Workspace Extension Functionality (#36)

* Added Workspaces

* Version 0.2.2 -  Bug Fix
- Fixed recursion error for workspaces
- Fixed workspace description typo in settings
- Fixed viz-robotmodel.png not found

* Minor Changes
- Restored saved settings to default state
- Fixed typo in settings schema
- Removed unused import in Pkgs Module

Author: vkmb

MANIFEST.in

@@ -2,8 +2,8 @@ include LICENSE
 include README.md
 include pyproject.toml
 
-include jupyterlab_ros_server/jupyterlab_ros_server.json
+include jupyter_ros_server/jupyter_ros_server.json
 
-graft jupyterlab_ros_server/static
-graft jupyterlab_ros_server/public
-graft jupyterlab_ros_server/labextension
+graft jupyter_ros_server/static
+graft jupyter_ros_server/public
+graft jupyter_ros_server/labextension

js/schema/settings.json

@@ -14,6 +14,12 @@
       "title": "Master launch file",
       "description": "Absolute path of your launch file to initialize ROS master.\nKeep it empty to use the default one.",
       "default": ""
+    },
+    "workspaces": {
+      "type": "string",
+      "title": "Workspace Paths",
+      "description": "Absolute paths to the workspaces separated by colons.\nExample:\n/home/jovyan/ws1:/home/jovyan/ws2:/home/jovyan/ws3\nKeep it empty to use load the workspaces sourced before jupyter lab was started.",
+      "default": ""
     }
   }
 }

js/src/settings/index.ts

@@ -64,9 +64,10 @@ export const settings: JupyterFrontEndPlugin<void> = {
     const loadSetting = (setting: ISettingRegistry.ISettings): void => {
       const env = setting.get('env').composite as string;
       const master = setting.get('master').composite as string;
+      const workspaces = setting.get('workspaces').composite as string;
 
-      if ( env != "" || master != "" ) {
-        const msg = { method: 'PUT', body: JSON.stringify({ env, master }) };
+      if ( env != "" || master != "" || workspaces != "" ) {
+        const msg = { method: 'PUT', body: JSON.stringify({ env, master, workspaces }) };
 
         ServerConnection.makeRequest(url, msg, server)
         .then( resp => {})

jupyter_ros_server/_version.py

@@ -1 +1 @@
-__version__ = "0.2.1"
+__version__ = "0.2.2"

jupyter_ros_server/api/pkgs.py

@@ -8,14 +8,32 @@
 
 import rospkg
 
-from ..lib import getEnv, getMaster, save
+from ..lib import getEnv, getMaster, save, getWorkspaces, ROS_PACKAGE_PATH
+
+
+
 
 class Pkgs(IPythonHandler):
-    rospack = rospkg.RosPack()
+
+    def get_wsl():
+        current_workspace = getWorkspaces()
+        current_workspace_list =  current_workspace.split(':') if ":" in current_workspace else [current_workspace]
+        current_workspace_list = [ws.strip() for ws in current_workspace_list if len(ws.strip()) > 0]
+        if ROS_PACKAGE_PATH not in current_workspace_list:
+            current_workspace_list.append(ROS_PACKAGE_PATH)
+        return current_workspace_list
+    
+    startup_ws = get_wsl()
+    rospack = rospkg.RosPack(startup_ws)
 
     @tornado.web.authenticated
     def get(self, *args, **kwargs):
         cls = self.__class__
+        current_workspace_list = cls.get_wsl()
+        if current_workspace_list != cls.startup_ws:
+            cls.rospack = rospkg.RosPack(current_workspace_list)
+            cls.startup_ws = current_workspace_list
+            print("[PKGS] : ws updated: ", " | ".join(cls.startup_ws))
 
         if not args:
             self.write("Error - no argument supplied")
@@ -24,8 +42,8 @@ def get(self, *args, **kwargs):
 
         print("[PKGS] get:", args[0])
 
+
         argslist = args[0].split('/')
-        
         package = argslist[0]
         file = '/'.join(argslist[1:])
         path = ""

jupyter_ros_server/api/setting.py

@@ -3,16 +3,17 @@
 import tornado
 from notebook.base.handlers import APIHandler
 
-from ..lib import getEnv, getMaster, save
+from ..lib import getEnv, getMaster, getWorkspaces, save
 
 class Setting(APIHandler):
 
     @tornado.web.authenticated
     def get(self):
-        self.finish(json.dumps( { 'env': getEnv(), 'master': getMaster() } ))
+        self.finish(json.dumps( { 'env': getEnv(), 'master': getMaster(), 'workspaces' : getWorkspaces()} ))
 
     @tornado.web.authenticated
     def put(self):
         msg = self.get_json_body()
-        save(msg['env'], msg['master'])
+        save(msg['env'], msg['master'], msg['workspaces'])
+        print(msg)
         self.finish()

jupyter_ros_server/lib/settings.py

@@ -1,43 +1,58 @@
-from os import path
+from os import path,environ
 import json
+from tkinter import W
 
 ROOT = path.dirname(path.dirname(__file__))
 PUBLIC = path.join(ROOT, 'public')
 SETTINGS = path.join(ROOT, 'static/settings.json')
 MASTER = path.join(ROOT, 'static/roslab.launch')
+ROS_PACKAGE_PATH = environ.get("ROS_PACKAGE_PATH", default="").strip()
+
 
 def getEnv():
     try:
         with open(SETTINGS) as settings:
             data = json.load(settings)
 
     except Exception :
-        data = { "env": "", "master": "" }
+        data = { "env": "", "master": "", "workspaces": ""}
 
     return data['env']
 
+def getWorkspaces():
+    try:
+        with open(SETTINGS) as settings:
+            data = json.load(settings)
+
+    except Exception :
+        data = { "env": "", "master": "", "workspaces": ""}
+
+    return data['workspaces'] if data['workspaces'] != "" else ROS_PACKAGE_PATH
+
+
 def getMaster():
     try:
         with open(SETTINGS) as settings:
             data = json.load(settings)
 
     except Exception :
-        data = { "env": "", "master": "" }
+        data = { "env": "", "master": "", "workspaces": ""}
 
     return data['master'] if data['master'] != "" else MASTER
 
-def save(env, master):
+def save(env, master, workspaces):
     try:
         with open(SETTINGS, 'r') as settings:
             data = json.load(settings)
 
     except Exception :
-        data = { "env": "", "master": "" }
+        data = { "env": "", "master": "" , "workspaces": ""}
 
     data['env'] = env
     data['master'] = master
+    data['workspaces'] = workspaces
 
     with open(SETTINGS, 'w+') as settings:
         json.dump(data, settings)
 
-save("", "")
+save("", "", ROS_PACKAGE_PATH)

jupyter_ros_server/static/settings.json

@@ -1 +1 @@
-{"env": "", "master": ""}
+{"env": "", "master": "", "workspaces": ""}

setup.py

@@ -63,7 +63,11 @@
     'license': "BSD-3-Clause",
     'url': "https://github.com/RoboStack/jupyterlab-ros",
     'include_package_data': True,
-    'packages': find_packages(),
+    'packages': find_packages(
+        where=HERE,
+        include=["*"],
+        exclude=[],
+    ),
     'cmdclass': cmdclass,
     'install_requires': [
         'rosbridge-library',