Added nix flake with frontend & backend packages

.vscode/settings.json

@@ -20,7 +20,6 @@
     "GLTF",
     "grau",
     "idontsudo",
-    "Pids",
     "raycaster",
     "skils",
     "typedataset",

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
+}

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 ]; };
+          }; 
+        }
+      );
+}

p.json

@@ -1,82 +0,0 @@
-{
-    "process": {
-        "type": "OBJECT_DETECTION",
-        "selectProcess": {
-            "value": {
-                "_id": "675db885429ef25f8d2efaa2",
-                "script": "ls -l -a",
-                "formBuilder": {
-                    "result": "",
-                    "context": "",
-                    "form": [],
-                    "output": "",
-                    "type": "formBuilder"
-                },
-                "type": "OBJECT_DETECTION",
-                "instanceName": "ls -l -a",
-                "name": "ls",
-                "isEnd": true,
-                "createDate": "1734195300981",
-                "card": "pose_estimate",
-                "path": "/Users/idontsudo/webservice/server/build/public//process/ls",
-                "instancePath": "/Users/idontsudo/webservice/server/build/public//process/ls/ls -l -a",
-                "project": {
-                    "_id": "675eb125281cf9253681efa3",
-                    "description": "e1wq",
-                    "rootDir": "/Users/idontsudo/webservice/server/build/public/f49f8f47-5427-48aa-8aff-c5e7ae4e6efe",
-                    "isActive": true,
-                    "__v": 0
-                },
-                "__v": 0,
-                "lastProcessExecCommand": "ls -l -a --path /Users/idontsudo/webservice/server/build/public/process/ls/ls -l -a --form /Users/idontsudo/webservice/server/build/public/process/ls/ls -l -a/form.json",
-                "processStatus": "endError",
-                "lastProcessLogs": "ls: unrecognized option `--path'nnusage: ls [-@ABCFGHILOPRSTUWabcdefghiklmnopqrstuvwxy1%,] [--color=when] [-D format] [file ...]n"
-            }
-        }
-    },
-    "datasetObjects": {
-        "details": []
-    },
-    "typedataset": "ObjectDetection",
-    "models_randomization": {
-        "loc_range_low": [
-            -1,
-            -1,
-            0
-        ],
-        "loc_range_high": [
-            1,
-            1,
-            2
-        ]
-    },
-    "scene": {
-        "objects": [],
-        "lights": []
-    },
-    "camera_position": {
-        "center_shell": [
-            0,
-            0,
-            0
-        ],
-        "radius_range": [
-            1,
-            1.4
-        ],
-        "elevation_range": [
-            10,
-            90
-        ]
-    },
-    "generation": {
-        "n_cam_pose": 5,
-        "n_sample_on_pose": 3,
-        "n_series": 100,
-        "image_format": "JPEG",
-        "image_size_wh": [
-            640,
-            480
-        ]
-    }
-}

server/README.md

@@ -1,14 +1 @@
 Веб-сервис для отладки Robossembler Framework
-
-### Миграция данных веб-сервиса
-
-Имеется ввиду перенос данных, хранящихся в БД MongoDB.
-
-Для этого вначале создаётся копия БД с именем `dev` в папке `my_copy`:
-```sh
-mongodump --host localhost --port 27017 --db dev --out my_copy
-```
-Затем папка `my_copy` переносится в нужное место (например, на другой сервер). И запускается её восстановление в новом месте (копия БД с именем `dev`):
-```sh
-mongorestore --host localhost --port 27017 --db dev my_copy/dev
-```

server/command.json

@@ -15,8 +15,8 @@
         "checkCommand": null,
         "filter": null
     },
-    "btRuntimeProcess": {
-        "execCommand": "cd ~/robossembler-ws && source ./install/local_setup.bash; ros2 launch rbs_bt_executor rbs_bt_web.launch.py bt_path:=${bt_path}",
+    "btBuilderProcess": {
+        "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}",
         "date": null,
         "status": null,
         "delay": 0,

server/src/core/controllers/app.ts

@@ -9,9 +9,6 @@ import { dirname } from "path";
 import { CheckAndCreateStaticFilesFolderUseCase } from "../usecases/check_and_create_static_files_folder_usecase";
 import { DataBaseConnectUseCase } from "../usecases/database_connect_usecase";
 import { TypedEvent } from "../helpers/typed_event";
-import { CalculationInstanceDBModel } from "../../features/calculations_instance/models/calculations_instance_database_model";
-import * as fs from "fs";
-import { WriteFileSystemFileUseCase } from "../usecases/write_file_system_file_usecase";
 
 export enum ServerStatus {
   init = "init",
@@ -88,25 +85,7 @@ export class App extends TypedEvent<ServerStatus> {
     this.app.use(express.json());
     this.app.use(express.urlencoded({ extended: true }));
     this.app.use(express.static(App.staticFilesStoreDir()));
-    this.app.get('/logs', async (req, res) => {
-      const id = req.query.id;
 
-      if (id === undefined) {
-        return res.status(400).json('need req query id?=')
-      }
-
-      const calculationInstanceDBModel = await CalculationInstanceDBModel.findById(id)
-      if (calculationInstanceDBModel === null) {
-        return res.status(400).json("calcultaion db model is null");
-      }
-      const p = App.staticFilesStoreDir() + '/log.txt';
-
-      (await new WriteFileSystemFileUseCase().call(p, calculationInstanceDBModel.lastProcessLogs)).map(() => {
-        return res.sendFile(p);
-      })
-
-
-    })
     this.app.use(
       fileUpload({
         createParentPath: true,

server/src/core/controllers/http_controller.ts

@@ -234,7 +234,6 @@ export class CoreHttpController<V> implements ICoreHttpController {
         return res.json(ok);
       },
       (err) => {
-
         return res.status(400).json({ error: String(err) });
       }
     );

server/src/core/models/skill_model.ts

@@ -18,7 +18,7 @@ export class TopicViewModel {
 
 export interface IParam {
   type: string;
-  dependency: object;
+  dependency: Object;
 }
 export interface Skill {
   SkillPackage: ISkillPackage;

server/src/core/scenarios/create_intance_scenario.ts

@@ -7,8 +7,9 @@ export abstract class CreateInstanceScenario<V extends Instance> extends Callbac
   abstract validationModel: V;
   abstract databaseModel: any;
   call = async (model: V): ResponseBase => {
-    model.instancePath = `${model.path.pathNormalize()}/${model.instanceName}`.pathNormalize();
-    model.path = model.path.pathNormalize();
+    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)
     );

server/src/core/scenarios/exec_process_scenario_v2.ts

@@ -1,72 +0,0 @@
-import { Disposable, Listener, TypedEvent } from "../helpers/typed_event";
-import { GetRootDirUseCase } from "../usecases/get_root_dir_usecase"
-import { exec } from 'child_process';
-
-export const activeProcessPids: { [name: string]: { pid: number, status: ProcessStatus } } = {}
-
-export enum ProcessStatus {
-    run = 'run',
-    endError = 'endError',
-    endOk = 'endOk',
-    userDelete = 'userDelete',
-}
-
-class ExecutorProgramServiceV2 extends TypedEvent<{ [name: string]: { pid: number, status: ProcessStatus } }> {}
-
-export const executorProgramServiceV2 = new ExecutorProgramServiceV2();
-class ProcessData {
-    log: string | undefined;
-    status: ProcessStatus;
-    constructor(log: string | undefined, status: ProcessStatus) {
-
-        if (log !== undefined) {
-            this.log = log;
-        }
-        this.status = status;
-
-    }
-}
-abstract class Watcher {
-}
-export abstract class ExecProcessWatcher extends TypedEvent<ProcessData> implements Watcher {
-    logs: string[] = [];
-    status: ProcessStatus;
-    constructor() {
-        super();
-        this.on((event) => {
-            if (event.log !== undefined) {
-                this.logs.push(event.log);
-            }
-            this.status = event.status;
-            if (event.status.isEqualMany([ProcessStatus.endError, ProcessStatus.endOk])) {
-                this.result()
-            }
-        })
-    }
-    abstract result(): Promise<any>
-
-}
-export class ExecProcessScenarioV2 {
-    call = (command: string, watcher: ExecProcessWatcher, name?: string): void => {
-        const process = exec(command, { cwd: new GetRootDirUseCase().call() });
-        if (process.pid) {
-            activeProcessPids[name ?? command] = { pid: process.pid, status: ProcessStatus.run };
-            executorProgramServiceV2.emit(activeProcessPids);
-        }
-        process.stdout.on('data', (data) => watcher.emit(new ProcessData(data, ProcessStatus.run)))
-        process.stderr.on('data', (data) => watcher.emit(new ProcessData(data, ProcessStatus.run)));
-        process.on('close', (code) => {
-            if (code === 0) {
-                watcher.emit(new ProcessData(undefined, ProcessStatus.endOk))
-                activeProcessPids[name ?? command] = { pid: process.pid ?? 0, status: ProcessStatus.endOk }
-                executorProgramServiceV2.emit(activeProcessPids);
-            } else {
-                watcher.emit(new ProcessData(undefined, ProcessStatus.endError))
-                activeProcessPids[name ?? command] = { pid: process.pid ?? 0, status: ProcessStatus.endError };
-                executorProgramServiceV2.emit(activeProcessPids);
-            }
-        });
-
-        process.on('error', (err) => watcher.emit(new ProcessData(err.message, ProcessStatus.endError)));
-    }
-}

server/src/core/services/executor_program_service.ts

@@ -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) {

server/src/core/usecases/exec_process_usecase.ts

@@ -7,7 +7,6 @@ import { ExecutorResult } from "../models/executor_result";
 import { ExecutorProgramService } from "../services/executor_program_service";
 
 export const executorProgramService = new ExecutorProgramService("");
-
 export class KillLastProcessUseCase extends CallbackStrategyWithEmpty {
   call = async (): Promise<Result<undefined, string>> => {
     executorProgramService.deleteWorker();

server/src/core/usecases/get_root_dir_usecase.ts

@@ -1,5 +0,0 @@
-import * as os from 'os';
-
-export class GetRootDirUseCase {
-    call = (): string => os.homedir()
-}

server/src/features/behavior_trees/behavior_trees_presentation.ts

@@ -8,9 +8,6 @@ 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";
-import { DeleteBehaviorTreeScenario } from "./domain/delete_behavior_tree_scenario";
-
-
 
 export class BehaviorTreesPresentation extends CrudController<BehaviorTreeValidationModel, typeof BehaviorTreeDBModel> {
   constructor() {
@@ -46,11 +43,6 @@ export class BehaviorTreesPresentation extends CrudController<BehaviorTreeValida
       subUrl: "topics",
       fn: new GetTopicsUseCase()
     })
-    this.subRoutes.push({
-      method: "POST",
-      subUrl: "delete/bt",
-      fn: new DeleteBehaviorTreeScenario(),
-    })
   }
 }
 

server/src/features/behavior_trees/domain/delete_behavior_tree_scenario.ts

@@ -1,16 +0,0 @@
-import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller";
-import { StaticFilesProject } from "../../../core/models/static_files";
-import { DeleteDataBaseModelUseCase } from "../../../core/usecases/delete_database_model_usecase";
-import { DeleteRecursiveFolderUseCase } from "../../../core/usecases/delete_recursive_folder_usecase";
-import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_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 { BehaviorTreeDBModel } from "../models/behavior_tree_database_model";
-
-export class DeleteBehaviorTreeScenario extends CallbackStrategyWithIdQuery {
-    idValidationExpression: CoreValidation = new MongoIdValidation();
-    call = async (id: string): ResponseBase => (
-        await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({ isActive: true }, "no active projects")
-    ).map(async (model) => (await (new DeleteRecursiveFolderUseCase().call(`${model.rootDir}/${StaticFilesProject.behaviorTrees}`))).map(async () => (await new DeleteDataBaseModelUseCase(BehaviorTreeDBModel).call(id))));
-}

server/src/features/behavior_trees/models/behavior_tree_validation_model.ts

@@ -2,13 +2,12 @@ import { IsMongoId, IsNumber, IsString } from "class-validator";
 import { IBehaviorTreeModel } from "./behavior_tree_database_model";
 
 export class BehaviorTreeValidationModel implements IBehaviorTreeModel {
-  _id: string;
   @IsString()
   public name: string;
   @IsMongoId()
-  public project: string;
-  public skills: any;
-  public xml: string;
+  public project:string;
+  public skills:any;
+  public xml:string;
   @IsNumber()
   public unixTime: number
 }

server/src/features/calculations_instance/calculations_instance_presentation.ts

@@ -4,8 +4,6 @@ import { CalculationInstanceValidationModel } from "./models/calculations_instan
 import { CalculationInstanceDBModel } from "./models/calculations_instance_database_model";
 import { CreateCalculationInstanceScenario } from "./domain/create_calculation_instance_scenario";
 import { DeleteCalculationsInstanceScenario } from "./domain/delete_calculations_instance_scenario";
-import { GetAllEndCalculationsInstanceActiveProjectScenarios } from "./domain/get_all_end_calculations_instance_active_project_scenarios";
-
 
 export class CalculationsInstancesPresentation extends CrudController<
   CalculationInstanceValidationModel,
@@ -20,12 +18,7 @@ export class CalculationsInstancesPresentation extends CrudController<
 
     super.delete(new DeleteCalculationsInstanceScenario().call);
     super.post(new CreateCalculationInstanceScenario().call);
-    this.subRoutes.push({
-      method: "POST",
-      subUrl: "get/all/end/calculations",
-      //@ts-expect-error
-      fn: new GetAllEndCalculationsInstanceActiveProjectScenarios(),
-    })
+    
     this.subRoutes.push({
       method: "GET",
       subUrl: "exec",

server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts

@@ -7,21 +7,7 @@ import { ProcessWatcherAndDatabaseUpdateService } from "../../datasets/domain/cr
 import { CalculationInstanceDBModel, ICalculationInstance } from "../models/calculations_instance_database_model";
 import { Result } from "../../../core/helpers/result";
 import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase";
-import { ExecProcessScenarioV2, ExecProcessWatcher } from "../../../core/scenarios/exec_process_scenario_v2";
-class ExecProcess extends ExecProcessWatcher {
-  id: string;
-  constructor(id: string) {
-    super()
-    this.id = id;
-  }
-  result = async (): Promise<any> => (await new ReadByIdDataBaseModelUseCase<ICalculationInstance>(CalculationInstanceDBModel).call(this.id)).map(async (model) => {
-    model.lastProcessLogs = this.logs.join('\n')
-    model.processStatus = this.status;
-    // @ts-ignore
-    await model.save()
-  });
 
-}
 export class ExecCalculationInstanceProcessScenario extends CallbackStrategyWithIdQuery {
   idValidationExpression = new MongoIdValidation();
   call = async (id: string): ResponseBase =>
@@ -37,9 +23,13 @@ export class ExecCalculationInstanceProcessScenario extends CallbackStrategyWith
             processStatus: "RUN",
             lastProcessExecCommand: execCommand,
           });
-          
-          new ExecProcessScenarioV2().call(execCommand, new ExecProcess(model._id))
-
+          new ExecProcessUseCase().call(
+            // @ts-expect-error
+            `${model.project.rootDir}/`,
+            execCommand,
+            id,
+            new ProcessWatcherAndDatabaseUpdateService(id as unknown as ObjectId, CalculationInstanceDBModel)
+          );
           return Result.ok("OK");
         });
       }

server/src/features/calculations_instance/domain/get_all_end_calculations_instance_active_project_scenarios.ts

@@ -1,20 +0,0 @@
-import { IsString } from "class-validator";
-import { CallbackStrategyWithValidationModel, 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 CalculationInstanceType {
-    @IsString()
-    type: string;
-}
-
-export class GetAllEndCalculationsInstanceActiveProjectScenarios extends CallbackStrategyWithValidationModel<CalculationInstanceType> {
-    validationModel: CalculationInstanceType = new CalculationInstanceType();
-    call = async (model: CalculationInstanceType): ResponseBase => (await new GetActiveProjectIdScenario().call()).map(
-        async (activeProjectModel) => await new SearchManyDataBaseModelUseCase<ICalculationInstance>(CalculationInstanceDBModel).call({ project: activeProjectModel.id, isEnd: true, type: model.type }),
-    );
-
-
-}

server/src/features/calculations_instance/domain/log_to_text_proces_usecase.ts

@@ -1,11 +0,0 @@
-import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller";
-import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_database_model_usecase";
-import { CoreValidation } from "../../../core/validations/core_validation";
-import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
-import { ICalculationInstance, CalculationInstanceDBModel } from "../models/calculations_instance_database_model";
-
-// export class LogToProcessUseCase extends CallbackStrategyWithIdQuery {
-//     idValidationExpression: CoreValidation = new MongoIdValidation();
-//     call = async (id: string): ResponseBase => (await new ReadByIdDataBaseModelUseCase<ICalculationInstance>(CalculationInstanceDBModel).call(id)).map((model) => );
-
-// } 

server/src/features/calculations_instance/models/calculations_instance_database_model.ts

@@ -3,7 +3,6 @@ import { FormBuilderValidationModel } from "../../datasets/models/dataset_valida
 import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model";
 
 export interface ICalculationInstance {
-  _id: string;
   script: string;
   instancePath: string;
   formBuilder: FormBuilderValidationModel;
@@ -62,7 +61,6 @@ export const CalculationInstanceSchema = new Schema({
   instancePath: {
     type: String,
   },
-
   project: {
     type: Schema.Types.ObjectId,
     ref: projectSchema,

server/src/features/calculations_instance/models/calculations_instance_validation_model.ts

@@ -4,7 +4,6 @@ import { FormBuilderValidationModel } from "../../datasets/models/dataset_valida
 import { IProjectModel } from "../../projects/models/project_model_database_model";
 
 export class CalculationInstanceValidationModel implements ICalculationInstance {
-  _id: string;
   @IsNotEmpty()
   @IsString()
   instanceName: string;

server/src/features/datasets/models/dataset_validation_model.ts

@@ -15,7 +15,6 @@ export enum ProcessStatus {
   END = "END",
   ERROR = "ERROR",
   NEW = "NEW",
-  
 }
 export interface IDatasetModel {
   _id?: string;

server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts

@@ -21,7 +21,8 @@ export class ExecInstanceScenario extends CallbackStrategyWithIdQuery {
       await new ReadByIdDataBaseModelUseCase<IDigitalTwinsInstanceModel>(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(

server/src/features/projects/domain/get_active_project_id_scenario.ts

@@ -4,8 +4,9 @@ import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_dat
 import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model";
 
 export class GetActiveProjectIdScenario extends CallbackStrategyWithEmpty {
-  call = async (): Promise<Result<any, { id: string }>> => (
+  async call(): Promise<Result<any, { id: string }>> {
+    return (
       await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({ isActive: true }, "no active projects")
     ).map((model) => Result.ok({ id: model._id }));
+  }
 }
-

server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts

@@ -35,6 +35,7 @@ export class RobossemblerAssetsNetworkMapperScenario extends CallbackStrategyWit
             "/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`;

server/src/features/runtime/domain/exec_bt_builder_usecase.ts

@@ -1,53 +1,7 @@
-import {
-  CallbackStrategyWithIdQuery,
-  CallbackStrategyWithValidationModel,
-  ResponseBase,
-} from "../../../core/controllers/http_controller";
-import { StaticFilesProject } from "../../../core/models/static_files";
-import {
-  ExecProcessScenarioV2,
-  ExecProcessWatcher,
-  activeProcessPids,
-} from "../../../core/scenarios/exec_process_scenario_v2";
-import { ReadByIdDataBaseModelScenario } from "../../../core/scenarios/read_by_id_database_model_scenario";
-import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
-import { CoreValidation } from "../../../core/validations/core_validation";
-import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
-import { BehaviorTreeDBModel } from "../../behavior_trees/models/behavior_tree_database_model";
-import { BehaviorTreeValidationModel } from "../../behavior_trees/models/behavior_tree_validation_model";
-import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
-import { GetCommandScenario } from "./get_command_scenario";
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
 
-class ProcessWatcher extends ExecProcessWatcher {
-  async result(): Promise<any> {
-    console.log(this);
+export class ExecBtBuilderUseCase extends CallbackStrategyWithEmpty {
+  call(): ResponseBase {
+    throw new Error("Method not implemented.");
   }
 }
-
-export enum Proceed {
-  EXEC_BT = "EXEC_BT",
-}
-export class ExecBtScenario extends CallbackStrategyWithIdQuery {
-  idValidationExpression: CoreValidation = new MongoIdValidation();
-  call = async (id: string): ResponseBase =>
-    (await new ReadByIdDataBaseModelScenario<BehaviorTreeValidationModel>(BehaviorTreeDBModel).call(id)).map(
-      async (behaviorTreeValidationModel) =>
-        (
-          await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
-            { isActive: true },
-            "no active projects"
-          )
-        ).map(async (model) =>
-          (await new GetCommandScenario().call("btRuntimeProcess")).map((execProcessData) =>
-            new ExecProcessScenarioV2().call(
-              execProcessData.execCommand.replace(
-                "${bt_path}",
-                `${model.rootDir}/${StaticFilesProject.behaviorTrees}/${behaviorTreeValidationModel.name}/bt.xml`
-              ),
-              new ProcessWatcher(),
-              Proceed.EXEC_BT
-            )
-          )
-        )
-    );
-}

server/src/features/runtime/domain/get_run_time_statuses_usecase.ts

@@ -1,7 +0,0 @@
-import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
-import { Result } from "../../../core/helpers/result";
-import { activeProcessPids } from "../../../core/scenarios/exec_process_scenario_v2";
-
-export class GetRunTimeStatuses extends CallbackStrategyWithEmpty {
-    call = async (): ResponseBase => Result.ok(activeProcessPids);
-}

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("");
+}

server/src/features/runtime/domain/stop_process_usecase.ts

@@ -1,51 +0,0 @@
-import { IsString } from "class-validator";
-import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
-import { ProcessStatus, activeProcessPids } from "../../../core/scenarios/exec_process_scenario_v2";
-import { Result } from "../../../core/helpers/result";
-import { GetRootDirUseCase } from "../../../core/usecases/get_root_dir_usecase";
-import { exec } from 'child_process';
-
-
-export class StopProcessModel {
-    @IsString()
-    pid: string
-}
-
-export class StopProcessUseCase extends CallbackStrategyWithValidationModel<StopProcessModel> {
-    validationModel: StopProcessModel = new StopProcessModel();
-    call = async (model: StopProcessModel): ResponseBase => {
-        try {
-            if (activeProcessPids[model.pid] === undefined) {
-                return Result.error('missing pid');
-            }
-            const processKillStatus = await new Promise<string>((resolve, reject) => {
-                try {
-                    exec(`kill ${activeProcessPids[model.pid].pid}`, { cwd: new GetRootDirUseCase().call() }, (error, stdout, stderr) => {
-                        if (error) {
-                            reject(`Ошибка: ${stderr}`); return;
-                        }
-                        if (stderr) {
-                            reject(`Ошибка: ${stderr}`);
-                            return;
-                        }
-
-                        resolve('Process kill')
-
-                    });
-                } catch (e) {
-                    resolve('Process kill')
-                }
-
-            })
-            if (processKillStatus == 'Process kill') {
-                activeProcessPids[model.pid].status = ProcessStatus.userDelete;
-            }
-            return Result.ok(processKillStatus);
-        } catch (error) {
-            return Result.ok(error)
-        }
-
-
-    }
-
-}

server/src/features/runtime/runtime_presentation.ts

@@ -1,19 +1,42 @@
-
+import { CrudController } from "../../core/controllers/crud_controller";
 import { ExecRunTimeCommandValidationModel } from "./model/run_time_validation_model";
-import { CoreHttpController, SubRouter, CallbackStrategyWithIdQuery } from "../../core/controllers/http_controller";
-import { ExecBtScenario } from "./domain/exec_bt_builder_usecase";
-import { GetRunTimeStatuses } from "./domain/get_run_time_statuses_usecase";
-import { StopProcessUseCase } from "./domain/stop_process_usecase";
+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 {
 
-export class RunTimePresentation extends CoreHttpController<ExecRunTimeCommandValidationModel> {
+  idValidationExpression: CoreValidation = new MongoIdValidation()
+  call = async (id: string) =>
+    (await new ReadByIdDataBaseModelUseCase<ICalculationInstance>(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<ExecRunTimeCommandValidationModel, any> {
   constructor() {
     super({
       url: "run_time",
     });
 
-    this.subRoutes.push(new SubRouter<any>("POST", "exec/bt", new ExecBtScenario()));
-    this.subRoutes.push(new SubRouter("GET", "status", new GetRunTimeStatuses()));
-    this.subRoutes.push(new SubRouter<any>("POST", "kill", new StopProcessUseCase()))
+    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(),
+    });
   }
 }

server/src/main.ts

@@ -3,11 +3,11 @@ 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 { executorProgramServiceV2 } from "./core/scenarios/exec_process_scenario_v2";
+import { SpawnProcessUseCase, executorProgramService } from "./core/usecases/exec_process_usecase";
+import { ProcessWatcher } from "./features/runtime/service/process_watcher";
 
 extensions();
 
-const socketSubscribers = [new SocketSubscriber(executorProgramService, "realtime"), new SocketSubscriber(executorProgramServiceV2, 'realtimeV2',)];
+const socketSubscribers = [new SocketSubscriber(executorProgramService, "realtime")];
 
 new App(httpRoutes, socketSubscribers).listen();

ui/src/core/extensions/array.ts

@@ -1,14 +1,7 @@
-/* eslint-disable no-extend-native */
 import { Result } from "../helper/result";
 
 /* eslint-disable @typescript-eslint/no-this-alias */
 export const ArrayExtensions = () => {
-  if (Array.prototype.plus === undefined) {
-    Array.prototype.plus = function (array) {
-      array.forEach((el) => this.push(el))
-      return this;
-    }
-  }
   if ([].indexOfR === undefined) {
     Array.prototype.indexOfR = function (element) {
       if (this.indexOf(element) === -1) {
@@ -17,11 +10,6 @@ export const ArrayExtensions = () => {
       return Result.ok(this);
     };
   }
-  if ([].whereOne === undefined) {
-    Array.prototype.whereOne = function (predicate) {
-      return this.filter(predicate).atR(0);
-    }
-  }
   if ([].atR === undefined) {
     Array.prototype.atR = function (index) {
       if (index === undefined) {

ui/src/core/extensions/extensions.ts

@@ -30,8 +30,6 @@ declare global {
     someR(predicate: (value: T) => boolean): Result<void, Array<T>>;
     updateAll(value: Partial<T>): Array<T>;
     atR(index: number | undefined): Result<void, T>;
-    whereOne(predicate: (value: T) => boolean): Result<void, T>;
-    plus(array: any[]): Array<T>
   }
   interface Date {
     formatDate(): string;

ui/src/core/model/form_builder_validation_model.tsx

@@ -1,15 +1,23 @@
 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 {
+  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 {
+export class FormBuilderValidationModel
+  extends ValidationModel
+  implements DependencyViewModel
+{
   @IsNotEmpty()
   @IsString()
   public result: string;
+  @IsNotEmpty()
   @IsString()
   public context: string;
   public form: string[];
@@ -28,26 +36,22 @@ export class FormBuilderValidationModel extends ValidationModel implements Depen
     formBuilderValidationModel.context.isEmpty() &&
     formBuilderValidationModel.result.isEmpty() &&
     formBuilderValidationModel.form.isEmpty();
-  static test = () => new FormBuilderValidationModel(ffContext, ff1Result, [], "");
+  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 eee = () =>
     new FormBuilderValidationModel(
-      ``,
-      `{
-    "robot_name": \${ROBOT_NAME:string:rbs_arm},
-    "pose": {
-      "position":  { "x": \${X:number:0.1}, "y": \${Y:number:0.1}, "z": \${Z:number:0.7} },
-      "orientation":  { "x": \${X:number:0.1}, "y": \${Y:number:0.1}, "z": \${Z:number:0.7} }
-    }
-  }`,
+      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(
       `
@@ -92,7 +96,6 @@ export class FormBuilderValidationModel extends ValidationModel implements Depen
       };`,
       `
       {
-        "process":\${<SelectProcess/>:OBJECT:{"type": "OBJECT_DETECTION"},
         "datasetObjects":\${<SelectDetail/>:OBJECT:{"details": []},
         "typedataset": \${typedataset:Enum<T>:ObjectDetection},
         "models_randomization":{
@@ -139,6 +142,3 @@ export const ff1Result = `{
   "empty":\${NAME:string:default},
   "params": \${ITEM:Array<ITEM>:[]}
 }`;
-// {
-//   "process":\${<SelectProcess/>:OBJECT:{"type": "OBJECT_DETECTION"}
-// }

ui/src/core/model/skill_model.ts

@@ -36,7 +36,7 @@ export interface IWeightsDependency {
 export interface IDeviceDependency {
   sid: string;
 }
-export interface IDependency { }
+export interface IDependency {}
 export interface IParam {
   isFilled: boolean;
   type: string;
@@ -276,7 +276,7 @@ export class SkillModel extends ValidationModel implements ISkill {
 }
 
 export class SkillDependency implements IDependency {
-  constructor(public skills: ISkillDependency[]) { }
+  constructor(public skills: ISkillDependency[]) {}
   static empty() {
     return new SkillDependency([]);
   }
@@ -424,18 +424,15 @@ export class Skills {
       .flat(1)
       .filter((el) => el !== "");
 
-  getDependencyBySkillLabelAndType = (skillType: string, sid: string): DependencyViewModel => this.skills
+  getDependencyBySkillLabelAndType = (skillType: string, sid: string): DependencyViewModel =>
+    this.skills
       .reduce<DependencyViewModel[]>((acc, skill) => {
         if (skill.sid?.isEqual(sid)) {
           skill.BTAction.map((action) => {
             action.param.map((param) => {
-
-            if (param.type.isEqual(skillType)) {
-
-
+              if (param.type.isEqualR(skillType)) {
                 acc.push(param?.dependency ?? DependencyViewModel.empty());
               }
-
               return param;
             });
             return action;
@@ -444,7 +441,7 @@ export class Skills {
 
         return acc;
       }, [])
-    .at(0) ?? DependencyViewModel.empty()
+      .at(0) ?? DependencyViewModel.empty();
   static isEmpty(model: Skills): Result<void, void> {
     if (model.skills.isEmpty()) {
       return Result.error(undefined);

ui/src/core/model/validation_model.ts

@@ -1,4 +1,3 @@
-import { message } from "antd";
 import { Result } from "../helper/result";
 import { validate, ValidationError } from "class-validator";
 
@@ -27,12 +26,4 @@ export class ValidationModel {
       return Result.ok(this as unknown as T);
     }
   };
-  validMessage = async<T>(): Promise<Result<string, T>> => {
-    const result = await this.valid<T>();
-
-    if (result.isFailure()) {
-      message.error(result.error);
-    }
-    return result;
-  }
 }

ui/src/core/repository/core_http_repository.ts

@@ -141,6 +141,5 @@ export class CoreHttpRepository extends HttpRepository {
     return this._jsonRequest<UUID>(HttpMethod.GET, "/projects/get/active/project/id");
   }
   getAllScenes = () => this._jsonRequest<SceneModel[]>(HttpMethod.GET, "/scenes");
-  getAllTopics = () => this._jsonRequest(HttpMethod.GET, `/topics`);
-
 }
+ 

ui/src/core/repository/core_socket_repository.ts

@@ -1,27 +1,23 @@
 import { Socket, io } from "socket.io-client";
 import { Result } from "../helper/result";
 import { TypedEvent } from "../helper/typed_event";
-import { RuntimeModel } from "../../features/behavior_tree_builder/presentation/ui/actions/runtime_actions";
 
 export class SocketRepository extends TypedEvent<any> {
   serverURL = "ws://localhost:4001";
   socket: Socket | undefined;
   
-  async connect(): Promise<Result<boolean, boolean>> {
+  async connect():Promise<Result<boolean, boolean>> {
     const socket = io(this.serverURL);
     
     this.socket = socket;
     socket.connect();
-    socketCoreInstances.forEach((el) => {
-      socket.on(el.event, (event) => el.emit(event))
-    })
-    socket.on('realtime', (d) => {
+    socket.on('realtime', (d) =>{
       this.emit({
-        event: "realtime",
-        payload: d
+        event:"realtime",
+        payload:d
       })
     })
-    if (socket.connected) {
+    if(socket.connected){
       return Result.ok(true)
     }
     return Result.error(false)
@@ -30,14 +26,3 @@ export class SocketRepository extends TypedEvent<any> {
 }
 
 export const socketRepository = new SocketRepository()
-
-
-export abstract class SocketCore<T> extends TypedEvent<T> {
-  abstract event: string
-
-}
-export class RunTimeSocketRepository extends SocketCore<RuntimeModel> {
-  event = 'realtimeV2';
-}
-export const runTimeSocketRepository = new RunTimeSocketRepository();
-const socketCoreInstances: SocketCore<any>[] = [runTimeSocketRepository]

ui/src/core/store/base_store.ts

@@ -17,7 +17,6 @@ interface IMessage {
   errorMessage?: string;
 }
 export abstract class UiLoader {
-  navigate?: NavigateFunction;
   isLoading = false;
   async httpHelper<T>(callBack: Promise<Result<any, T>>) {
     this.isLoading = true;
@@ -76,7 +75,7 @@ export abstract class UiErrorState<T> extends UiLoader {
     console.log(error);
   };
   abstract init(navigate?: NavigateFunction): Promise<any>;
-  dispose() { }
+  dispose() {}
   errors: UiBaseError[] = [];
 }
 
@@ -127,17 +126,7 @@ export abstract class FormState<V, E> extends UiErrorState<E> {
   loadClassInstance = (instance: ClassConstructor<V>, viewModel: V) => {
     this.viewModel = plainToInstance(instance, viewModel);
   };
-  isModalOpen: boolean = false;
-  modalShow = () => {
-    this.isModalOpen = true;
-  };
-
-  modalClickOk = () => {
-    this.isModalOpen = false;
-  };
-
-  modalCancel = () => {
-    this.isModalOpen = false;
-  };
 }
  
+
+ 

ui/src/core/ui/drawer/drawer.tsx

@@ -7,20 +7,20 @@ export const DrawerV2: React.FC<{
   title?: string;
   onClose: () => void;
   children: React.ReactNode;
-  width?: number;
-}> = ({ isOpen, onClose, children, title, width }) => {
+}> = ({ isOpen, onClose, children, title }) => {
   return (
     <div
       style={{
         position: "fixed",
         top: 0,
-        right: isOpen ? 0 : (width ?? 300) * -1,
-        width: width ?? 300,
+        right: isOpen ? 0 : -300,
+        width: 300,
         height: "100%",
-        backgroundColor: "#880ef8",
+        backgroundColor: themeStore.theme.darkSurface,
         boxShadow: "-2px 0 5px rgba(0, 0, 0, 0.5)",
         transition: "right 0.3s ease",
         zIndex: 1000,
+        
       }}
     >
       <div style={{ height: "100%", width: "100%" }}>

ui/src/core/ui/form_builder/form_builder.tsx

@@ -1,5 +1,9 @@
 import * as React from "react";
-import { FormViewModel, InputBuilderViewModel, InputType } from "./form_view_model";
+import {
+  FormViewModel,
+  InputBuilderViewModel,
+  InputType,
+} from "./form_view_model";
 import { observer } from "mobx-react-lite";
 import { FormBuilderStore } from "./form_builder_store";
 import { CoreSelect } from "../select/select";
@@ -9,8 +13,12 @@ import { CoreText, CoreTextType } from "../text/text";
 import { getFormBuilderComponents } from "./forms/form_builder_components";
 import { FormBuilderValidationModel } from "../../model/form_builder_validation_model";
 
-export const FormBuilder = observer(
-  (props: { formBuilder: FormBuilderValidationModel; onChange: (change: FormBuilderValidationModel) => void }) => {
+export interface IFormBuilder {
+  formBuilder: FormBuilderValidationModel;
+  onChange: (change: FormBuilderValidationModel) => void;
+}
+
+export const FormBuilder = observer((props: IFormBuilder) => {
   const [store] = React.useState(() => new FormBuilderStore());
 
   React.useEffect(() => {
@@ -42,7 +50,9 @@ export const FormBuilder = observer(
                   key={index}
                   items={values}
                   value={element.totalValue ?? element.defaultValue}
-                    onChange={(value) => store.changeTotalValue(element.id, value)}
+                  onChange={(value) =>
+                    store.changeTotalValue(element.id, value)
+                  }
                   label={element.name}
                   style={{ margin: 20 }}
                 />
@@ -50,7 +60,10 @@ export const FormBuilder = observer(
             }
             if (element.type?.isEqual(InputType.ARRAY)) {
               return (
-                  <div key={index} style={{ border: "1px black solid", margin: 20 }}>
+                <div
+                  key={index}
+                  style={{ border: "1px black solid", margin: 20 }}
+                >
                   <div
                     style={{
                       display: "flex",
@@ -74,49 +87,91 @@ export const FormBuilder = observer(
                             return (
                               <div style={{ margin: 20 }}>
                                 <div style={{ display: "flex" }}>
-                                    <CoreText text={(element.subType ?? "") + ` ${index}`} type={CoreTextType.medium} />
+                                  <CoreText
+                                    text={(element.subType ?? "") + ` ${index}`}
+                                    type={CoreTextType.medium}
+                                  />
                                   <Icon
                                     style={{ paddingLeft: 20 }}
                                     type="DeleteCircle"
-                                      onClick={() => store.deleteTotalValueSubItem(element.id, index)}
+                                    onClick={() =>
+                                      store.deleteTotalValueSubItem(
+                                        element.id,
+                                        index
+                                      )
+                                    }
                                   />
                                 </div>
 
-                                  {subArray.map((subSubArrayItem: InputBuilderViewModel, subIndex: number) => {
-                                    if (subSubArrayItem.type.isEqual(InputType.ENUM)) {
+                                {subArray.map(
+                                  (
+                                    subSubArrayItem: InputBuilderViewModel,
+                                    subIndex: number
+                                  ) => {
+                                    if (
+                                      subSubArrayItem.type.isEqual(
+                                        InputType.ENUM
+                                      )
+                                    ) {
                                       return (
                                         <>
                                           <CoreSelect
-                                            items={subSubArrayItem.values?.map((el) => String(el)) ?? []}
-                                            value={subSubArrayItem.totalValue ?? subSubArrayItem.defaultValue}
-                                            onChange={(value) => console.log(subSubArrayItem.id)}
+                                            items={
+                                              subSubArrayItem.values?.map(
+                                                (el) => String(el)
+                                              ) ?? []
+                                            }
+                                            value={
+                                              subSubArrayItem.totalValue ??
+                                              subSubArrayItem.defaultValue
+                                            }
+                                            onChange={(value) => console.log(subSubArrayItem.id)
+                                            }
                                             label={element.name}
                                             style={{ margin: 5 }}
                                           />
                                         </>
                                       );
                                     }
-                                    if (subSubArrayItem.type.isEqualMany([InputType.NUMBER, InputType.STRING]))
+                                    if (
+                                      subSubArrayItem.type.isEqualMany([
+                                        InputType.NUMBER,
+                                        InputType.STRING,
+                                      ])
+                                    )
                                       return (
                                         <div>
                                           <CoreInput
-                                            
+                                            isFormBuilder={true}
                                             style={{ margin: 5 }}
-                                            onChange={(e) => store.changeTotalSubValue(element.id, subIndex, e, index)}
+                                            onChange={(e) =>
+                                              store.changeTotalSubValue(
+                                                element.id,
+                                                subIndex,
+                                                e,
+                                                index
+                                              )
+                                            }
                                             validation={
-                                              subSubArrayItem.type.isEqual(InputType.NUMBER)
+                                              subSubArrayItem.type.isEqual(
+                                                InputType.NUMBER
+                                              )
                                                 ? (el) => Number().isValid(el)
                                                 : undefined
                                             }
                                             error="только числа"
-                                            value={subSubArrayItem.totalValue ?? subSubArrayItem.defaultValue}
+                                            value={
+                                              subSubArrayItem.totalValue ??
+                                              subSubArrayItem.defaultValue
+                                            }
                                             label={subSubArrayItem.name}
                                           />
                                         </div>
                                       );
 
                                     return <>Error</>;
-                                  })}
+                                  }
+                                )}
                               </div>
                             );
                           })
@@ -131,8 +186,12 @@ export const FormBuilder = observer(
               return (
                 <div>
                   <CoreInput
-                      
-                      validation={element.type.isEqual(InputType.NUMBER) ? (el) => Number().isValid(el) : undefined}
+                    isFormBuilder={true}
+                    validation={
+                      element.type.isEqual(InputType.NUMBER)
+                        ? (el) => Number().isValid(el)
+                        : undefined
+                    }
                     onChange={(e) => {
                       store.changeTotalValue(element.id, e);
                     }}
@@ -147,7 +206,10 @@ export const FormBuilder = observer(
               return (
                 <>
                   {getFormBuilderComponents(
-                      element.name.replace(">", "").replace("<", "").replace("/", ""),
+                    element.name
+                      .replace(">", "")
+                      .replace("<", "")
+                      .replace("/", ""),
                     element.totalValue ?? element.defaultValue,
                     (text) => store.changeTotalValue(element.id, text)
                   ).fold(
@@ -166,5 +228,4 @@ export const FormBuilder = observer(
       )}
     </div>
   );
-  }
-);
+});

ui/src/core/ui/form_builder/form_view_model.ts

@@ -190,9 +190,8 @@ export class FormViewModel {
     });
     return result as unknown as string;
   }
-  static fromString(result: string = '', context: string = ''): Result<void, FormViewModel> {
+  static fromString(result: string, context: string): Result<void, FormViewModel> {
     try {
-
       if (result.isEmpty() && context.isEmpty()) {
         return Result.error(undefined);
       }

ui/src/core/ui/form_builder/forms/form_builder_components.tsx

@@ -1,10 +1,10 @@
 import { Result } from "../../../helper/result";
-import { SelectProcess } from "./select_dataset/presentation/select_process";
+import { SelectDatasetScreen } from "./select_dataset/presentation/select_dataset_screen";
 import { SelectDetail } from "./select_detail/presentation/select_detail_screen";
 
 export enum FormBuilderComponents {
   SelectDetail = "SelectDetail",
-  SelectProcess = "SelectProcess",
+  SelectDataset = "SelectDataset",
 }
 export interface IFormBuilderComponentsProps<T> {
   dependency: T;
@@ -18,8 +18,8 @@ export const getFormBuilderComponents = (
   if (name.isEqual(FormBuilderComponents.SelectDetail)) {
     return Result.ok(<SelectDetail dependency={dependency} onChange={onChange} />);
   }
-  if (name.isEqual(FormBuilderComponents.SelectProcess)) {
-    return Result.ok(<SelectProcess dependency={dependency} onChange={onChange} />);
+  if (name.isEqual(FormBuilderComponents.SelectDataset)) {
+    return Result.ok(<SelectDatasetScreen dependency={dependency} onChange={onChange} />);
   }
   return Result.error(name);
 };

ui/src/core/ui/form_builder/forms/select_dataset/data/select_process_repository.ts

@@ -1,5 +0,0 @@
-import { CoreHttpRepository, HttpMethod } from "../../../../../repository/core_http_repository";
-
-export class SelectProcessRepository extends CoreHttpRepository {
-    getAllProcessByType = (type: string) => this._jsonRequest(HttpMethod.POST, '/calculations/instances/get/all/end/calculations', { type: type })
-}

ui/src/core/ui/form_builder/forms/select_dataset/model/select_process_model.ts

@@ -1,18 +0,0 @@
-import { IsObject, IsString } from "class-validator";
-import { ValidationModel } from "../../../../../model/validation_model";
-import { CalculationModel } from "../../../../../../features/calculation_instance/model/calculation_model";
-
-
-export class SelectProcessModel extends ValidationModel {
-    @IsString()
-    type: string = '';
-    @IsObject()
-    selectProcess?: SelectProcess;
-}
-
-
-
-export interface SelectProcess {
-    value: CalculationModel;
-}
- 

ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_screen.tsx

@@ -0,0 +1,6 @@
+import { observer } from "mobx-react-lite";
+import { IFormBuilderComponentsProps } from "../../form_builder_components";
+
+export const SelectDatasetScreen = observer((props:IFormBuilderComponentsProps<any>) => {
+  return <>SELECT DATASET</>;
+});

ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_process.tsx

@@ -1,48 +0,0 @@
-import React, { useState } from "react";
-import { observer } from "mobx-react-lite";
-import { IFormBuilderComponentsProps } from "../../form_builder_components";
-import { useStore } from "../../../../../helper/use_store";
-import { SelectProcessStore } from "./select_process_store";
-import { useEffect } from "react";
-import { SelectProcessModel } from "../model/select_process_model";
-import { Loader } from "../../../../loader/loader";
-import { CoreSelect } from "../../../../select/select";
-import { message } from "antd";
-import { CalculationModel } from "../../../../../../features/calculation_instance/model/calculation_model";
-
-export const SelectProcess = observer((props: IFormBuilderComponentsProps<SelectProcessModel>) => {
-  const [store] = useState(new SelectProcessStore());
-  useEffect(() => {
-    if (typeof props.dependency === "string") {
-      store.loadClassInstance(SelectProcessModel, JSON.parse(props.dependency));
-    } else {
-      store.loadClassInstance(SelectProcessModel, props.dependency);
-    }
-
-    store.init();
-  }, []);
-  return (
-    <div>
-      {store.isLoading ? (
-        <Loader />
-      ) : (
-        <div>
-          <CoreSelect
-            items={store.calculationInstances.map((el) => el.instanceName)}
-            value={store.viewModel?.selectProcess?.value.instanceName ?? ""}
-            label={`Процесс тип ${store?.viewModel?.type ?? ""}`}
-            onChange={async (value: string, index: number) => {
-              store.updateForm({
-                selectProcess: { value: store.calculationInstances.at(index) ?? CalculationModel.empty() },
-              });
-              (await store.viewModel.valid<SelectProcessModel>()).fold(
-                (model) => props.onChange(model),
-                (error) => message.error(error)
-              );
-            }}
-          />
-        </div>
-      )}
-    </div>
-  );
-});

ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_process_store.ts

@@ -1,26 +0,0 @@
-import { NavigateFunction } from "react-router-dom";
-import { FormState } from "../../../../../store/base_store";
-import { SelectProcessModel } from "../model/select_process_model";
-import { SelectProcessRepository } from "../data/select_process_repository";
-import { CalculationModel } from "../../../../../../features/calculation_instance/model/calculation_model";
-import makeAutoObservable from "mobx-store-inheritance";
-
-export class SelectProcessStore extends FormState<SelectProcessModel, any> {
-    selectProcessRepository = new SelectProcessRepository();
-    viewModel: SelectProcessModel;
-    calculationInstances: CalculationModel[] = [];
-    constructor() {
-        super();
-        makeAutoObservable(this);
-    }
-    async init(navigate?: NavigateFunction | undefined): Promise<any> {
-        await this.mapOk('calculationInstances', this.selectProcessRepository.getAllProcessByType(this.viewModel.type));
-
-        this.calculationInstances = this.calculationInstances.map((el) => {
-            // @ts-ignore
-            delete el['formBuilder'];
-            return el;
-        })
-
-    }
-}

ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_screen.tsx

@@ -1,13 +1,16 @@
+// @ts-nocheck
 import React from "react";
 import { IFormBuilderComponentsProps } from "../../form_builder_components";
 import { observer } from "mobx-react-lite";
 import { ListItem } from "./ui/list_item";
 import { SelectDetailStore } from "./select_detail_store";
 import { SelectDetailViewModel } from "../model/select_details_model";
+import { plainToInstance } from "class-transformer";
 
 export const SelectDetail = observer((props: IFormBuilderComponentsProps<SelectDetailViewModel>) => {
   const [store] = React.useState(() => new SelectDetailStore());
   React.useEffect(() => {
+    console.log(props.dependency.details);
     store.viewModel = new SelectDetailViewModel(props.dependency.details);
     store.isLoading = false;
     store.init();

ui/src/core/ui/form_builder/forms/select_detail/presentation/ui/list_item.tsx

@@ -16,6 +16,7 @@ export const ListItem = (props: IListItemProps) => {
         backgroundColor: "rgba(254, 247, 255, 1)",
         border: "1px #6750a4 solid",
         width: "100%",
+        height: 110,
         display: "flex",
         justifyContent: "space-between",
         alignItems: "center",

ui/src/core/ui/form_builder/test.tsx

@@ -9,7 +9,7 @@ import { FormBuilder } from "./form_builder";
 import makeAutoObservable from "mobx-store-inheritance";
 
 class FormBuilderTextStore extends ModalStore {
-  viewModel = FormBuilderValidationModel.eee();
+  viewModel = FormBuilderValidationModel.empty();
   constructor() {
     super();
     makeAutoObservable(this);
@@ -21,7 +21,6 @@ export const FormBuildTest = observer(() => {
 
   return (
     <div>
-
       <InputV2 label={"result"} onChange={(text) => (store.viewModel.result = text)} />
       <InputV2 label={"context"} onChange={(text) => (store.viewModel.context = text)} />
       <CoreButton text="click" onClick={() => (store.isModalOpen = true)} />
@@ -34,16 +33,15 @@ export const FormBuildTest = observer(() => {
         onCancel={() => {
           store.isModalOpen = false;
         }}
-      ></Modal>
-      <div style={{height:50}}/>
+      >
         <FormBuilder
           formBuilder={store.viewModel}
           onChange={(e) => {
-          console.log(e)
-          // console.log(e.output);
-          console.log(JSON.stringify(e.output))
+            console.log(e.output);
+            // console.log(JSON.stringify(e.output))
           }}
         />
+      </Modal>
     </div>
   );
 });

ui/src/core/ui/icons/icons.tsx

@@ -931,18 +931,6 @@ const getIconSvg = (
           />
         </svg>
       );
-
-    case "3points":
-      return Result.ok(
-        <svg
-          xmlns="http://www.w3.org/2000/svg"
-          width={width ? width : "20"}
-          height={height ? height : "20"}
-          viewBox="0 0 128 512"
-        >
-          <path d="M64 360a56 56 0 1 0 0 112 56 56 0 1 0 0-112zm0-160a56 56 0 1 0 0 112 56 56 0 1 0 0-112zM120 96A56 56 0 1 0 8 96a56 56 0 1 0 112 0z" />
-        </svg>
-      );
     case "Move":
       return Result.ok(
         <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 20 20" xmlSpace="preserve">

ui/src/core/ui/input/input.tsx

@@ -16,6 +16,7 @@ interface IInputProps extends IStyle {
   type?: CoreInputType;
   trim?: boolean;
   styleContentEditable?: React.CSSProperties;
+  isFormBuilder?: boolean;
 }
 
 export const CoreInput = (props: IInputProps) => {
@@ -28,6 +29,15 @@ export const CoreInput = (props: IInputProps) => {
       setAppendInnerText(false);
     }
   }, [ref, value, isAppendInnerText, setAppendInnerText, props]);
+  // React.useEffect(() => {
+  //   if (props.isFormBuilder) {
+  //     if (ref.current && props.value) {
+  //       ref.current.innerText = value;
+  //       setValue(props.value);
+  //       console.log(props.value);
+  //     }
+  //   }
+  // }, [props.value]);
 
   const isSmall = props.type !== undefined && props.type.isEqual(CoreInputType.small);
   return (

ui/src/core/ui/input/input_v2.tsx

@@ -2,16 +2,15 @@ import { themeStore } from "../../..";
 import { Icon } from "../icons/icons";
 import { CoreText, CoreTextType, FontType } from "../text/text";
 
-export const InputV2: React.FC<{
-  style?: React.CSSProperties;
+interface InputV2Props {
   label: string;
   value?: string;
   trim?: boolean;
-  validation?: (value: string) => boolean;
-  error?: string;
   height?: number;
   onChange?: (text: string) => void;
-}> = ({ label, height, value, onChange, trim }) => {
+  
+}
+export const InputV2: React.FC<InputV2Props> = ({ label, height, value, onChange, trim }) => {
   return (
     <div
       style={{

ui/src/core/ui/pages/main_page_v2.tsx

@@ -107,7 +107,7 @@ export const MainPageV2: React.FC<{
         overflow: "auto",
       }}
     >
-      {/* <div
+      <div
         style={{
           alignSelf: "center",
           width: 645,
@@ -222,7 +222,7 @@ export const MainPageV2: React.FC<{
         >
           {rightChild}
         </div>
-      </div> */}
+      </div>
 
       <div style={Object.assign({ width: "100%" }, style)}>{children}</div>
     </div>

ui/src/core/ui/popover/popover.tsx

@@ -1,46 +0,0 @@
-import React, { useEffect, useRef, useState } from "react";
-import styled from "styled-components";
-
-interface PopoverProps {
-  content: React.ReactNode;
-  children: React.ReactNode;
-}
-
-const PopoverV2: React.FC<PopoverProps> = ({ content, children }) => {
-  const [visible, setVisible] = useState(false);
-  const ref = useRef<HTMLDivElement>(null);
-  const togglePopover = () => {
-    setVisible((prev) => !prev);
-  };
-
-  return (
-    <div
-      style={{
-        position: "relative",
-        display: "inline-block",
-      }}
-      onClick={() => togglePopover()}
-    >
-      {children}
-      <div
-        style={{
-          position: "absolute",
-          backgroundColor: "white",
-          border: "1px solid #ccc;",
-          borderRadius: "4px",
-          padding: "10px;",
-          zIndex: "1000",
-          transition: "opacity 0.2s ease, visibility 0.2s ease",
-          opacity: visible ? 1 : 0,
-          visibility: visible ? "visible" : "hidden", 
-        }}
-      >
-        {content}
-      </div>
-    </div>
-  );
-};
-// visibility: ${({ visible }) => (visible ? 'visible' : 'hidden')};
-//   opacity: ${({ visible }) => (visible ? 1 : 0)};
-//   transition: opacity 0.2s ease, visibility 0.2s ease;
-export default PopoverV2;

ui/src/core/ui/select/select.tsx

@@ -6,7 +6,7 @@ interface ICoreSelectProps extends IStyle {
   items: string[];
   value: string;
   label: string;
-  onChange: (value: string, index: number) => void;
+  onChange: (value: string) => void;
 }
 export const CoreSelect = (props: ICoreSelectProps) => {
   const ref = React.useRef<HTMLDivElement>(null);
@@ -52,7 +52,7 @@ export const CoreSelect = (props: ICoreSelectProps) => {
                   key={i}
                   onClick={() => {
                     setValue(el);
-                    props.onChange(el, i);
+                    props.onChange(el);
                   }}
                   style={{
                     backgroundColor: "rgba(230, 224, 233, 1)",

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

@@ -21,6 +21,7 @@ export class BehaviorTreeBuilderHttpRepository extends CoreHttpRepository {
       `${this.featureApi}/by_id?id=${id}`,
       BehaviorTreeModel
     ) as unknown as Promise<Result<HttpError, BehaviorTreeModel>>;
+  deleteBt = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`);
   editBt = async (model: BehaviorTreeModel) => {
     await this._jsonRequest(HttpMethod.POST, `${this.featureApi}/fill/tree`, model);
     model.__v = undefined

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

@@ -4,15 +4,20 @@ import { createEditor } from "./ui/editor/editor";
 import { SkillTree } from "./ui/skill_tree/skill_tree";
 import { BehaviorTreeBuilderStore, DrawerState } from "./behavior_tree_builder_store";
 import { observer } from "mobx-react-lite";
+import { match } from "ts-pattern";
 import { Icon } from "../../../core/ui/icons/icons";
 import { CoreText, CoreTextType } from "../../../core/ui/text/text";
 import { useNavigate, useParams } from "react-router-dom";
 import { IForms, forms } from "./ui/forms/forms";
+import { ButtonV2, ButtonV2Type } from "../../../core/ui/button/button_v2";
+import { CoreCard } from "../../../core/ui/card/card";
 import { themeStore } from "../../..";
+import { CoreModal } from "../../../core/ui/modal/modal";
+import { InputV2 } from "../../../core/ui/input/input_v2";
+import { SelectV2 } from "../../../core/ui/select/select_v2";
 import { MainPageV2 } from "../../../core/ui/pages/main_page_v2";
 import { DrawerV2 } from "../../../core/ui/drawer/drawer";
 import { Panel, PanelGroup, PanelResizeHandle } from "react-resizable-panels";
-import PopoverV2 from "../../../core/ui/popover/popover";
 
 export const behaviorTreeBuilderScreenPath = "behavior/tree/screen/path";
 
@@ -49,9 +54,7 @@ export const BehaviorTreeBuilderScreen = observer(() => {
     if (ref.current) {
       // @ts-expect-error
       const domReact: DOMReact = ref.current.getBoundingClientRect();
-
-      // УБЕРИ + 300
-      store.dragZoneSetOffset(0, domReact.y, domReact.width + 300, domReact.height);
+      store.dragZoneSetOffset(0, domReact.y, domReact.width, domReact.height);
     }
   }, [ref.current]);
 
@@ -63,12 +66,8 @@ export const BehaviorTreeBuilderScreen = observer(() => {
   }, []);
   return (
     <MainPageV2
-      style={{ position: "absolute", height: "100%", overflow: "hidden" }}
-      bgColor={themeStore.theme.black}
-      children={
+      rightChild={
         <>
-          <>
-            <div style={{ position: "absolute", zIndex: 100 }}>
           <div
             style={{
               width: "100%",
@@ -79,9 +78,20 @@ export const BehaviorTreeBuilderScreen = observer(() => {
               alignItems: "center",
             }}
           >
+            {/* <ButtonV2 style={{ height: 40 }} onClick={() => {}} text="Запуск" textColor={themeStore.theme.black} />
+            <div style={{ width: 10 }} />
+            <ButtonV2
+              style={{ height: 40 }}
+              onClick={() => {}}
+              text="Стоп"
+              type={ButtonV2Type.empty}
+              textColor={themeStore.theme.greenWhite}
+            />
+            <div style={{ width: 10 }} /> */}
+            {store.isNeedSaveBtn ? (
               <div
                 style={{
-                    backgroundColor: themeStore.theme.greenWhite,
+                  backgroundColor: store.isNeedSaveBtn ? themeStore.theme.greenWhite : undefined,
                   height: 40,
                   textAlign: "center",
                   alignContent: "center",
@@ -89,10 +99,21 @@ export const BehaviorTreeBuilderScreen = observer(() => {
                   borderRadius: 100,
                 }}
               >
+                {store.isNeedSaveBtn ? (
                   <Icon style={{ height: 21 }} onClick={() => store.onClickSaveBehaviorTree()} type="Floppy" />
+                ) : undefined}
               </div>
+            ) : (
+              <></>
+            )}
           </div>
-            </div>
+        </>
+      }
+      style={{ position: "absolute", height: "100%", overflow: "hidden" }}
+      bgColor={themeStore.theme.black}
+      children={
+        <>
+          <>
             <div
               style={{
                 height: "100%",
@@ -139,45 +160,10 @@ export const BehaviorTreeBuilderScreen = observer(() => {
                     }}
                   />
                 </Panel>
-                {store.panels.map((el, index) => (
-                  <>
-                    <PanelResizeHandle
-                      children={
-                        <>
+                <PanelResizeHandle>
                   <div style={{ width: 10, height: "100%", backgroundColor: "beige" }}></div>
-                        </>
-                      }
-                    ></PanelResizeHandle>
-
-                    <Panel
-                      style={{ backgroundColor: "rgb(29, 27, 32)" }}
-                      defaultSize={el.size}
-                      onResize={(size) => store.panelResize(size, index)}
-                    >
-                      <div
-                        style={{
-                          display: "flex",
-                          width: "100%",
-                          justifyContent: "space-between",
-                          backgroundColor: "beige",
-                        }}
-                      >
-                        <PopoverV2
-                          children={<Icon type={"3points"} height={26} />}
-                          content={
-                            <div style={{ width: "max-content", padding: 10 }}>
-                              {store.panelActions.map((el, i) => (
-                                <CoreText type={CoreTextType.medium} text={el.name} onClick={() => el.action(index)} />
-                              ))}
-                            </div>
-                          }
-                        />
-                        <div style={{ color: "black", alignContent: "center", paddingRight: 10 }}>{el.name}</div>
-                      </div>
-                      {el.body}
-                    </Panel>
-                  </>
-                ))}
+                </PanelResizeHandle>
+                <Panel defaultSize={0}> </Panel>
               </PanelGroup>
             </div>
           </>
@@ -186,17 +172,8 @@ export const BehaviorTreeBuilderScreen = observer(() => {
             title={store.titleDrawer}
             onClose={() => store.editDrawer(DrawerState.editThreadBehaviorTree, false)}
             isOpen={store.drawers.find((el) => el.name === DrawerState.editThreadBehaviorTree)?.status}
-            width={window.innerWidth / 2}
-          >
-            <div
-              style={{
-                display: "flex",
-                flexDirection: "column",
-                justifyContent: "space-between",
-                height: "100%",
-                overflow: "auto",
-              }}
           >
+            <div style={{ display: "flex", flexDirection: "column", justifyContent: "space-between", height: "100%" }}>
               <div style={{ height: "100%" }}>
                 {store.skillTemplates?.getForms(store.selected ?? "").map((formType, index) =>
                   forms(
@@ -209,13 +186,11 @@ export const BehaviorTreeBuilderScreen = observer(() => {
                   )
                     .rFind<IForms>((form) => form.name.isEqual(formType))
                     .fold(
-                      (s) => {
-                        return (
-                          <div key={index} style={{ flex: 1 }}>
+                      (s) => (
+                        <div key={index} style={{ height: "100%" }}>
                           {s.component}
                         </div>
-                        );
-                      },
+                      ),
                       () => (
                         <div key={index + "error"} style={{ height: "100%" }}>
                           Error: Unknown form type {formType}

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

@@ -26,8 +26,6 @@ import { BehaviorTreeModel } from "../model/behavior_tree_model";
 import { PrimitiveViewModel, SystemPrimitive } from "../model/primitive_view_model";
 import { SceneAsset } from "../../../core/model/scene_asset";
 import { themeStore } from "../../..";
-import { RunTimeActions } from "./ui/actions/runtime_actions";
-import { ITopicModel } from "../../topics/topic_view_model";
 
 interface I2DArea {
   x: number;
@@ -39,31 +37,8 @@ interface I2DArea {
 export enum DrawerState {
   editThreadBehaviorTree = "Редактирование",
 }
-interface IActionPanel {
-  name: string;
-  selectIsClosePopover?: boolean;
-  action: (index: number) => void;
-}
-
-export class PanelBody {
-  body?: React.ReactNode;
-  size: number = 0;
-  name: string = "выберите тип панели";
-  constructor(body: React.ReactNode | undefined, name: string | undefined, size: number | undefined) {
-    makeAutoObservable(this);
-
-    if (name) this.name = name;
-    if (body) this.body = body;
-    if (size) this.size = size;
-  }
-}
 
 export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeViewModel, CoreError> {
-  panelActions: IActionPanel[] = [
-    { name: "Добавить панель", action: () => this.addNewPanel() },
-    { name: "Убрать панель", action: (index) => this.removePanel(index) },
-    { name: "Runtime", action: (index) => this.changePanel(index, "Runtime", <RunTimeActions />) },
-  ];
   sceneAsset?: SceneAsset;
   viewModel: BehaviorTreeViewModel = BehaviorTreeViewModel.empty();
   behaviorTreeModel: BehaviorTreeModel = BehaviorTreeModel.empty();
@@ -76,15 +51,15 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
   activeProject: string = "";
   behaviorTreeBuilderHttpRepository = new BehaviorTreeBuilderHttpRepository();
   canRun = true;
-  isNeedSaveBtn = true;
+  isNeedSaveBtn = false;
   selected: string = "";
   selectedSid: string = "";
   nodeBehaviorTree: NodeBehaviorTree[] = [];
+  navigate?: NavigateFunction;
   editor?: NodeEditor<Schemes>;
   areaPlugin?: AreaPlugin<Schemes, AreaExtra>;
   nodeUpdateObserver?: NodeRerenderObserver;
   primitiveViewModel: PrimitiveViewModel;
-  topics: ITopicModel[];
   skillTree: ISkillView = {
     name: "",
     children: [
@@ -95,12 +70,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
       },
     ],
   };
-  panels: PanelBody[] = [new PanelBody(undefined, undefined, undefined)];
-  addNewPanel = () => this.panels.push(new PanelBody(undefined, undefined, undefined));
-  removePanel = (index: number) =>
-    this.panels.length !== 1
-      ? (this.panels = this.panels.filter((_, i) => i !== index))
-      : message.error("должна быть хоть одна панель");
+
   constructor() {
     super(DrawerState);
     makeAutoObservable(this);
@@ -116,7 +86,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     this.editor = editor;
     this.areaPlugin = area;
   };
-  getAllTopics = () => this.filledOutTemplates.topicsStack.plus(this.topics);
+  getAllTopics = () => this.filledOutTemplates.topicsStack;
   errorHandingStrategy = (_: CoreError) => {};
 
   dragEnd = (e: EventTarget) => {
@@ -132,13 +102,6 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
   };
   drawSkillCheck = (x: number, y: number, name: string) => {
     const drawPoint = { x: x, y: y, w: 1, h: 1 };
-
-    console.log(
-      drawPoint.x < this.area!.x + this.area!.w &&
-        drawPoint.x + drawPoint.w > this.area!.x &&
-        drawPoint.y < this.area!.y + this.area!.h &&
-        drawPoint.y + drawPoint.h > this.area!.y
-    );
     if (
       drawPoint.x < this.area!.x + this.area!.w &&
       drawPoint.x + drawPoint.w > this.area!.x &&
@@ -152,7 +115,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
         name: name,
         id: sid,
       });
-
+      this.isNeedSaveBtn = true;
       if (!name.isEqualMany(Object.keys(SystemPrimitive))) {
         this.skillTemplates?.getSkill(name).fold(
           (skill) => {
@@ -216,7 +179,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
 
           await this.mapOk("sceneAsset", this.behaviorTreeBuilderHttpRepository.getSceneAsset(model.sceneId));
           this.isLoading = false;
-          await this.mapOk("topics", this.behaviorTreeBuilderHttpRepository.getAllTopics());
+
           this.reteForceUpdateObserver?.emit("");
         },
         async () => {
@@ -244,6 +207,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
           )
         ).fold(
           (xml) => {
+            console.log(xml);
             this.behaviorTreeModel.skills = this.filledOutTemplates;
             this.behaviorTreeModel.scene = NodeBehaviorTree.fromReteScene(
               this.editor as NodeEditor<Schemes>,
@@ -381,11 +345,4 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     );
   }
   changeSceneViewModel = (text: string) => {};
-  changePanel = (index: number, name: string, body?: React.ReactNode) => {
-    this.panels = this.panels.replacePropIndex({ name: name, body: body }, index);
-  };
-
-  panelResize = (size: number, index: number) => {
-    this.panels.replacePropIndex({ size: size }, index);
-  };
 }

ui/src/features/behavior_tree_builder/presentation/ui/actions/runtime_actions.tsx

@@ -1,94 +0,0 @@
-import { NavigateFunction, useParams } from "react-router-dom";
-import { CoreHttpRepository, HttpMethod } from "../../../../../core/repository/core_http_repository";
-import { CoreError, UiErrorState } from "../../../../../core/store/base_store";
-import { ProcessStatus } from "../../../../dataset/dataset_model";
-import makeAutoObservable from "mobx-store-inheritance";
-import { useStore } from "../../../../../core/helper/use_store";
-import { Loader } from "../../../../../core/ui/loader/loader";
-import { useEffect } from "react";
-import {
-  RunTimeSocketRepository,
-  runTimeSocketRepository,
-} from "../../../../../core/repository/core_socket_repository";
-import { observer } from "mobx-react-lite";
-interface IPid {
-  pid: string;
-}
-export interface RuntimeModel {
-  [name: string]: { pid: number; status: String };
-}
-
-export class RunTimeHttpRepository extends CoreHttpRepository {
-  feature = "/run_time";
-  stop = (model: IPid) => this._jsonRequest(HttpMethod.POST, this.feature + "/kill", model);
-  getStatuses = () => this._jsonRequest<RuntimeModel>(HttpMethod.GET, this.feature + "/status");
-  execBt = (id: string) => this._jsonRequest(HttpMethod.POST, this.feature + `/exec/bt?id=${id}`);
-}
-// export class RunTimeSocketRepository extends SockeCore {}
-export class RunTimeStore extends UiErrorState<CoreError> {
-  runTimeHttpRepository: RunTimeHttpRepository = new RunTimeHttpRepository();
-  runTimeSocketRepository: RunTimeSocketRepository = runTimeSocketRepository;
-  pageId: string;
-  runTime?: RuntimeModel = {};
-  constructor() {
-    super();
-    makeAutoObservable(this);
-    runTimeSocketRepository.on((event) => (console.log(event), (this.runTime = event)));
-  }
-  async init(navigate?: NavigateFunction | undefined): Promise<any> {
-    this.mapOk("runTime", this.runTimeHttpRepository.getStatuses());
-    this.navigate = navigate;
-  }
-
-  executeBt = () => this.runTimeHttpRepository.execBt(this.pageId);
-  initParam = (id: string) => (this.pageId = id);
-  isExecuteBt = (): boolean => {
-    if (this.runTime === undefined) {
-      return false;
-    }
-    if (
-      this.runTime["EXEC_BT"] !== undefined &&
-      this.runTime["EXEC_BT"]["status"] !== undefined &&
-      this.runTime["EXEC_BT"]["status"] === "endOk"
-    ) {
-      return false;
-    }
-    return true;
-  };
-}
-export const RunTimeActions = observer(() => {
-  const store = useStore(RunTimeStore);
-  const params = useParams();
-  useEffect(() => {
-    store.initParam(params.id as string);
-  }, []);
-  return (
-    <div style={{ width: "100%" }}>
-      {store.isLoading ? (
-        <Loader />
-      ) : (
-        <>
-          {store.isExecuteBt() ? (
-            <>
-              <div
-                style={{ justifyContent: "center", color: "white", justifySelf: "center" }}
-                onClick={() => store.executeBt()}
-              >
-                Дерево запущено
-              </div>
-            </>
-          ) : (
-            <>
-              <div
-                style={{ justifyContent: "center", color: "white", justifySelf: "center" }}
-                onClick={() => store.executeBt()}
-              >
-                Запустить дерево
-              </div>
-            </>
-          )}
-        </>
-      )}
-    </div>
-  );
-});

ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_form.tsx

@@ -19,7 +19,7 @@ export const FormBuilderForm = observer((props: IPropsForm<Partial<FormBuilderVa
   }, []);
 
   return (
-    <div style={{ overflowX: "scroll", height: "100%", flex: 1 }}>
+    <div style={{ overflowX: "scroll", height: "100%" }}>
       <div>FormBuilder</div>
       {store.isBtScreen ? (
         <div>
@@ -27,6 +27,7 @@ export const FormBuilderForm = observer((props: IPropsForm<Partial<FormBuilderVa
             formBuilder={store.viewModel}
             onChange={(form) => {
               store.viewModel = form;
+              console.log(form);
             }}
           />
           <div style={{ height: 100 }} />
@@ -80,7 +81,7 @@ export const FormBuilderForm = observer((props: IPropsForm<Partial<FormBuilderVa
               store.isModalOpen = false;
             }}
           >
-            <FormBuilder formBuilder={store.viewModel} onChange={(form) => (console.log(form), props.onChange(form))} />
+            <FormBuilder formBuilder={store.viewModel} onChange={() => {}} />
           </Modal>
         </>
       )}

ui/src/features/behavior_tree_manager/behavior_tree_manager_repository.ts

@@ -4,7 +4,7 @@ import { BehaviorTreeViewModel } from "../behavior_tree_builder/model/behavior_t
 
 export class BehaviorTreeManagerHttpRepository extends CoreHttpRepository {
   featureApi = `/behavior/trees`;
-  deleteBt = (id: string) => this._jsonRequest(HttpMethod.POST, `${this.featureApi}/delete/bt?id=${id}`);
+  deleteBt = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`);
   saveNewBt = async (model: BehaviorTreeViewModel) => this._jsonRequest(HttpMethod.POST, this.featureApi, model);
   getAllBtInstances = async () => this._jsonRequest<BehaviorTreeModel[]>(HttpMethod.GET, this.featureApi);
 }

ui/src/features/behavior_tree_manager/behavior_tree_manager_screen.tsx

@@ -1,6 +1,6 @@
 import { observer } from "mobx-react-lite";
 import { BehaviorTreeManagerStore } from "./behavior_tree_manager_store";
-import React, { useEffect } from "react";
+import React from "react";
 import { useStore } from "../../core/helper/use_store";
 import { ButtonV2, ButtonV2Type } from "../../core/ui/button/button_v2";
 import { CoreCard } from "../../core/ui/card/card";
@@ -16,13 +16,13 @@ export const BehaviorTreeManagerScreenPath = "/behavior/tree/manager";
 
 export const BehaviorTreeManagerScreen = observer(() => {
   const store = useStore(BehaviorTreeManagerStore);
-  useEffect(() => {}, []);
+
   return (
     <>
       <MainPageV2
         children={
           <>
-            <div style={{ height: "100%",   }}>
+            <div style={{ height: "100%", overflowY: "auto", overflowX: "hidden" }}>
               <div style={{ height: 20 }} />
               <ButtonV2
                 icon={<Icon type={"Plus"} style={{ alignSelf: "center", marginLeft: 10, marginRight: 10 }} />}
@@ -67,11 +67,7 @@ export const BehaviorTreeManagerScreen = observer(() => {
                   <div style={{ height: 20 }} />
                   <InputV2  trim={true} label={"Название"} onChange={(text) => store.updateForm({ name: text })} />
                   <div style={{ height: 20 }} />
-                  <InputV2
-                    trim={true}
-                    label={"Описание"}
-                    onChange={(text) => store.updateForm({ description: text })}
-                  />
+                  <InputV2 trim={true} label={"Описание"} onChange={(text) => store.updateForm({ description: text })} />
                   <div style={{ height: 20 }} />
                   <SelectV2
                     items={store.scenes?.map((el) => ({ name: el.name, value: el._id })) ?? []}

ui/src/features/behavior_tree_manager/behavior_tree_manager_store.ts

@@ -12,6 +12,7 @@ export enum DrawerState {
 }
 export class BehaviorTreeManagerStore extends UiDrawerFormState<BehaviorTreeViewModel, CoreError> {
   viewModel: BehaviorTreeViewModel = BehaviorTreeViewModel.empty();
+  navigate?: NavigateFunction;
   btTreeModels: BehaviorTreeModel[] = [];
   scenes?: SceneModel[];
   behaviorTreeManagerHttpRepository = new BehaviorTreeManagerHttpRepository();

ui/src/features/calculation_instance/data/calculation_http_repository.ts

@@ -14,12 +14,6 @@ export interface ISkils {
 }
 
 export class CalculationHttpRepository extends CoreHttpRepository {
-  async getLogs(id: string) {
-
-    await this._request(HttpMethod.GET, `/logs?id=${id}`)
-    window.location.href = 'http://localhost:4001/log.txt';
-
-  }
   
   featureApi = `/calculations/instances`;
   subFeatureApi = `/calculations/template`;

ui/src/features/calculation_instance/model/calculation_model.ts

@@ -4,9 +4,7 @@ import { FormBuilderValidationModel } from "../../../core/model/form_builder_val
 
 export enum ModelMachineLearningTypes {
   OBJECT_DETECTION = "OBJECT_DETECTION",
-  POSE_ESTIMATION = "POSE_ESTIMATION",
-  BOP_DATASET = "BOP_DATASET",
-  WEIGHTS = "WEIGHTS",
+  POSE_ESTIMATE = "POSE_ESTIMATE",
 }
 
 export class CalculationModel extends ValidationModel {

ui/src/features/calculation_instance/presentation/calculation_instance_screen.tsx

@@ -28,6 +28,7 @@ export const CalculationInstanceScreenPath = "/calculation";
 
 export const CalculationInstanceScreen = observer(() => {
   const store = useStore(CalculationInstanceStore);
+
   return (
     <>
       <MainPage
@@ -59,9 +60,7 @@ export const CalculationInstanceScreen = observer(() => {
                     () => store.makeEditProcess(el),
                     () => store.deleteInstance(el._id ?? ""),
                     () => store.execSkill(el._id ?? ""),
-                    () => store.execSkill(el._id ?? ""),
-                    () => store.changeProcessStatus(el._id ?? ""),
-                    () => store.getTxtLog(el._id ?? "")
+                    () => store.execSkill(el._id ?? "")
                   )}
                 </span>
               );
@@ -95,10 +94,7 @@ export const CalculationInstanceScreen = observer(() => {
         <div style={{ display: "flex", flexDirection: "column", justifyContent: "space-between", height: "100%" }}>
           <FormBuilder
             formBuilder={store.editProcess?.formBuilder ?? FormBuilderValidationModel.empty()}
-            onChange={(formBuilder) => {
-              console.log(formBuilder);
-              store.updateForm({ formBuilder: formBuilder });
-            }}
+            onChange={(formBuilder) => store.updateForm({ formBuilder: formBuilder })}
           />
 
           <div style={{ display: "flex" }}>
@@ -138,7 +134,7 @@ export const CalculationInstanceScreen = observer(() => {
                   <CoreSelect
                     items={Object.keys(ModelMachineLearningTypes)}
                     value={store.viewModel.type}
-                    label={"Тип вычисления"}
+                    label={"Тип навыка"}
                     onChange={(text: string) => store.updateForm({ type: text })}
                   />
                   <CoreSelect
@@ -147,16 +143,8 @@ export const CalculationInstanceScreen = observer(() => {
                     label={"Тип карточки"}
                     onChange={(text: string) => store.updateForm({ card: text })}
                   />
-                  <CoreInput
-                    trim={true}
-                    label="Имя"
-                    onChange={(text) => store.updateForm({ name: text.replaceAll("\n", "") })}
-                  />
-                  <CoreInput
-                    trim={true}
-                    label="Команда для запуска"
-                    onChange={(text) => store.updateForm({ script: text.replaceAll("\n", "") })}
-                  />
+                  <CoreInput label="Имя" onChange={(text) => store.updateForm({ name: text })} />
+                  <CoreInput label="Команда для запуска" onChange={(text) => store.updateForm({ script: text })} />
                   <InputV2
                     label="FormBuilder Result"
                     onChange={(text) => (store.viewModel.formBuilder.result = text)}
@@ -218,7 +206,7 @@ export const CalculationInstanceScreen = observer(() => {
           store.isModalOpen = false;
         }}
       >
-        <FormBuilder formBuilder={store.viewModel.formBuilder} onChange={(e) => {}} />
+        <FormBuilder formBuilder={store.viewModel.formBuilder} onChange={() => {}} />
       </Modal>
     </>
   );

ui/src/features/calculation_instance/presentation/calculation_instance_store.tsx

@@ -5,7 +5,7 @@ import { Drawer, UiDrawerFormState } from "../../../core/store/base_store";
 import { CalculationHttpRepository } from "../data/calculation_http_repository";
 import { message } from "antd";
 import { UUID } from "../../all_projects/data/project_http_repository";
-import { CalculationModel as calculationModel } from "../model/calculation_model";
+import { CalculationModel } from "../model/calculation_model";
 import { ProcessUpdate, CalculationSocketRepository } from "../data/calculation_socket_repository";
 import { match } from "ts-pattern";
 import { plainToInstance } from "class-transformer";
@@ -20,17 +20,16 @@ export enum StoreTypes {
   empty = "empty",
 }
 
-export class CalculationInstanceStore extends UiDrawerFormState<calculationModel, HttpError> {
-  getTxtLog = (id: string) => this.calculationHttpRepository.getLogs(id);
+export class CalculationInstanceStore extends UiDrawerFormState<CalculationModel, HttpError> {
   calculationHttpRepository: CalculationHttpRepository = new CalculationHttpRepository();
   calculationSocketRepository: CalculationSocketRepository = new CalculationSocketRepository();
   activeProjectId?: UUID;
   storeType: StoreTypes = StoreTypes.empty;
-  viewModel: calculationModel = calculationModel.empty();
-  modelTemplate?: calculationModel[];
-  editProcess?: calculationModel;
-  calculationInstances?: calculationModel[];
-  selectTemplate?: calculationModel;
+  viewModel: CalculationModel = CalculationModel.empty();
+  modelTemplate?: CalculationModel[];
+  editProcess?: CalculationModel;
+  calculationInstances?: CalculationModel[];
+  selectTemplate?: CalculationModel;
   titleDrawer: string = DrawersSkill.NEW_SKILL;
   drawers: Drawer[];
   isModalOpen: boolean = false;
@@ -42,7 +41,7 @@ export class CalculationInstanceStore extends UiDrawerFormState<calculationModel
         status: false,
       };
     });
-    this.viewModel = calculationModel.empty();
+    this.viewModel = CalculationModel.empty();
     this.calculationSocketRepository.on(this.socketUpdate);
     makeAutoObservable(this);
   }
@@ -68,9 +67,9 @@ export class CalculationInstanceStore extends UiDrawerFormState<calculationModel
       successMessage: "Процесс запущен",
     });
 
-  setSelectTemplate = (el: calculationModel) => {
+  setSelectTemplate = (el: CalculationModel) => {
     this.selectTemplate = el;
-    const instance = plainToInstance(calculationModel, el);
+    const instance = plainToInstance(CalculationModel, el);
     instance.instanceName = this?.viewModel.instanceName;
     this.viewModel = instance;
   };
@@ -85,7 +84,7 @@ export class CalculationInstanceStore extends UiDrawerFormState<calculationModel
     match(this.storeType)
       .with(StoreTypes.empty, () => {})
       .with(StoreTypes.newType, async () =>
-        (await this.viewModel.valid<calculationModel>()).fold(
+        (await this.viewModel.valid<CalculationModel>()).fold(
           async (model) => {
             model.project = this.activeProjectId?.id;
 
@@ -100,7 +99,7 @@ export class CalculationInstanceStore extends UiDrawerFormState<calculationModel
         )
       )
       .with(StoreTypes.newModel, async () => {
-        (await this.viewModel.valid<calculationModel>()).fold(
+        (await this.viewModel.valid<CalculationModel>()).fold(
           async (model) => {
             delete model._id;
             model.project = this.activeProjectId?.id;
@@ -129,30 +128,20 @@ export class CalculationInstanceStore extends UiDrawerFormState<calculationModel
 
   saveEdiSkill = async () => {
     this.editDrawer(DrawersSkill.EDIT_SKILL, false);
-    (await this.viewModel.valid<calculationModel>()).fold(
-      async (model) => (await this.calculationHttpRepository.editCalculation(model), await this.init()),
+    (await this.viewModel.valid<CalculationModel>()).fold(
+      async (model) => await this.calculationHttpRepository.editCalculation(model),
       async (err) => message.error(err)
     );
   };
-  makeEditProcess = (el: calculationModel) => {
+  makeEditProcess = (el: CalculationModel) => {
     this.editProcess = el;
-    this.loadClassInstance(calculationModel, el);
+    this.loadClassInstance(CalculationModel, el);
     this.editDrawer(DrawersSkill.EDIT_SKILL, true);
   };
-  deleteTemplate = async (el: calculationModel) => {
+  deleteTemplate = async (el: CalculationModel) => {
     await this.messageHttp(this.calculationHttpRepository.deleteTemplate(el._id ?? ""), {
       successMessage: "Удален",
     });
     await this.mapOk("modelTemplate", this.calculationHttpRepository.getAllTemplates());
   };
-  changeProcessStatus = async (id: string) =>
-    this!
-      .calculationInstances!.whereOne((el) => el._id === id)
-      .map(
-        async (calculationModel) => (
-          (calculationModel.isEnd = !calculationModel.isEnd),
-          await this.calculationHttpRepository.editCalculation(calculationModel),
-          await this.init(undefined)
-        )
-      );
 }

ui/src/features/calculation_instance/presentation/ui/cards/get_model_card.tsx

@@ -1,6 +1,6 @@
 import { match } from "ts-pattern";
 import { PoseEstimateCard } from "./pose_estimate_card/model_card";
-import {   Dropdown, MenuProps,   } from "antd";
+import { Dropdown, MenuProps, message } from "antd";
 import { CoreText, CoreTextType } from "../../../../../core/ui/text/text";
 import { IMenuItem } from "../../../../dataset/card_dataset";
 import { Icon } from "../../../../../core/ui/icons/icons";
@@ -15,9 +15,7 @@ export const getModelCard = (
   onEdit: Function,
   onDelete: Function,
   onPlay: Function,
-  onPause: Function,
-  onChangeProcessIsEnd: Function,
-  onLog: Function
+  onPause: Function
 ) => {
   const menu: IMenuItem[] = [
     {
@@ -28,10 +26,6 @@ export const getModelCard = (
       onClick: () => onDelete(),
       name: "Удалить",
     },
-    {
-      onClick: () => onChangeProcessIsEnd(),
-      name: calculationModel.isEnd ? "Вернуть на доработку" : "Завершить",
-    },
   ];
 
   const items: MenuProps["items"] = menu.map((el, index) => {
@@ -69,8 +63,7 @@ export const getModelCard = (
           <Icon
             type="Log"
             onClick={async () =>
-              // window.prompt("Copy to clipboard: Ctrl+C, Enter", calculationModel.lastProcessLogs ?? "Not found logs")
-              onLog()
+              window.prompt("Copy to clipboard: Ctrl+C, Enter", calculationModel.lastProcessLogs ?? "Not found logs")
             }
           />
           <Icon

ui/src/features/calculation_instance/presentation/ui/cards/pose_estimate_card/model_card.tsx

@@ -26,6 +26,7 @@ export class PoseEstimateRepository extends HttpRepository {
   execAnalyze = (id: string) => this._jsonRequest(HttpMethod.POST, `/run_time/exec/analyze?id=${id}`);
 }
 export class PoseEstimateStore extends UiErrorState<any> {
+  navigate?: NavigateFunction;
   poseEstimateRepository = new PoseEstimateRepository();
   constructor() {
     super();

ui/src/features/skills/skills_screen.tsx

@@ -12,6 +12,7 @@ import { useStore } from "../../core/helper/use_store";
 import { FormBuilder } from "../../core/ui/form_builder/form_builder";
 import { ButtonV2 } from "../../core/ui/button/button_v2";
 import { Result } from "../../core/helper/result";
+import { plainToInstance } from "class-transformer";
 
 export const isValidJson = <T,>(json: any): Result<string, T> => {
   try {
@@ -287,4 +288,3 @@ export const SkillsScreen = observer(() => {
     </>
   );
 });
- 

ui/src/features/topics/topic_view_model.ts

@@ -21,7 +21,6 @@ export class TopicViewModel extends ValidationModel {
 export interface ITopicModel {
   digitalTwinId?: string;
   sid?: string;
-  _id?: string;
   name: string;
   type: string;
 }

ui/src/features/topics/topics_repository.ts

@@ -1,9 +1,6 @@
-import { CoreHttpRepository, HttpMethod, HttpRepository } from "../../core/repository/core_http_repository";
-import { TopicViewModel } from "./topic_view_model";
+import { HttpMethod, HttpRepository } from "../../core/repository/core_http_repository";
 
-export class TopicsHttpRepository extends CoreHttpRepository {
-  deleteTopic = (id: any) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`);
+export class TopicsHttpRepository extends HttpRepository {
   featureApi = "/topics";
-  createTopics = (model: TopicViewModel) => this._jsonRequest(HttpMethod.POST, this.featureApi, model);
-
+  getAllTopics = () => this._jsonRequest(HttpMethod.GET, this.featureApi);
 }

ui/src/features/topics/topics_screen.tsx

@@ -2,11 +2,6 @@ import React from "react";
 import { observer } from "mobx-react-lite";
 import { TopicsStore } from "./topics_store";
 import { useStore } from "../../core/helper/use_store";
-import { CoreButton } from "../../core/ui/button/button";
-import { CoreModal } from "../../core/ui/modal/modal";
-import { InputV2 } from "../../core/ui/input/input_v2";
-import { CoreText, CoreTextType } from "../../core/ui/text/text";
-import { CoreInput } from "../../core/ui/input/input";
 
 export const TopicsScreenPath = "/topics";
 
@@ -15,43 +10,12 @@ export const TopicsScreen = observer(() => {
 
   return (
     <>
-      <div style={{ display: "flex" }}>
-        <CoreButton text="добавить новый топик" style={{ width: 200 }} onClick={() => store.modalShow()} />
-        <CoreButton text="импорт топика" style={{ width: 200 }} onClick={() => store.openTopicModal()} />
-      </div>
       {store.topics?.map((el) => (
         <div style={{ margin: 10, border: "1px solid red" }}>
-          <CoreText text="Delete" type={CoreTextType.header} onClick={() => store.deleteTopic(el._id ?? "")} />
-          <CoreText
-            text="Copy"
-            type={CoreTextType.header}
-            onClick={() => window.prompt("Copy to clipboard: Ctrl+C, Enter", JSON.stringify(el))}
-          />
-
           <div>{el.name}</div>
           <div>{el.type}</div>
         </div>
       ))}
-      <CoreModal
-        isOpen={store.isModalOpen}
-        onClose={() => store.modalCancel()}
-        children={
-          <div>
-            <InputV2 label={"type"} onChange={(text) => store.updateForm({ type: text })} />
-            <InputV2 label={"name"} onChange={(text) => store.updateForm({ name: text })} />
-            <CoreButton text="new" onClick={() => store.createTopic()} />
-          </div>
-        }
-      />
-      <CoreModal
-        isOpen={store.importTopicModal}
-        onClose={() => store.cancelImportTopicModal()}
-        children={
-          <div>
-            <InputV2 onChange={(text) => store.importTopic(text)} label="import" />
-          </div>
-        }
-      />
     </>
   );
 });

ui/src/features/topics/topics_store.ts

@@ -6,35 +6,14 @@ import { NavigateFunction } from "react-router-dom";
 import { TopicsHttpRepository } from "./topics_repository";
 
 export class TopicsStore extends FormState<TopicModel, HttpError> {
-  importTopic(text: string): void {
-    this.loadClassInstance(TopicModel, JSON.parse(text))
-
-    this.createTopic()
-  }
-
-
   viewModel: TopicModel = TopicModel.empty();
   topics?: ITopicModel[];
   topicsHttpRepository: TopicsHttpRepository = new TopicsHttpRepository();
-  importTopicModal = false;
   constructor() {
     super();
     makeAutoObservable(this);
   }
   init = async (navigate?: NavigateFunction | undefined) => {
-    this.modalCancel();
-    this.importTopicModal = false;
     await this.mapOk("topics", this.topicsHttpRepository.getAllTopics());
   };
-  cancelImportTopicModal = () => {
-    this.importTopicModal = false;
-  }
-  openTopicModal = () => {
-    this.importTopicModal = true;
-  }
-  deleteTopic = async (id: string) => (await (this.topicsHttpRepository.deleteTopic(id))).map(() => this.init());
-  createTopic = async () =>
-    (await this.viewModel.validMessage<TopicModel>()).map(async (model) =>
-      (await this.topicsHttpRepository.createTopics(model)).map(() => this.init())
-    );
 }

ui/src/index.tsx

@@ -7,7 +7,6 @@ import { RouterProvider } from "react-router-dom";
 import { router } from "./core/routers/routers";
 import { configure } from "mobx";
 import { ThemeStore } from "./core/store/theme_store";
-import { FormBuildTest } from "./core/ui/form_builder/test";
 
 configure({
   enforceActions: "never",
@@ -23,6 +22,5 @@ root.render(
     <SocketListener>
       <RouterProvider router={router} />
     </SocketListener>
-    {/* <FormBuildTest /> */}
   </>
 );

web_p/camera_info_topic.json

@@ -1,6 +0,0 @@
-{
-    "_id": "67b43b59ba78351d1a11d74a",
-    "name": "/rgbd_camera/camera_info",
-    "type": "sensor_msgs/msg/CameraInfo",
-    "__v": 0
-}

web_p/image_topic.json

@@ -1,6 +0,0 @@
-{
-    "_id": "67b43b20ba78351d1a11d747",
-    "name": "/rgbd_camera/image",
-    "type": "sensor_msgs/msg/Image",
-    "__v": 0
-}

web_p/models_dope.py

@@ -1,196 +0,0 @@
-"""
-NVIDIA from jtremblay@gmail.com
-"""
-
-# Networks
-import torch
-import torch
-import torch.nn as nn
-import torch.nn.parallel
-import torch.utils.data
-import torchvision.models as models
-
-
-class DopeNetwork(nn.Module):
-    def __init__(
-        self,
-        pretrained=False,
-        numBeliefMap=9,
-        numAffinity=16,
-        stop_at_stage=6,  # number of stages to process (if less than total number of stages)
-    ):
-        super(DopeNetwork, self).__init__()
-
-        self.stop_at_stage = stop_at_stage
-
-        vgg_full = models.vgg19(pretrained=False).features
-        self.vgg = nn.Sequential()
-        for i_layer in range(24):
-            self.vgg.add_module(str(i_layer), vgg_full[i_layer])
-
-        # Add some layers
-        i_layer = 23
-        self.vgg.add_module(
-            str(i_layer), nn.Conv2d(512, 256, kernel_size=3, stride=1, padding=1)
-        )
-        self.vgg.add_module(str(i_layer + 1), nn.ReLU(inplace=True))
-        self.vgg.add_module(
-            str(i_layer + 2), nn.Conv2d(256, 128, kernel_size=3, stride=1, padding=1)
-        )
-        self.vgg.add_module(str(i_layer + 3), nn.ReLU(inplace=True))
-
-        # print('---Belief------------------------------------------------')
-        # _2 are the belief map stages
-        self.m1_2 = DopeNetwork.create_stage(128, numBeliefMap, True)
-        self.m2_2 = DopeNetwork.create_stage(
-            128 + numBeliefMap + numAffinity, numBeliefMap, False
-        )
-        self.m3_2 = DopeNetwork.create_stage(
-            128 + numBeliefMap + numAffinity, numBeliefMap, False
-        )
-        self.m4_2 = DopeNetwork.create_stage(
-            128 + numBeliefMap + numAffinity, numBeliefMap, False
-        )
-        self.m5_2 = DopeNetwork.create_stage(
-            128 + numBeliefMap + numAffinity, numBeliefMap, False
-        )
-        self.m6_2 = DopeNetwork.create_stage(
-            128 + numBeliefMap + numAffinity, numBeliefMap, False
-        )
-
-        # print('---Affinity----------------------------------------------')
-        # _1 are the affinity map stages
-        self.m1_1 = DopeNetwork.create_stage(128, numAffinity, True)
-        self.m2_1 = DopeNetwork.create_stage(
-            128 + numBeliefMap + numAffinity, numAffinity, False
-        )
-        self.m3_1 = DopeNetwork.create_stage(
-            128 + numBeliefMap + numAffinity, numAffinity, False
-        )
-        self.m4_1 = DopeNetwork.create_stage(
-            128 + numBeliefMap + numAffinity, numAffinity, False
-        )
-        self.m5_1 = DopeNetwork.create_stage(
-            128 + numBeliefMap + numAffinity, numAffinity, False
-        )
-        self.m6_1 = DopeNetwork.create_stage(
-            128 + numBeliefMap + numAffinity, numAffinity, False
-        )
-
-    def forward(self, x):
-        """Runs inference on the neural network"""
-
-        out1 = self.vgg(x)
-
-        out1_2 = self.m1_2(out1)
-        out1_1 = self.m1_1(out1)
-
-        if self.stop_at_stage == 1:
-            return [out1_2], [out1_1]
-
-        out2 = torch.cat([out1_2, out1_1, out1], 1)
-        out2_2 = self.m2_2(out2)
-        out2_1 = self.m2_1(out2)
-
-        if self.stop_at_stage == 2:
-            return [out1_2, out2_2], [out1_1, out2_1]
-
-        out3 = torch.cat([out2_2, out2_1, out1], 1)
-        out3_2 = self.m3_2(out3)
-        out3_1 = self.m3_1(out3)
-
-        if self.stop_at_stage == 3:
-            return [out1_2, out2_2, out3_2], [out1_1, out2_1, out3_1]
-
-        out4 = torch.cat([out3_2, out3_1, out1], 1)
-        out4_2 = self.m4_2(out4)
-        out4_1 = self.m4_1(out4)
-
-        if self.stop_at_stage == 4:
-            return [out1_2, out2_2, out3_2, out4_2], [out1_1, out2_1, out3_1, out4_1]
-
-        out5 = torch.cat([out4_2, out4_1, out1], 1)
-        out5_2 = self.m5_2(out5)
-        out5_1 = self.m5_1(out5)
-
-        if self.stop_at_stage == 5:
-            return [out1_2, out2_2, out3_2, out4_2, out5_2], [
-                out1_1,
-                out2_1,
-                out3_1,
-                out4_1,
-                out5_1,
-            ]
-
-        out6 = torch.cat([out5_2, out5_1, out1], 1)
-        out6_2 = self.m6_2(out6)
-        out6_1 = self.m6_1(out6)
-
-        return [out1_2, out2_2, out3_2, out4_2, out5_2, out6_2], [
-            out1_1,
-            out2_1,
-            out3_1,
-            out4_1,
-            out5_1,
-            out6_1,
-        ]
-
-    @staticmethod
-    def create_stage(in_channels, out_channels, first=False):
-        """Create the neural network layers for a single stage."""
-
-        model = nn.Sequential()
-        mid_channels = 128
-        if first:
-            padding = 1
-            kernel = 3
-            count = 6
-            final_channels = 512
-        else:
-            padding = 3
-            kernel = 7
-            count = 10
-            final_channels = mid_channels
-
-        # First convolution
-        model.add_module(
-            "0",
-            nn.Conv2d(
-                in_channels, mid_channels, kernel_size=kernel, stride=1, padding=padding
-            ),
-        )
-
-        # Middle convolutions
-        i = 1
-        while i < count - 1:
-            model.add_module(str(i), nn.ReLU(inplace=True))
-            i += 1
-            model.add_module(
-                str(i),
-                nn.Conv2d(
-                    mid_channels,
-                    mid_channels,
-                    kernel_size=kernel,
-                    stride=1,
-                    padding=padding,
-                ),
-            )
-            i += 1
-
-        # Penultimate convolution
-        model.add_module(str(i), nn.ReLU(inplace=True))
-        i += 1
-        model.add_module(
-            str(i), nn.Conv2d(mid_channels, final_channels, kernel_size=1, stride=1)
-        )
-        i += 1
-
-        # Last convolution
-        model.add_module(str(i), nn.ReLU(inplace=True))
-        i += 1
-        model.add_module(
-            str(i), nn.Conv2d(final_channels, out_channels, kernel_size=1, stride=1)
-        )
-        i += 1
-
-        return model

web_p/od_skill.json

@@ -1,87 +0,0 @@
-{
-    "_id": "67b33b15f3412f3530fdb337",
-    "bgColor": "rgba(5, 26, 39, 1)",
-    "borderColor": "rgba(25, 130, 196, 1)",
-    "SkillPackage": { "name": "Robossembler", "version": "1", "format": "1.0" },
-    "Module": { "node_name": "lc_yolo", "name": "ObjectDetection", "description": "Object detection skill with YOLOv8" },
-    "BTAction": [
-        {
-            "name": "odConfigure",
-            "type": "run",
-            "param": [
-                {
-                    "type": "topic",
-                    "dependency": {
-                        "type": "topic",
-                        "topicType": "sensor_msgs/msg/CameraInfo"
-                    },
-                    "isFilled": false
-                },
-                {
-                    "type": "topic",
-                    "dependency": {
-                        "type": "topic",
-                        "topicType": "sensor_msgs/msg/Image"
-                    },
-                    "isFilled": false
-                },
-                {
-                    "type": "formBuilder",
-                    "dependency": {
-                        "result": "{\"process\":\\${<SelectProcess/>:OBJECT:{\"type\":\"WEIGHTS\"},\"object_name\":\\${object_name:string:}}",
-                        "context": "",
-                        "form": [],
-                        "output": "",
-                        "type": "formBuilder"
-                    },
-                    "isFilled": false
-                }
-            ],
-            "typeAction": "ACTION"
-        },
-        {
-            "name": "odStop",
-            "type": "stop",
-            "param": [],
-            "typeAction": "ACTION"
-        },
-        {
-            "name": "isDetectionRun",
-            "type": "if",
-            "param": [],
-            "typeAction": "CONDITION"
-        },
-        {
-            "name": "isDetection",
-            "type": "if",
-            "param": [],
-            "typeAction": "CONDITION"
-        }
-    ],
-    "topicsOut": [
-        {
-            "name": "lc_yolo/object_detection",
-            "type": "rbs_skill_interfaces/msg/BoundBox"
-        },
-        {
-            "name": "lc_yolo/detect_image",
-            "type": "sensor_msgs/msg/Image"
-        }
-    ],
-    "Launch": {
-        "executable": "od_yolo_lc.py",
-        "package": "rbss_objectdetection"
-    },
-    "Settings": {
-        "result": "{\"params\": \\${ITEM:Array<ITEM>:[]}}",
-        "context": "type ITEM = {\"name\": \\${NAME:string:default},\"value\": \\${VALUE:string:default}};",
-        "form": [
-            "{\"name\":\"ITEM\",\"type\":\"Array\",\"defaultValue\":\"[]\",\"values\":[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"fa8b442a-101b-448b-b5fd-55ad64f8e578\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"c59b86d8-a54b-42da-b2bf-5fdfeff7f711\"}],\"totalValue\":[],\"isOpen\":true,\"subType\":\"ITEM\",\"id\":\"8be7af67-5860-4a3f-bdab-09c75a53bff7\"}"
-        ],
-        "output": {
-            "params": []
-        },
-        "type": "formBuilder"
-    },
-    "__v": 0
-}

web_p/rbs_train2.py

@@ -1,64 +0,0 @@
-"""
-  rbs_train2
-  Общая задача: web-service pipeline
-  Реализуемая функция: обучение нейросетевой модели по заданному BOP-датасету
-
-    python3 $PYTHON_EDUCATION --path /home/user/webservice/server/build/public/process/proc/inst_proc \
-        --form /home/user/webservice/server/build/public/process/proc/inst_proc/form.json
-
-  28.01.2025 @shalenikol release 0.1
-  17.02.2025 @shalenikol release 0.2 addon_dir
-"""
-import argparse
-import os
-import json
-from train_Yolo import train_YoloV8
-from train_Dope import train_Dope_i
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser()
-    parser.add_argument("--path", required=True, help="Output path for weights")
-    parser.add_argument("--form", required=True, help="Json-file with training parameters")
-    args = parser.parse_args()
-
-    if not os.path.isdir(args.path):
-        print(f"Invalid output path '{args.path}'")
-        exit(-1)
-    wname = os.path.basename(args.path)
-    outpath = os.path.dirname(args.path)
-
-    if not os.path.isfile(args.form):
-        print(f"Error: no such file '{args.form}'")
-        exit(-2)
-    with open(args.form, "r") as f:
-        j_data = f.read()
-    try:
-        cfg = json.loads(j_data)
-    except json.JSONDecodeError as e:
-        print(f"JSon error: {e}")
-        exit(-3)
-
-    cfg = cfg["output"] # edited params
-    dataset_params = cfg["process"]["selectProcess"]["value"]
-    dataset_type = dataset_params["type"]
-    if dataset_type != "BOP_DATASET":
-        print(f"Error: Invalid dataset type '{dataset_type}'")
-        exit(-4)
-    dataset_name = dataset_params["instanceName"]
-    dataset_path = dataset_params["path"]
-    dataset_path = dataset_path.replace("//", "/") # !!! TODO !!! Nikita
-
-    epoch = cfg["n_epoch"]
-    pretrain = (cfg["pretrain"] == "True") #False
-    ttype = cfg["typeWeight"] #"ObjectDetection"
-
-    addon_dir = ""
-    if "addon" in cfg:
-        addon = cfg["addon"].strip()
-        if addon and os.path.isdir(addon):
-            addon_dir = addon
-
-    if ttype == "ObjectDetection":
-        train_YoloV8(dataset_path, wname, dataset_name, outpath, epoch, pretrain, addon_dir)
-    else:
-        train_Dope_i(dataset_path, wname, dataset_name, outpath, epoch, pretrain)

web_p/renderBOPdataset2.py

@@ -8,7 +8,6 @@ import blenderproc as bproc
   02.05.2024 @shalenikol release 0.1
   02.07.2024 @shalenikol release 0.2
   28.10.2024 @shalenikol release 0.3
-  28.02.2025 @shalenikol release 0.4 blenderproc 2.8.0 + blender 4.2.1 LTS
 """
 import numpy as np
 import argparse
@@ -17,32 +16,17 @@ import os
 import shutil
 import json
 from pathlib import Path
-import time
-
-###########################
-# !!! чтобы избежать ошибки в версии 2.8.0
-# free(): invalid pointer
-# при вызове bproc.writer.write_bop
-import pyrender
-from pyrender.platforms import egl
-###########################
-
-start_time = time.time()  # Запоминаем время начала
 
 import bpy
 
 VHACD_PATH = "blenderproc_resources/vhacd"
 DIR_MODELS = "models"
-# DIR_MESH = "assets/libs/objects/"
+DIR_MESH = "assets/libs/objects/"
 FILE_LOG_SCENE = "res.txt"
 FILE_RBS_INFO = "rbs_info.json"
 FILE_GT_COCO = "scene_gt_coco.json"
-FILE_PARAMS = "form.json"
-PROCEDURAL_TEXTURE = "texture_path" # key in randomization params: for texture types (Noise Textures), (Procedural Patterns) or (Tileable Textures)
-EXT_MODELS = ".fbx" # for scene objects (floor ...)
-DETAIL_KEY = "daeUrl" # "fbx" # key in dict 'Detail' for mesh path of model
+EXT_MODELS = ".fbx"
 TEXTURE_TMPL = "*.jpg"
-TEXTURE_IMAGE_TYPES = ["Base Color", "Metallic", "Normal", "Roughness", "Specular IOR Level"]
 
 Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует
 
@@ -73,50 +57,19 @@ def convert2relative(height, width, bbox):
     y += h/2
     return x/width, y/height, w/width, h/height
 
-def convert_seconds(total_seconds):
-    hours = int(total_seconds // 3600)
-    minutes = int((total_seconds % 3600) // 60)
-    seconds = int(total_seconds % 60)
-    return f"{hours:02}:{minutes:02}:{seconds:02}"
-
 def render() -> int:
-    res_dir = rnd_par.output_dir
-    log_dir = os.path.dirname(res_dir)
-    # copy file with randomization params
-    file_params = os.path.join(res_dir, FILE_PARAMS)
-    if os.path.isfile(file_params):
-        shutil.copy2(file_params, log_dir)
-
-    if os.path.isdir(res_dir):
-        shutil.rmtree(res_dir)
-
     i = 0
     for obj in all_meshs:
         # Make the object actively participate in the physics simulation
         obj.enable_rigidbody(active=True, collision_shape="COMPOUND")
         # Also use convex decomposition as collision shapes
         obj.build_convex_decomposition_collision_shape(VHACD_PATH)
-
-        # # это для procedural texture, но пока не правильно
-        # fn = (os.path.splitext(rnd_par.models.filenames[i]))[0] + ".jpg" # файл с текстурой
-        # if os.path.isfile(fn):
-        #     material = bproc.material.create_material_from_texture(fn, material_name="texture_model"+str(i))
-        #     # Применяем текстуру к материалу
-        #     obj.replace_materials(material)
-        tex = rnd_par.models.textures[i] # описание текстур
-        if tex["is"]:
-            mat = bproc.material.create("m"+str(i))
-            for x in tex["t_images"]:
-                key = list(x.keys())[0]
-                mat.set_principled_shader_value(key, bpy.data.images.load(filepath=x[key]))
-            obj.replace_materials(mat)
-
         i += 1
         # print(f"{i} : {obj.get_name()}")
 
     objs = all_meshs + rnd_par.scene.objs
 
-    log_txt = os.path.join(log_dir, FILE_LOG_SCENE)
+    log_txt = os.path.join(os.path.dirname(rnd_par.output_dir), FILE_LOG_SCENE)
     with open(log_txt, "w") as fh:
         for i,o in enumerate(objs):
             loc = o.get_location()
@@ -138,21 +91,23 @@ def render() -> int:
                                                     rnd_par.image_size_wh[1],
                                                     lens_unit="FOV")
 
-    # Enable transparency so the background becomes transparent
-    bproc.renderer.set_output_format(enable_transparency=True) # ???
     # add segmentation masks (per class and per instance)
     bproc.renderer.enable_segmentation_output(map_by=["category_id", "instance", "name"])
 
     # activate depth rendering
     bproc.renderer.enable_depth_output(activate_antialiasing=False)
 
+    # res_dir = os.path.join(rnd_par.output_dir, rnd_par.ds_name)
+    res_dir = rnd_par.output_dir
+    if os.path.isdir(res_dir):
+        shutil.rmtree(res_dir)
     # Цикл рендеринга
     # Do multiple times: Position the shapenet objects using the physics simulator and render X images with random camera poses
     for r in range(rnd_par.n_series):
         print(f"********** Series : {r+1}")
-        is_texture = True if PROCEDURAL_TEXTURE in rnd_par.models_randomization else False
+        is_texture = True if "texture_path" in rnd_par.models_randomization else False
         if is_texture:
-            val = rnd_par.models_randomization[PROCEDURAL_TEXTURE]
+            val = rnd_par.models_randomization["texture_path"]
             l_texture = _get_list_texture(val)
             image = bpy.data.images.load(filepath=str(l_texture[r % len(l_texture)]))
         # один случайный объект в кадре / все заданные объекты
@@ -170,32 +125,16 @@ def render() -> int:
 
         for i,o in enumerate(rnd_par.scene.objs): # объекты сцены
             rnd_mat = rnd_par.scene.obj_data[i]["material_randomization"]
-
-            # if PROCEDURAL_TEXTURE in rnd_mat: # путь к текстурам (*.jpg)
-            #     mat = bproc.material.create("m"+str(i))
-            #     # for x in tex["t_images"]:
-            #     #     key = list(x.keys())[0]
-            #     val = rnd_mat[PROCEDURAL_TEXTURE]
-            #     val = _get_list_texture(val)
-            #     image = bpy.data.images.load(filepath=str(random.choice(val)))
-            #     mat.set_principled_shader_value("Base Color", image)
-            #     o.replace_materials(mat)
-
             mats = o.get_materials() #[0]
             for mat in mats:
-
-                # with open(log_txt, "a") as fh:
-                #     fh.write("************* mat\n")
-                #     fh.write(f"{mat}\n")
-
                 val = rnd_mat["specular"]
-                mat.set_principled_shader_value("Specular IOR Level", random.uniform(val[0], val[1])) # для Blender < 4.2 было "Specular"
+                mat.set_principled_shader_value("Specular", random.uniform(val[0], val[1]))
                 val = rnd_mat["roughness"]
                 mat.set_principled_shader_value("Roughness", random.uniform(val[0], val[1]))
                 val = rnd_mat["metallic"]
                 mat.set_principled_shader_value("Metallic", random.uniform(val[0], val[1]))
-                if PROCEDURAL_TEXTURE in rnd_mat: # путь к текстурам (*.jpg)
-                    val = rnd_mat[PROCEDURAL_TEXTURE]
+                if "texture_path" in rnd_mat: # путь к текстурам (*.jpg)
+                    val = rnd_mat["texture_path"]
                     val = _get_list_texture(val)
                     image = bpy.data.images.load(filepath=str(random.choice(val)))
                     mat.set_principled_shader_value("Base Color", image)
@@ -217,7 +156,7 @@ def render() -> int:
         # Define a function that samples 6-DoF poses
         def sample_pose(obj: bproc.types.MeshObject):
             obj.set_location(np.random.uniform(rnd_par.loc_range_low, rnd_par.loc_range_high)) #[-1, -1, 0], [1, 1, 2]))
-            obj.set_rotation_euler(bproc.sampler.uniformSO3(around_x=rnd_par.around_x, around_y=rnd_par.around_y, around_z=rnd_par.around_z))
+            obj.set_rotation_euler(bproc.sampler.uniformSO3())
 
         # Sample the poses of all shapenet objects above the ground without any collisions in-between
         bproc.object.sample_poses(meshs,
@@ -293,12 +232,7 @@ def render() -> int:
         rec["name"] = objn
         rec["model"] = os.path.join(DIR_MODELS, os.path.split(rnd_par.models.filenames[i])[1]) # путь относительный
         t = [obj.get_bound_box(local_coords=True).tolist() for obj in all_meshs if obj.get_name() == objn]
-        if len(t) > 0:
         rec["cuboid"] = t[0]
-        else: # object name does not match file name
-            rec["Error"] = "!!! object name does not match file name: cuboid is zero"
-            rec["cuboid"] = np.zeros((8, 3)).tolist()
-
         data.append(rec)
         shutil.copy2(rnd_par.models.filenames[i], models_dir)
         f = (os.path.splitext(rnd_par.models.filenames[i]))[0] + ".mtl" # файл материала
@@ -349,37 +283,9 @@ def render() -> int:
 
     if Not_Categories_Name:
         explore(res_dir)
-
-    end_time = time.time()  # время окончания
-    execution_time = end_time - start_time  # время выполнения
-    with open(log_txt, "a") as fh:
-        fh.write("*****************\n")
-        fh.write(f"Время выполнения: {convert_seconds(execution_time)}\n")
     return 0 # success
 
-def set_texture_model(name: str, textures: list, model_d) -> None:
-    """
-        textures заполняется массивом текстур вида:
-        [{"is": True, "t_images": [{"Base Color":"/path/to/shkaf_d.png"}, {"Normal":"/path/to/shkaf_n.png"}] }, ... ]
-    """
-    d = {"is": False}
-    if "models" in model_d:
-        for model in model_d["models"]:
-            if model["name"] == name:
-                path = model["texture_dir"].strip()
-                if path:
-                    t_images = []
-                    for x in TEXTURE_IMAGE_TYPES:
-                        if x in model:
-                            rel_path = model[x].strip()
-                            if rel_path:
-                                t_images.append({x: os.path.join(path, rel_path)})
-                    if len(t_images):
-                        d["is"] = True
-                        d["t_images"] = t_images
-    textures.append(d)
-
-def _get_models(par, data, models_data) -> int:
+def _get_models(par, data) -> int:
     global all_meshs
 
     par.models = lambda: None
@@ -388,14 +294,13 @@ def _get_models(par, data, models_data) -> int:
         return 0 # no models
 
     # загрузим объекты
-    par.models.names = []
-    par.models.filenames = []
-    par.models.textures = []
+    par.models.names = []     # obj_names
+    par.models.filenames = [] # obj_filenames
     i = 1
     for f in data:
         nam = f["name"]
         par.models.names.append(nam)
-        ff = f[DETAIL_KEY] # _get_path_model(nam)
+        ff = f["fbx"] # _get_path_model(nam)
         par.models.filenames.append(ff)
         if not os.path.isfile(ff):
             print(f"Error: no such file '{ff}'")
@@ -406,7 +311,6 @@ def _get_models(par, data, models_data) -> int:
         obj = bproc.loader.load_obj(ff)
         all_meshs += obj
         obj[0].set_cp("category_id", i) # начиная с 1
-        set_texture_model(nam, par.models.textures, models_data)
         i += 1
     return par.models.n_item
 
@@ -466,6 +370,8 @@ if __name__ == "__main__":
         print(f"JSon error: {e}")
         exit(-2)
 
+    # output_dir = args.path
+
     ds_cfg = cfg["output"] # dataset config
     generation = ds_cfg["generation"]
     cam_pos = ds_cfg["camera_position"]
@@ -493,14 +399,11 @@ if __name__ == "__main__":
     rnd_par.models_randomization = models_randomization
     rnd_par.loc_range_low = models_randomization["loc_range_low"]
     rnd_par.loc_range_high = models_randomization["loc_range_high"]
-    rnd_par.around_x = (models_randomization["around_x"] == "True")
-    rnd_par.around_y = (models_randomization["around_y"] == "True")
-    rnd_par.around_z = (models_randomization["around_z"] == "True")
 
     bproc.init()
     
     all_meshs = []
-    if _get_models(rnd_par, rnd_par.dataset_objs, models_randomization) <= 0:
+    if _get_models(rnd_par, rnd_par.dataset_objs) <= 0:
         print("Error: no models in config")
         exit(-4)
     if _get_scene(rnd_par, ds_cfg["scene"]) <= 0:

web_p/train/args.yaml

@@ -0,0 +1,105 @@
+task: detect
+mode: train
+model: /home/shalenikol/fork_work/webservice/server/build/public/4c4f3909-74b0-4206-aec1-fc4acd3a1081/weights/od_w01/yolov8n.pt
+data: /home/shalenikol/fork_work/webservice/server/build/public/4c4f3909-74b0-4206-aec1-fc4acd3a1081/weights/od_w01/rbs_train.yaml
+epochs: 33
+time: null
+patience: 50
+batch: 16
+imgsz: 640
+save: true
+save_period: -1
+cache: false
+device: null
+workers: 8
+project: /home/shalenikol/fork_work/webservice/server/build/public/4c4f3909-74b0-4206-aec1-fc4acd3a1081/weights/od_w01
+name: train
+exist_ok: false
+pretrained: true
+optimizer: auto
+verbose: true
+seed: 0
+deterministic: true
+single_cls: false
+rect: false
+cos_lr: false
+close_mosaic: 10
+resume: false
+amp: true
+fraction: 1.0
+profile: false
+freeze: null
+multi_scale: false
+overlap_mask: true
+mask_ratio: 4
+dropout: 0.0
+val: true
+split: val
+save_json: false
+save_hybrid: false
+conf: null
+iou: 0.7
+max_det: 300
+half: false
+dnn: false
+plots: true
+source: null
+vid_stride: 1
+stream_buffer: false
+visualize: false
+augment: false
+agnostic_nms: false
+classes: null
+retina_masks: false
+embed: null
+show: false
+save_frames: false
+save_txt: false
+save_conf: false
+save_crop: false
+show_labels: true
+show_conf: true
+show_boxes: true
+line_width: null
+format: torchscript
+keras: false
+optimize: false
+int8: false
+dynamic: false
+simplify: false
+opset: null
+workspace: 4
+nms: false
+lr0: 0.01
+lrf: 0.01
+momentum: 0.937
+weight_decay: 0.0005
+warmup_epochs: 3.0
+warmup_momentum: 0.8
+warmup_bias_lr: 0.1
+box: 7.5
+cls: 0.5
+dfl: 1.5
+pose: 12.0
+kobj: 1.0
+label_smoothing: 0.0
+nbs: 64
+hsv_h: 0.015
+hsv_s: 0.7
+hsv_v: 0.4
+degrees: 0.0
+translate: 0.1
+scale: 0.5
+shear: 0.0
+perspective: 0.0
+flipud: 0.0
+fliplr: 0.5
+mosaic: 1.0
+mixup: 0.0
+copy_paste: 0.0
+auto_augment: randaugment
+erasing: 0.4
+crop_fraction: 1.0
+cfg: null
+tracker: botsort.yaml
+save_dir: /home/shalenikol/fork_work/webservice/server/build/public/4c4f3909-74b0-4206-aec1-fc4acd3a1081/weights/od_w01/train

web_p/train/results.csv

@@ -0,0 +1,34 @@
+                  epoch,         train/box_loss,         train/cls_loss,         train/dfl_loss,   metrics/precision(B),      metrics/recall(B),       metrics/mAP50(B),    metrics/mAP50-95(B),           val/box_loss,           val/cls_loss,           val/dfl_loss,                 lr/pg0,                 lr/pg1,                 lr/pg2
+                      1,                0.62674,                  1.281,                0.92555,                0.99239,                0.99448,                0.99323,                0.90966,                0.40212,                 0.8264,                0.80447,             0.00066247,             0.00066247,             0.00066247
+                      2,                0.60996,                0.71899,                0.93387,                 0.9945,                0.99945,                0.99484,                0.91551,                0.43253,                0.60301,                 0.8228,              0.0012893,              0.0012893,              0.0012893
+                      3,                0.58648,                0.54879,                0.92909,                      1,                0.98871,                0.99494,                 0.9213,                0.40211,                0.39327,                0.81593,              0.0018761,              0.0018761,              0.0018761
+                      4,                0.58195,                0.48301,                0.92375,                0.99087,                 0.9337,                0.97172,                0.89393,                0.41614,                0.46785,                0.82069,                0.00182,                0.00182,                0.00182
+                      5,                0.56201,                0.44926,                0.92381,                0.99447,                0.99385,                0.99494,                0.94951,                0.34807,                0.32406,                 0.8013,                0.00182,                0.00182,                0.00182
+                      6,                0.52696,                0.40581,                 0.9068,                0.95813,                0.98343,                0.99281,                0.94494,                0.33023,                0.48053,                0.79401,                0.00176,                0.00176,                0.00176
+                      7,                0.51017,                 0.3952,                0.90752,                0.99889,                      1,                  0.995,                0.95388,                 0.3192,                0.33973,                 0.7992,                 0.0017,                 0.0017,                 0.0017
+                      8,                0.50772,                0.37889,                0.90238,                0.98351,                0.98842,                0.98581,                0.94918,                0.30154,                0.28504,                0.79667,                0.00164,                0.00164,                0.00164
+                      9,                0.47737,                 0.3576,                0.89251,                0.99946,                0.99448,                  0.995,                0.97205,                0.28135,                0.23642,                0.79101,                0.00158,                0.00158,                0.00158
+                     10,                0.46587,                0.34547,                0.89324,                0.99948,                      1,                  0.995,                0.96897,                0.28021,                0.28522,                0.78694,                0.00152,                0.00152,                0.00152
+                     11,                0.45881,                0.33452,                0.89055,                0.99954,                      1,                  0.995,                0.97012,                0.26364,                0.21443,                 0.7813,                0.00146,                0.00146,                0.00146
+                     12,                0.44939,                0.32887,                0.89206,                 0.9996,                      1,                  0.995,                0.98382,                0.24486,                0.20614,                0.78109,                 0.0014,                 0.0014,                 0.0014
+                     13,                0.44388,                0.32289,                0.88796,                0.99932,                      1,                  0.995,                0.97195,                0.27681,                0.21443,                0.77933,                0.00134,                0.00134,                0.00134
+                     14,                0.43847,                0.31282,                0.88496,                0.99965,                      1,                  0.995,                0.98019,                0.25014,                0.20255,                 0.7775,                0.00128,                0.00128,                0.00128
+                     15,                0.41585,                0.30067,                 0.8774,                0.99943,                      1,                  0.995,                0.97609,                0.25842,                0.21239,                0.78006,                0.00122,                0.00122,                0.00122
+                     16,                0.41436,                0.29784,                0.87488,                0.99964,                      1,                  0.995,                0.97823,                0.25499,                0.19837,                0.78004,                0.00116,                0.00116,                0.00116
+                     17,                  0.414,                0.29771,                0.87575,                0.99943,                      1,                  0.995,                0.98746,                 0.2251,                  0.203,                0.77468,                 0.0011,                 0.0011,                 0.0011
+                     18,                0.39273,                0.29075,                0.86927,                0.99445,                      1,                  0.995,                0.98597,                0.22693,                0.19648,                0.77208,                0.00104,                0.00104,                0.00104
+                     19,                0.40052,                0.28802,                0.87804,                0.99958,                      1,                  0.995,                0.98541,                0.22268,                0.18749,                0.77233,                0.00098,                0.00098,                0.00098
+                     20,                0.38066,                0.27951,                0.86666,                0.99969,                      1,                  0.995,                0.98901,                0.20959,                 0.1775,                 0.7697,                0.00092,                0.00092,                0.00092
+                     21,                0.38115,                0.27813,                 0.8658,                0.99964,                      1,                  0.995,                0.98895,                0.20699,                 0.1779,                0.77073,                0.00086,                0.00086,                0.00086
+                     22,                0.37441,                0.27094,                0.87121,                0.99965,                      1,                  0.995,                0.98975,                0.20138,                0.17235,                0.76785,                 0.0008,                 0.0008,                 0.0008
+                     23,                0.36808,                0.26148,                0.86426,                0.99965,                      1,                  0.995,                0.98829,                0.19861,                 0.1628,                0.76706,                0.00074,                0.00074,                0.00074
+                     24,                0.25547,                  0.199,                0.77555,                0.99955,                      1,                  0.995,                0.98791,                0.21853,                0.18063,                0.76972,                0.00068,                0.00068,                0.00068
+                     25,                0.24799,                 0.1969,                0.78404,                0.99958,                      1,                  0.995,                0.98812,                0.23069,                0.18178,                0.76985,                0.00062,                0.00062,                0.00062
+                     26,                0.24232,                 0.1915,                0.78022,                0.99968,                      1,                  0.995,                0.99024,                0.20883,                0.16788,                0.76752,                0.00056,                0.00056,                0.00056
+                     27,                0.23288,                 0.1839,                0.77463,                0.99968,                      1,                  0.995,                0.99151,                 0.2026,                0.16501,                0.76809,                 0.0005,                 0.0005,                 0.0005
+                     28,                0.23066,                0.18012,                0.77547,                0.99961,                      1,                  0.995,                0.98912,                0.19388,                 0.1534,                0.76246,                0.00044,                0.00044,                0.00044
+                     29,                0.22286,                0.17062,                0.77932,                 0.9997,                      1,                  0.995,                0.99039,                0.20566,                0.14978,                0.76601,                0.00038,                0.00038,                0.00038
+                     30,                0.21427,                0.16357,                0.77529,                 0.9997,                      1,                  0.995,                0.99215,                0.18345,                0.14148,                0.76206,                0.00032,                0.00032,                0.00032
+                     31,                0.20895,                0.16067,                0.77189,                 0.9997,                      1,                  0.995,                0.99187,                0.17027,                0.13746,                0.76124,                0.00026,                0.00026,                0.00026
+                     32,                0.20248,                0.15421,                0.77526,                 0.9997,                      1,                  0.995,                0.99246,                0.17229,                0.13828,                0.76056,                 0.0002,                 0.0002,                 0.0002
+                     33,                0.19494,                0.15005,                0.76361,                0.99971,                      1,                  0.995,                0.99302,                0.16442,                0.12543,                0.76043,                0.00014,                0.00014,                0.00014