Merge remote-tracking branch 'origin/feature/install_support' into de…

…velop

.gitignore

@@ -1,12 +1 @@
-lib/*
-locales/*
-swiftshader/*
-credits.html
-icudtl.dat
-natives_blob.bin
-nw
-nw_100_percent.pak
-nw_200_percent.pak
-resources.pak
-snapshot_blob.bin
-
+nwjs/

CMakeLists.txt

@@ -21,71 +21,44 @@ catkin_package(
 # use add_library() or add_executable() as required
 #add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})
 
-#FILE(GLOB BIN_FILES "bin/*")
-
-# install executables
-#install(PROGRAMS ${BIN_FILES} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-#install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
 #add_custom_target(nwjs_inst)
 #add_custom_command(TARGET nwjs_inst POST_BUILD COMMAND bin/nwjs_install)
 
-add_custom_command(OUTPUT nw
+add_custom_command(OUTPUT nwjs
   COMMAND bin/nwjs_install
   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
   VERBATIM
 )
 
-add_custom_target(nw_install DEPENDS nw)
+add_custom_target(nw_install DEPENDS nwjs)
 
-if(NOT ${CMAKE_CURRENT_SOURCE_DIR}/nw)
+if(NOT ${CMAKE_CURRENT_SOURCE_DIR}/nwjs)
   safe_execute_process(COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/bin/nwjs_install)
 endif()
 
 #############
 ## Install ##
 #############
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-# call catkin_destinations() to populate CATKIN_*_DESTINATION cmake variables
-catkin_destinations()
-
-install(DIRECTORY
-  launch
-  src
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+INSTALL(PROGRAMS
+    bin/run_app
+    bin/shortcut
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
-
-install(PROGRAMS
-  bin/run_app
-  bin/shortcut
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+INSTALL(FILES
+    package.json
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
-
-install(DIRECTORY
-  lib
-  locales
-  swiftshader
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  USE_SOURCE_PERMISSIONS
+INSTALL(DIRECTORY
+    src
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
-
-install(FILES
-  credits.html
-  flexbe.desktop
-  icudtl.dat
-  natives_blob.bin
-  nw_100_percent.pak
-  nw_200_percent.pak
-  package.json
-  resources.pak
-  snapshot_blob.bin
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+INSTALL(DIRECTORY
+    nwjs
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    USE_SOURCE_PERMISSIONS
 )
-
-install(PROGRAMS
-  nw
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(DIRECTORY
+    launch
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

bin/nwjs_install

@@ -1,7 +1,8 @@
 #!/bin/bash -e
 cd "$( dirname "${BASH_SOURCE[0]}" )"
 TEMPFILE="nwjs.tar.gz"
-cd ..
+mkdir -p ../nwjs
+cd ../nwjs
 
 # check if nw is already existing and abort if so
 if [ -f nw ]; then

bin/run_app

@@ -1,11 +1,16 @@
 #!/bin/bash
 
-NW="$(rospack find flexbe_app)/nw"
-if [ ! -x "${NW}" ]; then
+ROOT_PATH="$(rospack find flexbe_app)"
+NW=$ROOT_PATH/nwjs/nw
+if [ ! -f $NW ]; then
+    ROOT_PATH=.
+    NW=$ROOT_PATH/nwjs/nw
+fi
+if [ ! -x $NW ]; then
   echo "Cannot run flexbe_app, need to download nwjs first."
   echo "Please build flexbe_app via catkin before using it or run the following command now:"
   echo "  rosrun flexbe_app nwjs_install"
   exit -1
 fi
 
-"$NW" --password-store=basic "$@"
+"$NW" --password-store=basic $ROOT_PATH "$@"

package.json

@@ -1,6 +1,6 @@
 {
   "name": "FlexBE App",
-  "version": "2.0.7",
+  "version": "2.0.8",
   "main": "src/main.js",
   "window": {
     "icon": "src/img/icon-128.png",

package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>flexbe_app</name>
-  <version>2.0.7</version>
+  <version>2.0.8</version>
   <description>
      flexbe_app provides a user interface (editor + runtime control) for the FlexBE behavior engine.
   </description>

src/_model/behavior.js

@@ -31,6 +31,8 @@ Behavior = new (function() {
 	var file_name = undefined;
 	var manifest_path = undefined;
 
+	var readonly = false;
+
 
 	this.getBehaviorName = function() {
 		return behavior_name;
@@ -274,6 +276,14 @@ Behavior = new (function() {
 		root_sm = _root_sm;
 	}
 
+	this.setReadonly = function(_readonly) {
+		readonly = _readonly;
+	}
+
+	this.isReadonly = function() {
+		return readonly;
+	}
+
 	this.resetBehavior = function() {
 		behavior_name = "";
 		behavior_package = "";
@@ -299,6 +309,7 @@ Behavior = new (function() {
 		comment_notes = [];
 
 		root_sm = new Statemachine("", new WS.StateMachineDefinition([], [], []));
+		readonly = false;
 	}
 
 	this.setFiles = function(_file_name, _manifest_path) {

src/io/io_behaviorloader.js

@@ -34,6 +34,15 @@ IO.BehaviorLoader = new (function() {
 		T.logInfo("Behavior state machine built.");
 
 		ActivityTracer.resetActivities();
+
+		ROS.getPackagePath(manifest.rosnode_name, (package_path) => {
+			ROS.getPackagePythonPath(manifest.rosnode_name, (python_path) => {
+				if (!python_path.startsWith(package_path)) {
+					Behavior.setReadonly(true);
+				}
+				UI.Statemachine.refreshView();
+			});
+		});
 	}
 
 	var resetEditor = function() {
@@ -52,48 +61,33 @@ IO.BehaviorLoader = new (function() {
 
 		resetEditor();
 
-		var package_name = manifest.rosnode_name;
-		ROS.getPackagePath(package_name, (package_path) => {
-			if (package_path == undefined) {
-				T.logError("Failed to load behavior: ROS package "+package_name+" not found, please check behavior manifest.");
-				return;
-			}
-			var file_path = path.join(package_path, 'src', package_name, manifest.codefile_name);
-			IO.Filesystem.readFile(file_path, (content) => {
-				T.logInfo("Parsing sourcecode...");
-				parseCode(content, manifest);
-			});
+		var file_path = path.join(manifest.codefile_path, manifest.codefile_name);
+		IO.Filesystem.readFile(file_path, (content) => {
+			T.logInfo("Parsing sourcecode...");
+			parseCode(content, manifest);
 		});
 	}
 
 	this.loadBehaviorInterface = function(manifest, callback) {
-		var package_name = manifest.rosnode_name;
-		ROS.getPackagePath(package_name, (package_path) => {
-			if (package_path == undefined) {
-				T.logError("Failed to load behavior: ROS package "+package_name+" not found, please check behavior manifest.");
+		var file_path = path.join(manifest.codefile_path, manifest.codefile_name);
+		IO.Filesystem.readFile(file_path, (content) => {
+			try {
+				var parsingResult = IO.CodeParser.parseSMInterface(content);
+				callback(parsingResult);
+			} catch (err) {
+				T.logError("Failed to parse behavior interface of " + manifest.name + ": " + err);
 				return;
 			}
-			var file_path = path.join(package_path, 'src', package_name, manifest.codefile_name);
-			IO.Filesystem.readFile(file_path, (content) => {
-				try {
-					var parsingResult = IO.CodeParser.parseSMInterface(content);
-					callback(parsingResult);
-				} catch (err) {
-					T.logError("Failed to parse behavior interface of " + manifest.name + ": " + err);
-					return;
-				}
-			});
 		});
 	}
 
 	this.updateManualSections = function(callback) {
 		var names = Behavior.createNames();
 		var package_name = names.rosnode_name;
-		ROS.getPackagePath(package_name, (package_path) => {
-			if (package_path == undefined) {
+		ROS.getPackagePythonPath(package_name, (folder_path) => {
+			if (folder_path == undefined) {
 				return;
 			}
-			var folder_path = path.join(package_path, 'src', package_name);
 			var file_path = path.join(folder_path, names.file_name);
 			IO.Filesystem.checkFileExists(folder_path, names.file_name, (exists) => {
 				if (exists) {
@@ -115,28 +109,21 @@ IO.BehaviorLoader = new (function() {
 	}
 
 	this.parseBehaviorSM = function(manifest, callback) {
-		var package_name = manifest.rosnode_name;
-		ROS.getPackagePath(package_name, (package_path) => {
-			if (package_path == undefined) {
-				T.logError("Failed to load behavior: ROS package "+package_name+" not found, please check behavior manifest.");
+		var file_path = path.join(manifest.codefile_path, manifest.codefile_name);
+		IO.Filesystem.readFile(file_path, (content) => {
+			console.log("Preparing sourcecode of behavior " + manifest.name + "...");
+			try {
+				parsingResult = IO.CodeParser.parseCode(content);
+			} catch (err) {
+				console.log("Code parsing failed: " + err);
 				return;
 			}
-			var file_path = path.join(package_path, 'src', package_name, manifest.codefile_name);
-			IO.Filesystem.readFile(file_path, (content) => {
-				console.log("Preparing sourcecode of behavior " + manifest.name + "...");
-				try {
-					parsingResult = IO.CodeParser.parseCode(content);
-				} catch (err) {
-					console.log("Code parsing failed: " + err);
-					return;
-				}
-				callback({
-					container_name: "",
-					container_sm_var_name: parsingResult.root_sm_name,
-					sm_defs: parsingResult.sm_defs,
-					sm_states: parsingResult.sm_states,
-					default_userdata: parsingResult.default_userdata
-				});
+			callback({
+				container_name: "",
+				container_sm_var_name: parsingResult.root_sm_name,
+				sm_defs: parsingResult.sm_defs,
+				sm_states: parsingResult.sm_states,
+				default_userdata: parsingResult.default_userdata
 			});
 		});
 	}

src/io/io_behaviorpacker.js

@@ -6,11 +6,10 @@ IO.BehaviorPacker = new (function() {
 	this.loadBehaviorCode = function(callback) {
 		var names = Behavior.createNames();
 		var package_name = names.rosnode_name;
-		ROS.getPackagePath(package_name, (package_path) => {
-			if (package_path == undefined) {
+		ROS.getPackagePythonPath(package_name, (folder_path) => {
+			if (folder_path == undefined) {
 				return;
 			}
-			var folder_path = path.join(package_path, 'src', package_name);
 			var file_path = path.join(folder_path, names.file_name);
 			IO.Filesystem.checkFileExists(folder_path, names.file_name, (exists) => {
 				if (exists) {

src/io/io_behaviorsaver.js

@@ -11,8 +11,7 @@ IO.BehaviorSaver = new (function() {
 		};
 		var names = Behavior.createNames();
 		var package_name = names.rosnode_name;
-		ROS.getPackagePath(package_name, (package_path) => {
-			var folder_path = path.join(package_path, 'src', package_name);
+		ROS.getPackagePythonPath(package_name, (folder_path) => {
 			var file_path = path.join(folder_path, names.file_name);
 			var file_tmp_path = path.join(folder_path, names.file_name_tmp);
 			if (RC.Controller.isConnected()) {
@@ -21,7 +20,7 @@ IO.BehaviorSaver = new (function() {
 						IO.Filesystem.checkFileExists(folder_path, names.file_name_tmp, function(src_exists) {
 							if (src_exists) {
 								IO.Filesystem.getFileContent(folder_path, names.file_name, function(content_onboard) {
-									IO.Filesystem.createFile(folder_path, names.file_name_tmp, content_onboard, function() { 
+									IO.Filesystem.createFile(folder_path, names.file_name_tmp, content_onboard, function() {
 										create_callback(folder_path);
 									});
 								});

src/io/io_manifestparser.js

@@ -1,7 +1,7 @@
 IO.ManifestParser = new (function() {
 	var that = this;
 
-	this.parseManifest = function(content, file_path) {
+	this.parseManifest = function(content, file_path, python_path) {
 		parser = new DOMParser();
 		xml = parser.parseFromString(content,"text/xml");
 
@@ -26,6 +26,7 @@ IO.ManifestParser = new (function() {
 		var path = xml.getElementsByTagName("executable")[0].getAttribute("package_path").split(".");
 		var rosnode_name = path[0];
 		var codefile_name = path[1] + ".py";
+		var codefile_path = python_path;
 		var class_name = xml.getElementsByTagName("executable")[0].getAttribute("class");
 
 		var params_element = xml.getElementsByTagName("params");
@@ -74,6 +75,7 @@ IO.ManifestParser = new (function() {
 			date: 			date,
 			rosnode_name: 	rosnode_name,
 			codefile_name: 	codefile_name,
+			codefile_path: 	codefile_path,
 			class_name: 	class_name,
 			params: 		param_list,
 			contains: 		contains_list,