src/features/runtime/domain/get_command_scenario.ts b/server/src/features/runtime/domain/get_command_scenario.ts
new file mode 100644
index 0000000..2212522
--- /dev/null
+++ b/server/src/features/runtime/domain/get_command_scenario.ts
@@ -0,0 +1,14 @@
+import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json";
+import { Result } from "../../../core/helpers/result";
+import { Command, ExecProcess } from "../model/command";
+
+export class GetCommandScenario {
+ call = async (command: string): Promise> =>
+ (
+ await new ReadFileAndParseJsonUseCase().call(
+ __filename.slice(0, __filename.lastIndexOf("/")).replace("/build/src/features/runtime/domain", "") +
+ "/" +
+ "command.json"
+ )
+ ).map((el) => Result.ok(el[command]));
+}
diff --git a/server/src/features/runtime/domain/get_simulation_state_usecase.ts b/server/src/features/runtime/domain/get_simulation_state_usecase.ts
new file mode 100644
index 0000000..4658739
--- /dev/null
+++ b/server/src/features/runtime/domain/get_simulation_state_usecase.ts
@@ -0,0 +1,10 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { SpawnProcessUseCase } from "../../../core/usecases/exec_process_usecase";
+import { GetCommandScenario } from "./get_command_scenario";
+import { ProcessWatcher } from "../service/process_watcher";
+import { App } from "../../../core/controllers/app";
+
+export class GetSimulationStateScenario extends CallbackStrategyWithEmpty {
+ call = async (): ResponseBase => Result.ok("");
+}
diff --git a/server/src/features/runtime/model/command.ts b/server/src/features/runtime/model/command.ts
new file mode 100644
index 0000000..863d14e
--- /dev/null
+++ b/server/src/features/runtime/model/command.ts
@@ -0,0 +1,14 @@
+export interface Command {
+ tensorBoard: ExecProcess;
+ simulationProcess: ExecProcess;
+ btBuilderProcess: ExecProcess;
+}
+
+export interface ExecProcess {
+ execCommand: string;
+ date: null;
+ status: null | string;
+ delay: number;
+ checkCommand: null;
+ filter: null;
+}
diff --git a/server/src/features/runtime/model/exec_process.ts b/server/src/features/runtime/model/exec_process.ts
new file mode 100644
index 0000000..4b2dcb1
--- /dev/null
+++ b/server/src/features/runtime/model/exec_process.ts
@@ -0,0 +1,3 @@
+export class ExecProcesssss{
+
+}
\ No newline at end of file
diff --git a/server/src/features/runtime/model/run_time_database_model.ts b/server/src/features/runtime/model/run_time_database_model.ts
new file mode 100644
index 0000000..6f79226
--- /dev/null
+++ b/server/src/features/runtime/model/run_time_database_model.ts
@@ -0,0 +1,23 @@
+import { Schema, model } from "mongoose";
+import { ExecRunTimeCommandValidationModel as ExecRunTimeCommandValidationModel } from "./run_time_validation_model";
+
+export interface IDigitalTwinsInstanceModel {
+ instancePath: string;
+ status?: string;
+}
+
+export const ExecRunTimeDataBaseSchema = new Schema({
+ execCommand: String,
+ date: String,
+ status: String,
+ delay: Number,
+ checkCommand: String,
+ filter: Array,
+}).plugin(require("mongoose-autopopulate"));
+
+export const ExecRuntimeSchema = "digital_twins_instance";
+
+export const ExecRuntimeDatabaseModel = model(
+ ExecRuntimeSchema,
+ ExecRunTimeDataBaseSchema
+);
diff --git a/server/src/features/runtime/model/run_time_validation_model.ts b/server/src/features/runtime/model/run_time_validation_model.ts
new file mode 100644
index 0000000..ba2c3fb
--- /dev/null
+++ b/server/src/features/runtime/model/run_time_validation_model.ts
@@ -0,0 +1,21 @@
+import { IsArray, IsEnum, IsNumber, IsString } from "class-validator";
+
+export enum Status {
+ OK = "Ok",
+ ERROR = "Error",
+}
+
+export class ExecRunTimeCommandValidationModel {
+ @IsString()
+ execCommand: string;
+ @IsString()
+ date: string = Date();
+ @IsEnum(Status)
+ status: Status;
+ @IsNumber()
+ delay: number;
+ @IsString()
+ checkCommand: string;
+ @IsArray()
+ filter: string[] = [];
+}
diff --git a/server/src/features/runtime/runtime_presentation.ts b/server/src/features/runtime/runtime_presentation.ts
new file mode 100644
index 0000000..335deee
--- /dev/null
+++ b/server/src/features/runtime/runtime_presentation.ts
@@ -0,0 +1,42 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { ExecRunTimeCommandValidationModel } from "./model/run_time_validation_model";
+import { ExecRuntimeDatabaseModel } from "./model/run_time_database_model";
+import { CoreHttpController, SubRouter, HttpMethodType, CallbackStrategyWithIdQuery, ResponseBase } from "../../core/controllers/http_controller";
+import { ExecBtBuilderUseCase } from "./domain/exec_bt_builder_usecase";
+import { ExecSimulationUseCase } from "./domain/exec_simulation_usecase";
+import { GetBtBuilderStateUseCase } from "./domain/get_bt_builder_status_usecase";
+import { GetSimulationStateScenario } from "./domain/get_simulation_state_usecase";
+import { MongoIdValidation } from "../../core/validations/mongo_id_validation";
+import { CoreValidation } from "../../core/validations/core_validation";
+import { ReadByIdDataBaseModelUseCase } from "../../core/usecases/read_by_id_database_model_usecase";
+import { ICalculationInstance, CalculationInstanceDBModel } from "../calculations_instance/models/calculations_instance_database_model";
+import { Result } from "../../core/helpers/result";
+import { SpawnProcessUseCase } from "../../core/usecases/exec_process_usecase";
+import { ProcessWatcher } from "./service/process_watcher";
+
+class ExecAnalyzeScenario extends CallbackStrategyWithIdQuery {
+
+ idValidationExpression: CoreValidation = new MongoIdValidation()
+ call = async (id: string) =>
+ (await new ReadByIdDataBaseModelUseCase(CalculationInstanceDBModel).call(id)).map(async (model) =>
+ (await new SpawnProcessUseCase().call('/Users/idontsudo/webservice', `nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${model.instancePath}`, "", new ProcessWatcher())).map(() => Result.ok('ok'),),
+ )
+}
+
+export class RunTimePresentation extends CrudController {
+ constructor() {
+ super({
+ url: "run_time",
+ });
+
+ this.subRoutes.push(new SubRouter("POST", "/exec/bt/builder", new ExecBtBuilderUseCase()));
+ this.subRoutes.push(new SubRouter("POST", "/get/bt/builder/state", new GetBtBuilderStateUseCase()));
+ this.subRoutes.push(new SubRouter("POST", "/get/simulator/state", new GetSimulationStateScenario()));
+ this.subRoutes.push(new SubRouter('POST', "exec/analyze", new ExecAnalyzeScenario()))
+ this.subRoutes.push({
+ method: "POST",
+ subUrl: "/exec/simulation/",
+ fn: new ExecSimulationUseCase(),
+ });
+ }
+}
diff --git a/server/src/features/runtime/service/process_watcher.ts b/server/src/features/runtime/service/process_watcher.ts
new file mode 100644
index 0000000..a0872c9
--- /dev/null
+++ b/server/src/features/runtime/service/process_watcher.ts
@@ -0,0 +1,19 @@
+import { Result } from "../../../core/helpers/result";
+import { TypedEvent } from "../../../core/helpers/typed_event";
+import { ExecError, SpawnError } from "../../../core/models/exec_error_model";
+import { ExecutorResult } from "../../../core/models/executor_result";
+
+export class ProcessWatcher extends TypedEvent> {
+
+ constructor() {
+ super();
+ this.on(this.lister);
+
+ }
+
+ lister = (event: Result) => {
+ event.map(async (success) => {
+ console.log(success.data)
+ });
+ };
+}
diff --git a/server/src/features/scenes/domain/create_new_scene_scenario.ts b/server/src/features/scenes/domain/create_new_scene_scenario.ts
new file mode 100644
index 0000000..e0685ca
--- /dev/null
+++ b/server/src/features/scenes/domain/create_new_scene_scenario.ts
@@ -0,0 +1,43 @@
+import { IsString } from "class-validator";
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
+import { StaticFilesProject } from "../../../core/models/static_files";
+import { CreateDataBaseModelUseCase } from "../../../core/usecases/create_database_model_usecase";
+import { SceneDBModel } from "../model/scene_database_model";
+export class SceneModel {
+ @IsString()
+ name: string;
+}
+export class SceneAssets {
+ name: string;
+ scene: [] = [];
+ constructor(name: string) {
+ this.name = name;
+ }
+ static empty = () => new SceneAssets("");
+}
+export class CreateNewSceneScenario extends CallbackStrategyWithValidationModel {
+ validationModel: SceneModel = SceneModel;
+
+ call = async (model: SceneModel): ResponseBase =>
+ (
+ await new SearchManyDataBaseModelUseCase(ProjectDBModel).call(
+ { isActive: true },
+ "is dont active projects"
+ )
+ ).map(async (projectModel) => {
+ const { rootDir } = projectModel[0];
+
+ return (
+ await new CreateFileUseCase().call(
+ `${rootDir}${StaticFilesProject.scenes}${model.name}.json`,
+ Buffer.from(JSON.stringify(new SceneAssets(model.name)))
+ )
+ ).map(async () =>
+ (await new CreateDataBaseModelUseCase(SceneDBModel).call(model)).map(() => Result.ok("Create"))
+ );
+ });
+}
diff --git a/server/src/features/scenes/domain/create_robot_scenario.ts b/server/src/features/scenes/domain/create_robot_scenario.ts
new file mode 100644
index 0000000..9dc2375
--- /dev/null
+++ b/server/src/features/scenes/domain/create_robot_scenario.ts
@@ -0,0 +1,41 @@
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { RobotModel } from "../model/robot_model";
+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";
+import { StaticFilesProject } from "../../../core/models/static_files";
+
+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 + "/" + StaticFilesProject.robots + "/"
+ } --name ${model.name} --nDOF ${model.nDof} --toolType ${model.toolType}`,
+ ""
+ )
+ ).map((log) =>
+ Result.ok({
+ robotUrl: `${serverAddress}/${
+ rootDir.match(new RegExp(/[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}/gm))[0]
+ }/${StaticFilesProject.robots}/${model.name}/robot.xml`,
+ })
+ )
+ );
+ });
+}
+
+// PYTHON_ROBOT_BUILDER
diff --git a/server/src/features/scenes/domain/delete_scene_scenario.ts b/server/src/features/scenes/domain/delete_scene_scenario.ts
new file mode 100644
index 0000000..61f829e
--- /dev/null
+++ b/server/src/features/scenes/domain/delete_scene_scenario.ts
@@ -0,0 +1,31 @@
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { StaticFilesProject } from "../../../core/models/static_files";
+import { DeleteDataBaseModelUseCase } from "../../../core/usecases/delete_database_model_usecase";
+import { DeleteFileUseCase } from "../../../core/usecases/delete_file_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { CoreValidation } from "../../../core/validations/core_validation";
+import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
+import { SceneModel } from "./create_new_scene_scenario";
+
+export class DeleteSceneScenario extends CallbackStrategyWithIdQuery {
+ idValidationExpression: CoreValidation = new MongoIdValidation();
+ call = async (id: string): ResponseBase =>
+ (await new ReadByIdDataBaseModelUseCase(SceneModel).call(id)).map(async (sceneModel) =>
+ (await new DeleteDataBaseModelUseCase(SceneModel).call(id)).map(async () =>
+ (
+ await new SearchManyDataBaseModelUseCase(ProjectDBModel).call(
+ { isActive: true },
+ "is dont active projects"
+ )
+ ).map(async (projectModel) => {
+ const { rootDir } = projectModel[0];
+
+ (await new DeleteFileUseCase()).call(`${rootDir}${StaticFilesProject.scenes}${sceneModel.name}.json`);
+ return Result.ok("Delete scene");
+ })
+ )
+ );
+}
diff --git a/server/src/features/scenes/domain/edit_scene_scenario.ts b/server/src/features/scenes/domain/edit_scene_scenario.ts
new file mode 100644
index 0000000..57ed4b0
--- /dev/null
+++ b/server/src/features/scenes/domain/edit_scene_scenario.ts
@@ -0,0 +1,27 @@
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { StaticFilesProject } from "../../../core/models/static_files";
+import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
+import { SceneValidationModel } from "../model/scene_validation_model";
+
+export class EditSceneScenario extends CallbackStrategyWithValidationModel {
+ validationModel: SceneValidationModel;
+ call = async (model: SceneValidationModel): ResponseBase =>
+ (
+ await new SearchManyDataBaseModelUseCase(ProjectDBModel).call(
+ { isActive: true },
+ "is dont active projects"
+ )
+ ).map(async (projectModel) => {
+ const { rootDir } = projectModel[0];
+
+ return (
+ await new CreateFileUseCase().call(
+ `${rootDir}${StaticFilesProject.scenes}${model.name}.json`,
+ Buffer.from(JSON.stringify(model))
+ )
+ ).map(async () => Result.ok("Edit"));
+ });
+}
diff --git a/server/src/features/scenes/domain/read_scene_scenario.ts b/server/src/features/scenes/domain/read_scene_scenario.ts
new file mode 100644
index 0000000..135f0db
--- /dev/null
+++ b/server/src/features/scenes/domain/read_scene_scenario.ts
@@ -0,0 +1,30 @@
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { StaticFilesProject } from "../../../core/models/static_files";
+import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase";
+import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { CoreValidation } from "../../../core/validations/core_validation";
+import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
+import { SceneModel } from "./create_new_scene_scenario";
+import { SceneDBModel } from "../model/scene_database_model";
+
+export class ReadSceneScenario extends CallbackStrategyWithIdQuery {
+ idValidationExpression: CoreValidation = new MongoIdValidation();
+ call = async (id: string): ResponseBase =>
+ (await new ReadByIdDataBaseModelUseCase(SceneDBModel).call(id)).map(async (model) =>
+ (
+ await new SearchManyDataBaseModelUseCase(ProjectDBModel).call(
+ { isActive: true },
+ "is dont active projects"
+ )
+ ).map(async (projectModel) => {
+ const { rootDir } = projectModel[0];
+
+ return (await new ReadFileAndParseJsonUseCase().call(`${rootDir}${StaticFilesProject.scenes}${model.name}.json`)).map(
+ async (sceneAsset) => Result.ok(sceneAsset)
+ );
+ })
+ );
+}
diff --git a/server/src/features/scenes/model/robot_model.ts b/server/src/features/scenes/model/robot_model.ts
new file mode 100644
index 0000000..82c6e97
--- /dev/null
+++ b/server/src/features/scenes/model/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/scenes/model/scene_database_model.ts b/server/src/features/scenes/model/scene_database_model.ts
new file mode 100644
index 0000000..58f8d9c
--- /dev/null
+++ b/server/src/features/scenes/model/scene_database_model.ts
@@ -0,0 +1,13 @@
+import { Schema, model } from "mongoose";
+export interface IScene {
+ name: string;
+}
+export const SceneSchema = new Schema({
+ name: {
+ type: String,
+ },
+}).plugin(require("mongoose-autopopulate"));
+
+export const schemaSceneName = "Scene";
+
+export const SceneDBModel = model(schemaSceneName, SceneSchema);
diff --git a/server/src/features/scenes/model/scene_validation_model.ts b/server/src/features/scenes/model/scene_validation_model.ts
new file mode 100644
index 0000000..f32dff5
--- /dev/null
+++ b/server/src/features/scenes/model/scene_validation_model.ts
@@ -0,0 +1,7 @@
+import { IsString } from "class-validator";
+import { IScene } from "./scene_database_model";
+
+export class SceneValidationModel implements IScene {
+ @IsString()
+ public name: string;
+}
diff --git a/server/src/features/scenes/scenes_presentation.ts b/server/src/features/scenes/scenes_presentation.ts
new file mode 100644
index 0000000..d1a06bb
--- /dev/null
+++ b/server/src/features/scenes/scenes_presentation.ts
@@ -0,0 +1,30 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { CreateNewSceneScenario } from "./domain/create_new_scene_scenario";
+import { CreateRobotScenario } from "./domain/create_robot_scenario";
+import { EditSceneScenario } from "./domain/edit_scene_scenario";
+import { ReadSceneScenario } from "./domain/read_scene_scenario";
+import { SceneDBModel } from "./model/scene_database_model";
+import { SceneValidationModel } from "./model/scene_validation_model";
+
+export class ScenesPresentation extends CrudController {
+ constructor() {
+ super({
+ url: "scenes",
+ validationModel: SceneValidationModel,
+ databaseModel: SceneDBModel,
+ });
+
+ super.post(new CreateNewSceneScenario().call);
+ super.put(new EditSceneScenario().call);
+ this.subRoutes.push({
+ method: "POST",
+ subUrl: "create/robot",
+ fn: new CreateRobotScenario(),
+ });
+ this.subRoutes.push({
+ method: "GET",
+ subUrl: "by_id",
+ fn: new ReadSceneScenario(),
+ });
+ }
+}
diff --git a/server/src/features/skills/model/skills_database_model.ts b/server/src/features/skills/model/skills_database_model.ts
new file mode 100644
index 0000000..578ee22
--- /dev/null
+++ b/server/src/features/skills/model/skills_database_model.ts
@@ -0,0 +1,37 @@
+import { Schema, model } from "mongoose";
+
+export interface ISkillsModel {}
+
+export const SkillsSchema = new Schema({
+ SkillPackage: {
+ type: Schema.Types.Mixed,
+ },
+ Module: {
+ type: Schema.Types.Mixed,
+ },
+ Settings:{
+ type:Schema.Types.Mixed,
+ },
+ BTAction: {
+ type: Schema.Types.Mixed,
+ },
+ Launch: {
+ type: Schema.Types.Mixed,
+ },
+ topicsOut: {
+ type: Schema.Types.Mixed,
+ },
+ param: {
+ type: Schema.Types.Mixed,
+ },
+ bgColor: {
+ type: Schema.Types.String,
+ },
+ borderColor: {
+ type: Schema.Types.String,
+ },
+}).plugin(require("mongoose-autopopulate"));
+
+export const skillsSchema = "skills";
+
+export const SkillsDBModel = model(skillsSchema, SkillsSchema);
diff --git a/server/src/features/skills/model/skills_validation_model.ts b/server/src/features/skills/model/skills_validation_model.ts
new file mode 100644
index 0000000..77324f6
--- /dev/null
+++ b/server/src/features/skills/model/skills_validation_model.ts
@@ -0,0 +1,17 @@
+import { Type } from "class-transformer";
+import { IsOptional, IsString, ValidateNested } from "class-validator";
+import { SkillPackage, ISkillPackage, Module, IModule, BtActionViewModel, TopicViewModel } from "../../../core/models/skill_model";
+
+export class SkillInstanceValidationModel {
+ @IsOptional()
+ @IsString()
+ sid?: string;
+ @ValidateNested()
+ @Type(() => SkillPackage)
+ SkillPackage: ISkillPackage;
+ @ValidateNested()
+ @Type(() => Module)
+ Module: IModule;
+ BTAction: BtActionViewModel[];
+ topicsOut: TopicViewModel[] = [];
+}
diff --git a/server/src/features/skills/skill_presentation.ts b/server/src/features/skills/skill_presentation.ts
new file mode 100644
index 0000000..589c184
--- /dev/null
+++ b/server/src/features/skills/skill_presentation.ts
@@ -0,0 +1,12 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { SkillInstanceValidationModel } from "./model/skills_validation_model";
+import { SkillsDBModel } from "./model/skills_database_model";
+export class SkillsPresentation extends CrudController {
+ constructor() {
+ super({
+ url: "skills",
+ validationModel: SkillInstanceValidationModel,
+ databaseModel: SkillsDBModel,
+ });
+ }
+}
diff --git a/server/src/features/topics/topic_database_model.ts b/server/src/features/topics/topic_database_model.ts
new file mode 100644
index 0000000..98c487d
--- /dev/null
+++ b/server/src/features/topics/topic_database_model.ts
@@ -0,0 +1,26 @@
+import { Schema, model } from "mongoose";
+import { digitalTwinsInstanceSchema } from "../digital_twins_instance/model/digital_twins_instance_database_model";
+
+export interface ITopicModel {
+ digitalTwinId?: string;
+ name: string;
+ type: string;
+}
+
+export const TopicSchema = new Schema({
+ name: {
+ type: String,
+ },
+ type: {
+ type: String,
+ },
+ digitalTwinId: {
+ type: Schema.Types.ObjectId,
+ ref: digitalTwinsInstanceSchema,
+ autopopulate: true,
+ },
+}).plugin(require("mongoose-autopopulate"));
+
+export const topicSchema = "topics";
+
+export const TopicDatabaseModel = model(topicSchema, TopicSchema);
diff --git a/server/src/features/topics/topic_validation_model.ts b/server/src/features/topics/topic_validation_model.ts
new file mode 100644
index 0000000..e3b959f
--- /dev/null
+++ b/server/src/features/topics/topic_validation_model.ts
@@ -0,0 +1,10 @@
+import { Type } from "class-transformer";
+import { IsEnum, IsString } from "class-validator";
+import { ITopicModel } from "./topic_database_model";
+
+export class TopicValidationModel implements ITopicModel {
+ @IsString()
+ name: string;
+ @IsString()
+ type: string;
+}
diff --git a/server/src/features/topics/topics_presentation.ts b/server/src/features/topics/topics_presentation.ts
new file mode 100644
index 0000000..96b2540
--- /dev/null
+++ b/server/src/features/topics/topics_presentation.ts
@@ -0,0 +1,13 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { TopicDatabaseModel } from "./topic_database_model";
+import { TopicValidationModel } from "./topic_validation_model";
+
+export class TopicsPresentation extends CrudController {
+ constructor() {
+ super({
+ url: "topics",
+ validationModel: TopicValidationModel,
+ databaseModel: TopicDatabaseModel,
+ });
+ }
+}
diff --git a/server/src/main.ts b/server/src/main.ts
index 1398356..31d168e 100644
--- a/server/src/main.ts
+++ b/server/src/main.ts
@@ -3,7 +3,8 @@ import { App } from "./core/controllers/app";
import { SocketSubscriber } from "./core/controllers/socket_controller";
import { extensions } from "./core/extensions/extensions";
import { httpRoutes } from "./core/controllers/routes";
-import { executorProgramService } from "./core/usecases/exec_process_usecase";
+import { SpawnProcessUseCase, executorProgramService } from "./core/usecases/exec_process_usecase";
+import { ProcessWatcher } from "./features/runtime/service/process_watcher";
extensions();
diff --git a/server/src/p.json b/server/src/p.json
new file mode 100644
index 0000000..7f17eff
--- /dev/null
+++ b/server/src/p.json
@@ -0,0 +1,10 @@
+{
+ "execCommand": "string",
+ "date": "date",
+ "status": "Fail,Ok",
+ "delay": 1000,
+ "checkCommand": "string",
+ "filter": [
+ "/assembly_config"
+ ]
+}
\ No newline at end of file
diff --git a/server/test/model/mock_pipelines.ts b/server/test/model/mock_pipelines.ts
deleted file mode 100644
index 34e73c2..0000000
--- a/server/test/model/mock_pipelines.ts
+++ /dev/null
@@ -1,43 +0,0 @@
-import { EXEC_TYPE } from "../../src/core/models/exec_error_model";
-import { IPipeline, IssueType, StackGenerateType } from "../../src/core/models/process_model";
-import { TriggerType } from "../../src/features/_triggers/models/trigger_database_model";
-
-export const mockSimplePipeline: IPipeline[] = [
- {
- process: {
- type: EXEC_TYPE.EXEC,
- command: `nix run gitlab:robossembler/nix-robossembler-overlay#test-script '{
- "filesMeta":[
- {"type":"folder","name":"example", "path": null,"rewrite":true}
- ],
- "path":"$PATH"
- }'`,
- isGenerating: true,
- isLocaleCode: false,
- issueType: IssueType.WARNING,
- },
- trigger: {
- type: TriggerType.PROCESS,
- value: [""],
- },
- env: null,
- stackGenerateType: StackGenerateType.SINGLETON,
- },
- {
- process: {
- type: EXEC_TYPE.EXEC,
- command: `nix run gitlab:robossembler/nix-robossembler-overlay#test-script '{
- "filesMeta":[
- {"type":"file","name":"1.txt", "path":"example","rewrite":true}
- ],
- "path":"$PATH"
- }'`,
- isGenerating: true,
- isLocaleCode: false,
- issueType: IssueType.WARNING,
- },
- trigger: null,
- env: null,
- stackGenerateType: StackGenerateType.SINGLETON,
- },
-];
diff --git a/server/test/services/pipeline_real_time_service_test.ts b/server/test/services/pipeline_real_time_service_test.ts
index 7aa28a1..21b3cf3 100644
--- a/server/test/services/pipeline_real_time_service_test.ts
+++ b/server/test/services/pipeline_real_time_service_test.ts
@@ -1,5 +1,4 @@
import { PipelineRealTimeService } from "../../src/core/services/pipeline_real_time_service";
-import { mockSimplePipeline } from "../model/mock_pipelines";
import { dirname__ } from "../test";
export class PipelineRealTimeServiceTest extends PipelineRealTimeService {
diff --git a/server/test/services/stack_service_test.ts b/server/test/services/stack_service_test.ts
deleted file mode 100644
index 9a47f15..0000000
--- a/server/test/services/stack_service_test.ts
+++ /dev/null
@@ -1,45 +0,0 @@
-import { rmSync } from "fs";
-import { StackService } from "../../src/core/services/stack_service";
-import { delay } from "../../src/core/helpers/delay";
-import { assert, dirname__ } from "../test";
-import { mockSimplePipeline } from "../model/mock_pipelines";
-import { FileSystemRepository } from "../../src/core/repository/file_system_repository";
-import { CreateFolderUseCase } from "../../src/core/usecases/create_folder_usecase";
-
-abstract class IStackServiceTest {
- abstract test(): Promise;
-}
-
-class SimpleTestStackServiceTest extends StackService implements IStackServiceTest {
- fileSystemRepository: FileSystemRepository;
- constructor() {
- super(mockSimplePipeline, dirname__ + "/context/");
- this.fileSystemRepository = new FileSystemRepository();
- }
- async test(): Promise {
- await this.call();
- console.log(this.path);
- const testResult = this.fileSystemRepository.readDirRecursive(this.path).equals(["1.txt", "test.txt"], true);
- await delay(100);
- rmSync(this.path + "example/", { recursive: true });
- return testResult;
- }
-}
-
-export class StackServiceTest {
- dirName: string;
- fileSystemRepository: FileSystemRepository;
- constructor(dirName: string) {
- this.dirName = dirName;
- this.fileSystemRepository = new FileSystemRepository();
- }
- public async test() {
- const tests = [new SimpleTestStackServiceTest()];
- await new CreateFolderUseCase().call(this.dirName + "/context/");
-
- for await (const el of tests) {
- assert((await el.test()) === true, el.constructor.name);
- await delay(3000);
- }
- }
-}
diff --git a/server/test/services/trigger_service_test.ts b/server/test/services/trigger_service_test.ts
deleted file mode 100644
index 1013d44..0000000
--- a/server/test/services/trigger_service_test.ts
+++ /dev/null
@@ -1,110 +0,0 @@
-import { EventsFileChanger, MetaDataFileManagerModel } from "../../src/core/models/meta_data_file_manager_model";
-
-import { TriggerService } from "../../src/core/services/trigger_service";
-import { TriggerType } from "../../src/features/_triggers/models/trigger_database_model";
-import { assert } from "../test";
-abstract class TriggerTest {
- abstract test(): Promise;
-}
-class TriggerServiceFileOkTest extends TriggerService implements TriggerTest {
- constructor() {
- super(
- {
- type: TriggerType.FILE,
- value: ["context"],
- },
- {
- "/context/": new MetaDataFileManagerModel("", "", EventsFileChanger.create),
- },
- ""
- );
- }
- async test(): Promise {
- const r = await this.call();
-
- return r.isSuccess();
- }
-}
-class TriggerServiceFileErrorTest extends TriggerService implements TriggerTest {
- constructor() {
- super(
- {
- type: TriggerType.FILE,
- value: ["123"],
- },
- {
- "/ctx/": new MetaDataFileManagerModel("", "", EventsFileChanger.create),
- "/context/": new MetaDataFileManagerModel("", "", EventsFileChanger.create),
- },
-
- ""
- );
- }
- async test(): Promise {
- const r = await this.call();
-
- return r.isFailure();
- }
-}
-class TriggerServiceProcessOkTest extends TriggerService implements TriggerTest {
- constructor() {
- super(
- {
- type: TriggerType.PROCESS,
- value: [
- `function main(){
- return true
- }
-
- main()`,
- ],
- },
- {
- "/context/": new MetaDataFileManagerModel("", "", EventsFileChanger.create),
- },
- ""
- );
- }
- async test(): Promise {
- const r = await this.call();
- return r.isSuccess();
- }
-}
-
-class TriggerServiceProcessErrorTest extends TriggerService implements TriggerTest {
- constructor() {
- super(
- {
- type: TriggerType.PROCESS,
- value: [
- `function main(){
- return true
- }
-
- `,
- ],
- },
- {
- "/context/": new MetaDataFileManagerModel("", "", EventsFileChanger.create),
- },
- ""
- );
- }
- async test(): Promise {
- const r = await this.call();
- return r.isFailure();
- }
-}
-export class TriggerServiceTest {
- public async test() {
- const tests: TriggerTest[] = [
- new TriggerServiceFileOkTest(),
- new TriggerServiceFileErrorTest(),
- new TriggerServiceProcessOkTest(),
- new TriggerServiceProcessErrorTest(),
- ];
- for await (const el of tests) {
- assert((await el.test()) === true, el.constructor.name);
- }
- }
-}
diff --git a/server/test/test.ts b/server/test/test.ts
index 977850e..c8ed825 100644
--- a/server/test/test.ts
+++ b/server/test/test.ts
@@ -1,12 +1,8 @@
import "reflect-metadata";
import { TestCore } from "./core/test_core";
-// import { UnitTestEnv } from "../src/core/di/env";
import { dirname } from "path";
-// import locator from "../src/core/di/register_di";
import { ExecutorProgramServiceTest } from "./services/executor_program_service_test";
import { FilesChangerTest } from "./services/files_change_notifier_service_test";
-import { TriggerServiceTest } from "./services/trigger_service_test";
-import { StackServiceTest } from "./services/stack_service_test";
import { CreateDataBaseModelUseCaseTest } from "./usecases/create_database_model_usecase_test";
import { DeleteDataBaseModelUseCaseTest } from "./usecases/delete_database_model_usecase_test";
import { ReadDataBaseModelUseCaseTest } from "./usecases/read_database_model_usecase_test";
@@ -14,7 +10,7 @@ import { UpdateDataBaseModelUseCaseTest } from "./usecases/update_database_model
import { PaginationDataBaseModelUseCaseTest } from "./usecases/pagination_database_model_usecase_test";
import { extensions } from "../src/core/extensions/extensions";
import { CrudControllerTest } from "./controllers/crud_controller_test";
-import { TriggerPresentation } from "../src/features/_triggers/triggers_presentation";
+
import { App, Environment, ServerStatus } from "../src/core/controllers/app";
import { httpRoutes } from "../src/core/controllers/routes";
import { DataBaseConnectUseCase } from "../src/core/usecases/database_connect_usecase";
@@ -39,8 +35,6 @@ const unitTest = async () => {
await init();
await new ExecutorProgramServiceTest(dirname__).test();
await new FilesChangerTest(dirname__).test();
- await new StackServiceTest(dirname__).test();
- await new TriggerServiceTest().test();
await new CreateDataBaseModelUseCaseTest().test();
await new CreateDataBaseModelUseCaseTest().test();
await new DeleteDataBaseModelUseCaseTest().test();
@@ -51,7 +45,7 @@ const unitTest = async () => {
testCore.assert(await new usecase().test(), usecase.name);
}
};
-const presentationCrudControllers = [new TriggerPresentation()];
+const presentationCrudControllers = [];
const e2eTest = async () => {
const app = new App(httpRoutes, [], Environment.E2E_TEST);
await new Promise((resolve, reject) => {
diff --git a/ui/.gitignore b/ui/.gitignore
index 1680789..61fd393 100644
--- a/ui/.gitignore
+++ b/ui/.gitignore
@@ -21,4 +21,5 @@
npm-debug.log*
yarn-debug.log*
yarn-error.log*
-todo.md
\ No newline at end of file
+todo.md
+package-lock.json
\ No newline at end of file
diff --git a/ui/.mason/bricks.json b/ui/.mason/bricks.json
new file mode 100644
index 0000000..e7243ef
--- /dev/null
+++ b/ui/.mason/bricks.json
@@ -0,0 +1 @@
+{"base_feature":"/Users/idontsudo/ozon/ui/bricks/base_feature","form":"/Users/idontsudo/webservice/ui/bricks/form"}
\ No newline at end of file
diff --git a/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/number_trivia.ts b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/number_trivia.ts
new file mode 100644
index 0000000..d017d38
--- /dev/null
+++ b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/number_trivia.ts
@@ -0,0 +1,11 @@
+import { Result } from "../../core/helper/result";
+
+export class NumberTriviaModel {
+ constructor() {}
+ isValid(): Result {
+ return Result.ok();
+ }
+ static empty() {
+ return new NumberTriviaModel();
+ }
+}
diff --git a/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_repository.ts b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_repository.ts
new file mode 100644
index 0000000..c210d0a
--- /dev/null
+++ b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_repository.ts
@@ -0,0 +1,3 @@
+export class {{name.pascalCase()}}Repository {
+
+}
diff --git a/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_screen.tsx b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_screen.tsx
new file mode 100644
index 0000000..9e70c80
--- /dev/null
+++ b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_screen.tsx
@@ -0,0 +1,10 @@
+import { observer } from "mobx-react-lite";
+import { {{name.pascalCase()}}Store } from "./{{name.snakeCase()}}_store";
+import React from "react";
+
+export const {{name.pascalCase()}}ScreenPath = "/auth";
+
+export const {{name.pascalCase()}}Screen = observer(() => {
+ const [store] = React.useState(() => new {{name.pascalCase()}}Store());
+ return <>;
+});
diff --git a/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts
new file mode 100644
index 0000000..a76f1a8
--- /dev/null
+++ b/ui/bricks/base_feature/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts
@@ -0,0 +1,7 @@
+import makeAutoObservable from "mobx-store-inheritance";
+
+export class {{name.pascalCase()}}Store {
+ constructor() {
+ makeAutoObservable(this);
+ }
+}
diff --git a/ui/bricks/base_feature/brick.yaml b/ui/bricks/base_feature/brick.yaml
new file mode 100644
index 0000000..98705d5
--- /dev/null
+++ b/ui/bricks/base_feature/brick.yaml
@@ -0,0 +1,16 @@
+name: base_feature
+description: A brick to create Clean Architecture Feature
+
+version: 0.0.1
+
+# The following defines the environment for the current brick.
+# It includes the version of mason that the brick requires.
+environment:
+ mason: ">=0.1.0-dev.26 <0.1.0"
+
+vars:
+ name:
+ type: string
+ description: The feature name
+ default: my feature
+ prompt: What's your feature name (e.g. dance school)
\ No newline at end of file
diff --git a/ui/bricks/form/__brick__/{{name.snakeCase()}}/number_trivia.ts b/ui/bricks/form/__brick__/{{name.snakeCase()}}/number_trivia.ts
new file mode 100644
index 0000000..0f1ae90
--- /dev/null
+++ b/ui/bricks/form/__brick__/{{name.snakeCase()}}/number_trivia.ts
@@ -0,0 +1,11 @@
+import { Result } from "../../../../../../core/helper/result";
+
+export class NumberTriviaModel {
+ constructor() {}
+ isValid(): Result {
+ return Result.ok();
+ }
+ static empty() {
+ return new NumberTriviaModel();
+ }
+}
diff --git a/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_form.tsx b/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_form.tsx
new file mode 100644
index 0000000..d6420f8
--- /dev/null
+++ b/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_form.tsx
@@ -0,0 +1,14 @@
+import React from "react";
+import { observer } from "mobx-react-lite";
+import { {{ name.pascalCase() }}Store } from "./{{name.snakeCase()}}_store";
+import { IPropsForm } from "../forms";
+import { NumberTriviaModel } from "./number_trivia";
+
+export const {{ name.pascalCase()}} = observer((props: IPropsForm>) => {
+ const [store] = React.useState(() => new {{ name.pascalCase() }}Store());
+ React.useEffect(() => {
+ store.init();
+ }, [store]);
+
+ return <>;
+});
diff --git a/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_http_repository.ts b/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_http_repository.ts
new file mode 100644
index 0000000..fe4a0a5
--- /dev/null
+++ b/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_http_repository.ts
@@ -0,0 +1,5 @@
+import { HttpRepository } from "../../../../../../core/repository/http_repository";
+
+export class {{name.pascalCase()}}HttpRepository extends HttpRepository {
+
+}
diff --git a/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts b/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts
new file mode 100644
index 0000000..8748265
--- /dev/null
+++ b/ui/bricks/form/__brick__/{{name.snakeCase()}}/{{name.snakeCase()}}_store.ts
@@ -0,0 +1,19 @@
+import makeAutoObservable from "mobx-store-inheritance";
+import { NavigateFunction } from "react-router-dom";
+import { NumberTriviaModel } from "./number_trivia";
+import { FormState, CoreError } from "../../../../../../core/store/base_store";
+import { {{name.pascalCase()}}HttpRepository } from "./{{name.snakeCase()}}_http_repository";
+
+export class {{name.pascalCase()}}Store extends FormState {
+ constructor() {
+ super();
+ makeAutoObservable(this);
+ }
+ viewModel: NumberTriviaModel = NumberTriviaModel.empty();
+ cameraDeviceHttpRepository: {{name.pascalCase()}}HttpRepository = new {{name.pascalCase()}}HttpRepository();
+ errorHandingStrategy = (error: CoreError) => { }
+ init = async (navigate?: NavigateFunction | undefined) => {
+
+ }
+
+}
diff --git a/ui/bricks/form/brick.yaml b/ui/bricks/form/brick.yaml
new file mode 100644
index 0000000..348e9bc
--- /dev/null
+++ b/ui/bricks/form/brick.yaml
@@ -0,0 +1,16 @@
+name: form
+description: A brick to create form at behavior_tree_builder
+
+version: 0.0.1
+
+# The following defines the environment for the current brick.
+# It includes the version of mason that the brick requires.
+environment:
+ mason: ">=0.1.0-dev.26 <0.1.0"
+
+vars:
+ name:
+ type: string
+ description: The feature name
+ default: my feature
+ prompt: What's your feature name (e.g. dance school)
\ No newline at end of file
diff --git a/ui/mason-lock.json b/ui/mason-lock.json
new file mode 100644
index 0000000..9650a34
--- /dev/null
+++ b/ui/mason-lock.json
@@ -0,0 +1 @@
+{"bricks":{"base_feature":{"path":"bricks/base_feature"},"form":{"path":"bricks/form"}}}
\ No newline at end of file
diff --git a/ui/mason.yaml b/ui/mason.yaml
new file mode 100644
index 0000000..68ec44a
--- /dev/null
+++ b/ui/mason.yaml
@@ -0,0 +1,5 @@
+bricks:
+ base_feature:
+ path: base_feature
+ form:
+ path: form
\ No newline at end of file
diff --git a/ui/package-lock.json b/ui/package-lock.json
deleted file mode 100644
index 656fe65..0000000
--- a/ui/package-lock.json
+++ /dev/null
@@ -1,18562 +0,0 @@
-{
- "name": "ui-robossembler",
- "version": "0.1.0",
- "lockfileVersion": 3,
- "requires": true,
- "packages": {
- "": {
- "name": "ui-robossembler",
- "version": "0.1.0",
- "dependencies": {
- "@monaco-editor/react": "^4.6.0",
- "@testing-library/jest-dom": "^5.17.0",
- "@testing-library/react": "^13.4.0",
- "@testing-library/user-event": "^13.5.0",
- "@types/jest": "^27.5.2",
- "@types/node": "^16.18.46",
- "@types/react": "^18.2.21",
- "@types/react-dom": "^18.2.7",
- "@types/socket.io-client": "^3.0.0",
- "@types/uuid": "^9.0.2",
- "class-transformer": "^0.5.1",
- "class-validator": "^0.14.0",
- "formik-antd": "^2.0.4",
- "i18next": "^23.6.0",
- "mobx": "^6.10.0",
- "mobx-react-lite": "^4.0.4",
- "mobx-store-inheritance": "^1.0.6",
- "react": "^18.2.0",
- "react-accessible-treeview": "^2.8.3",
- "react-dnd": "^16.0.1",
- "react-dnd-html5-backend": "^16.0.1",
- "react-dom": "^18.2.0",
- "react-i18next": "^13.3.1",
- "react-infinite-scroll-component": "^6.1.0",
- "react-router-dom": "^6.18.0",
- "react-scripts": "5.0.1",
- "reflect-metadata": "^0.1.13",
- "rete-connection-plugin": "^2.0.0",
- "rete-react-plugin": "^2.0.4",
- "rete-render-utils": "^2.0.1",
- "sass": "^1.66.1",
- "serve": "^14.2.1",
- "socket.io-client": "^4.7.2",
- "styled-components": "^6.1.8",
- "three": "^0.159.0",
- "three-stdlib": "^2.28.9",
- "three-transform-controls": "^1.0.4",
- "ts-pattern": "^5.0.6",
- "typescript": "^4.9.5",
- "urdf-loader": "^0.12.1",
- "uuid": "^9.0.1",
- "web-vitals": "^2.1.4",
- "xml-formatter": "^3.6.2"
- },
- "devDependencies": {
- "@types/three": "^0.158.3"
- }
- },
- "node_modules/@aashutoshrathi/word-wrap": {
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- "node": ">=0.10.0"
- }
- },
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- "engines": {
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- },
- "funding": {
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- }
- },
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- "resolved": "https://registry.npmjs.org/emoji-regex/-/emoji-regex-8.0.0.tgz",
- "integrity": "sha512-MSjYzcWNOA0ewAHpz0MxpYFvwg6yjy1NG3xteoqz644VCo/RPgnr1/GGt+ic3iJTzQ8Eu3TdM14SawnVUmGE6A=="
- },
- "node_modules/yargs/node_modules/string-width": {
- "version": "4.2.3",
- "resolved": "https://registry.npmjs.org/string-width/-/string-width-4.2.3.tgz",
- "integrity": "sha512-wKyQRQpjJ0sIp62ErSZdGsjMJWsap5oRNihHhu6G7JVO/9jIB6UyevL+tXuOqrng8j/cxKTWyWUwvSTriiZz/g==",
- "dependencies": {
- "emoji-regex": "^8.0.0",
- "is-fullwidth-code-point": "^3.0.0",
- "strip-ansi": "^6.0.1"
- },
- "engines": {
- "node": ">=8"
- }
- },
- "node_modules/yocto-queue": {
- "version": "0.1.0",
- "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz",
- "integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==",
- "engines": {
- "node": ">=10"
- },
- "funding": {
- "url": "https://github.com/sponsors/sindresorhus"
- }
- }
- }
-}
diff --git a/ui/package.json b/ui/package.json
index 8a23e6b..294e7fa 100644
--- a/ui/package.json
+++ b/ui/package.json
@@ -3,50 +3,46 @@
"version": "0.1.0",
"private": true,
"dependencies": {
- "@monaco-editor/react": "^4.6.0",
- "@testing-library/jest-dom": "^5.17.0",
- "@testing-library/react": "^13.4.0",
- "@testing-library/user-event": "^13.5.0",
- "@types/jest": "^27.5.2",
- "@types/node": "^16.18.46",
- "@types/react": "^18.2.21",
- "@types/react-dom": "^18.2.7",
- "@types/socket.io-client": "^3.0.0",
- "@types/uuid": "^9.0.2",
+ "@foxglove/cdr": "^3.3.0",
+ "@foxglove/rosmsg": "^5.0.4",
+ "@foxglove/rosmsg2-serialization": "^2.0.3",
+ "@foxglove/ws-protocol": "^0.7.3",
+ "antd": "^4.24.15",
"class-transformer": "^0.5.1",
"class-validator": "^0.14.0",
- "formik-antd": "^2.0.4",
"i18next": "^23.6.0",
+ "just-clone": "^6.2.0",
"mobx": "^6.10.0",
"mobx-react-lite": "^4.0.4",
"mobx-store-inheritance": "^1.0.6",
+ "pattern-matching-ts": "^2.0.0",
"react": "^18.2.0",
"react-accessible-treeview": "^2.8.3",
- "react-dnd": "^16.0.1",
- "react-dnd-html5-backend": "^16.0.1",
"react-dom": "^18.2.0",
"react-i18next": "^13.3.1",
"react-infinite-scroll-component": "^6.1.0",
+ "react-resizable-panels": "^2.1.7",
"react-router-dom": "^6.18.0",
"react-scripts": "5.0.1",
"reflect-metadata": "^0.1.13",
"rete-connection-plugin": "^2.0.0",
"rete-react-plugin": "^2.0.4",
"rete-render-utils": "^2.0.1",
- "sass": "^1.66.1",
- "serve": "^14.2.1",
"socket.io-client": "^4.7.2",
+ "source-map-loader": "^5.0.0",
"styled-components": "^6.1.8",
- "three": "^0.159.0",
- "three-stdlib": "^2.28.9",
- "three-transform-controls": "^1.0.4",
- "ts-pattern": "^5.0.6",
- "typescript": "^4.9.5",
+ "three": "^0.152.2",
+ "ts-pattern": "^5.1.1",
+ "typescript": "^5.0.2",
"urdf-loader": "^0.12.1",
"uuid": "^9.0.1",
"web-vitals": "^2.1.4",
+ "ws": "^8.17.0",
"xml-formatter": "^3.6.2"
},
+ "overrides": {
+ "typescript": "^5.0.2"
+ },
"scripts": {
"dev": "react-scripts start",
"build": "react-scripts build",
@@ -56,8 +52,7 @@
},
"eslintConfig": {
"extends": [
- "react-app",
- "react-app/jest"
+ "react-app"
]
},
"browserslist": {
@@ -73,6 +68,12 @@
]
},
"devDependencies": {
- "@types/three": "^0.158.3"
+ "@types/jest": "^27.5.2",
+ "@types/node": "^16.18.46",
+ "@types/react": "^18.2.21",
+ "@types/react-dom": "^18.2.7",
+ "@types/socket.io-client": "^3.0.0",
+ "@types/three": "^0.158.3",
+ "@types/uuid": "^9.0.2"
}
}
diff --git a/ui/public/favicon.ico b/ui/public/favicon.ico
deleted file mode 100644
index a11777c..0000000
Binary files a/ui/public/favicon.ico and /dev/null differ
diff --git a/ui/public/index.html b/ui/public/index.html
index 1407629..2cfa6db 100644
--- a/ui/public/index.html
+++ b/ui/public/index.html
@@ -1,29 +1,187 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Robossembler
+
-
-
-
-
-
-
-
-
- robossembler: pipeline
-
+
+
+
+
-
-
-
+
+
-
+ /* Transparent Overlay */
+ .loading:before {
+ content: "";
+ display: block;
+ }
-
\ No newline at end of file
+ /* :not(:required) hides these rules from IE9 and below */
+ .loading:not(:required) {
+ /* hide "loading..." text */
+ font: 0/0 a;
+ color: transparent;
+ text-shadow: none;
+ background-color: transparent;
+ border: 0;
+ }
+
+ .loading:not(:required):after {
+ margin-top: 14px;
+ content: "";
+ display: block;
+ font-size: 8px;
+ width: 8px;
+ height: 8px;
+ -webkit-animation: spinner 1500ms infinite linear;
+ -moz-animation: spinner 1500ms infinite linear;
+ -ms-animation: spinner 1500ms infinite linear;
+ -o-animation: spinner 1500ms infinite linear;
+ animation: spinner 1500ms infinite linear;
+ border-radius: 0.5em;
+ -webkit-box-shadow: white 1.5em 0 0 0, white 1.1em 1.1em 0 0, white 0 1.5em 0 0, white -1.1em 1.1em 0 0,
+ rgba(0, 0, 0, 0.5) -1.5em 0 0 0, rgba(0, 0, 0, 0.5) -1.1em -1.1em 0 0, white 0 -1.5em 0 0,
+ white 1.1em -1.1em 0 0;
+ box-shadow: white 1.5em 0 0 0, white 1.1em 1.1em 0 0, white 0 1.5em 0 0, white -1.1em 1.1em 0 0,
+ white -1.5em 0 0 0, white -1.1em -1.1em 0 0, white 0 -1.5em 0 0, white 1.1em -1.1em 0 0;
+ }
+
+ /* Animation */
+
+ @-webkit-keyframes spinner {
+ 0% {
+ -webkit-transform: rotate(0deg);
+ -moz-transform: rotate(0deg);
+ -ms-transform: rotate(0deg);
+ -o-transform: rotate(0deg);
+ transform: rotate(0deg);
+ }
+ 100% {
+ -webkit-transform: rotate(360deg);
+ -moz-transform: rotate(360deg);
+ -ms-transform: rotate(360deg);
+ -o-transform: rotate(360deg);
+ transform: rotate(360deg);
+ }
+ }
+ @-moz-keyframes spinner {
+ 0% {
+ -webkit-transform: rotate(0deg);
+ -moz-transform: rotate(0deg);
+ -ms-transform: rotate(0deg);
+ -o-transform: rotate(0deg);
+ transform: rotate(0deg);
+ }
+ 100% {
+ -webkit-transform: rotate(360deg);
+ -moz-transform: rotate(360deg);
+ -ms-transform: rotate(360deg);
+ -o-transform: rotate(360deg);
+ transform: rotate(360deg);
+ }
+ }
+ @-o-keyframes spinner {
+ 0% {
+ -webkit-transform: rotate(0deg);
+ -moz-transform: rotate(0deg);
+ -ms-transform: rotate(0deg);
+ -o-transform: rotate(0deg);
+ transform: rotate(0deg);
+ }
+ 100% {
+ -webkit-transform: rotate(360deg);
+ -moz-transform: rotate(360deg);
+ -ms-transform: rotate(360deg);
+ -o-transform: rotate(360deg);
+ transform: rotate(360deg);
+ }
+ }
+ @keyframes spinner {
+ 0% {
+ -webkit-transform: rotate(0deg);
+ -moz-transform: rotate(0deg);
+ -ms-transform: rotate(0deg);
+ -o-transform: rotate(0deg);
+ transform: rotate(0deg);
+ }
+ 100% {
+ -webkit-transform: rotate(360deg);
+ -moz-transform: rotate(360deg);
+ -ms-transform: rotate(360deg);
+ -o-transform: rotate(360deg);
+ transform: rotate(360deg);
+ }
+ }
+
+ .dotted {
+ background-image: -webkit-repeating-radial-gradient(
+ center center,
+ rgba(147, 147, 147, 30%),
+ rgba(147, 147, 147, 30%) 2px,
+ transparent 2px,
+ transparent 100%
+ );
+
+ background-image: -moz-repeating-radial-gradient(
+ center center,
+ rgba(147, 147, 147, 30%),
+ rgba(147, 147, 147, 30%) 2px,
+ transparent 2px,
+ transparent 100%
+ );
+ background-image: -ms-repeating-radial-gradient(
+ center center,
+ rgba(147, 147, 147, 30%),
+ rgba(147, 147, 147, 30%) 2px,
+ transparent 2px,
+ transparent 100%
+ );
+ background-image: repeating-radial-gradient(
+ center center,
+ rgba(147, 147, 147, 30%),
+ rgba(147, 147, 147, 30%) 2px,
+ transparent 2px,
+ transparent 100%
+ );
+ -webkit-background-size: 20px 20px;
+ -moz-background-size: 20px 20px;
+ background-size: 20px 20px;
+
+ width: 100%;
+ height: 100%;
+ }
+ ::-webkit-scrollbar-thumb {
+ background-color: #d6dee1;
+ border-radius: 20px;
+ }
+
+
diff --git a/ui/public/logo.ico b/ui/public/logo.ico
new file mode 100644
index 0000000..23f6a83
Binary files /dev/null and b/ui/public/logo.ico differ
diff --git a/ui/public/logo.png b/ui/public/logo.png
new file mode 100644
index 0000000..d049b1e
Binary files /dev/null and b/ui/public/logo.png differ
diff --git a/ui/public/logo192.png b/ui/public/logo192.png
deleted file mode 100644
index fc44b0a..0000000
Binary files a/ui/public/logo192.png and /dev/null differ
diff --git a/ui/public/logo512.png b/ui/public/logo512.png
deleted file mode 100644
index a4e47a6..0000000
Binary files a/ui/public/logo512.png and /dev/null differ
diff --git a/ui/readme.md b/ui/readme.md
new file mode 100644
index 0000000..1ea7c8a
--- /dev/null
+++ b/ui/readme.md
@@ -0,0 +1,54 @@
+# Установка зависимостей
+
+```
+brew install mason
+```
+
+### Инициализация
+
+В корне проекта вызовите команду `init`, которая создаст папку `.mason/`
+
+```
+mason init
+```
+
+### Использование 👷
+
+Все готовые `brick'и` хранятся в папке `/bricks`
+
+Для примера попробуем использовать `brick` под названием `base_feature`
+
+```
+# Добавляем `brick` себе в mason (посмотреть уже добавленные можно через `mason ls/list`, а удалить через `mason remove`)
+mason add base_feature --path bricks/base_feature
+
+# Используем `brick` для в интересующей нас папке (поскольку это шаблон фичи, выбрана папка src/features/)
+mason make base_feature -o lib/features
+```
+
+Далее необходимо ответить на вопросы задаваемые в CLI и на основе ответов `brick` сгенериует фичу
+
+### Разработка
+
+В папке `bricks/` вы можете создать свой `brick`
+
+```
+# создать hello brick
+mason new my_brick_name
+```
+
+Далее всю структуру папок и файлов необходимо описать в папке `__brick__`
+
+Для большей информации [читайте и смотрите примеры](https://github.com/felangel/mason/blob/master/packages/mason_cli/README.md)
+
+# Добавить новую форму в Behavior tree builder
+
+mason make form -o ./src/features/behavior_tree_builder/presentation/ui/forms
+
+# Добавить новую форму в Scene Manager
+
+mason make form -o ./src/features/scene_manager/presentation/forms
+
+# Добавить новый экран
+
+mason make base_feature -o ./src/features/
diff --git a/ui/src/core/assets/icons/add.svg b/ui/src/core/assets/icons/add.svg
index acc2726..1b7641d 100644
--- a/ui/src/core/assets/icons/add.svg
+++ b/ui/src/core/assets/icons/add.svg
@@ -3,10 +3,10 @@
\ No newline at end of file
diff --git a/ui/src/core/assets/icons/check.svg b/ui/src/core/assets/icons/check.svg
index d8c2fc2..f30550f 100644
--- a/ui/src/core/assets/icons/check.svg
+++ b/ui/src/core/assets/icons/check.svg
@@ -1,7 +1,12 @@
-
-
\ No newline at end of file
+
+
+
\ No newline at end of file
diff --git a/ui/src/core/assets/icons/chevron.svg b/ui/src/core/assets/icons/chevron.svg
index b28d728..0ddce4c 100644
--- a/ui/src/core/assets/icons/chevron.svg
+++ b/ui/src/core/assets/icons/chevron.svg
@@ -1,7 +1,12 @@
-
-
\ No newline at end of file
+
+
+
\ No newline at end of file
diff --git a/ui/src/core/assets/icons/delete.svg b/ui/src/core/assets/icons/delete.svg
index d15de60..914ed8d 100644
--- a/ui/src/core/assets/icons/delete.svg
+++ b/ui/src/core/assets/icons/delete.svg
@@ -3,11 +3,11 @@
\ No newline at end of file
diff --git a/ui/src/core/assets/icons/error.svg b/ui/src/core/assets/icons/error.svg
index 3f02c89..f3d2685 100644
--- a/ui/src/core/assets/icons/error.svg
+++ b/ui/src/core/assets/icons/error.svg
@@ -1 +1 @@
-
\ No newline at end of file
+
\ No newline at end of file
diff --git a/ui/src/core/assets/icons/left_icon.svg b/ui/src/core/assets/icons/left_icon.svg
index cf4c2af..b603909 100644
--- a/ui/src/core/assets/icons/left_icon.svg
+++ b/ui/src/core/assets/icons/left_icon.svg
@@ -1,3 +1,3 @@
\ No newline at end of file
diff --git a/ui/src/core/assets/icons/reload.svg b/ui/src/core/assets/icons/reload.svg
index 2bdbecc..ebf5c95 100644
--- a/ui/src/core/assets/icons/reload.svg
+++ b/ui/src/core/assets/icons/reload.svg
@@ -1,3 +1,3 @@
\ No newline at end of file
diff --git a/ui/src/core/extensions/array.ts b/ui/src/core/extensions/array.ts
index 8454e31..33ec3d8 100644
--- a/ui/src/core/extensions/array.ts
+++ b/ui/src/core/extensions/array.ts
@@ -1,7 +1,28 @@
+import { Result } from "../helper/result";
+
/* eslint-disable @typescript-eslint/no-this-alias */
export const ArrayExtensions = () => {
+ if ([].indexOfR === undefined) {
+ Array.prototype.indexOfR = function (element) {
+ if (this.indexOf(element) === -1) {
+ return Result.error(undefined);
+ }
+ return Result.ok(this);
+ };
+ }
+ if ([].atR === undefined) {
+ Array.prototype.atR = function (index) {
+ if (index === undefined) {
+ return Result.error(undefined);
+ }
+ const result = this.at(index);
+ if (result) {
+ return Result.ok(result);
+ }
+ return Result.error(undefined);
+ };
+ }
if ([].equals === undefined) {
- // eslint-disable-next-line no-extend-native
Array.prototype.equals = function (array, strict = true) {
if (!array) return false;
@@ -21,8 +42,25 @@ export const ArrayExtensions = () => {
return true;
};
}
+ if ([].replacePropIndex === undefined) {
+ Array.prototype.replacePropIndex = function (property, index) {
+ return this.map((element, i) => {
+ if (i === index) {
+ element = Object.assign(element, property);
+ }
+ return element;
+ });
+ };
+ }
+ if ([].someR === undefined) {
+ Array.prototype.someR = function (predicate) {
+ if (this.some(predicate)) {
+ return Result.error(undefined);
+ }
+ return Result.ok(this);
+ };
+ }
if ([].lastElement === undefined) {
- // eslint-disable-next-line no-extend-native
Array.prototype.lastElement = function () {
const instanceCheck = this;
if (instanceCheck === undefined) {
@@ -34,27 +72,52 @@ export const ArrayExtensions = () => {
};
}
if ([].isEmpty === undefined) {
- // eslint-disable-next-line no-extend-native
Array.prototype.isEmpty = function () {
return this.length === 0;
};
}
if ([].isNotEmpty === undefined) {
- // eslint-disable-next-line no-extend-native
Array.prototype.isNotEmpty = function () {
return this.length !== 0;
};
}
if ([].hasIncludeElement === undefined) {
- // eslint-disable-next-line no-extend-native
Array.prototype.hasIncludeElement = function (element) {
return this.indexOf(element) !== -1;
};
}
if ([].repeat === undefined) {
- // eslint-disable-next-line no-extend-native
Array.prototype.repeat = function (quantity) {
- return Array(quantity).fill(this[0]);
+ return Array(quantity).fill(this).flat(1);
+ };
+ }
+ if ([].rFind === undefined) {
+ Array.prototype.rFind = function (predicate) {
+ const result = this.find(predicate as any);
+ if (result === undefined) {
+ return Result.error(undefined);
+ }
+ return Result.ok(result);
+ };
+ }
+ if ([].maxLength === undefined) {
+ Array.prototype.maxLength = function (length) {
+ if (this.length > length) {
+ return this;
+ } else {
+ return this.slice(0, length);
+ }
+ };
+ }
+ if ([].add === undefined) {
+ Array.prototype.add = function (element) {
+ this.push(element);
+ return this;
+ };
+ }
+ if ([].updateAll === undefined) {
+ Array.prototype.updateAll = function (element) {
+ return this.map((el) => Object.assign(el, element));
};
}
};
diff --git a/ui/src/core/extensions/date.ts b/ui/src/core/extensions/date.ts
new file mode 100644
index 0000000..1f5337b
--- /dev/null
+++ b/ui/src/core/extensions/date.ts
@@ -0,0 +1,12 @@
+export const DateExtensions = () => {
+ if (Date.prototype.fromUnixDate === undefined) {
+ Date.prototype.fromUnixDate = function (unix) {
+ return new Date(unix * 1000);
+ };
+ }
+ if (Date.prototype.formatDate === undefined) {
+ Date.prototype.formatDate = function () {
+ return `${this.getFullYear()}.${this.getMonth()}.${this.getDay()} ${this.getHours()}:${this.getMinutes()}`;
+ };
+ }
+};
diff --git a/ui/src/core/extensions/extensions.ts b/ui/src/core/extensions/extensions.ts
index b77c8b0..5afcbed 100644
--- a/ui/src/core/extensions/extensions.ts
+++ b/ui/src/core/extensions/extensions.ts
@@ -1,4 +1,6 @@
+import { Result } from "../helper/result";
import { ArrayExtensions } from "./array";
+import { DateExtensions } from "./date";
import { MapExtensions } from "./map";
import { NumberExtensions } from "./number";
import { StringExtensions } from "./string";
@@ -20,35 +22,63 @@ declare global {
isNotEmpty(): boolean;
hasIncludeElement(element: T): boolean;
repeat(quantity: number): Array;
+ rFind(predicate: (value: T, index: number, obj: never[]) => boolean, thisArg?: any): Result;
+ maxLength(length: number): Array;
+ add(element: T): Array;
+ indexOfR(element: T): Result>;
+ replacePropIndex(property: Partial, index: number): T[];
+ someR(predicate: (value: T) => boolean): Result>;
+ updateAll(value: Partial): Array;
+ atR(index: number | undefined): Result;
+ }
+ interface Date {
+ formatDate(): string;
+ fromUnixDate(unix: number): Date;
}
interface Number {
fromArray(): number[];
toPx(): string;
unixFromDate(): string;
isValid(str: string): boolean;
- randRange(min:number,max:number):number
+ randRange(min: number, max: number): number;
+ isPositive(): boolean;
+ isNegative(): boolean;
+ isEven(): boolean;
+ isOdd(): boolean;
+ 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;
+ hasPattern(pattern: string): boolean;
+ hasNoPattern(pattern: string): boolean;
+ divideByIndex(index: number): string[];
+ isEqualR(str: string): Result;
}
+
interface Map {
addValueOrMakeCallback(key: K, value: V, callBack: CallBackVoidFunction): void;
getKeyFromValueIsExists(value: V): K | undefined;
overrideValue(key: K, value: OptionalProperties): void;
keysToJson(): string;
toArray(): V[];
- getPredicateValue(callBack: (value: V) => boolean): K[];
+ toArrayEntries(): { key: K; value: V }[];
+ getPredicateKey(callBack: (value: V) => boolean): K[];
+ incrementValue(key: K): void;
+ }
+ interface Boolean {
+ r(): Result;
}
- interface Vector3 {}
}
export const extensions = () => {
StringExtensions();
ArrayExtensions();
NumberExtensions();
MapExtensions();
+ DateExtensions();
};
diff --git a/ui/src/core/extensions/map.ts b/ui/src/core/extensions/map.ts
index 8b349ff..8595f7c 100644
--- a/ui/src/core/extensions/map.ts
+++ b/ui/src/core/extensions/map.ts
@@ -1,6 +1,5 @@
export const MapExtensions = () => {
if (Map.prototype.addValueOrMakeCallback === undefined) {
- // eslint-disable-next-line no-extend-native
Map.prototype.addValueOrMakeCallback = function (key, value, fn) {
if (this.has(key)) {
this.set(key, value);
@@ -12,7 +11,6 @@ export const MapExtensions = () => {
};
}
if (Map.prototype.getKeyFromValueIsExists === undefined) {
- // eslint-disable-next-line no-extend-native
Map.prototype.getKeyFromValueIsExists = function (value) {
let result;
this.forEach((el, key) => {
@@ -24,7 +22,6 @@ export const MapExtensions = () => {
};
}
if (Map.prototype.overrideValue === undefined) {
- // eslint-disable-next-line no-extend-native
Map.prototype.overrideValue = function (key, value) {
const result = this.get(key);
@@ -32,22 +29,29 @@ export const MapExtensions = () => {
};
}
if (Map.prototype.keysToJson === undefined) {
- // eslint-disable-next-line no-extend-native
Map.prototype.keysToJson = function () {
const result: any[] = [];
this.forEach((el) => result.push(el));
return JSON.stringify(result);
};
}
+ if (Map.prototype.toArrayEntries === undefined) {
+ Map.prototype.toArrayEntries = function () {
+ const result = [];
+ for (const el of this.entries()) {
+ result.push({ key: el[0], value: el[1] });
+ }
+ return result;
+ };
+ }
if (Map.prototype.toArray === undefined) {
- // eslint-disable-next-line no-extend-native
Map.prototype.toArray = function () {
return Array.from(this.values());
};
}
- if (Map.prototype.getPredicateValue === undefined) {
- // eslint-disable-next-line no-extend-native
- Map.prototype.getPredicateValue = function (callBack) {
+
+ if (Map.prototype.getPredicateKey === undefined) {
+ Map.prototype.getPredicateKey = function (callBack) {
const result: any[] = [];
this.forEach((el, key) => {
const callBackExecute = callBack(el);
@@ -58,4 +62,13 @@ export const MapExtensions = () => {
return result;
};
}
+ if (Map.prototype.incrementValue === undefined) {
+ Map.prototype.incrementValue = function (key) {
+ if (this.get(key)) {
+ this.set(key, this.get(key) + 1);
+ } else {
+ this.set(key, 1);
+ }
+ };
+ }
};
diff --git a/ui/src/core/extensions/number.ts b/ui/src/core/extensions/number.ts
index 2a33423..a77ca1c 100644
--- a/ui/src/core/extensions/number.ts
+++ b/ui/src/core/extensions/number.ts
@@ -1,33 +1,58 @@
+import { Result } from "../helper/result";
+
export const NumberExtensions = () => {
if (Number().fromArray === undefined) {
- // eslint-disable-next-line no-extend-native
Number.prototype.fromArray = function () {
return Array.from(this.toString()).map((el) => Number(el));
};
}
if (Number().toPx === undefined) {
- // eslint-disable-next-line no-extend-native
Number.prototype.toPx = function () {
return String(this) + "px";
};
}
if (Number().unixFromDate === undefined) {
- // eslint-disable-next-line no-extend-native
Number.prototype.unixFromDate = function () {
const date = new Date(Number(this) * 1000);
return `${date.getUTCFullYear()}.${date.getMonth()}.${date.getDay()} ${date.getHours()}:${date.getMinutes()}`;
};
}
+ if (Number().isEqualR === undefined) {
+ Number.prototype.isEqualR = function (num) {
+ if(this === num) {
+ return Result.ok(undefined)
+ }
+ return Result.error(undefined)
+ };
+ }
if (Number().isValid === undefined) {
- // eslint-disable-next-line no-extend-native
Number.prototype.isValid = function (str: string) {
return !isNaN(Number(str));
};
}
- if(Number().randRange === undefined){
- // eslint-disable-next-line no-extend-native
- Number.prototype.randRange = function (min,max) {
+ if (Number().randRange === undefined) {
+ Number.prototype.randRange = function (min, max) {
return Math.random() * (max - min) + min;
- }
+ };
+ }
+ if (Number().isPositive === undefined) {
+ Number.prototype.isPositive = function () {
+ return Math.sign(Number(this)) === 1;
+ };
+ }
+ if (Number().isNegative === undefined) {
+ Number.prototype.isNegative = function () {
+ return !this.isPositive();
+ };
+ }
+ if (Number().isEven === undefined) {
+ Number.prototype.isEven = function () {
+ return Number(this) % 2 === 0;
+ };
+ }
+ if (Number().isOdd === undefined) {
+ Number.prototype.isOdd = function () {
+ return !this.isEven();
+ };
}
};
diff --git a/ui/src/core/extensions/object.ts b/ui/src/core/extensions/object.ts
index acca8fd..5c47695 100644
--- a/ui/src/core/extensions/object.ts
+++ b/ui/src/core/extensions/object.ts
@@ -1,7 +1,6 @@
-/* eslint-disable no-extend-native */
-
-export const ObjectExtensionsIsKeyExists = (obj: any, keys: string[]): boolean => {
- return true;
+export const ObjectIsNotEmpty = (obj: Object | undefined) => {
+ if (obj === undefined) {
+ return false;
+ }
+ return Object.keys(obj).length !== 0;
};
-
-// {"objectThatSticksName":"cube2","objectThatSticksNamePoints":[{"x":25,"y":4.987889622413917,"z":10.504078531217838}],"objectsToWhichItSticksName":"cube1","objectsToWhichItSticksPoints":[{"x":5,"y":3.0783236330074963,"z":1.1333166084347885}]}
diff --git a/ui/src/core/extensions/string.ts b/ui/src/core/extensions/string.ts
index 79709c1..fd86e99 100644
--- a/ui/src/core/extensions/string.ts
+++ b/ui/src/core/extensions/string.ts
@@ -1,17 +1,33 @@
+import { Result } from "../helper/result";
+
/* eslint-disable no-extend-native */
export const StringExtensions = () => {
if ("".isEmpty === undefined) {
- // eslint-disable-next-line no-extend-native
String.prototype.isEmpty = function () {
return this.length === 0;
};
}
if ("".isNotEmpty === undefined) {
- // eslint-disable-next-line no-extend-native
String.prototype.isNotEmpty = function () {
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) {
+ return Result.ok(String(this));
+ }
+ return Result.error(undefined);
+ };
+ }
if ("".replaceMany === undefined) {
String.prototype.replaceMany = function (searchValues: string[], replaceValue: string) {
let result = this as string;
@@ -36,4 +52,23 @@ export const StringExtensions = () => {
return false;
};
}
+ if ("".hasPattern === undefined) {
+ String.prototype.hasPattern = function (pattern) {
+ return new RegExp(pattern).test(this as string);
+ };
+ }
+ if ("".hasNoPattern === undefined) {
+ String.prototype.hasNoPattern = function (pattern) {
+ return !this.hasPattern(pattern);
+ };
+ }
+ if ("".divideByIndex === undefined) {
+ String.prototype.divideByIndex = function (index) {
+ if (this.at(index) === undefined) {
+ return [];
+ }
+
+ return [this.slice(0, index), this.slice(index + 1, this.length)];
+ };
+ }
};
diff --git a/ui/src/core/helper/typed_event.ts b/ui/src/core/helper/typed_event.ts
index e7002c3..cbde9e1 100644
--- a/ui/src/core/helper/typed_event.ts
+++ b/ui/src/core/helper/typed_event.ts
@@ -40,3 +40,5 @@ export class TypedEvent {
return this.on((e) => te.emit(e));
};
}
+
+
diff --git a/ui/src/core/helper/use_store.tsx b/ui/src/core/helper/use_store.tsx
new file mode 100644
index 0000000..3f483d5
--- /dev/null
+++ b/ui/src/core/helper/use_store.tsx
@@ -0,0 +1,31 @@
+import { ClassConstructor } from "class-transformer";
+import React from "react";
+import { NavigateFunction, useNavigate } from "react-router-dom";
+
+interface LifeCycleStore {
+ init?: (navigate?: NavigateFunction | undefined) => void;
+ dispose?: () => void;
+}
+
+export const useStore = (storeConstructor: ClassConstructor) => {
+ const [store] = React.useState(new storeConstructor());
+ const navigate = useNavigate();
+ React.useEffect(() => {
+ store?.init?.(navigate);
+ return () => {
+ store?.dispose?.();
+ };
+ }, []);
+ return store;
+};
+export const useStoreClass = (storeClass: S) => {
+ const [store] = React.useState(storeClass);
+ const navigate = useNavigate();
+ React.useEffect(() => {
+ store?.init?.(navigate);
+ return () => {
+ store?.dispose?.();
+ };
+ }, []);
+ return store;
+};
diff --git a/ui/src/core/helper/validate.ts b/ui/src/core/helper/validate.ts
index f570767..e69de29 100644
--- a/ui/src/core/helper/validate.ts
+++ b/ui/src/core/helper/validate.ts
@@ -1,3 +0,0 @@
-export function validateRequired(value: string) {
- return value ? undefined : "required";
-}
diff --git a/ui/src/core/hook/key_listner.tsx b/ui/src/core/hook/key_listner.tsx
deleted file mode 100644
index 7c7bb60..0000000
--- a/ui/src/core/hook/key_listner.tsx
+++ /dev/null
@@ -1,26 +0,0 @@
-import React from "react";
-
-export const useKeyLister = (fn: Function) => {
- // eslint-disable-next-line react-hooks/exhaustive-deps
- const pressed = new Map();
-
- const registerKeyPress = React.useCallback(
- (event: KeyboardEvent, codes: string[], callBack: Function) => {
- if (codes.hasIncludeElement(event.code)) {
- pressed.addValueOrMakeCallback(event.code, event.type, (e) => {
- if (Array.from(pressed.values()).equals(["keydown", "keydown"], false)) {
- callBack();
- }
- });
- }
- },
- [pressed]
- );
-
- React.useEffect(() => {
- window.addEventListener("keyup", (e) => registerKeyPress(e, ["KeyQ", "KeyW"], () => fn));
- window.addEventListener("keydown", (e) => registerKeyPress(e, ["KeyQ", "KeyW"], () => {}));
- }, [fn, registerKeyPress]);
-
- return [];
-};
diff --git a/ui/src/core/model/camera_model.ts b/ui/src/core/model/camera_model.ts
new file mode 100644
index 0000000..81658f3
--- /dev/null
+++ b/ui/src/core/model/camera_model.ts
@@ -0,0 +1,53 @@
+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;
+ jointType = 'fixed';
+ constructor(
+ public orientation: number[],
+ public position: 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.position);
+ perspectiveCamera.quaternion.copy(new Quaternion().fromArray(this.orientation));
+ 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/cameras.ts b/ui/src/core/model/cameras.ts
new file mode 100644
index 0000000..84fd0ef
--- /dev/null
+++ b/ui/src/core/model/cameras.ts
@@ -0,0 +1,63 @@
+export interface Cameras {
+ camera: Camera[];
+}
+
+export interface Camera {
+ sid: string;
+ DevicePackage: DevicePackage;
+ Module: Module;
+ Launch: Launch;
+ DTwin: DTwin[];
+ Interface: InterfaceClass;
+ Settings: Setting[];
+}
+
+export interface DTwin {
+ interface: Interface;
+}
+
+export interface Interface {
+ input: Input[];
+}
+
+export interface Input {
+ camera_namespace?: string;
+ camera_name?: string;
+ serial_port?: string;
+ pose?: string;
+}
+
+export interface DevicePackage {
+ name: string;
+ version: string;
+ format: string;
+}
+
+export interface InterfaceClass {
+ param: Param[];
+}
+
+export interface Param {
+ type: string;
+ dependency: Dependency;
+}
+
+export interface Dependency {
+}
+
+export interface Launch {
+ package: string;
+ executable: string;
+}
+
+export interface Module {
+ name: string;
+ description: string;
+}
+
+export interface Setting {
+ name: string;
+ description: string;
+ type: string;
+ defaultValue: string;
+}
diff --git a/ui/src/core/model/core_vector3.ts b/ui/src/core/model/core_vector3.ts
deleted file mode 100644
index c6e2b08..0000000
--- a/ui/src/core/model/core_vector3.ts
+++ /dev/null
@@ -1,17 +0,0 @@
-import { Vector3 } from "three";
-
-export class CoreVector3 {
- vector: Vector3;
- constructor(vector: Vector3) {
- this.vector = vector;
- }
-
- static divideLineIntoEqualSegments(beginPoint: Vector3, endPoint: Vector3, segments: number): Vector3[] {
- return Number(segments)
- .fromArray()
- .map((el) => new Vector3().lerpVectors(beginPoint, endPoint, (el * 1) / segments));
- }
- add(vector: Vector3) {
- return new CoreVector3(new Vector3(this.vector.x + vector.x, this.vector.y + vector.y, this.vector.z + vector.z));
- }
-}
diff --git a/ui/src/core/model/database_model.ts b/ui/src/core/model/database_model.ts
index d2e7f7a..b69b6ca 100644
--- a/ui/src/core/model/database_model.ts
+++ b/ui/src/core/model/database_model.ts
@@ -1,3 +1,3 @@
-export interface DatabaseModel {
+export interface DatabaseModelId {
_id?: string;
}
diff --git a/ui/src/core/model/device_dependency_view_model.ts b/ui/src/core/model/device_dependency_view_model.ts
new file mode 100644
index 0000000..917e44c
--- /dev/null
+++ b/ui/src/core/model/device_dependency_view_model.ts
@@ -0,0 +1,17 @@
+import { IsNotEmpty } from "class-validator";
+import { Result } from "../helper/result";
+import { IDeviceDependency } from "./skill_model";
+import { ValidationModel } from "./validation_model";
+
+export class SidViewModel extends ValidationModel implements IDeviceDependency {
+ @IsNotEmpty()
+ sid: string;
+ constructor(sid: string) {
+ super();
+ this.sid = sid;
+ }
+
+ static empty() {
+ return new SidViewModel("");
+ }
+}
diff --git a/ui/src/core/model/form.ts b/ui/src/core/model/form.ts
new file mode 100644
index 0000000..380ef62
--- /dev/null
+++ b/ui/src/core/model/form.ts
@@ -0,0 +1,8 @@
+export enum FormType {
+ weights = "weights",
+ robotName = "robot_name",
+ cameraDeviceForm = "camera",
+ topic = "topic",
+ formBuilder = "formBuilder",
+ moveToPose = "move_to_pose",
+}
diff --git a/ui/src/core/model/form_builder_validation_model.tsx b/ui/src/core/model/form_builder_validation_model.tsx
new file mode 100644
index 0000000..f858f40
--- /dev/null
+++ b/ui/src/core/model/form_builder_validation_model.tsx
@@ -0,0 +1,144 @@
+import { IsNotEmpty, IsString } from "class-validator";
+import { BehaviorTreeBuilderStore } from "../../features/behavior_tree_builder/presentation/behavior_tree_builder_store";
+import {
+ datasetFormMockContext,
+ datasetFormMockResult,
+ defaultFormValue,
+} from "../../features/dataset/dataset_model";
+import { DependencyViewModel } from "./skill_model";
+import { ValidationModel } from "./validation_model";
+import { FormType } from "./form";
+import makeAutoObservable from "mobx-store-inheritance";
+
+export class FormBuilderValidationModel
+ extends ValidationModel
+ implements DependencyViewModel
+{
+ @IsNotEmpty()
+ @IsString()
+ public result: string;
+ @IsNotEmpty()
+ @IsString()
+ public context: string;
+ public form: string[];
+ public output: any;
+ constructor(context: string, result: string, form: string[], output: string) {
+ super();
+ makeAutoObservable(this);
+ this.context = context;
+ this.result = result;
+ this.form = form;
+ this.output = output;
+ }
+ type: FormType = FormType.formBuilder;
+ toView = (store: BehaviorTreeBuilderStore | undefined) => <>IsFilled;
+ static isEmpty = (formBuilderValidationModel: FormBuilderValidationModel) =>
+ formBuilderValidationModel.context.isEmpty() &&
+ formBuilderValidationModel.result.isEmpty() &&
+ formBuilderValidationModel.form.isEmpty();
+ static test = () =>
+ new FormBuilderValidationModel(ffContext, ff1Result, [], "");
+ static datasetEmpty = () =>
+ new FormBuilderValidationModel(
+ datasetFormMockContext,
+ datasetFormMockResult,
+ [],
+ defaultFormValue
+ );
+ static empty = () => new FormBuilderValidationModel("", "", [], "");
+ static emptyTest = () =>
+ new FormBuilderValidationModel(``, ``, [], defaultFormValue);
+ static creteDataSetTest = () =>
+ new FormBuilderValidationModel(``, scene, [], "");
+ static emptySimple = () =>
+ new FormBuilderValidationModel("", simpleFormBuilder, [], "");
+ static vision = () =>
+ new FormBuilderValidationModel(
+ `
+ ENUM T = "ObjectDetection","PoseEstimation";
+ ENUM L = "POINT","SUN";
+ ENUM F = "JPEG","PNG";
+ ENUM COLLISION_SHAPE = "BOX","COLLISION";
+
+ type OBJECTS_SCENE = {
+ "name": \${NAME:string:default},
+ "collision_shape": \${collision_shape:Enum:BOX},
+ "loc_xyz": [\${LOC_XYZ_1:number:0}, \${LOC_XYZ_2:number:0}, \${LOC_XYZ_3:number:0}],
+ "rot_euler": [\${ROT_EULER_1:number:0},\${ROT_EULER_2:number:0}, \${ROT_EULER_3:number:0}],
+ "material_randomization": {
+ "specular": [\${SPECULAR_1:number:0}, \${SPECULAR_2:number:1}],
+ "roughness": [\${ROUGHNESS_1:number:0}, \${ROUGHNESS_2:number:1}],
+ "metallic": [\${METALLIC_1:number:0}, \${METALLIC_2:number:1}],
+ "base_color": [
+ [
+ \${BASE_COLOR_1:number:0},
+ \${BASE_COLOR_2:number:0},
+ \${BASE_COLOR_3:number:0},
+ \${BASE_COLOR_4:number:1}
+ ],
+ [
+ \${BASE_COLOR_5:number:1},
+ \${BASE_COLOR_6:number:1},
+ \${BASE_COLOR_7:number:1},
+ \${BASE_COLOR_8:number:1}
+ ]
+ ]
+ }
+ };
+ type LIGHTS = {
+ "id": \${ID:number:1},
+ "type": \${type:Enum:POINT},
+ "loc_xyz": [\${LOC_XYZ_1:number:5}, \${LOC_XYZ_2:number:5}, \${LOC_XYZ_3:number:5}],
+ "rot_euler": [\${ROT_EULER_1:number:-0.06}, \${ROT_EULER_2:number:0.61}, \${ROT_EULER_3:number:-0.19}],
+ "color_range_low": [\${COLOR_RANGE_LOW_1:number:0.5}, \${COLOR_RANGE_LOW_2:number:0.5}, \${COLOR_RANGE_LOW_3:number:0.5}],
+ "color_range_high":[\${COLOR_RANGE_HIGH_1:number:1}, \${COLOR_RANGE_HIGH_2:number:1}, $\{COLOR_RANGE_HIGH_3:number:1}],
+ "energy_range":[\${ENERGY_RANGE_1:number:400},\${ENERGY_RANGE_2:number:900}]
+ };`,
+ `
+ {
+ "datasetObjects":\${:OBJECT:{"details": []},
+ "typedataset": \${typedataset:Enum:ObjectDetection},
+ "models_randomization":{
+ "loc_range_low": [\${LOC_RANGE_LOW_1:number:-1}, \${LOC_RANGE_LOW_2:number:-1},\${LOC_RANGE_LOW_3:number:0}],
+ "loc_range_high": [\${LOC_RANGE_HIGH_1:number:1}, \${LOC_RANGE_HIGH_2:number:1},\${LOC_RANGE_HIGH_3:number:2}]
+ },
+ "scene":{
+ "objects": \${OBJECTS_SCENE:Array:[]},
+ "lights": \${LIGHTS:Array:[]}
+ },
+ "camera_position":{
+ "center_shell": [\${CENTER_SHELL_1:number:0}, \${CENTER_SHELL_2:number:0}, \${CENTER_SHELL_3:number:0}],
+ "radius_range": [\${RADIUS_RANGE_1:number:1}, \${RADIUS_RANGE_2:number:1.4}],
+ "elevation_range": [\${ELEVATION_RANGE_1:number:10}, \${ELEVATION_RANGE_2:number:90}]
+ },
+ "generation":{
+ "n_cam_pose": \${N_CAM_POSE:number:5},
+ "n_sample_on_pose": \${N_SAMPLE_ON_POSE:number:3},
+ "n_series": \${N_SERIES:number:100},
+ "image_format": \${image_format:Enum:JPEG},
+ "image_size_wh": [\${IMAGE_SIZE_WH_1:number:640}, \${IMAGE_SIZE_WH_2:number:480}]
+ }
+ }
+ `,
+ [],
+ ""
+ );
+}
+export const scene = `{
+ "center_shell": [\${CENTER_SHELL_1:number:0}, \${CENTER_SHELL_2:number:0}, \${CENTER_SHELL_3:number:0}],
+ "scene":\${:OBJECT:{"details": []}
+ }`;
+export const simpleFormBuilder = `{
+ "center_shell": [\${CENTER_SHELL_1:number:0}, \${CENTER_SHELL_2:number:0}, \${CENTER_SHELL_3:number:0}]
+}`;
+export const ffContext = `type ITEM = {
+ "name": \${NAME:string:default},
+ "value": \${VALUE:string:default}
+ };
+`;
+
+export const ff1Result = `{
+ "detailForm":\${:OBJECT:{"details": []},
+ "empty":\${NAME:string:default},
+ "params": \${ITEM:Array- :[]}
+}`;
diff --git a/ui/src/core/model/light_model.ts b/ui/src/core/model/light_model.ts
new file mode 100644
index 0000000..5b7aea9
--- /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)
+ position: Vector3;
+ orientation: 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.position);
+ light!.quaternion.copy(new Quaternion().fromArray(this.orientation));
+
+ 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..f431880
--- /dev/null
+++ b/ui/src/core/model/point_model.ts
@@ -0,0 +1,57 @@
+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";
+import { Pose } from "../../features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_robot_model";
+import { SceneBuilderStore, SceneItems } from "../../features/scene_builder/presentation/scene_builder_store";
+
+export class PointModel implements Instance {
+ type = SceneModelsTypes.POINT;
+ name: string;
+ @Type(() => Vector3)
+ position: Vector3;
+ color: string = "#E91E63";
+ size: number = 0.01;
+ orientation: number[];
+ icon: string = "Point";
+
+ constructor() {}
+ update = (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository);
+ toWebGl = (coreThreeRepository: CoreThreeRepository) =>
+ coreThreeRepository.makePoint(
+ this.name,
+ this.position,
+ new Quaternion().fromArray(this.orientation),
+ this.color,
+ this.size
+ );
+ toSceneItems = (sceneMangerStore: SceneBuilderStore): SceneItems => {
+ return {
+ fn: () => {},
+ name: this.name,
+ isSelected: false,
+ icon: this.icon,
+ };
+ };
+ toDependency = (): Pose => {
+ return {
+ name: this.name,
+ position: this.position,
+ orientation: {
+ x: this.orientation[0],
+ y: this.orientation[1],
+ z: this.orientation[2],
+ w: this.orientation[3],
+ },
+ };
+ };
+ 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..4fe5dbd
--- /dev/null
+++ b/ui/src/core/model/robot_model.ts
@@ -0,0 +1,74 @@
+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 { SceneBuilderStore, SceneItems } from "../../features/scene_builder/presentation/scene_builder_store";
+
+export enum ToolTypes {
+ RBS_GRIPPER = "RBS_GRIPPER",
+}
+
+interface RobotJoint {
+ limit: {
+ lower: number;
+ upper: number;
+ };
+ angle: number;
+ name: string;
+}
+
+export class RobotModel implements Instance {
+ type = SceneModelsTypes.ROBOT;
+ @Type(() => Vector3)
+ position: Vector3;
+ jointPosition: RobotJoint[];
+ orientation: number[];
+ name: string;
+ httpUrl: string;
+ nDof: number;
+ toolType: string;
+ constructor(
+ position: Vector3,
+ orientation: number[],
+ name: string,
+ httpUrl: string,
+ nDof: number,
+ toolType: string,
+ jointPosition: RobotJoint[]
+ ) {
+ this.orientation = orientation;
+ this.position = position;
+ this.name = name;
+ this.httpUrl = httpUrl;
+ this.nDof = nDof;
+ this.toolType = toolType;
+ this.jointPosition = jointPosition;
+ }
+ icon: string = "Robot";
+ toSceneItems = (sceneBuilderStore: SceneBuilderStore): SceneItems => {
+ return {
+ fn: () => {},
+ name: this.name,
+ isSelected: false,
+ icon: "Robot",
+ };
+ };
+ toWebGl = (coreThreeRepository: CoreThreeRepository) => {
+ coreThreeRepository.loadUrdfRobot(this);
+ };
+ update = (coreThreeRepository: CoreThreeRepository) => {
+ const robot = coreThreeRepository.scene.getObjectByName(this.name) as URDFRobot;
+ robot.position.copy(this.position);
+ robot.quaternion.copy(new Quaternion().fromArray(this.orientation));
+ this.jointPosition.forEach((el) => {
+ robot.setJointValue(el.name, el.angle);
+ });
+ };
+ 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/robots.ts b/ui/src/core/model/robots.ts
new file mode 100644
index 0000000..41c14fb
--- /dev/null
+++ b/ui/src/core/model/robots.ts
@@ -0,0 +1,47 @@
+export interface Robots {
+ robots: Robot[];
+}
+
+export interface Robot {
+ sid: string;
+ DevicePackage: DevicePackage;
+ Module: Module;
+ Launch: Launch;
+ DTwin: DTwin[];
+ Settings: Setting[];
+}
+
+export interface DTwin {
+ interface: Interface;
+}
+
+export interface Interface {
+ input: Input[];
+}
+
+export interface Input {
+ robot_namespace?: string;
+ dof?: number;
+}
+
+export interface DevicePackage {
+ name: string;
+ version: string;
+ format: string;
+}
+
+export interface Launch {
+ package: string;
+ executable: string;
+}
+
+export interface Module {
+ name: string;
+ description: string;
+}
+
+export interface Setting {
+ name: string;
+ description: string;
+ defaultValue: string;
+}
diff --git a/ui/src/core/model/scene_asset.ts b/ui/src/core/model/scene_asset.ts
new file mode 100644
index 0000000..1bfb7cd
--- /dev/null
+++ b/ui/src/core/model/scene_asset.ts
@@ -0,0 +1,65 @@
+import { IsArray } 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";
+import { SceneItems } from "../../features/scene_builder/presentation/scene_builder_store";
+
+export abstract class Instance {
+ type: string;
+ abstract icon: string;
+ @Type(() => Vector3)
+ position: Vector3;
+ orientation: number[];
+ name: string;
+ toWebGl = (_coreThreeRepository: CoreThreeRepository) => {};
+ update = (_coreThreeRepository: CoreThreeRepository) => {};
+}
+export class SceneAsset {
+ name: string;
+ @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)[];
+ toSceneItems = (): SceneItems[] => {
+ return this.scene.map((el) => {
+ return {
+ fn: () => {},
+ name: el.name,
+ icon: el.icon,
+ isSelected: false,
+ };
+ });
+ };
+ getElementByName = (name: string) => this.scene.filter((el) => el.name.isEqual(name)).at(0) as T;
+ getAllRobotsTopics = () => this.scene.filter((el) => el.type.isEqual(SceneModelsTypes.ROBOT)).map((el) => el.name);
+ getAllCameraTopics = () => {};
+ getAllPoints = () => this.scene.filter((el) => el.type.isEqual(SceneModelsTypes.POINT)).map((el) => el.name);
+ static newScene = (
+ scene: (Instance | SolidModel | CameraModel | RobotModel | PointModel | ZoneModel)[],
+ name: string
+ ) => {
+ const sceneAsset = new SceneAsset();
+ sceneAsset.scene = scene;
+ sceneAsset.name = name;
+ return sceneAsset;
+ };
+}
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/skill_model.ts b/ui/src/core/model/skill_model.ts
new file mode 100644
index 0000000..d9e3a40
--- /dev/null
+++ b/ui/src/core/model/skill_model.ts
@@ -0,0 +1,512 @@
+import makeAutoObservable from "mobx-store-inheritance";
+import clone from "just-clone";
+import { IsArray, IsEnum, IsNotEmpty, IsOptional, IsString, ValidateNested } from "class-validator";
+import { Type } from "class-transformer";
+import { ISkillView } from "../../features/behavior_tree_builder/presentation/ui/skill_tree/skill_tree";
+import { v4 } from "uuid";
+import { Result } from "../helper/result";
+import { ValidationModel } from "./validation_model";
+import { ITopicModel, TopicViewModel } from "../../features/topics/topic_view_model";
+import { BehaviorTreeBuilderStore } from "../../features/behavior_tree_builder/presentation/behavior_tree_builder_store";
+import { TopicDependencyViewModel } from "../../features/behavior_tree_builder/presentation/ui/forms/topics_form/topic_dependency_view_model";
+import { FormBuilderValidationModel } from "./form_builder_validation_model";
+import { FormType } from "./form";
+
+export interface IDependency {
+ skills: ISkillDependency[];
+}
+
+export interface ISkillDependency {
+ sid: string;
+ dependency: Object;
+}
+
+export interface ISkill {
+ sid?: string;
+ SkillPackage: ISkillPackage;
+ Module: IModule;
+ BTAction: IBTAction[];
+}
+export interface IWeightsDependency {
+ weights_name: string;
+ object_name: string;
+ weights_file: string;
+ dimensions: number[];
+}
+export interface IDeviceDependency {
+ sid: string;
+}
+export interface IDependency {}
+export interface IParam {
+ isFilled: boolean;
+ type: string;
+ dependency?: DependencyViewModel;
+}
+
+abstract class IDependencyViewModel {
+ abstract type: FormType;
+}
+export class DependencyViewModel implements IDependencyViewModel {
+ type: FormType;
+ static empty = () => new DependencyViewModel();
+ toView = (store: BehaviorTreeBuilderStore | undefined): React.ReactNode => "Dependency view model error";
+}
+export class ParamViewModel implements IParam {
+ type: string;
+
+ @Type(() => DependencyViewModel, {
+ discriminator: {
+ property: "type",
+ subTypes: [
+ { value: TopicDependencyViewModel, name: FormType.topic },
+ { value: FormBuilderValidationModel, name: FormType.formBuilder },
+ ],
+ },
+ keepDiscriminatorProperty: true,
+ })
+ dependency: DependencyViewModel;
+ isFilled: boolean = false;
+ constructor(type: string, dependency: DependencyViewModel) {
+ this.type = type;
+ this.dependency = dependency;
+ }
+ static empty = () => new ParamViewModel("", DependencyViewModel.empty());
+}
+export interface IBTAction {
+ name: string;
+ type: string;
+ param: IParam[];
+ result: string[];
+}
+export enum BtAction {
+ ACTION = "ACTION",
+ CONDITION = "CONDITION",
+}
+export class BtActionViewModel extends ValidationModel implements IBTAction {
+ @IsNotEmpty()
+ @IsString()
+ name: string;
+
+ @IsNotEmpty()
+ @IsString()
+ type: string;
+ @Type(() => ParamViewModel)
+ param: IParam[];
+ @IsNotEmpty()
+ @IsString()
+ result: string[];
+ @IsNotEmpty()
+ @IsEnum(BtAction)
+ typeAction: BtAction;
+ constructor(name: string, type: string, param: IParam[], result: string[], typeAction: BtAction) {
+ super();
+ this.name = name;
+ this.type = type;
+ this.param = param;
+ this.result = result;
+ this.typeAction = typeAction;
+ }
+ static empty = () => new BtActionViewModel("", "", [], [], BtAction.ACTION);
+ public validParam = (type: string) => this.param.someR((param) => param.type === type);
+}
+export interface IInterface {
+ Input: IPut[];
+ Output: IPut[];
+}
+
+export interface IPut {
+ name: string;
+ type: string;
+}
+
+export interface ILaunch {
+ executable: string;
+}
+
+export interface IModule {
+ name: string;
+ node_name: string;
+ description: string;
+}
+
+export interface IRos2 {
+ node_name: string;
+}
+
+export interface ISetting {
+ name: string;
+ value: number | string;
+}
+
+export interface ISkillPackage {
+ name: string;
+ version: string;
+ format: string;
+}
+
+export class SkillPackage implements ISkillPackage {
+ @IsNotEmpty()
+ @IsString()
+ name: string;
+ @IsNotEmpty()
+ @IsString()
+ version: string;
+ @IsNotEmpty()
+ @IsString()
+ format: string;
+ constructor(name: string, version: string, format: string) {
+ this.name = name;
+ this.format = format;
+ this.version = version;
+ }
+ static empty = () => new SkillPackage("", "", "");
+}
+export class Module implements IModule {
+ @IsString()
+ node_name: string;
+ @IsString()
+ name: string;
+ @IsString()
+ description: string;
+ constructor(name: string, description: string) {
+ this.name = name;
+ this.description = description;
+ }
+ static empty = () => new Module("", "");
+}
+export class BTAction implements IBTAction {
+ @IsString()
+ name: string;
+ @IsString()
+ type: string;
+ sid?: string;
+ @IsArray()
+ param: IParam[];
+ @IsArray()
+ result: string[];
+}
+export class Launch implements ILaunch {
+ @IsNotEmpty()
+ @IsString()
+ executable: string;
+ @IsNotEmpty()
+ @IsString()
+ package: string;
+ constructor(executable: string, plage: string) {
+ this.executable = executable;
+ this.package = plage;
+ }
+ static empty = () => new Launch("", "");
+}
+export class Ros2 implements IRos2 {
+ @IsString()
+ node_name: string;
+}
+export class Put implements IPut {
+ @IsString()
+ name: string;
+ @IsString()
+ type: string;
+}
+export class Interface implements IInterface {
+ @ValidateNested()
+ @Type(() => Put)
+ Input: IPut[];
+ @ValidateNested()
+ @Type(() => Put)
+ Output: IPut[];
+}
+export class Setting implements ISetting {
+ name: string;
+ value: string | number;
+}
+
+export class SkillModel extends ValidationModel implements ISkill {
+ @IsOptional()
+ @IsString()
+ _id?: string;
+ constructor() {
+ super();
+ makeAutoObservable(this);
+ }
+
+ bgColor: string = `rgba(5, 26, 39, 1)`;
+ borderColor: string = "rgba(25, 130, 196, 1)";
+ @IsOptional()
+ @IsString()
+ sid?: string;
+ @ValidateNested()
+ @Type(() => SkillPackage)
+ SkillPackage: ISkillPackage;
+ @ValidateNested()
+ @Type(() => Module)
+ Module: IModule;
+ @IsNotEmpty()
+ @IsArray()
+ @Type(() => BtActionViewModel)
+ BTAction: BtActionViewModel[];
+ topicsOut: TopicViewModel[] = [];
+ @Type(() => Launch)
+ Launch: Launch;
+ @Type(() => FormBuilderValidationModel)
+ Settings: FormBuilderValidationModel;
+ static empty() {
+ const skillModel = new SkillModel();
+ skillModel.BTAction = [];
+ skillModel.SkillPackage = SkillPackage.empty();
+ skillModel.Module = Module.empty();
+ skillModel.Launch = Launch.empty();
+ skillModel.Settings = FormBuilderValidationModel.empty();
+ return skillModel;
+ }
+ public static isEmpty(skill: SkillModel): Result {
+ if (skill.BTAction.isEmpty()) {
+ return Result.error(undefined);
+ }
+ return Result.ok(Object.assign(skill, {}));
+ }
+
+ public getSid = () => this.sid;
+ public setSid = (sid: string) => {
+ const result = clone(this);
+ result.sid = sid;
+ return result;
+ };
+ emptyParam = () => this.BTAction.at(0)?.param.at(0)?.dependency === undefined;
+}
+
+export class SkillDependency implements IDependency {
+ constructor(public skills: ISkillDependency[]) {}
+ static empty() {
+ return new SkillDependency([]);
+ }
+ static isEmpty = (skill: SkillDependency) => {
+ if (skill.skills.isEmpty()) {
+ return Result.error(undefined);
+ }
+ return Result.ok(skill);
+ };
+}
+
+export class Skills {
+ constructor() {
+ makeAutoObservable(this);
+ }
+ @IsOptional()
+ @IsArray()
+ @Type(() => TopicViewModel)
+ topicsStack: ITopicModel[] = [];
+ @IsArray()
+ @Type(() => SkillModel)
+ skills: SkillModel[];
+ static fromSkills = (skilsModel: SkillModel[]) => {
+ const skills = this.empty();
+ skills.skills = skilsModel;
+ return skills;
+ };
+ deleteTopic = (sid: string) => (this.topicsStack = this.topicsStack.filter((el) => !el.sid?.isEqual(sid)));
+
+ getSkillAtSid = (sid: string): Result => {
+ const result = this.skills.filter((skill) => skill.sid?.isEqual(sid)).at(0);
+ if (result === undefined) {
+ return Result.error(undefined);
+ }
+ return Result.ok(result);
+ };
+
+ validation = (): Result => {
+ const errors: string[] = [];
+ this.skills.forEach((skill) => {
+ skill.BTAction.forEach((action) => {
+ if (action.param.isNotEmpty()) {
+ action.param.forEach((param) => {
+ if (Object.keys(param?.dependency ?? {}).isEmpty()) {
+ errors.push(param.type);
+ }
+ });
+ }
+ });
+ });
+ if (errors.isNotEmpty()) {
+ return Result.error(errors);
+ }
+ return Result.ok(undefined);
+ };
+ getCssAtLabel = (label: string): React.CSSProperties =>
+ this.skills.reduce((acc, el) => {
+ el.BTAction.rFind((el) => el.name.isEqual(label)).map(() => {
+ acc = {
+ backgroundColor: el.bgColor,
+ border: `1px solid ${el.borderColor}`,
+ };
+ });
+ return acc;
+ }, {});
+ skillBySid = (sid: string) =>
+ SkillModel.isEmpty(
+ this.skills.reduce((acc, el) => {
+ if (el.sid?.isEqual(sid)) {
+ acc = el;
+ }
+ return acc;
+ }, SkillModel.empty())
+ );
+
+ toSkillView = (): ISkillView[] =>
+ this.skills.map((el) => {
+ return {
+ name: el.Module.name,
+ children: el.BTAction.map((act) => {
+ return { name: act.name, uuid: v4() };
+ }),
+ };
+ });
+ getSkill = (name: string) =>
+ SkillModel.isEmpty(
+ this.skills.reduce((acc, el) => {
+ if (el.BTAction.find((el) => el.name.isEqual(name))) {
+ el.BTAction.map((action) => {
+ action.param.map((param) => {
+ return param;
+ });
+ });
+ acc = el;
+ }
+ return acc;
+ }, SkillModel.empty())
+ );
+
+ getSkilsOut = (name: string) =>
+ this.skills
+ .reduce((acc, el) => {
+ if (el.BTAction.find((el) => el.name.isEqual(name))) {
+ acc = el.BTAction.filter((f) => f.name.isEqual(name)).map((z) => z.result);
+ }
+ return acc;
+ }, [])
+ .flat(1);
+ getSkillParams = (name: string) =>
+ this.skills
+ .reduce((acc, el) => {
+ if (el.BTAction.find((el) => el.name.isEqual(name))) {
+ acc = el.BTAction.filter((f) => f.name.isEqual(name)).map((z) => z.param);
+ }
+ return acc;
+ }, [])
+ .flat(1);
+ getSkillDo = (name: string) =>
+ this.skills.reduce((acc, el) => {
+ if (el.BTAction.find((el) => el.name.isEqual(name))) {
+ acc = el.Module.name;
+ }
+ return acc;
+ }, "error");
+
+ getSkillsNames = () =>
+ this.skills
+ .map((el) => {
+ return el.BTAction.map((act) => {
+ return { name: act.name };
+ });
+ })
+ .flat(1);
+
+ getForms = (skillLabel: string) =>
+ this.skills
+ .reduce((acc, el) => {
+ if (el.BTAction.find((el) => el.name.isEqual(skillLabel))) {
+ acc.push(el);
+ }
+ return acc;
+ }, [])
+ .map((el) => el.BTAction.map((act) => act.param.map((el) => el.type).flat(1)))
+ .flat(1)
+ .flat(1)
+ .filter((el) => el !== "");
+
+ getDependencyBySkillLabelAndType = (skillType: string, sid: string): DependencyViewModel =>
+ this.skills
+ .reduce((acc, skill) => {
+ if (skill.sid?.isEqual(sid)) {
+ skill.BTAction.map((action) => {
+ action.param.map((param) => {
+ if (param.type.isEqualR(skillType)) {
+ acc.push(param?.dependency ?? DependencyViewModel.empty());
+ }
+ return param;
+ });
+ return action;
+ });
+ }
+
+ return acc;
+ }, [])
+ .at(0) ?? DependencyViewModel.empty();
+ static isEmpty(model: Skills): Result {
+ if (model.skills.isEmpty()) {
+ return Result.error(undefined);
+ }
+ return Result.ok(undefined);
+ }
+ static empty() {
+ const skills = new Skills();
+ skills.skills = [];
+ return skills;
+ }
+
+ public dependencyIsFilled = (skillType: string, sid: string) =>
+ this.skills.reduce((acc, skill) => {
+ if (skill.sid?.isEqual(sid)) {
+ skill.BTAction.forEach((action) => {
+ action.param.forEach((param) => {
+ acc = param.isFilled;
+ });
+ });
+ }
+ return acc;
+ }, false);
+
+ getAllSids = () =>
+ this.skills.reduce((acc, skill) => {
+ skill.BTAction.forEach((action) =>
+ action.param.forEach((param) => {
+ return param;
+ })
+ );
+ return acc;
+ }, new Map());
+
+ deleteSid(sid: string): SkillModel[] {
+ return this.skills.filter((skill) => !skill.sid?.isEqual(sid));
+ }
+ updateSkill = (skill: SkillModel) => {
+ this.skills = this.skills.map((el) => {
+ if (el.sid?.isEqual(skill.sid ?? "")) {
+ el = skill;
+ }
+ return el;
+ });
+ };
+ skillHasForm = (label: string): boolean => {
+ return true;
+ };
+ getSkillWidthAtLabel = (label: string): number =>
+ this.getSkillParams(label).reduce((acc, element) => {
+ if (element.type.length > acc) {
+ acc = element.type.length;
+ }
+ return acc;
+ }, 0);
+ skillIsDependencyFilled = (label: string): Result =>
+ this.getSkill(label).fold(
+ (skill) => {
+ return Result.ok(skill.BTAction.find((el) => el.name.isEqual(label))?.param.isEmpty());
+ },
+ () => Result.error(false)
+ );
+ skillIsCondition = (label: string) =>
+ this.getSkill(label).fold(
+ (s) => s.BTAction.atR(0).map((el) => el.typeAction.isEqualR(BtAction.CONDITION)),
+ (e) => Result.error(undefined)
+ );
+}
diff --git a/ui/src/core/model/solid_model.ts b/ui/src/core/model/solid_model.ts
new file mode 100644
index 0000000..42158ab
--- /dev/null
+++ b/ui/src/core/model/solid_model.ts
@@ -0,0 +1,70 @@
+import { Object3D, Object3DEventMap, Quaternion, 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";
+import { Parts } from "../../features/details/details_http_repository";
+import { SceneItems } from "../../features/scene_builder/presentation/scene_builder_store";
+
+export class SolidModel implements Instance {
+ icon: string = "Solid";
+ type = SceneModelsTypes.SOLID;
+ @Type(() => Vector3)
+ public position: Vector3;
+ public name: string;
+ constructor(
+ vector3: Vector3,
+ public orientation: number[],
+ name:string,
+ public solidType: string,
+ public mesh: string,
+ public collisionMesh: string,
+ public spawnType: string
+ ) {
+ this.name = name;
+ this.position = vector3;
+ }
+ toSceneItems = (): SceneItems => {
+ return {
+ fn: () => {},
+ name: this.name,
+ isSelected: false,
+ icon: "Solid",
+ };
+ };
+
+ update = (coreThreeRepository: CoreThreeRepository) => {
+ const object = coreThreeRepository.getObjectsAtName(this.name) as Object3D;
+ object.position.copy(this.position)
+ object.quaternion.copy(new Quaternion().fromArray(this.orientation))
+
+ };
+
+ toWebGl = (coreThreeRepository: CoreThreeRepository) => {
+ this.spawnType.isEqualR("BoundBox").fold(
+ () =>
+ coreThreeRepository.loader(
+ this.mesh,
+ () => (
+ coreThreeRepository.raiseAnObjectAboveZeroVector(this.name),
+ (this.orientation = coreThreeRepository.scene.getObjectByName(this.name)!.quaternion.toArray()),
+ (this.position = coreThreeRepository.scene.getObjectByName(this.name)!.position)
+ ),
+
+ this.name,
+ this.position
+ ),
+ () => console.log("UNKNOWN SPAWN TYPE SOLID MODEL")
+ );
+ };
+
+ fromParts = (parts: Parts): SolidModel => {
+ const solidModel = SolidModel.empty();
+ solidModel.mesh = parts.daeUrl;
+ solidModel.name = parts.name;
+ solidModel.solidType = parts.solidType;
+ return solidModel;
+ };
+
+ static empty = () => new SolidModel(new Vector3(0, 0, 0), [], "", "", "", "", "");
+}
diff --git a/ui/src/core/model/spawn_position_types.ts b/ui/src/core/model/spawn_position_types.ts
new file mode 100644
index 0000000..ca08f31
--- /dev/null
+++ b/ui/src/core/model/spawn_position_types.ts
@@ -0,0 +1,3 @@
+export enum SpawnPositionTypes {
+ BoundBox = "BoundBox",
+}
diff --git a/ui/src/core/model/style.ts b/ui/src/core/model/style.ts
new file mode 100644
index 0000000..acfab5e
--- /dev/null
+++ b/ui/src/core/model/style.ts
@@ -0,0 +1,3 @@
+export interface IStyle{
+ style?: React.CSSProperties;
+}
diff --git a/ui/src/core/model/topics.ts b/ui/src/core/model/topics.ts
new file mode 100644
index 0000000..3612603
--- /dev/null
+++ b/ui/src/core/model/topics.ts
@@ -0,0 +1,9 @@
+export interface Topics {
+ topics: Topic[];
+}
+
+export interface Topic {
+ sid: string;
+ name: string;
+ type: string;
+}
diff --git a/ui/src/core/model/trigger_model.ts b/ui/src/core/model/trigger_model.ts
deleted file mode 100644
index 5ea29e5..0000000
--- a/ui/src/core/model/trigger_model.ts
+++ /dev/null
@@ -1,12 +0,0 @@
-import { DatabaseModel } from "./database_model";
-
-export interface ITriggerModel extends DatabaseModel {
- type: string;
- description: string;
- value: string[];
-}
-
-export enum TriggerType {
- PROCESS = "PROCESS",
- FILE = "FILE",
-}
diff --git a/ui/src/core/model/validation_model.ts b/ui/src/core/model/validation_model.ts
new file mode 100644
index 0000000..7e41b5e
--- /dev/null
+++ b/ui/src/core/model/validation_model.ts
@@ -0,0 +1,29 @@
+import { Result } from "../helper/result";
+import { validate, ValidationError } from "class-validator";
+
+export class ValidationModel {
+ valid = async (): Promise> => {
+ const errors: ValidationError[] = await validate(this, {
+ skipMissingProperties: false,
+ whitelist: false,
+ forbidNonWhitelisted: true,
+ });
+
+ if (errors.isNotEmpty()) {
+ const message = errors.map((error: ValidationError) => {
+ let result = "";
+ if (error.children)
+ error.children.map((el) => {
+ if (el.constraints) {
+ result += Object.values(el.constraints).join(", ");
+ }
+ });
+ if (error.constraints) result += Object.values(error.constraints).join(", ");
+ return result;
+ });
+ return Result.error(message.join(", \n"));
+ } else {
+ return Result.ok(this as unknown as T);
+ }
+ };
+}
diff --git a/ui/src/core/model/zone_model.ts b/ui/src/core/model/zone_model.ts
new file mode 100644
index 0000000..3b269fe
--- /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)
+ position: Vector3;
+
+ constructor(
+ vector3: Vector3,
+ public orientation: number[],
+ public name: string,
+ public width: number,
+ public height: number,
+ public length: number
+ ) {
+ this.position = 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/http_repository.ts b/ui/src/core/repository/core_http_repository.ts
similarity index 59%
rename from ui/src/core/repository/http_repository.ts
rename to ui/src/core/repository/core_http_repository.ts
index d11463b..48eb520 100644
--- a/ui/src/core/repository/http_repository.ts
+++ b/ui/src/core/repository/core_http_repository.ts
@@ -1,11 +1,15 @@
import { ClassConstructor, plainToInstance } from "class-transformer";
import { Result } from "../helper/result";
+import { Parts } from "../../features/details/details_http_repository";
+import { UUID } from "../../features/all_projects/data/project_http_repository";
+import { SceneModel } from "../../features/scene_manager/model/scene_model";
+import { SceneAsset } from "../model/scene_asset";
export enum HttpMethod {
GET = "GET",
POST = "POST",
DELETE = "DELETE",
- PUT = "PUT"
+ PUT = "PUT",
}
export class HttpError extends Error {
status: number;
@@ -16,13 +20,9 @@ export class HttpError extends Error {
this.status = status;
}
}
-
export class HttpRepository {
private server = "http://localhost:4001";
- public async _formDataRequest(method: HttpMethod, url: string, data?: any): Promise> {
- let formData = new FormData();
- formData.append("file", data);
-
+ public async _formDataRequest(method: HttpMethod, url: string, formData: FormData): Promise> {
const reqInit = {
body: formData,
method: method,
@@ -71,6 +71,36 @@ export class HttpRepository {
}
return Result.ok(response.text as T);
}
+ public async _arrayJsonToClassInstanceRequest(
+ method: HttpMethod,
+ url: string,
+ instance: ClassConstructor,
+ data?: any
+ ): Promise> {
+ try {
+ const reqInit = {
+ body: data,
+ method: method,
+ headers: { "Content-Type": "application/json" },
+ };
+ if (data !== undefined) {
+ reqInit["body"] = JSON.stringify(data);
+ }
+ const response = await fetch(this.server + url, reqInit);
+
+ if (response.status !== 200) {
+ return Result.error(new HttpError(this.server + url, response.status));
+ }
+ const array: any[] = await response.json();
+ return Result.ok(
+ array.map((el) => {
+ return plainToInstance(instance, el) as T;
+ })
+ );
+ } catch (error) {
+ return Result.error(new HttpError(error, 0));
+ }
+ }
public async _jsonToClassInstanceRequest(
method: HttpMethod,
url: string,
@@ -97,3 +127,19 @@ export class HttpRepository {
}
}
}
+
+export class CoreHttpRepository extends HttpRepository {
+ getAssetsActiveProject = async (): Promise> => {
+ return this._jsonRequest(HttpMethod.GET, "/projects/assets");
+ };
+
+ getSceneAsset = (id: string) =>
+ this._jsonToClassInstanceRequest(HttpMethod.GET, `/scenes/by_id?id=${id}`, SceneAsset) as Promise<
+ Result
+ >;
+ async getActiveProjectId() {
+ return this._jsonRequest(HttpMethod.GET, "/projects/get/active/project/id");
+ }
+ getAllScenes = () => this._jsonRequest(HttpMethod.GET, "/scenes");
+}
+
\ No newline at end of file
diff --git a/ui/src/core/repository/core_ros_ws_bridge_repository.ts b/ui/src/core/repository/core_ros_ws_bridge_repository.ts
new file mode 100644
index 0000000..167316d
--- /dev/null
+++ b/ui/src/core/repository/core_ros_ws_bridge_repository.ts
@@ -0,0 +1,34 @@
+import { FoxgloveClient } from "@foxglove/ws-protocol"
+import { MessageReader } from '@foxglove/rosmsg2-serialization';
+import { parse as parseMessageDefinition } from '@foxglove/rosmsg';
+import { TypedEvent } from "../helper/typed_event";
+
+export class CoreRosWsBridgeRepository extends TypedEvent {
+ client?: FoxgloveClient;
+ connect(topic: string) {
+ const client = new FoxgloveClient({
+ ws: new WebSocket(`ws://localhost:8765`, [FoxgloveClient.SUPPORTED_SUBPROTOCOL]),
+ });
+ const deserializers = new Map();
+ client.on("advertise", (channels) => {
+ for (const channel of channels) {
+ if (channel.topic.isEqual(topic)) {
+ const subId = client.subscribe(channel.id);
+ deserializers.set(subId, (data: any) => {
+ return {
+ data: data,
+ channel: channel
+ }
+ });
+ }
+ }
+ });
+ client.on("message", ({ subscriptionId, timestamp, data }) => {
+ const channel = deserializers.get(subscriptionId)(data);
+ this.emit(new MessageReader(parseMessageDefinition(channel.channel?.schema!, {
+ ros2: true,
+ })).readMessage(channel.data))
+
+ });
+ }
+}
diff --git a/ui/src/core/repository/socket_repository.ts b/ui/src/core/repository/core_socket_repository.ts
similarity index 93%
rename from ui/src/core/repository/socket_repository.ts
rename to ui/src/core/repository/core_socket_repository.ts
index 697c3ea..db8d3eb 100644
--- a/ui/src/core/repository/socket_repository.ts
+++ b/ui/src/core/repository/core_socket_repository.ts
@@ -8,12 +8,10 @@ export class SocketRepository extends TypedEvent {
async connect():Promise> {
const socket = io(this.serverURL);
+
this.socket = socket;
socket.connect();
socket.on('realtime', (d) =>{
- console.log("D")
- console.log(d)
-
this.emit({
event:"realtime",
payload:d
diff --git a/ui/src/core/repository/core_three_repository.ts b/ui/src/core/repository/core_three_repository.ts
index 531c0c2..d7f6bc0 100644
--- a/ui/src/core/repository/core_three_repository.ts
+++ b/ui/src/core/repository/core_three_repository.ts
@@ -20,25 +20,34 @@ import {
CameraHelper,
Quaternion,
MeshBasicMaterial,
- PlaneGeometry,
- BoxGeometry
+ BoxGeometry,
+ MeshStandardMaterial,
+ LoadingManager,
} from "three";
+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 } 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 { 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 { GLTFLoader, OrbitControls, TransformControls, OBJLoader, STLLoader, ColladaLoader } from "three-stdlib";
-import {
- BaseSceneItemModel,
- CameraViewModel,
- StaticAssetItemModel,
-} from "../../features/scene_manager/model/scene_assets";
-import { SceneMode } from "../../features/scene_manager/model/scene_view";
-import { throttle } from "../helper/throttle";
-import { Asset, InstanceRgbCamera, RobossemblerAssets, SceneSimpleObject } from "../model/robossembler_assets";
-
+import { RobotModel } from "../model/robot_model";
+import { SceneItems } from "../../features/scene_builder/presentation/scene_builder_store";
+
+Object3D.DEFAULT_UP = new Vector3(0, 0, 1);
+
export enum UserData {
selectedObject = "selected_object",
cameraInitialization = "camera_initialization",
objectForMagnetism = "object_for_magnetism",
+ loadObject = "load_object",
}
interface IEventDraggingChange {
@@ -51,8 +60,9 @@ interface IEmissiveCache {
status: boolean;
object3d: Object3D;
}
+type SceneFrames = { [K in string]: URDFLink };
-export class CoreThreeRepository extends TypedEvent {
+export class CoreThreeRepository extends TypedEvent {
scene = new Scene();
camera: PerspectiveCamera;
webGlRender: WebGLRenderer;
@@ -62,10 +72,14 @@ export class CoreThreeRepository extends TypedEvent {
orbitControls: OrbitControls;
htmlSceneWidth: number;
htmlSceneHeight: number;
+ sceneFrame?: SceneFrames;
objLoader = new OBJLoader();
glbLoader = new GLTFLoader();
daeLoader = new ColladaLoader();
stlLoader = new STLLoader();
+ manager = new LoadingManager();
+ urdfLoader = new URDFLoader(this.manager);
+
watcherSceneEditorObject: Function;
constructor(htmlCanvasRef: HTMLCanvasElement, watcherSceneEditorObject: Function) {
@@ -79,8 +93,8 @@ export class CoreThreeRepository extends TypedEvent {
alpha: true,
});
const aspectCamera = this.htmlSceneWidth / this.htmlSceneHeight;
- this.camera = new PerspectiveCamera(800, aspectCamera, 0.1, 10000);
- this.camera.position.set(60, 20, 10);
+ this.camera = new PerspectiveCamera(100, aspectCamera, 0.1, 2000);
+ this.camera.position.set(1, 1, 1);
this.webGlRender = renderer;
this.htmlCanvasRef = htmlCanvasRef;
@@ -89,31 +103,63 @@ export class CoreThreeRepository extends TypedEvent {
this.scene.add(this.transformControls);
this.orbitControls = new OrbitControls(this.camera, this.htmlCanvasRef);
- this.scene.background = new Color("black");
+ this.scene.background = new Color("white");
this.init();
}
+ updateInstance = (viewModel: Instance) => (
+ this.scene.remove(this.scene.getObjectByName(viewModel.name)!), viewModel.toWebGl(this)
+ );
+
+ deleteAllObjectsScene = () => {
+ this.getAllSceneNameModels().forEach((el) =>
+ this.scene.remove(this.scene.getObjectByName(el) as Object3D)
+ );
+ };
+ raiseAnObjectAboveZeroVector = (name: string) => {
+ const mesh = this.scene.getObjectByName(name) as Object3D;
+ mesh.position.sub(new Box3().setFromObject(mesh).min);
+ };
drawPoint(point: Vector3): Mesh {
var cube = new Mesh(new BoxGeometry(0.5, 0.5, 0.5), new MeshBasicMaterial({ color: 0x0095dd }));
cube.position.add(point);
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.position);
+ mesh.quaternion.copy(new Quaternion().fromArray(zoneModel.orientation));
+ 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 })
@@ -124,39 +170,74 @@ 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: BaseSceneItemModel) {
- const updateScene = this.scene;
- updateScene.children = item.deleteToScene(updateScene);
- }
+ deleteSceneItemByName = (name: string) =>
+ this.scene.children.forEach((el) => el.name.isEqualR(name).map(() => this.scene.remove(el)));
- loadInstances(robossemblerAssets: RobossemblerAssets) {
- robossemblerAssets.instances.forEach(async (el) => {
- if (el instanceof InstanceRgbCamera) {
- const cameraModel = CameraViewModel.fromInstanceRgbCamera(el);
- cameraModel.mapPerspectiveCamera(this.htmlSceneWidth, this.htmlSceneHeight).forEach((el) => this.scene.add(el));
- this.emit(cameraModel);
+ 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.position) robot.position.copy(robotModel.position);
+ if (robotModel.orientation) robot.quaternion.copy(new Quaternion().fromArray(robotModel.orientation));
+ if (robotModel.jointPosition.isNotEmpty()) {
+ robotModel.jointPosition.forEach((el) => {
+ robot.setJointValue(el.name, el.angle);
+ });
}
- if (el instanceof SceneSimpleObject) {
- const asset = robossemblerAssets.getAssetAtInstance(el.instanceAt as string);
- this.loader(
- asset.meshPath,
- () => {},
- asset.name,
- new Vector3(el.position.x, el.position.y, el.position.z),
- new Quaternion(el.quaternion[0], el.quaternion[1], el.quaternion[2], el.quaternion[3])
- );
+ if (robotModel.jointPosition.isEmpty()) {
+ Object.entries(robot.joints).forEach(([name, uRDFJoint]) => {
+ if (uRDFJoint.jointType !== "fixed") {
+ robotModel.jointPosition.push({
+ angle: Number(uRDFJoint.angle),
+ limit: {
+ lower: Number(uRDFJoint.limit.lower),
+ upper: Number(uRDFJoint.limit.upper),
+ },
+ name: name,
+ });
+ }
+ });
}
+
+ this.scene.add(robot);
+
+ // @ts-expect-error
+ this.sceneFrame = robot.frames;
});
- }
- loadInstance(asset: Asset, loadCallback?: Function) {
+ loadUrdf = (urlPath: string, vector3?: Vector3, quaternion?: Quaternion) =>
+ this.urdfLoader.load(urlPath, (robot) => {
+ robot.userData[UserData.selectedObject] = true;
+
+ 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;
+ });
+
+ loadHttpAndPreview(path: string, name: string, loadCallback?: Function) {
this.loader(
- asset.meshPath,
- loadCallback ? loadCallback : () => {},
- asset.name,
- new Vector3(Number(asset.posX), Number(asset.posY), Number(asset.posZ)),
- new Quaternion(0, 0, 0, 0)
+ path,
+ () => {
+ // this.fitCameraToCenteredObject([name])
+ // this.scene.getObjectByName(name)
+ },
+ name,
+ new Vector3(0, 0, 0)
);
}
@@ -166,22 +247,22 @@ export class CoreThreeRepository extends TypedEvent {
this.transformControls.detach();
this.transformControls.dispose();
break;
- case SceneMode.MOVING:
+ case SceneMode.Move:
this.transformControls.setMode("translate");
break;
- case SceneMode.ROTATE:
+ case SceneMode.Rotate:
this.transformControls.setMode("rotate");
break;
}
}
- addSceneCamera(cameraModel: CameraViewModel) {
- cameraModel.mapPerspectiveCamera(this.htmlSceneWidth, this.htmlSceneHeight).forEach((el) => this.scene.add(el));
- }
+ updateSolidBody = (solidBodyModel: SolidModel) => {
+ const mesh = this.scene.getObjectByName(solidBodyModel.name);
+ mesh?.position.copy(solidBodyModel.position);
+ mesh?.quaternion.copy(new Quaternion().fromArray(solidBodyModel.orientation));
+ };
- disposeTransformControlsMode() {
- this.transformControls.detach();
- }
+ disposeTransformControlsMode = () => this.transformControls.detach();
setRayCastAndGetFirstObjectName(vector: Vector2): Result {
this.scene.add(this.transformControls);
@@ -223,7 +304,7 @@ export class CoreThreeRepository extends TypedEvent {
}
}
- setRayCast(vector: Vector2): Result>[]> {
+ setRayCast = (vector: Vector2): Result>[]> => {
const raycaster = new Raycaster();
raycaster.setFromCamera(vector, this.camera);
const intersects = raycaster.intersectObjects(this.scene.children);
@@ -232,16 +313,17 @@ export class CoreThreeRepository extends TypedEvent {
}
return Result.error(undefined);
- }
+ };
- setRayCastAndGetFirstObjectAndPointToObject(vector: Vector2): Result {
- this.setRayCast(vector).map((intersects) => {
- if (intersects.length > 0) {
- return Result.ok(intersects[0].point);
- }
- });
- return Result.error(undefined);
- }
+ setRayCastAndGetFirstObjectAndPointToObject = (vector: Vector2): Result =>
+ this.setRayCast(vector).fold(
+ (intersects) => {
+ if (intersects.isNotEmpty()) {
+ return Result.ok(intersects[0].point);
+ }
+ },
+ () => Result.error(undefined)
+ ) as Result;
light() {
const ambientLight = new AmbientLight(0xffffff, 0.7);
@@ -269,34 +351,19 @@ export class CoreThreeRepository extends TypedEvent {
this.orbitControls.enabled = !e.value;
});
this.transformControls.addEventListener("objectChange", (event) => {
- //@ts-expect-error
- const sceneObject = event.target.object;
- //TODO:(IDONTSUDO) Trotting doesn't work, need to figure out why
- const fn = () => this.watcherSceneEditorObject(sceneObject);
- const [throttleFn] = throttle(fn, 1000);
- throttleFn();
+ this.watcherSceneEditorObject(event.target.object);
});
}
init() {
this.light();
this.addListeners();
- const floor = new GridHelper(100, 100, 0x888888, 0x444444);
- floor.userData = {};
- floor.userData[UserData.cameraInitialization] = true;
- this.scene.add(floor);
+ const gridHelper = new GridHelper(1000, 100, 0x888888, 0x444444);
+ gridHelper.userData = {};
+ gridHelper.userData[UserData.cameraInitialization] = true;
+ gridHelper.rotation.x = -Math.PI / 2;
- const planeMesh = new Mesh(
- new PlaneGeometry(10, 10, 10, 10),
- new MeshBasicMaterial({ color: 0x808080, wireframe: true })
- );
- planeMesh.userData[UserData.selectedObject] = true;
- planeMesh.userData[UserData.objectForMagnetism] = true;
- planeMesh.rotation.x = -Math.PI / 2;
- this.makeCube(1);
- this.makeCube(2, new Vector3(20, 0, 10), "yellow");
-
- this.scene.add(planeMesh);
+ this.scene.add(gridHelper);
}
render() {
@@ -306,13 +373,6 @@ 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);
}
@@ -323,13 +383,15 @@ export class CoreThreeRepository extends TypedEvent {
loader(url: string, callBack: Function, name: string, position?: Vector3, quaternion?: Quaternion) {
const ext = url.split(/\./g).pop()!.toLowerCase();
-
switch (ext) {
case "gltf":
case "glb":
this.glbLoader.load(
url,
- (result) => {},
+ (result) => {
+ this.scene.add(result.scene);
+ callBack();
+ },
(err) => {}
);
break;
@@ -345,8 +407,9 @@ 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();
});
},
(err) => {}
@@ -355,14 +418,44 @@ export class CoreThreeRepository extends TypedEvent {
case "dae":
this.daeLoader.load(
url,
- (result) => {},
- (err) => {}
+ (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);
+ callBack();
+ },
+ (err) => console.log(err)
);
break;
case "stl":
this.stlLoader.load(
url,
- (result) => {},
+ (result) => {
+ const mesh = new Mesh(
+ result,
+ new MeshStandardMaterial({
+ color: "red",
+ metalness: 0.35,
+ roughness: 1,
+ opacity: 1.0,
+ transparent: false,
+ })
+ );
+ mesh.name = name;
+
+ // var geometry = mesh.geometry;
+ // geometry.computeBoundingBox(); // Вычисляем ограничивающий параллелепипед для геометрии
+
+ if (position) mesh.position.copy(position);
+
+ this.scene.add(mesh);
+ callBack();
+ },
(err) => {}
);
@@ -375,13 +468,13 @@ 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;
@@ -428,8 +521,9 @@ 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);
@@ -451,4 +545,13 @@ export class CoreThreeRepository extends TypedEvent {
this.camera.lookAt(bsWorld);
this.orbitControls = new OrbitControls(this.camera, this.htmlCanvasRef);
}
+ urdfTransforms = (urdfTransforms: UrdfTransforms) => {
+ urdfTransforms.transforms.forEach((transform) => {
+ if (this.sceneFrame) {
+ const currentLink = this.sceneFrame[transform?.child_frame_id ?? ""];
+
+ currentLink.quaternion.copy(coordsToQuaternion(transform.transform.rotation));
+ }
+ });
+ };
}
diff --git a/ui/src/core/routers/routers.tsx b/ui/src/core/routers/routers.tsx
index ccc7d24..8b45f7f 100644
--- a/ui/src/core/routers/routers.tsx
+++ b/ui/src/core/routers/routers.tsx
@@ -1,55 +1,55 @@
import { createBrowserRouter } from "react-router-dom";
import { AllProjectScreen, AllProjectScreenPath } from "../../features/all_projects/presentation/all_projects_screen";
-import {
- PipelineInstanceScreen,
- PipelineInstanceScreenPath,
-} from "../../features/pipeline_instance_main_screen/pipeline_instance_screen";
-
-import { CreateProjectScreen, CreateProjectScreenPath } from "../../features/create_project/create_project_screen";
-
import { SceneManger, SceneManagerPath } from "../../features/scene_manager/presentation/scene_manager";
import {
BehaviorTreeBuilderPath,
BehaviorTreeBuilderScreen,
} from "../../features/behavior_tree_builder/presentation/behavior_tree_builder_screen";
-import {
- StickObjectsMarkingScreen,
- StickObjectsMarkingScreenPath,
-} from "../../features/_stick_objects_marking/stick_objects_marking_screen";
import { DataSetScreen, DatasetsScreenPath } from "../../features/dataset/dataset_screen";
-import DetailsScreen, { DetailsScreenPath } from "../../features/details/details_screen";
import { AssemblesScreen, AssemblesScreenPath } from "../../features/assembles/assembles_screen";
-import SimulationScreen, { SimulationScreenPath } from "../../features/simulations/simulations_screen";
+import { SimulationScreen, SimulationScreenPath } from "../../features/simulations/simulations_screen";
import { EstimateScreen, EstimateScreenPath } from "../../features/estimate/estimate_screen";
+import {
+ CalculationInstanceScreenPath,
+ CalculationInstanceScreen,
+} from "../../features/calculation_instance/presentation/calculation_instance_screen";
+import { DetailsScreenPath, DetailsScreen } from "../../features/details/details_screen";
+import { DigitalTwinsScreen, DigitalTwinsScreenPath } from "../../features/digital_twins/digital_twins_screen";
+import { TopicsScreen, TopicsScreenPath } from "../../features/topics/topics_screen";
+import { SkillsScreen, SkillsScreenPath } from "../../features/skills/skills_screen";
+import { CalculationsTemplateScreenPath } from "../../features/calculations_template/calculations_template_screen";
+import { BehaviorTreeManagerScreen, BehaviorTreeManagerScreenPath } from "../../features/behavior_tree_manager/behavior_tree_manager_screen";
+import { SceneBuilderScreenPath, SceneBuilderScreen } from "../../features/scene_builder/presentation/scene_builder_screen";
const idURL = ":id";
-
export const router = createBrowserRouter([
{
path: AllProjectScreenPath,
element: ,
},
{
- path: PipelineInstanceScreenPath + idURL,
- element: ,
+ path:SceneBuilderScreenPath + idURL,
+ element:
},
-
{
- path: CreateProjectScreenPath,
- element: ,
+ path: SceneManagerPath + idURL,
+ element: ,
},
-
{
path: SceneManagerPath,
element: ,
},
{
- path: BehaviorTreeBuilderPath,
+ path: BehaviorTreeBuilderPath(idURL),
element: ,
},
{
- path: StickObjectsMarkingScreenPath,
- element: ,
+ path: BehaviorTreeBuilderPath(),
+ element: ,
+ },
+ {
+ path: BehaviorTreeBuilderPath + idURL,
+ element: ,
},
{
path: DatasetsScreenPath,
@@ -67,9 +67,32 @@ export const router = createBrowserRouter([
path: SimulationScreenPath,
element: ,
},
-
{
path: EstimateScreenPath,
element: ,
},
+ {
+ path: CalculationInstanceScreenPath,
+ element: ,
+ },
+ {
+ path: DigitalTwinsScreenPath,
+ element: ,
+ },
+ {
+ path: TopicsScreenPath,
+ element: ,
+ },
+ {
+ path: SkillsScreenPath,
+ element: ,
+ },
+ {
+ path: CalculationsTemplateScreenPath,
+ element: ,
+ },
+ {
+ path: BehaviorTreeManagerScreenPath,
+ element: ,
+ },
]);
diff --git a/ui/src/core/store/base_store.ts b/ui/src/core/store/base_store.ts
index 7260dac..b9562f6 100644
--- a/ui/src/core/store/base_store.ts
+++ b/ui/src/core/store/base_store.ts
@@ -1,10 +1,21 @@
import { NavigateFunction } from "react-router-dom";
import { Result } from "../helper/result";
import { UiBaseError } from "../model/ui_base_error";
-import { HttpError } from "../repository/http_repository";
+import { HttpError } from "../repository/core_http_repository";
+import { message } from "antd";
+import { ClassConstructor, plainToInstance } from "class-transformer";
export type CoreError = HttpError | Error;
+export interface Drawer {
+ name: string;
+ status: boolean;
+}
+
+interface IMessage {
+ successMessage?: string;
+ errorMessage?: string;
+}
export abstract class UiLoader {
isLoading = false;
async httpHelper(callBack: Promise>) {
@@ -23,13 +34,19 @@ export abstract class UiLoader {
abstract errorHandingStrategy: (error?: any) => void;
mapOk = async (property: string, callBack: Promise>) => {
- return (
- (await this.httpHelper(callBack))
- // eslint-disable-next-line array-callback-return
- .map((el) => {
- // @ts-ignore
- this[property] = el;
- })
+ return (await this.httpHelper(callBack)).map((el) => {
+ // @ts-ignore
+ this[property] = el;
+ });
+ };
+ messageHttp = async