Merge pull request #20 from Doomse/type_system

Handle custom types now used for Ros Messages and File paths

.eslintrc.cjs

@@ -11,5 +11,9 @@ module.exports = {
   ],
   parserOptions: {
     ecmaVersion: 'latest'
+  },
+  rules: {
+    'no-fallthrough': 1,
+    'no-inner-declarations': 1
   }
 }

.github/workflows/build.yml

@@ -9,21 +9,20 @@ on:
 
 jobs:
   build:
-
     runs-on: ubuntu-latest
 
     strategy:
       matrix:
-        node-version: [18.x, 19.x, 20.x]
+        node-version: [18.x, 20.x, 22.x, 23.x]
         # See supported Node.js release schedule at https://nodejs.org/en/about/releases/
 
     steps:
-    - uses: actions/checkout@v3
-    - name: Use Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v3
-      with:
-        node-version: ${{ matrix.node-version }}
-        cache: 'yarn'
-    - run: yarn install
-    - run: yarn lint
-    - run: yarn build
+      - uses: actions/checkout@v3
+      - name: Use Node.js ${{ matrix.node-version }}
+        uses: actions/setup-node@v3
+        with:
+          node-version: ${{ matrix.node-version }}
+          cache: 'yarn'
+      - run: yarn install
+      - run: yarn lint
+      - run: yarn build

src/App.vue

@@ -33,10 +33,10 @@ import { useROSStore } from './stores/ros'
 import { useMessasgeStore } from './stores/message'
 import { usePackageStore } from './stores/package'
 import { useNodesStore } from './stores/nodes'
-import { computed, onMounted, ref, watch } from 'vue'
+import { onMounted, ref, watch } from 'vue'
 import PackageLoader from './components/PackageLoader.vue'
-import type { Messages, NodeMsg, Packages, SubtreeInfo, TreeMsg } from './types/types'
-import { EditorSkin, useEditorStore } from './stores/editor'
+import type { MessageTypes, NodeMsg, Packages, SubtreeInfo, TreeMsg } from './types/types'
+import { useEditorStore } from './stores/editor'
 import { useEditNodeStore } from './stores/edit_node'
 import NodeList from './components/NodeList.vue'
 import SelectSubtree from './components/SelectSubtree.vue'
@@ -80,11 +80,11 @@ function updatePackagesSubscription() {
   ros_store.packages_sub.subscribe(onNewPackagesMsg)
 }
 
-function onNewMessagesMsg(msg: Messages) {
+function onNewMessagesMsg(msg: MessageTypes) {
   if (!messages_store.messages_available) {
     messages_store.areMessagesAvailable(true)
   }
-  messages_store.updateAvailableMessages(msg.messages)
+  messages_store.updateAvailableMessages(msg)
 }
 
 function updateMessagesSubscription() {
@@ -107,6 +107,10 @@ function updateSubtreeInfoSubscription() {
   ros_store.subtree_info_sub.subscribe(onNewSubtreeInfoMsg)
 }
 
+function updateChannelssubscription() {
+  ros_store.channels_sub.subscribe(messages_store.updateMessageChannels)
+}
+
 function handleNodeSearch(event: Event) {
   const target = event.target as HTMLInputElement
   node_search.value = target.value
@@ -154,6 +158,7 @@ ros_store.$onAction(({ name, after }) => {
     updateTreeSubscription()
     updateSubtreeInfoSubscription()
     updateMessagesSubscription()
+    updateChannelssubscription()
     updatePackagesSubscription()
   })
 })
@@ -163,6 +168,7 @@ onMounted(() => {
   updateTreeSubscription()
   updateSubtreeInfoSubscription()
   updateMessagesSubscription()
+  updateChannelssubscription()
   updatePackagesSubscription()
 })
 </script>

src/assets/utils.scss

@@ -60,3 +60,15 @@
   --bs-btn-disabled-border-color: var(--bs-body-color);
   --bs-gradient: none;
 }
+
+.search-results {
+  padding-left: 5px;
+  padding-right: 5px;
+
+  max-height: 11em;
+  overflow-y: auto;
+}
+
+.search-result:hover {
+  background-color: #007bff;
+}

src/components/D3BehaviorTreeEditor.vue

@@ -42,27 +42,19 @@ import type {
   NodeDataLocation,
   NodeMsg,
   ParamData,
-  PyEnum,
-  PyLogger,
-  PyOperand,
-  PyOperator,
-  TreeMsg,
   TrimmedNode,
   TrimmedNodeData,
   NodeDataWiring
 } from '@/types/types'
 import { Position, IOKind } from '@/types/types'
-import { getDefaultValue, prettyprint_type, python_builtin_types, typesCompatible } from '@/utils'
-import { faArrowDown19 } from '@fortawesome/free-solid-svg-icons'
+import { getDefaultValue, prettyprint_type, serializeNodeOptions, typesCompatible } from '@/utils'
 import { notify } from '@kyvg/vue3-notification'
 import * as d3 from 'd3'
-import type { ZoomBehavior } from 'd3'
 import { onMounted, ref, watch, watchEffect } from 'vue'
 import type { HierarchyNode, HierarchyLink } from 'd3-hierarchy'
 import { flextree, type FlextreeNode } from 'd3-flextree'
 import type { MoveNodeRequest, MoveNodeResponse } from '@/types/services/MoveNode'
 import type { RemoveNodeRequest, RemoveNodeResponse } from '@/types/services/RemoveNode'
-import type { ReplaceNodeRequest, ReplaceNodeResponse } from '@/types/services/ReplaceNode'
 import type { WireNodeDataRequest, WireNodeDataResponse } from '@/types/services/WireNodeData'
 
 const editor_store = useEditorStore()
@@ -152,67 +144,18 @@ function resetView() {
 }
 
 function buildNodeMessage(node: DocumentedNode): NodeMsg {
-  function getDefaultValues(paramList: NodeData[], options?: NodeData[] | null) {
-    options = options || []
-
-    return paramList.map((x) => {
-      return {
-        key: x.key,
-        value: getDefaultValue(prettyprint_type(x.serialized_value), options)
-      }
-    })
-  }
-  const default_options = getDefaultValues(node.options)
-  const options = default_options.map((x) => {
-    if (x.value.type === 'unset_optionref') {
-      const optionref: string = x.value.value as string
-      const optionTypeName = optionref.substring('Ref to "'.length, optionref.length - 1)
-      const optionType = default_options.find((x) => {
-        return x.key === optionTypeName
-      })
-      if (optionType && optionType.value) {
-        return {
-          key: x.key,
-          value: getDefaultValue(optionType.value.value as string)
-        }
-      }
-    }
+  const options = node.options.map((opt: NodeData) => {
     return {
-      key: x.key,
-      value: x.value
+      key: opt.key,
+      value: getDefaultValue(prettyprint_type(opt.serialized_value), node.options)
     } as ParamData
   })
 
   return {
     module: node.module,
     node_class: node.node_class,
     name: node.name,
-    options: options.map((x) => {
-      const option: NodeData = {
-        key: x.key,
-        serialized_value: '',
-        serialized_type: ''
-      }
-      if (x.value.type === 'type') {
-        if (python_builtin_types.indexOf(x.value.value as string) >= 0) {
-          x.value.value = '__builtin__.' + x.value.value
-        }
-        option.serialized_value = JSON.stringify({
-          'py/type': x.value.value
-        })
-      } else if (x.value.type.startsWith('__')) {
-        const py_value: PyLogger | PyOperator | PyOperand | PyEnum = x.value.value as
-          | PyLogger
-          | PyOperator
-          | PyOperand
-          | PyEnum
-        py_value['py/object' as keyof typeof py_value] = x.value.type.substring('__'.length)
-        option.serialized_value = JSON.stringify(x.value.value)
-      } else {
-        option.serialized_value = JSON.stringify(x.value.value)
-      }
-      return option
-    }),
+    options: serializeNodeOptions(options),
     child_names: [],
     inputs: [],
     outputs: [],

src/components/EditableNode.vue

@@ -28,16 +28,12 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  -->
 <script setup lang="ts">
-import { useNodesStore } from '@/stores/nodes'
-import type { DocumentedNode, ParamData } from '@/types/types'
-import { computed } from 'vue'
 import { getShortDoc } from '@/utils'
 import { useEditorStore } from '@/stores/editor'
 import { useEditNodeStore } from '@/stores/edit_node'
 import ParamInputs from './ParamInputs.vue'
 import ParamDisplay from './ParamDisplay.vue'
 
-const nodes_store = useNodesStore()
 const editor_store = useEditorStore()
 const edit_node_store = useEditNodeStore()
 </script>

src/components/JSONInput.vue

@@ -29,23 +29,13 @@
  -->
 <script setup lang="ts">
 import { useEditNodeStore } from '@/stores/edit_node'
-import { useEditorStore } from '@/stores/editor'
-import { useROSStore } from '@/stores/ros'
-import type {
-  GetMessageFieldsRequest,
-  GetMessageFieldsResponse
-} from '@/types/services/GetMessageFields'
 import type { ParamData } from '@/types/types'
-import { getMessageType } from '@/utils'
-import { notify } from '@kyvg/vue3-notification'
 import JSONEditor from 'jsoneditor'
 
 import 'jsoneditor/dist/jsoneditor.min.css'
 import { computed, onMounted, onUnmounted, ref, watch } from 'vue'
 
-const editor_store = useEditorStore()
 const edit_node_store = useEditNodeStore()
-const ros_store = useROSStore()
 
 const props = defineProps<{
   category: 'options'
@@ -57,8 +47,6 @@ const param = computed<ParamData | undefined>(() =>
 )
 
 const is_valid = ref<boolean>(true)
-const pyobjectstring = ref<string | undefined>(undefined)
-const field_names = ref<string[]>([])
 
 const editor_ref = ref<HTMLDivElement>()
 let editor: JSONEditor | undefined = undefined
@@ -80,68 +68,6 @@ function handleChange() {
   }
 }
 
-//TODO maybe this would be better placed in the getDefaultValue utility function
-function updateMessageType() {
-  if (param.value === undefined) {
-    return
-  }
-
-  // Trim the leading '__' that is sometimes added
-  let message_type: string
-  if (param.value.value.type.startsWith('__')) {
-    message_type = param.value.value.type.substring('__'.length)
-  } else {
-    message_type = param.value.value.type
-  }
-
-  const message = getMessageType(message_type)
-  if (message.msg === '/dict' || message.msg === '') {
-    /*notify({
-      title: 'Cannot request message infos!',
-      text: 'Message is a dict not a ROS message!',
-      type: 'warn'
-    })*/
-    return
-  } else {
-    ros_store.get_message_fields_service.callService(
-      {
-        message_type: message.msg,
-        service: message.service,
-        action: message.action,
-        type: message.type
-      } as GetMessageFieldsRequest,
-      (response: GetMessageFieldsResponse) => {
-        if (response.success) {
-          pyobjectstring.value = response.fields
-          field_names.value = response.field_names
-
-          const new_value = JSON.parse(response.fields)
-          console.log(new_value)
-
-          if (editor === undefined) {
-            return
-          }
-          editor.update(new_value)
-          handleChange()
-        } else {
-          notify({
-            title: 'GetMessageFields Service Error',
-            text: response.error_message,
-            type: 'error'
-          })
-        }
-      },
-      (failed) => {
-        notify({
-          title: 'Failure calling GetMessageFields Service',
-          text: failed,
-          type: 'error'
-        })
-      }
-    )
-  }
-}
-
 // This fires when param type changes and updates the editor accordingly
 watch(
   () => {
@@ -155,7 +81,6 @@ watch(
       return
     }
     editor.update(param.value.value.value)
-    updateMessageType()
   }
 )
 

src/components/MultipleSelection.vue

@@ -232,7 +232,6 @@ function saveSubtree(tree: TreeMsg) {
 <template>
   <SelectLocationModal
     v-model="show_selection_modal"
-    title="Select Save Location"
     @close="show_selection_modal = false"
     @select="setSaveLocation"
   />