update run command for BT

added new features

.gitignore

@@ -1 +1,2 @@
 p.py
+__pycache__

.vscode/launch.json

@@ -1,40 +1,36 @@
 {
-    // Use IntelliSense to learn about possible attributes.
+  "version": "0.2.0",
-    // Hover to view descriptions of existing attributes.
+  "configurations": [
-    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    {
-    "version": "0.2.0",
+      "type": "node",
-    
+      "request": "launch",
-    "configurations": [
+      "name": "server-dev",
-
+      "runtimeExecutable": "npm",
-        {
+      "runtimeArgs": ["run-script", "dev"],
-            "type": "node",
+      "cwd": "${workspaceRoot}/server/"
-            "request": "launch",
+    },
-            "name": "server-dev",
+    {
-            "runtimeExecutable": "npm",
+      "type": "node",
-            "runtimeArgs": [
+      "request": "launch",
-                "run-script", "dev"
+      "name": "server-test-watch",
-            ],
+      "runtimeExecutable": "npm",
-            "cwd": "${workspaceRoot}/server/",
+      "runtimeArgs": ["run-script", "test:watch"],
-        },
+      "cwd": "${workspaceRoot}/server/"
-        {
+    },
-            "type": "node",
+    {
-            "request": "launch",
+      "type": "node",
-            "name": "server-test-watch",
+      "request": "launch",
-            "runtimeExecutable": "npm",
+      "name": "ui-dev",
-            "runtimeArgs": [
+      "runtimeExecutable": "npm",
-                "run-script", "test:watch"
+      "runtimeArgs": ["run-script", "dev"],
-            ],
+      "cwd": "${workspaceRoot}/ui/"
-            "cwd": "${workspaceRoot}/server/",
+    },
-        },
+    {
-        {
+      "type": "chrome",
-            "type": "node",
+      "request": "launch",
-            "request": "launch",
+      "name": "Launch debug chrome",
-            "name": "ui-dev",
+      "url": "http://localhost:3000",
-            "runtimeExecutable": "npm",
+      "webRoot": "${workspaceFolder}"
-            "runtimeArgs": [
+    }
-                "run-script", "dev"
+  ]
-            ],
-            "cwd": "${workspaceRoot}/ui/",
-        }
-    ]
 }

.vscode/settings.json

@@ -1,6 +1,36 @@
 {
   "cSpell.words": [
+    "введите",
     "Ведите",
-    "typedataset"
+    "дерево",
-  ]
+    "Количество",
+    "модели",
+    "может",
+    "навык",
+    "Новое",
+    "отрицательное",
+    "принимать",
+    "скила",
+    "создано",
+    "число",
+    "эпох",
+    "эпоха",
+    "Collada",
+    "Contolls",
+    "GLTF",
+    "grau",
+    "idontsudo",
+    "Pids",
+    "raycaster",
+    "skils",
+    "typedataset",
+    "URDF",
+    "usecases"
+  ],
+  "files.exclude": {
+    "**/.git": false,
+    "**/.svn": false,
+    "**/.hg": false,
+    "**/CVS": false
+  }
 }

README.md

@@ -10,7 +10,7 @@
 
 Каждая фаза жизненного цикла имеет своё представление в виде страницы в веб-сервисе:
 
-1. Создание проекта сборки, загрузка CAD-проекта изделия - "Проекты", вкладки "Детали", "Сборки"
+1. Создание проекта сборки, загрузка CAD-проекта изделия - "Проекты"
 2. Подготовка и генерация датасета для навыков машинного зрения - Вкладка "Датасеты"
 3. Конфигурация сцены - Scene Builder - Вкладка "Сцена"
 4. Создание дерева поведения из навыков - Вкладка "Поведение"
@@ -23,37 +23,74 @@
 
 ## Требования
 
-- Node.js
+- Node.js (версия >= 20.11.1)
-- MongoDB
+- MongoDB (версия >= 7.0.15)
 - BlenderProc (для генерации датасетов)
 
-## Клонирование проекта
+## Последовательность команд для установки зависимостей
 
 ```bash
+# установка nvm
+curl --silent -o- https://raw.githubusercontent.com/creationix/nvm/v0.31.2/install.sh | bash
+source ~/.bashrc
+# установка Node.js
+nvm install 20.11.1
+nvm alias default 20.11.1
+nvm use default
+
+# MongoDB
+# импортировать открытый ключ для MongoDB
+curl -fsSL https://pgp.mongodb.com/server-7.0.asc | sudo gpg -o /usr/share/keyrings/mongodb-server-7.0.gpg --dearmor
+# добавить репозиторий MongoDB 7.0 в директорию /etc/apt/sources.list.d
+echo "deb [ arch=amd64,arm64 signed-by=/usr/share/keyrings/mongodb-server-7.0.gpg ] https://repo.mongodb.org/apt/ubuntu jammy/mongodb-org/7.0 multiverse" | sudo tee /etc/apt/sources.list.d/mongodb-org-7.0.list
+# установка MongoDB
+apt-get update && apt-get install -y mongodb-org
+# запуск
+sudo systemctl start mongod
+```
+Убедиться в том, что сервер MongoDB работает, можно посмотрев его состояние:
+```bash
+sudo systemctl status mongod
+```
+Статус должен быть 'active'
+```
+● mongod.service - MongoDB Database Server
+     Loaded: loaded (/lib/systemd/system/mongod.service; enabled; vendor preset: enabled)
+     Active: active (running) since Wed 2024-12-11 10:34:58 MSK; 1h 24min ago
+       Docs: https://docs.mongodb.org/manual
+   Main PID: 2439 (mongod)
+     Memory: 256.7M
+        CPU: 24.168s
+     CGroup: /system.slice/mongod.service
+             └─2439 /usr/bin/mongod --config /etc/mongod.conf
+```
+
+## Установка веб-сервиса
+
+```bash
+# клонирование исходников
+cd ~/
 git clone https://gitlab.com/robossembler/webservice
+# сборка сервера
+cd webservice/server
+npm i tsc-watch -g
+npm i
+# сборка фронтэнда
+cd ..
+cd ui
+npm i
 ```
 
-## Настройка переменных окружения
+## Запуск веб-сервиса
-
-Для работы Генератора Датасетов нужно задать следующие переменные в окружении `bash`
-
-```bash
-export PYTHON_BLENDER="путь_к_директории_с_файлами_из_rcg_pipeline"
-export PYTHON_BLENDER_PROC="путь_к_генератору_датасетов_renderBOPdataset.py"
-```
-
-## Запуск сервера
-
-Из директории `server` в корне репозитория
 
+Необходимо открыть два терминала. В первом нужно запустить сервер:
 ```bash
+cd ~/webservice/server
 npm run dev
 ```
-
+Во втором запустить UI:
-## Сборка и запуск UI
-
-Из директории `ui` в корне репозитория
-
 ```bash
-npm i && npm run build && npm run deploy
+cd ~/webservice/ui
+npm run dev
 ```
+Если установка была успешной, откроется браузер, на странице http://localhost:3000/ "Проекты".

p.json

@@ -0,0 +1,82 @@
+{
+    "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/.eslintrc.cjs

@@ -19,7 +19,7 @@ module.exports = {
     "@typescript-eslint/no-var-requires": "off",
     "@typescript-eslint/explicit-module-boundary-types": "off",
     "@typescript-eslint/no-unused-vars": [
-      "warn", // or "error"
+      "warn", 
       { 
         "argsIgnorePattern": "^_",
         "varsIgnorePattern": "^_",

server/.gitignore

@@ -9,3 +9,4 @@ build/
 model_create.ts
 public
 p.ts
+package-lock.json

server/README.md

@@ -1 +1,14 @@
 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

@@ -0,0 +1,26 @@
+{
+    "tensorBoard": {
+        "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}",
+        "date": null,
+        "status": "Fail,Ok",
+        "delay": 200,
+        "checkCommand": null,
+        "filter": null
+    },
+    "simulationProcess": {
+        "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}",
+        "date": null,
+        "status": null,
+        "delay": 0,
+        "checkCommand": null,
+        "filter": null
+    },
+    "btRuntimeProcess": {
+        "execCommand": "cd ~/robossembler-ws && source ./install/local_setup.bash; ros2 launch rbs_bt_executor rbs_bt_web.launch.py bt_path:=${bt_path}",
+        "date": null,
+        "status": null,
+        "delay": 0,
+        "checkCommand": null,
+        "filter": null
+    }
+}

server/package.json

@@ -7,8 +7,7 @@
     "test:dev": "NODE_ENV=test_dev tsc-watch --onSuccess 'ts-node  ./build/test/test.js'",
     "test:unit": "NODE_ENV=unit tsc-watch --onSuccess 'ts-node  ./build/test/test.js'",
     "test:e2e": "NODE_ENV=e2e tsc-watch --onSuccess 'ts-node  ./build/test/test.js'",
-    "dev": "NODE_ENV=dev tsc-watch --onSuccess 'ts-node ./build/src/main.js'",
+    "dev": "NODE_ENV=dev tsc-watch --onSuccess 'ts-node ./build/src/main.js'"
-    "build:stand": " "
   },
   "author": "IDONTSUDO",
   "devDependencies": {
@@ -24,34 +23,28 @@
     "chai": "latest",
     "eslint": "^8.47.0",
     "mocha": "latest",
-    "nyc": "latest",
+    "node-watch": "^0.7.4",
     "source-map-support": "latest",
     "ts-node": "^10.9.1",
     "tslint": "latest",
-    "typescript": "^5.1.6",
+    "typescript": "^5.1.6"
-    "node-watch": "^0.7.4",
-    "nodemon": "^3.0.1"
   },
   "dependencies": {
-    "@grpc/grpc-js": "^1.9.0",
     "axios": "^1.6.2",
-    "babel-register": "^6.26.0",
     "class-transformer": "^0.5.1",
     "class-validator": "^0.14.0",
     "cors": "^2.8.5",
     "express": "^4.18.2",
     "express-fileupload": "^1.4.2",
-    "first-di": "^1.0.11",
-    "md5": "^2.3.0",
     "mongoose": "^7.6.2",
     "mongoose-autopopulate": "^1.1.0",
+    "pattern-matching-ts": "^2.0.0",
     "pm2": "^5.3.1",
     "reflect-metadata": "^0.1.13",
     "rimraf": "^5.0.5",
     "socket.io": "^4.7.2",
     "socket.io-client": "^4.7.2",
-    "spark-md5": "^3.0.2",
+    "ts-pattern": "^5.1.1",
-    "ts-md5": "^1.3.1",
     "tsc-watch": "^6.0.4",
     "uuid": "^9.0.1"
   }

server/src/core/controllers/app.ts

@@ -6,10 +6,12 @@ import { Server } from "socket.io";
 import { createServer } from "http";
 import { SocketSubscriber } from "./socket_controller";
 import { dirname } from "path";
-import { SetLastActivePipelineToRealTimeServiceScenario } from "../scenarios/set_active_pipeline_to_realtime_service_scenario";
 import { CheckAndCreateStaticFilesFolderUseCase } from "../usecases/check_and_create_static_files_folder_usecase";
 import { DataBaseConnectUseCase } from "../usecases/database_connect_usecase";
 import { TypedEvent } from "../helpers/typed_event";
+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",
@@ -58,8 +60,6 @@ export class App extends TypedEvent<ServerStatus> {
     io.on("connection", (socket) => {
       this.socketSubscribers.map((el) => {
         el.emitter.on((e) => {
-          console.log(el.event)
-          console.log(e)
           socket.emit(el.event, e);
         });
       });
@@ -88,7 +88,25 @@ 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,
@@ -109,6 +127,7 @@ export class App extends TypedEvent<ServerStatus> {
     await result.fold(
       async (_s) => {
         await new CheckAndCreateStaticFilesFolderUseCase().call();
+
         // await new SetLastActivePipelineToRealTimeServiceScenario().call();
       },
       async (_e) => {
@@ -124,3 +143,5 @@ export class App extends TypedEvent<ServerStatus> {
     return rootDir + "public/";
   };
 }
+
+

server/src/core/controllers/http_controller.ts

@@ -3,6 +3,7 @@ import { Result } from "../helpers/result";
 import { Router, Request, Response } from "express";
 import { IRouteModel, Routes } from "../interfaces/router";
 import { CoreValidation } from "../validations/core_validation";
+import { plainToInstance } from "class-transformer";
 
 export type HttpMethodType = "GET" | "POST" | "PUT" | "DELETE" | "PATCH" | "PATCH" | "HEAD";
 
@@ -28,16 +29,48 @@ export abstract class CallbackStrategyWithFileUpload {
   abstract idValidationExpression: CoreValidation;
   abstract call(file: File, id: string): ResponseBase;
 }
+export abstract class CallbackStrategyWithFilesUploads {
+  abstract chuckingFileExpressions: RegExp[];
+  abstract call(files: File[]): ResponseBase;
+}
 
-interface ISubSetFeatureRouter<T> {
+export class SubRouter<A> implements ISubSetFeatureRouter<A> {
   method: HttpMethodType;
   subUrl: string;
   fn:
-    | CallbackStrategyWithValidationModel<T>
+    | CallbackStrategyWithValidationModel<A>
     | CallbackStrategyWithEmpty
     | CallbackStrategyWithIdQuery
     | CallBackStrategyWithQueryPage
-    | CallbackStrategyWithFileUpload;
+    | CallbackStrategyWithFileUpload
+    | CallbackStrategyWithFilesUploads;
+  constructor(
+    method: HttpMethodType,
+    subUrl: string,
+    fn:
+      | CallbackStrategyWithValidationModel<A>
+      | CallbackStrategyWithEmpty
+      | CallbackStrategyWithIdQuery
+      | CallBackStrategyWithQueryPage
+      | CallbackStrategyWithFileUpload
+      | CallbackStrategyWithFilesUploads
+  ) {
+    this.fn = fn;
+    this.subUrl = subUrl;
+    this.method = method;
+  }
+}
+
+interface ISubSetFeatureRouter<A> {
+  method: HttpMethodType;
+  subUrl: string;
+  fn:
+  | CallbackStrategyWithValidationModel<A>
+  | CallbackStrategyWithEmpty
+  | CallbackStrategyWithIdQuery
+  | CallBackStrategyWithQueryPage
+  | CallbackStrategyWithFileUpload
+  | CallbackStrategyWithFilesUploads;
 }
 
 abstract class ICoreHttpController {
@@ -78,11 +111,11 @@ export class CoreHttpController<V> implements ICoreHttpController {
   }
   call(): Routes {
     if (this.subRoutes.isNotEmpty()) {
-      this.subRoutes.map((el) => {
+      this.subRoutes.map(async (el) => {
         this.router[el.method.toLowerCase()](this.mainURL + "/" + el.subUrl, async (req, res) => {
           if (el.fn instanceof CallbackStrategyWithValidationModel) {
-            // TODO(IDONTSUDO):
+            this.responseHelper(res, el.fn.call(req.body));
-            throw Error("needs to be implimed");
+            return;
           }
           if (el.fn instanceof CallbackStrategyWithIdQuery) {
             if (req.query.id === undefined) {
@@ -104,6 +137,7 @@ export class CoreHttpController<V> implements ICoreHttpController {
               await this.responseHelper(res, el.fn.call(req["files"]["file"]));
             }
           }
+
           if (el.fn instanceof CallBackStrategyWithQueryPage) {
             throw Error("needs to be implimed");
           }
@@ -142,6 +176,7 @@ export class CoreHttpController<V> implements ICoreHttpController {
                 return;
               }
             }
+
             await this.responseHelper(res, el.fn.call(req["files"]["file"], req.query.id));
           }
         });
@@ -171,10 +206,10 @@ export class CoreHttpController<V> implements ICoreHttpController {
       router: this.router,
     };
   }
-  public put(usecase: CallbackStrategyWithValidationModel<V>) {
+  public put(usecase: any) {
     this.routes["PUT"] = usecase;
   }
-  public delete(usecase: CallbackStrategyWithValidationModel<V>) {
+  public delete(usecase: any) {
     this.routes["DELETE"] = usecase;
   }
   public async requestResponseController<T>(
@@ -191,7 +226,6 @@ export class CoreHttpController<V> implements ICoreHttpController {
     if (req.query.page !== undefined) {
       payload = String(req.query.page);
     }
-
     if (req.query.id !== undefined) {
       payload = String(req.query.id);
     }
@@ -200,6 +234,7 @@ export class CoreHttpController<V> implements ICoreHttpController {
         return res.json(ok);
       },
       (err) => {
+
         return res.status(400).json({ error: String(err) });
       }
     );

server/src/core/controllers/routes.ts

@@ -1,9 +1,29 @@
+import { BehaviorTreesPresentation } from "../../features/behavior_trees/behavior_trees_presentation";
 import { DatasetsPresentation } from "../../features/datasets/datasets_presentation";
+import { CalculationsTemplatePresentation } from "../../features/calculations_templates/calculations_template_presentation";
 import { ProjectsPresentation } from "../../features/projects/projects_presentation";
-// import { ProjectsPresentation } from "../../features/_projects/projects_presentation";
 import { extensions } from "../extensions/extensions";
 import { Routes } from "../interfaces/router";
+import { ScenesPresentation } from "../../features/scenes/scenes_presentation";
+import { CalculationsInstancesPresentation } from "../../features/calculations_instance/calculations_instance_presentation";
+import { DigitalTwinsInstancePresentation } from "../../features/digital_twins_instance/digital_twins_instance_presentation";
+import { DigitalTwinsTemplatePresentation } from "../../features/digital_twins_template/digital_twins_template_presentation";
+import { TopicsPresentation } from "../../features/topics/topics_presentation";
+import { SkillsPresentation } from "../../features/skills/skill_presentation";
+import { RunTimePresentation } from "../../features/runtime/runtime_presentation";
 
 extensions();
 
-export const httpRoutes: Routes[] = [new ProjectsPresentation(), new DatasetsPresentation()].map((el) => el.call());
+export const httpRoutes: Routes[] = [
+  new ProjectsPresentation(),
+  new DatasetsPresentation(),
+  new ScenesPresentation(),
+  new BehaviorTreesPresentation(),
+  new CalculationsTemplatePresentation(),
+  new CalculationsInstancesPresentation(),
+  new DigitalTwinsTemplatePresentation(),
+  new DigitalTwinsInstancePresentation(),
+  new TopicsPresentation(),
+  new SkillsPresentation(),
+  new RunTimePresentation(),
+].map((el) => el.call());

server/src/core/di/env.ts

@@ -1,44 +0,0 @@
-// import { Service } from "typedi";
-
-// @Service()
-// export class IEnv{
-//     rootFolder!: string; 
-//     constructor(){
-        
-//     }
-//     toStringEnv(){
-//         return ''
-//     }
-//     static env(){
-//         return ''
-//     }
-// }
-
-// @Service()
-// export class DevEnv implements IEnv {
-//     rootFolder:string;
-//     constructor(rootFolder:string){
-//         this.rootFolder = rootFolder
-//     }
-//     toStringEnv(): string {
-//        return DevEnv.env()
-//     }
-//     static env(){
-//         return 'DevEnv'
-
-//     }
-// }
-// @Service()
-// export class UnitTestEnv implements IEnv{
-//     rootFolder:string;
-//     constructor(rootFolder:string){
-//         this.rootFolder = rootFolder
-//     }
-//     toStringEnv(): string {
-//         return UnitTestEnv.env()
-//     }
-//     static env(){
-//         return 'UnitTestEnv'
-
-//     }
-// }

server/src/core/di/register_di.ts

@@ -1,53 +0,0 @@
-// import { DevEnv, IEnv, UnitTestEnv } from "./env";
-// import { extensions } from "../extensions/extensions";
-// // import { Container, Service } from 'typedi';
-
-// export default function locator(env: IEnv) {
-//   extensions();
-//   envRegister(env);
-//   registerRepository(env);
-//   registerController(env);
-//   registerService(env);
-//   // override(MetaDataFileManagerModel, MetaDataFileManagerModel);
-// }
-
-// const envRegister = (env: IEnv) => {
-//   switch (env.toStringEnv()) {
-//     case UnitTestEnv.env():
-//       // override(IEnv, UnitTestEnv);
-//       return;
-//     case "DevEnv":
-//       // override(IEnv, DevEnv);
-//       return;
-//   }
-// };
-
-// const registerRepository = (env: IEnv) => {
-//   switch (env.toStringEnv()) {
-//     case UnitTestEnv.env():
-//       // override(IEnv, UnitTestEnv);
-
-//       return;
-//     case DevEnv.env():
-//       // override(IEnv, DevEnv);
-//       return;
-//   }
-// };
-
-// const registerController = (env: IEnv) => {
-//   switch (env.toStringEnv()) {
-//     case UnitTestEnv.env():
-//       return;
-//     case DevEnv.env():
-//       return;
-//   }
-// };
-
-// const registerService = (env: IEnv) => {
-//   switch (env.toStringEnv()) {
-//     case UnitTestEnv.env():
-//       return;
-//     case DevEnv.env():
-//       return;
-//   }
-// };

server/src/core/extensions/array.ts

@@ -6,7 +6,6 @@ export const ArrayExtensions = () => {
     };
   }
   if ([].equals === undefined) {
-    // eslint-disable-next-line no-extend-native
     Array.prototype.equals = function (array, strict = true) {
       if (!array) return false;
 
@@ -27,7 +26,6 @@ export const ArrayExtensions = () => {
     };
   }
   if ([].lastElement === undefined) {
-    // eslint-disable-next-line no-extend-native
     Array.prototype.lastElement = function () {
       const instanceCheck = this;
       if (instanceCheck === undefined) {
@@ -39,7 +37,6 @@ export const ArrayExtensions = () => {
     };
   }
   if ([].isEmpty === undefined) {
-    // eslint-disable-next-line no-extend-native
     Array.prototype.isEmpty = function () {
       return this.length === 0;
     };

server/src/core/extensions/extensions.ts

@@ -21,6 +21,8 @@ declare global {
     hasPattern(pattern: string): boolean;
     hasNoPattern(pattern: string): boolean;
     pathNormalize(): string;
+    isEqual(str: string): boolean;
+    isEqualMany(str: string[]): boolean;
   }
 }
 export const extensions = () => {

server/src/core/extensions/string.ts

@@ -1,6 +1,5 @@
 export const StringExtensions = () => {
   if ("".isEmpty === undefined) {
-    // eslint-disable-next-line no-extend-native
     String.prototype.isEmpty = function () {
       return this.length === 0;
     };
@@ -11,7 +10,6 @@ export const StringExtensions = () => {
     };
   }
   if ("".isNotEmpty === undefined) {
-    // eslint-disable-next-line no-extend-native
     String.prototype.isNotEmpty = function () {
       return this.length !== 0;
     };
@@ -31,4 +29,19 @@ export const StringExtensions = () => {
       return !this.hasPattern(pattern);
     };
   }
+  if ("".isEqual === undefined) {
+    String.prototype.isEqual = function (str: string) {
+      return this === str;
+    };
+  }
+  if ("".isEqualMany === undefined) {
+    String.prototype.isEqualMany = function (str: string[]) {
+      for (const el of str) {
+        if (el === this) {
+          return true;
+        }
+      }
+      return false;
+    };
+  }
 };

server/src/core/middlewares/validation_model.ts

@@ -10,11 +10,13 @@ export const validationModelMiddleware = (
   forbidNonWhitelisted = true
 ): RequestHandler => {
   return (req, res, next) => {
+    
     if (type === null && type == undefined) {
       next();
       return;
     }
     const model = plainToInstance(type, req[value]);
+    
     validate(model, { skipMissingProperties, whitelist, forbidNonWhitelisted }).then((errors: ValidationError[]) => {
       if (errors.length > 0) {
         const message = errors.map((error: ValidationError) => Object.values(error.constraints)).join(", ");

server/src/core/models/instance.ts

@@ -0,0 +1,5 @@
+export interface Instance {
+  instanceName: string;
+  path: string;
+  instancePath: string;
+}

server/src/core/models/process_model.ts

@@ -1,6 +1,6 @@
-import { Trigger } from "../../features/_triggers/models/trigger_database_model";
 import { EXEC_TYPE } from "./exec_error_model";
 
+export interface Trigger {}
 export interface IPipeline {
   process: IProcess;
   trigger?: Trigger;

server/src/core/models/robossembler_assets.ts

@@ -21,3 +21,4 @@ export class RobossemblerAssets {
     return this;
   }
 }
+ 

server/src/core/models/skill_model.ts

@@ -0,0 +1,189 @@
+import { IsArray, IsEnum, IsNotEmpty, IsString, ValidateNested } from "class-validator";
+import { Type } from "class-transformer";
+export class TopicViewModel {
+  @IsNotEmpty()
+  @IsString()
+  name: string;
+  @IsNotEmpty()
+  @IsString()
+  type: string;
+  constructor(name: string, type: string) {
+    this.name = name;
+    this.type = type;
+  }
+  static empty() {
+    return new TopicViewModel("", "");
+  }
+}
+
+export interface IParam {
+  type: string;
+  dependency: object;
+}
+export interface Skill {
+  SkillPackage: ISkillPackage;
+  Module: IModule;
+  Launch: ILaunch;
+  ROS2: IRos2;
+  BTAction: IBTAction[];
+  Interface: IInterface;
+  Settings: ISetting[];
+  xxx: IXxx;
+}
+
+export interface IBTAction {
+  name: string;
+  format: string;
+  type: string;
+  param: IParam[];
+  result: string[];
+}
+
+export interface IInterface {
+  Input: IPut[];
+  Output: IPut[];
+}
+
+export interface IPut {
+  name: string;
+  type: string;
+}
+
+export interface ILaunch {
+  executable: string;
+}
+
+export interface IModule {
+  name: string;
+  description: string;
+}
+
+export interface IRos2 {
+  node_name: string;
+}
+
+export interface ISetting {
+  name: string;
+  value: number | string;
+}
+
+export interface ISkillPackage {
+  name: string;
+  version: string;
+  format: string;
+}
+
+export interface IXxx {
+  cameraLink: string;
+  topicImage: string;
+  topicCameraInfo: string;
+}
+
+export class SkillPackage implements ISkillPackage {
+  @IsString()
+  name: string;
+  @IsString()
+  version: string;
+  @IsString()
+  format: string;
+}
+export class Module implements IModule {
+  @IsString()
+  name: string;
+  @IsString()
+  description: string;
+}
+export class BTAction implements IBTAction {
+  @IsString()
+  name: string;
+  @IsString()
+  format: string;
+  @IsString()
+  type: string;
+  @IsArray()
+  param: IParam[];
+  @IsArray()
+  result: string[];
+}
+export class Launch implements ILaunch {
+  @IsString()
+  executable: string;
+}
+export class Ros2 implements IRos2 {
+  @IsString()
+  node_name: string;
+}
+export class Put implements IPut {
+  @IsString()
+  name: string;
+  @IsString()
+  type: string;
+}
+export class Interface implements IInterface {
+  @ValidateNested()
+  @Type(() => Put)
+  Input: IPut[];
+  @ValidateNested()
+  @Type(() => Put)
+  Output: IPut[];
+}
+export class Setting implements ISetting {
+  name: string;
+  value: string | number;
+}
+export class Xxx implements IXxx {
+  cameraLink: string;
+  topicImage: string;
+  topicCameraInfo: string;
+}
+export class SkillModel implements Skill {
+  @ValidateNested()
+  @Type(() => SkillPackage)
+  SkillPackage: ISkillPackage;
+  @ValidateNested()
+  @Type(() => Module)
+  Module: IModule;
+  @ValidateNested()
+  @Type(() => Launch)
+  Launch: ILaunch;
+  @ValidateNested()
+  @Type(() => Ros2)
+  ROS2: IRos2;
+  @ValidateNested()
+  @IsArray()
+  @Type(() => BTAction)
+  BTAction: IBTAction[];
+  @ValidateNested()
+  @Type(() => Interface)
+  Interface: IInterface;
+  @ValidateNested()
+  @IsArray()
+  @Type(() => Setting)
+  Settings: ISetting[];
+  @ValidateNested()
+  @Type(() => Xxx)
+  xxx: IXxx;
+}
+
+export enum BtAction {
+  ACTION = "ACTION",
+  CONDITION = "CONDITION",
+}
+export class BtActionViewModel implements IBTAction {
+  @IsNotEmpty()
+  @IsString()
+  name: string;
+  @IsNotEmpty()
+  @IsString()
+  format: string;
+  @IsNotEmpty()
+  @IsString()
+  type: string;
+  param: IParam[];
+  @IsNotEmpty()
+  @IsString()
+  result: string[];
+  @IsNotEmpty()
+  @IsEnum(BtAction)
+  typeAction: BtAction;
+}

server/src/core/models/static_files.ts

@@ -1,4 +1,13 @@
-export enum StaticFiles {
+export enum StaticFilesProject {
   robossembler_assets = "robossembler_assets.json",
   assets = "/assets/assets.json",
+  parts = "/assets/parts.json",
+  scenes = "/scenes/",
+  behaviorTrees = "behavior_trees",
+  robots = 'robots'
+}
+
+export enum StaticFilesServer {
+  process = "/process/",
+  digitalTwins = "/digital_twins/",
 }

server/src/core/repository/file_system_repository.ts

@@ -1,6 +1,6 @@
 import * as fs from "fs";
 import { promisify } from "node:util";
-import { rimraf } from 'rimraf'
+import { rimraf } from "rimraf";
 
 export class FileSystemRepository {
   public createDir = promisify(fs.mkdir);
@@ -8,6 +8,7 @@ export class FileSystemRepository {
   public writeFileAsync = promisify(fs.writeFile);
   public dirIsExists = promisify(fs.exists);
   public stat = promisify(fs.stat);
+  public deleteDir = promisify(fs.unlink);
   public readFileAsync = promisify(fs.readFile);
   public readdir = promisify(fs.readdir);
   public deleteDirRecursive = rimraf;
@@ -21,7 +22,9 @@ export class FileSystemRepository {
     }
     return await this.readFileAsync(path);
   }
-
+  delete = async (path: string) => {
+    return await this.deleteDir(path);
+  };
   readDirRecursive(path: string, filesToDir: string[] = []): string[] {
     const files = fs.readdirSync(path);
     files.forEach((file) => {
@@ -41,5 +44,4 @@ export class FileSystemRepository {
     });
     return filesToDir;
   }
-   
 }

server/src/core/scenarios/create_intance_scenario.ts

@@ -0,0 +1,16 @@
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../controllers/http_controller";
+import { Instance } from "../models/instance";
+import { CreateDataBaseModelUseCase } from "../usecases/create_database_model_usecase";
+import { CreateFolderUseCase } from "../usecases/create_folder_usecase";
+
+export abstract class CreateInstanceScenario<V extends Instance> extends CallbackStrategyWithValidationModel<V> {
+  abstract validationModel: V;
+  abstract databaseModel: any;
+  call = async (model: V): ResponseBase => {
+    model.instancePath = `${model.path.pathNormalize()}/${model.instanceName}`.pathNormalize();
+    model.path = model.path.pathNormalize();
+    return (await new CreateFolderUseCase().call(model.instancePath)).map(
+      async () => await new CreateDataBaseModelUseCase(this.databaseModel).call(model)
+    );
+  };
+}

server/src/core/scenarios/create_many_folder_scenario.ts

@@ -0,0 +1,16 @@
+import { Result } from "../helpers/result";
+import { CreateFolderUseCase } from "../usecases/create_folder_usecase";
+
+export class CreateManyFolderScenario {
+  call = async (path: string, foldersNames: string[]): Promise<Result<Error, string>> => {
+    try {
+      foldersNames.forEach(async (folder) => {
+        await new CreateFolderUseCase().call(`${path}${folder}`.normalize());
+      });
+      return Result.ok("many folder created");
+    } catch (error) {
+      return Result.error(new Error(error));
+    }
+  };
+}
+

server/src/core/scenarios/create_template_scenario.ts

@@ -0,0 +1,22 @@
+import { App } from "../controllers/app";
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../controllers/http_controller";
+import { StaticFilesServer } from "../models/static_files";
+import { CreateDataBaseModelUseCase } from "../usecases/create_database_model_usecase";
+import { CreateFolderUseCase } from "../usecases/create_folder_usecase";
+
+interface IModel {
+  path: string;
+  name: string;
+}
+
+export abstract class CreateTemplateScenario<V extends IModel> extends CallbackStrategyWithValidationModel<V> {
+  validationModel: V;
+  abstract databaseModel: any;
+  abstract path: string;
+  call = async (model: V): ResponseBase => {
+    model.path = App.staticFilesStoreDir() + StaticFilesServer.process + model.name;
+    return (await new CreateFolderUseCase().call(model.path)).map(() => {
+      return new CreateDataBaseModelUseCase(this.databaseModel).call(model);
+    });
+  };
+}

server/src/core/scenarios/delete_instance_scenario.ts

@@ -0,0 +1,20 @@
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../controllers/http_controller";
+import { Instance } from "../models/instance";
+import { DeleteDataBaseModelUseCase } from "../usecases/delete_database_model_usecase";
+import { DeleteRecursiveFolderUseCase } from "../usecases/delete_recursive_folder_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../usecases/read_by_id_database_model_usecase";
+import { CoreValidation } from "../validations/core_validation";
+import { MongoIdValidation } from "../validations/mongo_id_validation";
+
+ 
+
+export abstract class DeleteInstanceScenario<D extends Instance> extends CallbackStrategyWithIdQuery {
+  abstract databaseModel: any;
+  idValidationExpression: CoreValidation = new MongoIdValidation();
+  call = async (id: string): ResponseBase =>
+    (await new ReadByIdDataBaseModelUseCase<D>(this.databaseModel).call(id)).map(async (model) => {
+      return (await new DeleteRecursiveFolderUseCase().call(model.instancePath)).map(
+        async () => await new DeleteDataBaseModelUseCase(this.databaseModel).call(id)
+      );
+    });
+}

server/src/core/scenarios/delete_template_scenario.ts

@@ -0,0 +1,20 @@
+import { CalculationsTemplateValidationModel } from "../../features/calculations_templates/models/calculations_template_validation_model";
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../controllers/http_controller";
+import { DeleteDataBaseModelUseCase } from "../usecases/delete_database_model_usecase";
+import { DeleteRecursiveFolderUseCase } from "../usecases/delete_recursive_folder_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../usecases/read_by_id_database_model_usecase";
+import { CoreValidation } from "../validations/core_validation";
+import { MongoIdValidation } from "../validations/mongo_id_validation";
+
+export abstract class DeleteTemplateScenario extends CallbackStrategyWithIdQuery {
+  abstract databaseModel: any;
+  idValidationExpression: CoreValidation = new MongoIdValidation();
+  call = async (id: string): ResponseBase =>
+    (await new ReadByIdDataBaseModelUseCase<CalculationsTemplateValidationModel>(this.databaseModel).call(id)).map(
+      async (model) => {
+        return (await new DeleteRecursiveFolderUseCase().call(model.path)).map(
+          async () => await new DeleteDataBaseModelUseCase(this.databaseModel).call(id)
+        );
+      }
+    );
+}

server/src/core/scenarios/exec_process_scenario_v2.ts

@@ -0,0 +1,72 @@
+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/scenarios/read_by_id_database_model_scenario.ts

@@ -0,0 +1,22 @@
+import { CallbackStrategyWithIdQuery } from "../controllers/http_controller";
+import { Result } from "../helpers/result";
+import { ReadByIdDataBaseModelUseCase } from "../usecases/read_by_id_database_model_usecase";
+import { CoreValidation } from "../validations/core_validation";
+import { MongoIdValidation } from "../validations/mongo_id_validation";
+
+export class ReadByIdDataBaseModelScenario<D> extends CallbackStrategyWithIdQuery {
+  idValidationExpression: CoreValidation = new MongoIdValidation();
+  databaseModel: D;
+
+  constructor(model) {
+    super();
+    this.databaseModel = model;
+  }
+  call = async (id: string): Promise<Result<Error, D>> => {
+    try {
+      return new ReadByIdDataBaseModelUseCase<D>(this.databaseModel).call(id);
+    } catch (error) {
+      return Result.error(error);
+    }
+  };
+}

server/src/core/scenarios/set_active_pipeline_to_realtime_service_scenario.ts

@@ -1,28 +1,26 @@
-import {
+
-  IProjectInstanceModel,
+
-  ProjectInstanceDbModel,
+import { IProjectModel, ProjectDBModel } from "../../features/projects/models/project_model_database_model";
-} from "../../features/projects/models/project_instance_database_model";
-import { pipelineRealTimeService } from "../../features/_realtime/realtime_presentation";
 import { App } from "../controllers/app";
+import { PipelineRealTimeService } from "../services/pipeline_real_time_service";
 import { CreateFolderUseCase } from "../usecases/create_folder_usecase";
-import { SearchDataBaseModelUseCase } from "../usecases/search_database_model_usecase";
+import { SearchOneDataBaseModelUseCase } from "../usecases/search_database_model_usecase";
+
+export const pipelineRealTimeService = new PipelineRealTimeService();
+
 
 export class SetLastActivePipelineToRealTimeServiceScenario {
   call = async (): Promise<void> => {
     return (
-      await new SearchDataBaseModelUseCase<IProjectInstanceModel>(ProjectInstanceDbModel).call({
+      await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({
         isActive: true,
       })
     ).fold(
       async (projectModel) => {
-        if (projectModel.project === null) {
-          return;
-        }
         
         const projectPath = App.staticFilesStoreDir() + projectModel.rootDir + "/";
         await new CreateFolderUseCase().call(projectPath);
         pipelineRealTimeService.setPipelineDependency(
-          projectModel.project.pipelines,
           projectPath,
           projectModel._id,
           projectModel.rootDir

server/src/core/services/executor_program_service.ts

@@ -60,7 +60,7 @@ export class ExecutorProgramService
         const execError = ExecError.isExecError(e);
 
         if (execError instanceof ExecError) {
-          execError.id = id
+          execError.id = id;
           this.emit(Result.error(execError));
           this.worker = undefined;
           return;
@@ -68,7 +68,7 @@ export class ExecutorProgramService
 
         const executorResult = ExecutorResult.isExecutorResult(e);
         if (executorResult instanceof ExecutorResult) {
-          executorResult.id = id
+          executorResult.id = id;
           this.emit(Result.ok(executorResult));
           this.worker = undefined;
           return;
@@ -103,7 +103,8 @@ export class ExecutorProgramService
 
       return;
     }
-    this.workerExecuted(command, WorkerType.SPAWN, args, id);
+    const commands = command.split(" ");
+    this.workerExecuted(commands.at(0), WorkerType.SPAWN, commands.slice(1, commands.length), id);
 
     return;
   }

server/src/core/services/pipeline_real_time_service.ts

@@ -58,9 +58,8 @@ export class PipelineRealTimeService extends TypedEvent<ActivePipeline> {
       this.status.pipelineIsRunning = false;
     }
   }
-  setPipelineDependency(pipelineModels: IPipeline[], path: string, projectId: string, rootDir: string) {
+  setPipelineDependency(path: string, projectId: string, rootDir: string) {
-    this.pipelineModels = pipelineModels;
+     this.status["projectId"] = projectId;
-    this.status["projectId"] = projectId;
     this.status["path"] = path;
     this.status["rootDir"] = rootDir;
   }

server/src/core/services/stack_service.ts

@@ -1,5 +1,5 @@
 import { FilesChangeNotifierService, IHashesCache } from "./files_change_notifier_service";
-import { IPipeline } from "../models/process_model";
+import { IPipeline, Trigger } from "../models/process_model";
 import { ExecutorProgramService } from "./executor_program_service";
 import { EXEC_EVENT, ExecError, SpawnError } from "../models/exec_error_model";
 import { TypedEvent } from "../helpers/typed_event";
@@ -7,7 +7,6 @@ import { Result } from "../helpers/result";
 import { ExecutorResult } from "../models/executor_result";
 import { delay } from "../helpers/delay";
 import { TriggerService } from "./trigger_service";
-import { Trigger } from "../../features/_triggers/models/trigger_database_model";
  
 export interface Iteration {
   hashes: IHashesCache | null;

server/src/core/services/trigger_service.ts

@@ -1,9 +1,10 @@
+// @ts-nocheck
 import * as vm from "node:vm";
 import { IHashesCache } from "./files_change_notifier_service";
 import { EventsFileChanger } from "../models/meta_data_file_manager_model";
 import { Result } from "../helpers/result";
 import { TypedEvent } from "../helpers/typed_event";
-import { Trigger, TriggerType } from "../../features/_triggers/models/trigger_database_model";
+import { Trigger } from "../models/process_model";
  
 export class TriggerCallResult {
   results: Array<TriggerSuccessResult | TriggerErrorReport>;

server/src/core/usecases/check_and_create_static_files_folder_usecase.ts

@@ -1,24 +1,19 @@
 import { App } from "../controllers/app";
+import { StaticFilesServer } from "../models/static_files";
 import { FileSystemRepository } from "../repository/file_system_repository";
 import { CreateFolderUseCase } from "./create_folder_usecase";
 
 export class CheckAndCreateStaticFilesFolderUseCase {
-  fileSystemRepository: FileSystemRepository;
+  fileSystemRepository: FileSystemRepository = new FileSystemRepository();
-
-  constructor() {
-    this.fileSystemRepository = new FileSystemRepository();
-  }
   call = async (): Promise<void> => {
+    Object.keys(StaticFilesServer).forEach(async (key) => {
+      if (!(await this.fileSystemRepository.dirIsExists(App.staticFilesStoreDir() + key))) {
+        await new CreateFolderUseCase().call(App.staticFilesStoreDir() + key);
+      }
+    });
     if (await this.fileSystemRepository.dirIsExists(App.staticFilesStoreDir())) {
       return;
     }
-    const createFolderUseCase = await new CreateFolderUseCase().call(App.staticFilesStoreDir());
+    await new CreateFolderUseCase().call(App.staticFilesStoreDir());
-
-    createFolderUseCase.fold(
-      (_s) => {},
-      (e) => {
-        console.log(e);
-      }
-    );
   };
 }

server/src/core/usecases/delete_file_usecase.ts

@@ -0,0 +1,14 @@
+import { Result } from "../helpers/result";
+import { FileSystemRepository } from "../repository/file_system_repository";
+
+export class DeleteFileUseCase {
+  fileSystemRepository = new FileSystemRepository();
+  call = (path: string) => {
+    try {
+      this.fileSystemRepository.delete(path);
+      return Result.ok("file delete");
+    } catch {
+      return Result.error("Unknown error");
+    }
+  };
+}

server/src/core/usecases/delete_recursive_folder_usecase.ts

@@ -4,7 +4,6 @@ import { FileSystemRepository } from "../repository/file_system_repository";
 export class DeleteRecursiveFolderUseCase{
     repository:FileSystemRepository = new FileSystemRepository()
     call = async (path:string):Promise<Result<void,void>> =>{
-        console.log(path)
         await this.repository.deleteDirRecursive(path)
         return Result.ok()
     }

server/src/core/usecases/exec_process_usecase.ts

@@ -1,11 +1,13 @@
+import * as cp from "child_process";
 import { CallbackStrategyWithEmpty } from "../controllers/http_controller";
 import { Result } from "../helpers/result";
 import { TypedEvent } from "../helpers/typed_event";
-import { EXEC_TYPE, ExecError, SpawnError } from "../models/exec_error_model";
+import { EXEC_EVENT, EXEC_TYPE, ExecError, SpawnError } from "../models/exec_error_model";
 import { ExecutorResult } from "../models/executor_result";
 import { ExecutorProgramService } from "../services/executor_program_service";
 
 export const executorProgramService = new ExecutorProgramService("");
+
 export class KillLastProcessUseCase extends CallbackStrategyWithEmpty {
   call = async (): Promise<Result<undefined, string>> => {
     executorProgramService.deleteWorker();
@@ -26,7 +28,7 @@ export class ExecProcessUseCase {
   call = async (
     path: string,
     command: string,
-    id:string,
+    id: string,
     watcher?: TypedEvent<Result<ExecError | SpawnError, ExecutorResult>>
   ): Promise<Result<Error, string>> => {
     try {
@@ -34,7 +36,7 @@ export class ExecProcessUseCase {
       executorProgramService.on((event) => {
         if (watcher) watcher.emit(event);
       });
-      executorProgramService.call(EXEC_TYPE.EXEC, command, undefined ,id);
+      executorProgramService.call(EXEC_TYPE.EXEC, command, undefined, id);
 
       return Result.ok("ok");
     } catch (error) {
@@ -42,3 +44,39 @@ export class ExecProcessUseCase {
     }
   };
 }
+
+export class SpawnProcessUseCase {
+  call = async (
+    path: string,
+    command: string,
+    id: string,
+    watcher?: TypedEvent<Result<ExecError | SpawnError, ExecutorResult>>
+  ): Promise<Result<Error, string>> => {
+    try {
+      const commands = command.split(" ");
+
+      const subprocess = cp.spawn(commands.at(0), commands.slice(1, commands.length), {
+        cwd: path,
+      });
+      const sendWatcher = (event: Buffer) => {
+        if (watcher) {
+          watcher.emit(Result.ok(new ExecutorResult(EXEC_TYPE.SPAWN, EXEC_EVENT.PROGRESS, event.toString())));
+        }
+      };
+      subprocess.stdout.on("data", (data) => sendWatcher(data));
+
+      subprocess.stderr.on("data", (data) => sendWatcher(data));
+
+      subprocess.on("error", (error) => {
+        console.error(`Ошибка: ${error.message}`);
+      });
+
+      subprocess.on("close", (code) => {
+        console.log(`Процесс завершился с кодом: ${code}`);
+      });
+      return Result.ok('ok');
+    } catch (error) {
+      return Result.error(error);
+    }
+  };
+}

server/src/core/usecases/get_root_dir_usecase.ts

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

server/src/core/usecases/read_file_and_parse_json.ts

@@ -2,11 +2,9 @@ import { Result } from "../helpers/result";
 import { FileSystemRepository } from "../repository/file_system_repository";
 
 export class ReadFileAndParseJsonUseCase {
-  fileSystemRepository: FileSystemRepository;
+  fileSystemRepository: FileSystemRepository  = new FileSystemRepository();
+
  
-  constructor() {
-    this.fileSystemRepository = new FileSystemRepository();
-  }
   async call<T>(path: string): Promise<Result<string, T>> {
     try {
       if (RegExp(path).test("^(.+)/([^/]+)$")) {

server/src/core/usecases/search_database_model_usecase.ts

@@ -1,6 +1,6 @@
 import { Result } from "../helpers/result";
 
-export class SearchDataBaseModelUseCase<T> {
+export class SearchOneDataBaseModelUseCase<T> {
   model: any;
 
   constructor(model: any) {

server/src/core/usecases/search_many_database_model_usecase.ts

@@ -0,0 +1,18 @@
+import { Result } from "../helpers/result";
+
+export class SearchManyDataBaseModelUseCase<T> {
+  model: any;
+
+  constructor(model: any) {
+    this.model = model;
+  }
+
+  call = async (findFilter: Partial<T>, error: string = "not found database"): Promise<Result<string, T>> => {
+    const result = await this.model.find(findFilter);
+    if (result === null) {
+      return Result.error(error);
+    } else {
+      return Result.ok(result);
+    }
+  };
+}

server/src/features/_nix_store_manager/nix_store_manager.ts

@@ -1,58 +0,0 @@
-import { CallbackStrategyWithEmpty, CoreHttpController } from "../../core/controllers/http_controller";
-import { Result } from "../../core/helpers/result";
-import { EXEC_TYPE } from "../../core/models/exec_error_model";
-import { ExecutorResult } from "../../core/models/executor_result";
-import { IPipeline, IssueType, StackGenerateType } from "../../core/models/process_model";
-import { StackService } from "../../core/services/stack_service";
-import { TriggerType } from "../_triggers/models/trigger_database_model";
-
-class NixStoreModel {}
-
-const getNixStoreFolderCommand: IPipeline[] = [
-  {
-    process: {
-      type: EXEC_TYPE.EXEC,
-      command: `ls /nix/store`,
-      isGenerating: true,
-      isLocaleCode: false,
-      issueType: IssueType.WARNING,
-    },
-    trigger: {
-      type: TriggerType.FILE,
-      value: ["context"],
-    },
-    env: null,
-    stackGenerateType: StackGenerateType.SINGLETON,
-  },
-];
-class GetNixStorePackagesUseCase extends CallbackStrategyWithEmpty {
-  call = async () => {
-    const stackService = new StackService(
-      getNixStoreFolderCommand,
-      "/Users/idontsudo/Desktop/testdeck-mocha-seed/server/build/test/"
-    );
-    stackService.call();
-
-    const promise = new Promise((resolve, _reject) => {
-      stackService.on((e) => {
-        const iteration = e.firstElement();
-        if (iteration.result instanceof ExecutorResult) {
-          const nixPackage = iteration.result.data;
-          resolve(nixPackage.split("\n").filter((e) => e.hasNoPattern(".drv")));
-        } else {
-          return "GetNixStorePackagesUseCase unknown Error";
-        }
-      });
-    });
-    return Result.ok(await promise);
-  };
-}
-
-export class NixStoreManagerPresentation extends CoreHttpController<NixStoreModel> {
-  constructor() {
-    super({
-      url: "nix_store_api",
-    });
-    super.get(new GetNixStorePackagesUseCase().call);
-  }
-}

server/src/features/_pipelines/models/pipeline_database_model.ts

@@ -1,27 +0,0 @@
-import { Schema, model } from "mongoose";
-import { IPipeline } from "../../../core/models/process_model";
-import { schemaProcess } from "../../_process/models/process_database_model";
-import { triggerSchema } from "../../_triggers/models/trigger_database_model";
-
-export const PipelineSchema = new Schema({
-  process: {
-    type: Schema.Types.ObjectId,
-    ref: schemaProcess,
-    autopopulate: true,
-    default: null,
-  },
-  trigger: {
-    type: Schema.Types.ObjectId,
-    ref: triggerSchema,
-    autopopulate: true,
-    default: null,
-  },
-  stackGenerateType: {
-    type: String,
-    default: null,
-  },
-}).plugin(require("mongoose-autopopulate"));
-
-export const schemaPipeline = "Pipeline";
-
-export const PipelineDBModel = model<IPipeline>(schemaPipeline, PipelineSchema);

server/src/features/_pipelines/models/pipeline_model.ts

@@ -1,21 +0,0 @@
-import { IsOptional, ValidateNested } from "class-validator";
-import { IPipeline, IProcess, StackGenerateType } from "../../../core/models/process_model";
-import { Type } from "class-transformer";
-import { ProcessModel } from "../../_process/models/process_validation_model";
-import { TriggerModelValidationModel } from "../../_triggers/models/trigger_validation_model";
-
-export class PipelineModel implements IPipeline {
-  @ValidateNested()
-  @Type(() => ProcessModel)
-  public process: IProcess;
-
-  @ValidateNested()
-  @Type(() => TriggerModelValidationModel)
-  public trigger: TriggerModelValidationModel;
-
-  @IsOptional()
-  public env = null;
-
-  @IsOptional()
-  public stackGenerateType: StackGenerateType;
-}

server/src/features/_pipelines/models/pipeline_validation_model.ts

@@ -1,17 +0,0 @@
-import { IsMongoId, IsOptional } from "class-validator";
-import { IProcess, StackGenerateType } from "../../../core/models/process_model";
-import { TriggerModelValidationModel } from "../../_triggers/models/trigger_validation_model";
-
-export class PipelineValidationModel {
-  @IsMongoId()
-  public process: IProcess;
-
-  @IsMongoId()
-  public trigger: TriggerModelValidationModel;
-
-  @IsOptional()
-  public env = null;
-
-  @IsOptional()
-  public stackGenerateType: StackGenerateType;
-}

server/src/features/_pipelines/pipeline_presentation.ts

@@ -1,13 +0,0 @@
-import { CrudController } from "../../core/controllers/crud_controller";
-import { PipelineDBModel } from "./models/pipeline_database_model";
-import { PipelineValidationModel } from "./models/pipeline_validation_model";
-
-export class PipelinePresentation extends CrudController<PipelineValidationModel, typeof PipelineDBModel> {
-  constructor() {
-    super({
-      url: "pipeline",
-      validationModel: PipelineValidationModel,
-      databaseModel: PipelineDBModel,
-    });
-  }
-}

server/src/features/_process/models/process_database_model.ts

@@ -1,35 +0,0 @@
-import { Schema, model } from "mongoose";
-import { IProcess } from "../../../core/models/process_model";
-
-export const ProcessSchema = new Schema({
-  type: {
-    type: String,
-  },
-  description: {
-    type: String,
-  },
-  command: {
-    type: String,
-  },
-  isGenerating: {
-    type: String,
-  },
-  isLocaleCode: {
-    type: String,
-  },
-  issueType: {
-    type: String,
-  },
-  timeout: {
-    type: Number,
-    default: null,
-  },
-  commit: {
-    type: String,
-    default: null,
-  },
-});
-
-export const schemaProcess = "Process";
-
-export const ProcessDBModel = model<IProcess>(schemaProcess, ProcessSchema);

server/src/features/_process/models/process_validation_model.ts

@@ -1,31 +0,0 @@
-import { IsBoolean, IsEnum, IsNumber, IsOptional, IsString } from "class-validator";
-import { EXEC_TYPE } from "../../../core/models/exec_error_model";
-import { IProcess, IssueType } from "../../../core/models/process_model";
-
-export class ProcessModel implements IProcess {
-  @IsEnum(EXEC_TYPE)
-  public type: EXEC_TYPE;
-
-  @IsString()
-  public description: string;
-
-  @IsString()
-  public command: string;
-
-  @IsBoolean()
-  public isGenerating: boolean;
-
-  @IsBoolean()
-  public isLocaleCode: boolean;
-
-  @IsEnum(IssueType)
-  public issueType: IssueType;
-
-  @IsOptional()
-  @IsNumber()
-  public timeout?: number;
-
-  @IsOptional()
-  @IsString()
-  public commit?: string;
-}

server/src/features/_process/process_presentation.ts

@@ -1,13 +0,0 @@
-import { CrudController } from "../../core/controllers/crud_controller";
-import { ProcessDBModel } from "./models/process_database_model";
-import { ProcessModel } from "./models/process_validation_model";
-
-export class ProcessPresentation extends CrudController<ProcessModel, typeof ProcessDBModel> {
-  constructor() {
-    super({
-      url: "process",
-      validationModel: ProcessModel,
-      databaseModel: ProcessDBModel,
-    });
-  }
-}

server/src/features/_projects/models/project_validation_model.ts

@@ -1,9 +0,0 @@
-import { IsArray, IsString } from "class-validator";
-
-export class ProjectValidationModel {
-  @IsArray()
-  public pipelines: [string];
-
-  @IsString()
-  public description: string;
-}

server/src/features/_projects/projects_presentation.ts

@@ -1,13 +0,0 @@
-import { CrudController } from "../../core/controllers/crud_controller";
-import { ProjectDBModel } from "./models/project_database_model";
-import { ProjectValidationModel } from "./models/project_validation_model";
-
-export class ProjectsPresentation extends CrudController<ProjectValidationModel, typeof ProjectDBModel> {
-  constructor() {
-    super({
-      url: "project",
-      validationModel: ProjectValidationModel,
-      databaseModel: ProjectDBModel,
-    });
-  }
-}

server/src/features/_realtime/domain/run_instance_pipeline_usecase.ts

@@ -1,57 +0,0 @@
-import { App } from "../../../core/controllers/app";
-import { CallbackStrategyWithEmpty } from "../../../core/controllers/http_controller";
-import { Result } from "../../../core/helpers/result";
-import { IPipeline } from "../../../core/models/process_model";
-import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase";
-import { PipelineValidationModel } from "../../_pipelines/models/pipeline_validation_model";
-import { IProjectInstanceModel, ProjectInstanceDbModel } from "../../projects/models/project_instance_database_model";
-import { pipelineRealTimeService } from "../realtime_presentation";
-import { PipelineStatusUseCase } from "./pipeline_status_usecase";
-
-const mongoPipelineModelMapper = (el: PipelineValidationModel): IPipeline => {
-  const mapObj: IPipeline = {
-    process: {
-      type: el.process.type,
-      command: el.process.command,
-      isGenerating: Boolean(el.process.isGenerating),
-      isLocaleCode: Boolean(el.process.isLocaleCode),
-      issueType: el.process.issueType,
-    },
-    trigger: {
-      type: el.trigger.type,
-      value: el.trigger.value.map((el) => String(el)),
-    },
-    env: null,
-    stackGenerateType: el.stackGenerateType,
-  };
-  return mapObj;
-};
-
-export class RunInstancePipelineUseCase extends CallbackStrategyWithEmpty {
-  async call(): Promise<Result<any, string>> {
-    return (await new PipelineStatusUseCase().call()).map(async (activePipelineModel) => {
-      if (activePipelineModel.pipelineIsRunning) {
-        return Result.error("pipeline is running");
-      }
-      const readByIdDataBaseModelUseCase = await new ReadByIdDataBaseModelUseCase<IProjectInstanceModel>(
-        ProjectInstanceDbModel
-      ).call(activePipelineModel.projectId);
-
-      if (readByIdDataBaseModelUseCase.isFailure()) {
-        return readByIdDataBaseModelUseCase.forward();
-      }
-      const projectModel = readByIdDataBaseModelUseCase.value;
-      const resultMapper = projectModel.project.pipelines.map((el) => mongoPipelineModelMapper(el));
-
-      pipelineRealTimeService.setPipelineDependency(
-        resultMapper,
-        App.staticFilesStoreDir() + projectModel.rootDir + "/",
-        projectModel._id,
-        projectModel.rootDir
-      );
-
-      pipelineRealTimeService.runPipeline();
-      return Result.ok("ok");
-    });
-  }
-}

server/src/features/_realtime/realtime_presentation.ts

@@ -1,28 +0,0 @@
-import { IsString } from "class-validator";
-import { CoreHttpController } from "../../core/controllers/http_controller";
-import { PipelineRealTimeService } from "../../core/services/pipeline_real_time_service";
-import { RunInstancePipelineUseCase } from "./domain/run_instance_pipeline_usecase";
-import { PipelineStatusUseCase } from "./domain/pipeline_status_usecase";
-
-export const pipelineRealTimeService = new PipelineRealTimeService();
-
-export class RealTimeValidationModel {
-  @IsString()
-  public id: string;
-}
-
-export class RealTimePresentation extends CoreHttpController<RealTimeValidationModel> {
-  constructor() {
-    super({
-      validationModel: RealTimeValidationModel,
-      url: "realtime",
-      databaseModel: null,
-    });
-    super.get(new PipelineStatusUseCase().call);
-    this.subRoutes.push({
-      method: "POST",
-      subUrl: "run",
-      fn: new RunInstancePipelineUseCase(),
-    });
-  }
-}

server/src/features/_triggers/models/trigger_database_model.ts

@@ -1,36 +0,0 @@
-import { Schema, model } from "mongoose";
-
-export interface ITriggerModel {
-  _id?: string;
-  type: string;
-  description: string;
-  value: string[];
-}
-
-export const TriggerSchema = new Schema({
-  type: {
-    type: String,
-    require: true,
-  },
-  description: {
-    type: String,
-  },
-  value: {
-    type: Array,
-    require: true,
-  },
-});
-
-export const triggerSchema = "Trigger";
-
-export const TriggerDBModel = model<ITriggerModel>(triggerSchema, TriggerSchema);
-
-export enum TriggerType {
-  PROCESS = "PROCESS",
-  FILE = "FILE",
-}
-
-export interface Trigger {
-  type: TriggerType;
-  value: string[];
-}

server/src/features/_triggers/models/trigger_validation_model.ts

@@ -1,16 +0,0 @@
-import { IsArray, IsOptional, IsEnum, IsString } from "class-validator";
-import { ITriggerModel, TriggerType } from "./trigger_database_model";
-
-export class TriggerModelValidationModel implements ITriggerModel {
-  @IsOptional()
-  public _id: string;
-
-  @IsString()
-  public description;
-
-  @IsEnum(TriggerType)
-  public type: TriggerType;
-
-  @IsArray()
-  public value: string[];
-}

server/src/features/_triggers/triggers_presentation.ts

@@ -1,13 +0,0 @@
-import { CrudController } from "../../core/controllers/crud_controller";
-import { TriggerDBModel } from "./models/trigger_database_model";
-import { TriggerModelValidationModel } from "./models/trigger_validation_model";
-
-export class TriggerPresentation extends CrudController<TriggerModelValidationModel, typeof TriggerDBModel> {
-  constructor() {
-    super({
-      url: "trigger",
-      validationModel: TriggerModelValidationModel,
-      databaseModel: TriggerDBModel,
-    });
-  }
-}

server/src/features/behavior_trees/behavior_trees_presentation.ts

@@ -0,0 +1,56 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { GetBehaviorTreeSkillsTemplatesUseCase } from "./domain/get_bt_skills_templates_usecase";
+import { BehaviorTreeValidationModel } from "./models/behavior_tree_validation_model";
+import { BehaviorTreeDBModel } from "./models/behavior_tree_database_model";
+import { ReadByIdDataBaseModelScenario } from "../../core/scenarios/read_by_id_database_model_scenario";
+import { GetBehaviorTreeActiveProjectScenario } from "./domain/get_behavior_tree_active_project_scenario";
+import { SaveBtScenario as FillBtScenario } from "./domain/save_bt_scenario";
+import { GetCameraUseCase } from "./domain/get_cameras_usecase";
+import { GetRobotsUseCase } from "./domain/get_robots_usecase";
+import { GetTopicsUseCase } from "./domain/get_topics_usecase";
+import { DeleteBehaviorTreeScenario } from "./domain/delete_behavior_tree_scenario";
+
+
+
+export class BehaviorTreesPresentation extends CrudController<BehaviorTreeValidationModel, typeof BehaviorTreeDBModel> {
+  constructor() {
+    super({
+      url: "behavior/trees",
+      validationModel: BehaviorTreeValidationModel,
+      databaseModel: BehaviorTreeDBModel,
+    });
+    super.get(new GetBehaviorTreeActiveProjectScenario().call);
+    this.subRoutes.push({
+      method: "POST",
+      subUrl: "fill/tree",
+      fn: new FillBtScenario(),
+    });
+    this.subRoutes.push({ method: "GET", subUrl: "templates", fn: new GetBehaviorTreeSkillsTemplatesUseCase() });
+    this.subRoutes.push({
+      method: "GET",
+      subUrl: "by_id",
+      fn: new ReadByIdDataBaseModelScenario<BehaviorTreeValidationModel>(BehaviorTreeDBModel),
+    });
+    this.subRoutes.push({
+      method: "GET",
+      subUrl: "cameras",
+      fn: new GetCameraUseCase()
+    })
+    this.subRoutes.push({
+      method: "GET",
+      subUrl: "robots",
+      fn: new GetRobotsUseCase()
+    })
+    this.subRoutes.push({
+      method: "GET",
+      subUrl: "topics",
+      fn: new GetTopicsUseCase()
+    })
+    this.subRoutes.push({
+      method: "POST",
+      subUrl: "delete/bt",
+      fn: new DeleteBehaviorTreeScenario(),
+    })
+  }
+}
+

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

@@ -0,0 +1,16 @@
+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/domain/get_behavior_tree_active_project_scenario.ts

@@ -0,0 +1,15 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
+import { BehaviorTreeDBModel } from "../models/behavior_tree_database_model";
+
+export class GetBehaviorTreeActiveProjectScenario extends CallbackStrategyWithEmpty {
+  call = async (): ResponseBase =>
+    (
+      await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
+        { isActive: true },
+        "no active projects"
+      )
+    ).map(async (project) => Result.ok(await BehaviorTreeDBModel.find({ project: project._id })));
+}

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

@@ -0,0 +1,102 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+
+export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithEmpty {
+  call = async (): ResponseBase => {
+    return Result.ok({
+      skills: [
+        {
+          SkillPackage: { name: "Robossembler", version: "1.0", format: "1" },
+          Module: { name: "MoveToPose", description: "Move to Pose skill with cartesian controllers" },
+          Launch: { package: "rbss_movetopose", executable: "mtp_cartesian.py", name: "mtp_cartesian" },
+          BTAction: [
+            {
+              name: "move",
+              type: "action",
+              param: [
+                {
+                  type: "move_to_pose",
+                  dependency: {},
+                },
+              ],
+            },
+          ],
+          Interface: {
+            Input: [
+              { name: "robotName", type: "ROBOT" },
+              { name: "pose", type: "POSE" },
+            ],
+            Output: [],
+          },
+          Settings: [
+            { name: "topicServer", value: "cartesian_move_to_pose" },
+            { name: "end_effector_velocity", value: 1.0 },
+            { name: "end_effector_acceleration", value: 1.0 },
+          ],
+        },
+        {
+          Module: { name: "MMM", description: "Move to Pose skill with cartesian controllers" },
+          topicOut: [
+            {
+              topicName: "",
+              topicType: "",
+            },
+          ],
+          BTAction: [
+            {
+              name: "move",
+              type: "action",
+              param: [
+                {
+                  type: "move_to_pose",
+                  dependency: {},
+                },
+              ],
+            },
+          ],
+        },
+        {
+          SkillPackage: { name: "Robossembler", version: "1.0", format: "1", type: "Action" },
+          Module: { name: "PoseEstimation", description: "Pose Estimation skill with DOPE" },
+          Launch: { package: "rbs_perception", executable: "pe_dope_lc.py", name: "lc_dope" },
+          BTAction: [
+            {
+              name: "peConfigure",
+              type: "run",
+              param: [
+                {
+                  type: "weights",
+                  dependency: {},
+                },
+                {
+                  type: "camera",
+                  dependency: {},
+                },
+                {
+                  type: "topic",
+                  dependency: {},
+                },
+              ],
+              result: ["POSE"],
+            },
+            { name: "peStop", type: "stop", param: [], result: [] },
+          ],
+          Interface: {
+            Input: [
+              { name: "cameraLink", type: "CAMERA" },
+              { name: "object_name", type: "MODEL" },
+            ],
+            Output: [{ name: "pose_estimation_topic", type: "POSE" }],
+          },
+          Settings: [
+            { name: "cameraLink", value: "inner_rgbd_camera" },
+            { name: "pose", value: "" },
+            { name: "publishDelay", value: 0.5 },
+            { name: "tf2_send_pose", value: 1 },
+            { name: "mesh_scale", value: 0.001 },
+          ],
+        },
+      ],
+    });
+  };
+}

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

@@ -0,0 +1,120 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller"
+import { Result } from "../../../core/helpers/result"
+
+export class GetCameraUseCase extends CallbackStrategyWithEmpty {
+    call = async (): ResponseBase => {
+        return Result.ok({
+            "camera": [
+                {
+                    "sid": "1",
+                    "DevicePackage": {
+                        "name": "Robossembler",
+                        "version": "1.0",
+                        "format": "1"
+                    },
+                    "Module": {
+                        "name": "RealSense Dxx",
+                        "description": "ROS Wrapper for Intel(R) RealSense(TM) Cameras"
+                    },
+                    "Launch": {
+                        "package": "realsense2_camera",
+                        "executable": "rs_launch.py"
+                    },
+                    "DTwin": [
+                        {
+                            "interface": {
+                                "input": [
+                                    {
+                                        "camera_namespace": "robot1"
+                                    },
+                                    {
+                                        "camera_name": "455_1"
+                                    },
+                                    {
+                                        "serial_port": "USB_1"
+                                    },
+                                    {
+                                        "pose": "[0.0,0.0,0.0,0.0,0.0,0.0]"
+                                    }
+                                ]
+                            }
+                        }
+                    ],
+                    "Interface": {
+                        "param": [
+                            {
+                                "type": "camera",
+                                "dependency": {}
+                            }
+                        ]
+                    },
+                    "Settings": [
+                        {
+                            "name": "camera_config",
+                            "description": "Camera Config",
+                            "type": "file",
+                            "defaultValue": "{ rgb_camera.profile: 1280x720x15 }"
+                        }
+                    ]
+                },
+                {
+                    "sid": "2",
+                    "DevicePackage": {
+                        "name": "Robossembler",
+                        "version": "1.0",
+                        "format": "1"
+                    },
+                    "Module": {
+                        "name": "RealSense Dxx",
+                        "description": "ROS Wrapper for Intel(R) RealSense(TM) Cameras"
+                    },
+                    "Launch": {
+                        "package": "realsense2_camera",
+                        "executable": "rs_launch.py"
+                    },
+                    
+                    "DTwin": [
+                        {
+                            "interface": {
+                                "input": [
+                                    {
+                                        "camera_namespace": "robot1"
+                                    },
+                                    {
+                                        "camera_name": "455_1"
+                                    },
+                                    {
+                                        "serial_port": "USB_1"
+                                    },
+                                    {
+                                        "pose": "[0.0,0.0,0.0,0.0,0.0,0.0]"
+                                    }
+                                ]
+                            }
+                        }
+                    ],
+                    "Interface": {
+                        "param": [
+                            {
+                                "type": "camera",
+                                "dependency": {}
+                            }
+                        ]
+                    },
+                    "Settings": [
+                        {
+                            "name": "camera_config",
+                            "description": "Camera Config",
+                            "type": "file",
+                            "defaultValue": "{ rgb_camera.profile: 1280x720x15 }"
+                        }
+                    ]
+                }
+            ]
+        })
+    }
+
+}
+
+
+ 

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

@@ -0,0 +1,50 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+
+export class GetRobotsUseCase extends CallbackStrategyWithEmpty {
+    call = async (): ResponseBase => {
+        return Result.ok({
+            "robots": [
+                {
+                    "sid": "1",
+                    "DevicePackage": {
+                        "name": "Robossembler",
+                        "version": "1.0",
+                        "format": "1"
+                    },
+                    "Module": {
+                        "name": "RBS",
+                        "description": "Main Robot"
+                    },
+                    "Launch": {
+                        "package": "rbs_bringup",
+                        "executable": "single_robot.launch.py"
+                    },
+                    "DTwin": [
+                        {
+                            "interface": {
+                                "input": [
+                                    {
+                                        "robot_namespace": "robot1"
+                                    },
+                                    {
+                                        "dof": 6
+                                    }
+                                ]
+                            }
+                        }
+                    ],
+                    "Settings": [
+                        {
+                            "name": "robot_type",
+                            "description": "Type of robot by name",
+                            "defaultValue": "rbs_arm"
+                        }
+                    ]
+                }
+            ]
+        })
+    }
+
+}
+

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

@@ -0,0 +1,23 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+
+export class GetTopicsUseCase extends CallbackStrategyWithEmpty {
+    call = async (): ResponseBase => {
+        return Result.ok({
+            "topics": [
+                {
+                    "sid": "1",
+                    "name": "topic camera 1",
+                    "type": "sensor_msgs/Image"
+                },
+                {
+                    "sid": "2",
+                    "name": "topic camera 2",
+                    "type": "sensor_msgs/Image"
+                }
+            ]
+        }
+        )
+
+    }
+}

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

@@ -0,0 +1,32 @@
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
+import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase";
+import { CreateFolderUseCase } from "../../../core/usecases/create_folder_usecase";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
+import { FolderStructure } from "../../projects/domain/upload_file_to_to_project_scenario";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
+import { BehaviorTreeValidationModel } from "../models/behavior_tree_validation_model";
+
+export class SaveBtScenario extends CallbackStrategyWithValidationModel<BehaviorTreeValidationModel> {
+  validationModel: BehaviorTreeValidationModel = new BehaviorTreeValidationModel();
+  call = async (model: BehaviorTreeValidationModel): ResponseBase =>
+    (
+      await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
+        { isActive: true },
+        "no active projects"
+      )
+    ).map(async (project) => {
+      const folder = `${project.rootDir}/${FolderStructure.behaviorTrees}/`;
+
+      (await new CreateFolderUseCase().call(folder)).map(async () =>
+        (await new CreateFolderUseCase().call(`${folder}${model.name}/`)).map(async () =>
+          (await new CreateFileUseCase().call(`${folder}${model.name}/bt.xml`, Buffer.from(model.xml))).map(
+            async () =>
+              await new CreateFileUseCase().call(
+                `${folder}${model.name}/skills.json`,
+                Buffer.from(JSON.stringify(model.skills))
+              )
+          )
+        )
+      );
+    });
+}

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

@@ -0,0 +1,49 @@
+import { Schema, model } from "mongoose";
+import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model";
+
+export interface IBehaviorTreeModel {
+  name: string;
+  project?: IProjectModel | string;
+  unixTime?: number;
+  local_path?: string;
+}
+
+export const BehaviorTreeSchema = new Schema({
+  name: {
+    type: String,
+  },
+  description: { type: String },
+  scene: {
+    type: Schema.Types.Mixed,
+    default: [],
+  },
+  local_path: {
+    type: String,
+  },
+  unixTime: {
+    type: Number,
+  },
+  isFinished: {
+    type: Boolean,
+    default: false,
+  },
+  dependency: {
+    type: Schema.Types.Mixed,
+  },
+  skills: {
+    type: Schema.Types.Mixed,
+  },
+  sceneId: {
+    type: String,
+  },
+  project: {
+    type: Schema.Types.ObjectId,
+    ref: projectSchema,
+    autopopulate: true,
+    require: true,
+  },
+}).plugin(require("mongoose-autopopulate"));
+
+export const behaviorTreeSchema = "Behavior";
+
+export const BehaviorTreeDBModel = model<IBehaviorTreeModel>(behaviorTreeSchema, BehaviorTreeSchema);

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

@@ -0,0 +1,14 @@
+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;
+  @IsNumber()
+  public unixTime: number
+}

server/src/features/calculations_instance/calculations_instance_presentation.ts

@@ -0,0 +1,35 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { ExecCalculationInstanceProcessScenario } from "./domain/exec_calculations_instance_process_scenario";
+import { CalculationInstanceValidationModel } from "./models/calculations_instance_validation_model";
+import { CalculationInstanceDBModel } from "./models/calculations_instance_database_model";
+import { CreateCalculationInstanceScenario } from "./domain/create_calculation_instance_scenario";
+import { DeleteCalculationsInstanceScenario } from "./domain/delete_calculations_instance_scenario";
+import { GetAllEndCalculationsInstanceActiveProjectScenarios } from "./domain/get_all_end_calculations_instance_active_project_scenarios";
+
+
+export class CalculationsInstancesPresentation extends CrudController<
+  CalculationInstanceValidationModel,
+  typeof CalculationInstanceDBModel
+> {
+  constructor() {
+    super({
+      url: "calculations/instances",
+      validationModel: CalculationInstanceValidationModel,
+      databaseModel: CalculationInstanceDBModel,
+    });
+
+    super.delete(new DeleteCalculationsInstanceScenario().call);
+    super.post(new CreateCalculationInstanceScenario().call);
+    this.subRoutes.push({
+      method: "POST",
+      subUrl: "get/all/end/calculations",
+      //@ts-expect-error
+      fn: new GetAllEndCalculationsInstanceActiveProjectScenarios(),
+    })
+    this.subRoutes.push({
+      method: "GET",
+      subUrl: "exec",
+      fn: new ExecCalculationInstanceProcessScenario(),
+    });
+  }
+}

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

@@ -0,0 +1,8 @@
+import { CreateInstanceScenario } from "../../../core/scenarios/create_intance_scenario";
+import { CalculationInstanceDBModel } from "../models/calculations_instance_database_model";
+import { CalculationInstanceValidationModel } from "../models/calculations_instance_validation_model";
+
+export class CreateCalculationInstanceScenario extends CreateInstanceScenario<CalculationInstanceValidationModel> {
+  databaseModel = CalculationInstanceDBModel;
+  validationModel: CalculationInstanceValidationModel = new CalculationInstanceValidationModel();
+}

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

@@ -0,0 +1,7 @@
+import { DeleteInstanceScenario } from "../../../core/scenarios/delete_instance_scenario";
+import { CalculationInstanceDBModel } from "../models/calculations_instance_database_model";
+import { CalculationInstanceValidationModel } from "../models/calculations_instance_validation_model";
+
+export class DeleteCalculationsInstanceScenario extends DeleteInstanceScenario<CalculationInstanceValidationModel> {
+  databaseModel = CalculationInstanceDBModel;
+}

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

@@ -0,0 +1,47 @@
+import { ObjectId } from "mongoose";
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller";
+import { ExecProcessUseCase, IsHaveActiveProcessUseCase } from "../../../core/usecases/exec_process_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase";
+import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
+import { ProcessWatcherAndDatabaseUpdateService } from "../../datasets/domain/create_dataset_scenario";
+import { CalculationInstanceDBModel, ICalculationInstance } from "../models/calculations_instance_database_model";
+import { Result } from "../../../core/helpers/result";
+import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase";
+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 =>
+    (await new ReadByIdDataBaseModelUseCase<ICalculationInstance>(CalculationInstanceDBModel).call(id)).map(
+      async (model) => {
+        const fileOutPath = model.instancePath.pathNormalize() + "/form.json";
+        return (await new IsHaveActiveProcessUseCase().call()).map(async () => {
+          const execCommand = `${model.script
+            } --path ${model.instancePath.pathNormalize()} --form ${fileOutPath}`.replace("\n", "");
+
+          await new CreateFileUseCase().call(fileOutPath, Buffer.from(JSON.stringify(model.formBuilder)));
+          await CalculationInstanceDBModel.findById(id).updateOne({
+            processStatus: "RUN",
+            lastProcessExecCommand: execCommand,
+          });
+          
+          new ExecProcessScenarioV2().call(execCommand, new ExecProcess(model._id))
+
+          return Result.ok("OK");
+        });
+      }
+    );
+}

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

@@ -0,0 +1,11 @@
+import { ResponseBase } from "../../../core/controllers/http_controller";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { GetActiveProjectIdScenario } from "../../projects/domain/get_active_project_id_scenario";
+import { ICalculationInstance, CalculationInstanceDBModel } from "../models/calculations_instance_database_model";
+
+export class GetAllWeightsActiveProjectScenarios {
+  call = async (): ResponseBase =>
+    (await new GetActiveProjectIdScenario().call()).map(
+      async (model) => await new SearchManyDataBaseModelUseCase<ICalculationInstance>(CalculationInstanceDBModel).call({ project: model.id })
+    );
+}

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

@@ -0,0 +1,20 @@
+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

@@ -0,0 +1,11 @@
+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

@@ -0,0 +1,79 @@
+import { Schema, model } from "mongoose";
+import { FormBuilderValidationModel } from "../../datasets/models/dataset_validation_model";
+import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model";
+
+export interface ICalculationInstance {
+  _id: string;
+  script: string;
+  instancePath: string;
+  formBuilder: FormBuilderValidationModel;
+  type: string;
+  name: string;
+  isEnd: boolean;
+  createDate: Date;
+  card?: string;
+  lastProcessLogs?: string;
+  lastProcessExecCommand?: string;
+  lastExecDate?: Date;
+  processStatus: string;
+  project?: IProjectModel | string;
+}
+
+export const CalculationInstanceSchema = new Schema({
+  script: {
+    type: String,
+  },
+  formBuilder: {
+    type: Schema.Types.Mixed,
+  },
+  type: {
+    type: String,
+  },
+  instanceName: {
+    type: String,
+  },
+  name: {
+    type: String,
+  },
+  isEnd: {
+    type: Boolean,
+  },
+  createDate: {
+    type: String,
+  },
+  card: {
+    type: String,
+  },
+  lastProcessLogs: {
+    type: String,
+  },
+  lastProcessExecCommand: {
+    type: String,
+  },
+  lastExecDate: {
+    type: String,
+  },
+  processStatus: {
+    type: String,
+  },
+  path: {
+    type: String,
+  },
+  instancePath: {
+    type: String,
+  },
+
+  project: {
+    type: Schema.Types.ObjectId,
+    ref: projectSchema,
+    autopopulate: true,
+    require: true,
+  },
+}).plugin(require("mongoose-autopopulate"));
+
+export const calculationInstanceSchema = "calculations_instances";
+
+export const CalculationInstanceDBModel = model<ICalculationInstance>(
+  calculationInstanceSchema,
+  CalculationInstanceSchema
+);

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

@@ -0,0 +1,32 @@
+import { IsNotEmpty, IsString, IsMongoId } from "class-validator";
+import { ICalculationInstance } from "./calculations_instance_database_model";
+import { FormBuilderValidationModel } from "../../datasets/models/dataset_validation_model";
+import { IProjectModel } from "../../projects/models/project_model_database_model";
+
+export class CalculationInstanceValidationModel implements ICalculationInstance {
+  _id: string;
+  @IsNotEmpty()
+  @IsString()
+  instanceName: string;
+  instancePath: string;
+  processStatus: string;
+  @IsString()
+  path: string;
+  project?: string | IProjectModel;
+  @IsString()
+  @IsNotEmpty()
+  script: string;
+  formBuilder: FormBuilderValidationModel;
+  @IsString()
+  @IsNotEmpty()
+  type: string;
+  @IsString()
+  @IsNotEmpty()
+  name: string;
+  isEnd: boolean = false;
+  createDate: Date = new Date();
+  card?: string;
+  lastProcessLogs?: string;
+  lastProcessExecCommand?: string;
+  lastExecDate?: Date;
+}

server/src/features/calculations_templates/calculations_template_presentation.ts

@@ -0,0 +1,20 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { DeleteCalculationsTemplateScenario } from "./domain/delete_calculations_template_scenario";
+import { CalculationsTemplateValidationModel as CalculationsTemplateValidationModel } from "./models/calculations_template_validation_model";
+import { CalculationsTemplateDBModel } from "./models/calculations_template_database_model";
+import { CreateCalculationsTemplateScenario } from "./domain/create_calculations_template_scenario";
+
+export class CalculationsTemplatePresentation extends CrudController<
+  CalculationsTemplateValidationModel,
+  typeof CalculationsTemplateDBModel
+> {
+  constructor() {
+    super({
+      url: "calculations/template",
+      validationModel: CalculationsTemplateValidationModel,
+      databaseModel: CalculationsTemplateDBModel,
+    });
+    super.post(new CreateCalculationsTemplateScenario().call);
+    super.delete(new DeleteCalculationsTemplateScenario().call);
+  }
+}

server/src/features/calculations_templates/domain/create_calculations_template_scenario.ts

@@ -0,0 +1,10 @@
+import { StaticFilesServer } from "../../../core/models/static_files";
+import { CreateTemplateScenario } from "../../../core/scenarios/create_template_scenario";
+import { CalculationsTemplateDBModel } from "../models/calculations_template_database_model";
+import { CalculationsTemplateValidationModel } from "../models/calculations_template_validation_model";
+
+export class CreateCalculationsTemplateScenario extends CreateTemplateScenario<CalculationsTemplateValidationModel> {
+  validationModel: CalculationsTemplateValidationModel = new CalculationsTemplateValidationModel();
+  databaseModel = CalculationsTemplateDBModel;
+  path: string = StaticFilesServer.process;
+}

server/src/features/calculations_templates/domain/delete_calculations_template_scenario.ts

@@ -0,0 +1,6 @@
+import { DeleteTemplateScenario } from "../../../core/scenarios/delete_template_scenario";
+import { CalculationsTemplateDBModel } from "../models/calculations_template_database_model";
+
+export class DeleteCalculationsTemplateScenario extends DeleteTemplateScenario {
+  databaseModel = CalculationsTemplateDBModel;
+}

server/src/features/calculations_templates/domain/get_all_calculations_template_active_project_scenarios.ts

@@ -0,0 +1,11 @@
+import { ResponseBase } from "../../../core/controllers/http_controller";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { GetActiveProjectIdScenario } from "../../projects/domain/get_active_project_id_scenario";
+import { ICalculationsTemplateModel, CalculationsTemplateDBModel } from "../models/calculations_template_database_model";
+
+export class GetAllCalculationsTemplateScenarios {
+  call = async (): ResponseBase =>
+    (await new GetActiveProjectIdScenario().call()).map(
+      async (model) => await new SearchManyDataBaseModelUseCase<ICalculationsTemplateModel>(CalculationsTemplateDBModel).call({ project: model.id })
+    );
+}

server/src/features/calculations_templates/models/calculations_template_database_model.ts

@@ -0,0 +1,54 @@
+import { Schema, model } from "mongoose";
+import { FormBuilderValidationModel, IDatasetModel } from "../../datasets/models/dataset_validation_model";
+import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model";
+
+export interface ICalculationsTemplateModel {
+  path?: string;
+  script: string;
+  formBuilder: FormBuilderValidationModel;
+  type: string;
+  name: string;
+  isEnd: boolean;
+  createDate: Date;
+  card?: string;
+  lastProcessLogs?: string;
+  lastProcessExecCommand?: string;
+  lastExecDate?: Date;
+  processStatus: string;
+  project?: IProjectModel | string;
+}
+
+export const CalculationsTemplateSchema = new Schema({
+  script: {
+    type: String,
+  },
+  formBuilder: {
+    type: Schema.Types.Mixed,
+  },
+  type: {
+    type: String,
+  },
+  name: {
+    type: String,
+  },
+ 
+  createDate: {
+    type: Number,
+  },
+  card: {
+    type: String,
+  },
+  project: {
+    type: Schema.Types.ObjectId,
+    ref: projectSchema,
+    autopopulate: true,
+    require: true,
+  },
+  path: {
+    type: String,
+  },
+}).plugin(require("mongoose-autopopulate"));
+
+export const calculationsTemplateSchema = "calculations_templates";
+
+export const CalculationsTemplateDBModel = model<ICalculationsTemplateModel>(calculationsTemplateSchema, CalculationsTemplateSchema);

server/src/features/calculations_templates/models/calculations_template_validation_model.ts

@@ -0,0 +1,27 @@
+import { IsNotEmpty, IsString, IsMongoId } from "class-validator";
+import { ICalculationsTemplateModel } from "./calculations_template_database_model";
+import { FormBuilderValidationModel } from "../../datasets/models/dataset_validation_model";
+import { IProjectModel } from "../../projects/models/project_model_database_model";
+
+export class CalculationsTemplateValidationModel implements ICalculationsTemplateModel {
+  processStatus: string;
+  @IsMongoId()
+  project?: string | IProjectModel;
+  @IsString()
+  @IsNotEmpty()
+  script: string;
+  formBuilder: FormBuilderValidationModel;
+  @IsString()
+  @IsNotEmpty()
+  type: string;
+  @IsString()
+  @IsNotEmpty()
+  name: string;
+  isEnd: boolean = true;
+  createDate: Date = new Date();
+  card?: string;
+  lastProcessLogs?: string;
+  lastProcessExecCommand?: string;
+  lastExecDate?: Date;
+  path: string;
+}

server/src/features/datasets/domain/create_dataset_scenario.ts

@@ -4,16 +4,20 @@ import { Result } from "../../../core/helpers/result";
 import { TypedEvent } from "../../../core/helpers/typed_event";
 import { EXEC_EVENT, ExecError, SpawnError } from "../../../core/models/exec_error_model";
 import { ExecutorResult } from "../../../core/models/executor_result";
-import { SearchDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
-import { IProjectModel, ProjectDBModel } from "../../_projects/models/project_database_model";
 import { DatasetDBModel } from "../models/dataset_database_model";
 import { DatasetValidationModel, ProcessStatus } from "../models/dataset_validation_model";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
 
-export class ProcessWatcherAndDatabaseUpdateService extends TypedEvent<Result<ExecError | SpawnError, ExecutorResult>> {
+export class ProcessWatcherAndDatabaseUpdateService<A> extends TypedEvent<
+  Result<ExecError | SpawnError, ExecutorResult>
+> {
   databaseId: ObjectId;
-  constructor(databaseId: ObjectId) {
+  model: A;
+  constructor(databaseId: ObjectId, model: A) {
     super();
     this.databaseId = databaseId;
+    this.model = model;
     this.on((event) => this.lister(event));
   }
 
@@ -21,20 +25,22 @@ export class ProcessWatcherAndDatabaseUpdateService extends TypedEvent<Result<Ex
     event.fold(
       async (success) => {
         if (success.event == EXEC_EVENT.END) {
-          const dbModel = await DatasetDBModel.findById(this.databaseId);
+          // @ts-expect-error
+          const dbModel = await this.model.findById(this.databaseId);
           if (dbModel !== null) {
             dbModel.local_path;
             dbModel.processStatus = ProcessStatus.END;
-            dbModel.processLogs = success.data;
+            dbModel.lastProcessLogs = success.data;
             await dbModel.save();
           }
         }
       },
       async (error) => {
-        const dbModel = await DatasetDBModel.findById(this.databaseId);
+        // @ts-expect-error
+        const dbModel = await this.model.findById(this.databaseId);
         if (dbModel !== null) {
           dbModel.processStatus = ProcessStatus.ERROR;
-          dbModel.processLogs = error.message;
+          dbModel.lastProcessLogs = error.message;
           await dbModel.save();
         }
       }
@@ -45,7 +51,7 @@ export class CreateDataSetScenario extends CallbackStrategyWithValidationModel<D
   validationModel: DatasetValidationModel;
   call = async (model: DatasetValidationModel): ResponseBase => {
     return (
-      await new SearchDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({ isActive: true }, "no active projects")
+      await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({ isActive: true }, "no active projects")
     ).map(async (project) => {
       model.processStatus = ProcessStatus.NEW;
       model.local_path = project.rootDir;

server/src/features/datasets/domain/exec_process_scenario.ts

@@ -6,6 +6,7 @@ import { MongoIdValidation } from "../../../core/validations/mongo_id_validation
 import { DatasetDBModel } from "../models/dataset_database_model";
 import { IDatasetModel } from "../models/dataset_validation_model";
 import { ProcessWatcherAndDatabaseUpdateService } from "./create_dataset_scenario";
+import { FolderStructure } from "../../projects/domain/upload_file_to_to_project_scenario";
 
 export class ExecDatasetProcessScenario extends CallbackStrategyWithIdQuery {
   idValidationExpression = new MongoIdValidation();
@@ -14,12 +15,13 @@ export class ExecDatasetProcessScenario extends CallbackStrategyWithIdQuery {
     return (await new ReadByIdDataBaseModelUseCase<IDatasetModel>(DatasetDBModel).call(id)).map(async (model) => {
       return (await new IsHaveActiveProcessUseCase().call()).map(async () => {
         await DatasetDBModel.findById(id).updateOne({ processStatus: "RUN" });
-        console.log(`blenderproc run $PYTHON_BLENDER_PROC  --cfg '${JSON.stringify(model)}'`);
+        model.local_path = `${model.local_path}/${FolderStructure.datasets}/`;
+        
         return new ExecProcessUseCase().call(
           `${model.project.rootDir}/`,
           `blenderproc run $PYTHON_BLENDER_PROC  --cfg '${JSON.stringify(model)}'`,
           id,
-          new ProcessWatcherAndDatabaseUpdateService(id as unknown as ObjectId)
+          new ProcessWatcherAndDatabaseUpdateService(id as unknown as ObjectId, DatasetDBModel)
         );
       });
     });

server/src/features/datasets/domain/get_dataset_active_project_scenario.ts

@@ -1,13 +1,13 @@
 import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
 import { Result } from "../../../core/helpers/result";
-import { SearchDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
-import { IProjectModel, ProjectDBModel } from "../../_projects/models/project_database_model";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
 import { DatasetDBModel } from "../models/dataset_database_model";
 
 export class GetDatasetActiveProjectScenario extends CallbackStrategyWithEmpty {
   call = async (): ResponseBase => {
     return (
-      await new SearchDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({ isActive: true }, "no active projects")
+      await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({ isActive: true }, "no active projects")
     ).map(async (project) => {
       return Result.ok(await DatasetDBModel.find({ project: project._id }));
     });

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

@@ -1,6 +1,6 @@
-import { Mongoose, Schema, model } from "mongoose";
+import { Schema, model } from "mongoose";
 import { IDatasetModel } from "./dataset_validation_model";
-import { projectSchema } from "../../_projects/models/project_database_model";
+import { projectSchema } from "../../projects/models/project_model_database_model";
   
 export const DatasetSchema = new Schema({
   name: {

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

@@ -1,6 +1,6 @@
 import { Type } from "class-transformer";
 import { IsArray, IsOptional, IsString, ValidateNested } from "class-validator";
-import { IProjectModel } from "../../_projects/models/project_database_model";
+import { IProjectModel } from "../../projects/models/project_model_database_model";
 
 export class FormBuilderValidationModel {
   @IsString()
@@ -9,14 +9,16 @@ export class FormBuilderValidationModel {
   public context: string;
   @IsArray()
   public form: [];
+  output: any;
 }
 export enum ProcessStatus {
   END = "END",
   ERROR = "ERROR",
   NEW = "NEW",
+  
 }
 export interface IDatasetModel {
-  _id?:string;
+  _id?: string;
   name: string;
   local_path: string;
   dataSetObjects: string[];

server/src/features/digital_twins_instance/digital_twins_instance_presentation.ts

@@ -0,0 +1,26 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { CreateDigitalTwinsInstanceScenario } from "./domain/create_digital_twins_instance";
+import { DeleteDigitalTwinsInstanceScenario } from "./domain/delete_digital_twins_instance";
+import { ExecInstanceScenario } from "./domain/exec_instance_scenario";
+import { DigitalTwinsInstanceDatabaseModel } from "./model/digital_twins_instance_database_model";
+import { DigitalTwinsInstanceValidationModel } from "./model/digital_twins_instance_validation_model";
+
+export class DigitalTwinsInstancePresentation extends CrudController<
+  DigitalTwinsInstanceValidationModel,
+  typeof DigitalTwinsInstanceDatabaseModel
+> {
+  constructor() {
+    super({
+      url: "digital/twins/instance",
+      validationModel: DigitalTwinsInstanceValidationModel,
+      databaseModel: DigitalTwinsInstanceDatabaseModel,
+    });
+    super.post(new CreateDigitalTwinsInstanceScenario().call);
+    super.delete(new DeleteDigitalTwinsInstanceScenario().call);
+    this.subRoutes.push({
+      method: "POST",
+      fn: new ExecInstanceScenario(),
+      subUrl: "exec/instance",
+    });
+  }
+}

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

@@ -0,0 +1,10 @@
+import { CreateInstanceScenario } from "../../../core/scenarios/create_intance_scenario";
+import { DigitalTwinsInstanceDatabaseModel } from "../model/digital_twins_instance_database_model";
+import { DigitalTwinsInstanceValidationModel } from "../model/digital_twins_instance_validation_model";
+
+ 
+
+export class CreateDigitalTwinsInstanceScenario extends CreateInstanceScenario<DigitalTwinsInstanceValidationModel> {
+  databaseModel = DigitalTwinsInstanceDatabaseModel;
+  validationModel: DigitalTwinsInstanceValidationModel = new DigitalTwinsInstanceValidationModel();
+}

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

@@ -0,0 +1,7 @@
+import { DeleteInstanceScenario } from "../../../core/scenarios/delete_instance_scenario";
+import { DigitalTwinsInstanceDatabaseModel } from "../model/digital_twins_instance_database_model";
+import { DigitalTwinsInstanceValidationModel } from "../model/digital_twins_instance_validation_model";
+
+export class DeleteDigitalTwinsInstanceScenario extends DeleteInstanceScenario<DigitalTwinsInstanceValidationModel> {
+  databaseModel = DigitalTwinsInstanceDatabaseModel;
+}

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

@@ -0,0 +1,35 @@
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller";
+import { ExecProcessUseCase } from "../../../core/usecases/exec_process_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_by_id_database_model_usecase";
+import { CoreValidation } from "../../../core/validations/core_validation";
+import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
+import {
+  DigitalTwinsInstanceDatabaseModel,
+  IDigitalTwinsInstanceModel,
+} from "../model/digital_twins_instance_database_model";
+import { ITopicModel } from "../../topics/topic_database_model";
+import { ExecInstanceTwinsProcessService } from "../services/exec_instance_twins_process_service";
+
+export interface Topics {
+  topics: ITopicModel[];
+}
+
+export class ExecInstanceScenario extends CallbackStrategyWithIdQuery {
+  idValidationExpression: CoreValidation = new MongoIdValidation();
+  call = async (id: string): ResponseBase =>
+    (
+      await new ReadByIdDataBaseModelUseCase<IDigitalTwinsInstanceModel>(DigitalTwinsInstanceDatabaseModel).call(id)
+    ).map(
+      (document) => (
+
+        new ExecProcessUseCase().call(
+          document.instancePath,
+          `python3 $GET_INTERFACES --path ${document.instancePath.pathNormalize()} --package '${JSON.stringify(
+            document
+          )}'`,
+          "",
+          new ExecInstanceTwinsProcessService(document.instancePath, document)
+        )
+      )
+    );
+}

server/src/features/digital_twins_instance/model/digital_twins_instance_database_model.ts

@@ -0,0 +1,39 @@
+import { Schema, model } from "mongoose";
+
+export interface IDigitalTwinsInstanceModel {
+  instancePath: string;
+  status?: string;
+}
+
+export const DigitalTwinsInstanceSchema = new Schema({
+  path: String,
+  name: String,
+  entity: String,
+  description: String,
+  command: String,
+  status: {
+    type: String,
+  },
+  interfaces: {
+    cmd: String,
+  },
+  instancePath: {
+    type: String,
+  },
+  package: {
+    type: String,
+  },
+  executable: {
+    type: String,
+  },
+  formBuilder: {
+    type: Schema.Types.Mixed,
+  },
+}).plugin(require("mongoose-autopopulate"));
+
+export const digitalTwinsInstanceSchema = "digital_twins_instance";
+
+export const DigitalTwinsInstanceDatabaseModel = model<IDigitalTwinsInstanceModel>(
+  digitalTwinsInstanceSchema,
+  DigitalTwinsInstanceSchema
+);

server/src/features/digital_twins_instance/model/digital_twins_instance_validation_model.ts

@@ -0,0 +1,26 @@
+import { Type } from "class-transformer";
+import { IsEnum, IsString } from "class-validator";
+import { Instance } from "../../../core/models/instance";
+
+enum DigitalTwinsTypes {
+  CAMERA = "CAMERA",
+  ROBOT = "ROBOT",
+}
+export class Interfaces {
+  @IsString()
+  cmd: string;
+}
+export class DigitalTwinsInstanceValidationModel implements Instance {
+  instanceName: string;
+  instancePath: string;
+  path: string;
+  name: string;
+  @IsEnum(DigitalTwinsTypes)
+  entity: DigitalTwinsTypes;
+  @IsString()
+  description: string;
+  @IsString()
+  command: string;
+  @Type(() => Interfaces)
+  interfaces: Interfaces;
+}

server/src/features/digital_twins_instance/services/exec_instance_twins_process_service.ts

@@ -0,0 +1,49 @@
+import { Result } from "../../../core/helpers/result";
+import { TypedEvent } from "../../../core/helpers/typed_event";
+import { ExecError, SpawnError, EXEC_EVENT } from "../../../core/models/exec_error_model";
+import { ExecutorResult } from "../../../core/models/executor_result";
+import { CreateDataBaseModelUseCase } from "../../../core/usecases/create_database_model_usecase";
+import { ReadFileAndParseJsonUseCase } from "../../../core/usecases/read_file_and_parse_json";
+import { ITopicModel, TopicDatabaseModel } from "../../topics/topic_database_model";
+import { Topics } from "../domain/exec_instance_scenario";
+
+export class ExecInstanceTwinsProcessService extends TypedEvent<
+  Result<ExecError | SpawnError, ExecutorResult>
+> {
+  path: string;
+  databaseModel: any;
+  constructor(path: string, databaseModel: any) {
+    super();
+    this.path = path;
+    this.databaseModel = databaseModel;
+    this.on((event) => this.lister(event));
+  }
+
+  lister = (event: Result<ExecError | SpawnError, ExecutorResult>) =>
+    event.fold(
+      async (success) => {
+        if (success.event == EXEC_EVENT.END) {
+          (await new ReadFileAndParseJsonUseCase().call<Topics>(this.path + "/topics.json")).fold(
+            async (model) => {
+              await model.topics.forEach(async (el) => {
+                el.digitalTwinId = this.databaseModel._id;
+                await new CreateDataBaseModelUseCase<ITopicModel>(TopicDatabaseModel).call(el);
+              });
+
+              this.databaseModel.status = "END";
+              await this.databaseModel.save();
+            },
+
+            async (_) => {
+              this.databaseModel.status = "ERROR";
+              await this.databaseModel.save();
+            }
+          );
+        }
+      },
+      async (_) => {
+        this.databaseModel.status = "ERROR";
+        await this.databaseModel.save();
+      }
+    );
+}

server/src/features/digital_twins_template/digital_twins_template_presentation.ts

@@ -0,0 +1,20 @@
+import { CrudController } from "../../core/controllers/crud_controller";
+import { CreateDigitalTwinsTemplateScenario } from "./domain/create_digital_twins_template";
+import { DeleteDigitalTwinsTemplateScenario } from "./domain/delete_digital_twins_template";
+import { DigitalTwinsTemplateDBModel } from "./models/digital_twins_template_database_model";
+import { DigitalTwinsTemplateValidationModel } from "./models/digital_twins_template_validation_model";
+
+export class DigitalTwinsTemplatePresentation extends CrudController<
+  DigitalTwinsTemplateValidationModel,
+  typeof DigitalTwinsTemplateDBModel
+> {
+  constructor() {
+    super({
+      url: "digital/twins/template",
+      validationModel: DigitalTwinsTemplateValidationModel,
+      databaseModel: DigitalTwinsTemplateDBModel,
+    });
+    super.post(new CreateDigitalTwinsTemplateScenario().call);
+    super.delete(new DeleteDigitalTwinsTemplateScenario().call);
+  }
+}