@rainbow-robotics/muscat-plugin-kit 0.1.2-dev.4 → 0.1.2-dev.41

package/cli/templates/ros2/ros2_ws/src/__PLUGIN_SLUG__/__PLUGIN_SLUG__/node.py

@@ -0,0 +1,25 @@
+import rclpy
+from rclpy.node import Node
+from rainbow.rb_sdk import RBManipulateSDK  # PyPI: rainbow-rb-sdk
+
+
+sdk = RBManipulateSDK()
+
+
+class __PLUGIN_CLASS__Node(Node):
+    def __init__(self):
+        super().__init__("__PLUGIN_SLUG___node")
+        self.get_logger().info("__PLUGIN_NAME__ node started")
+        # sdk is available here — use it alongside ROS2 topics as needed
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = __PLUGIN_CLASS__Node()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

package/cli/templates/ros2/ros2_ws/src/__PLUGIN_SLUG__/package.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>__PLUGIN_SLUG__</name>
+  <version>0.0.1</version>
+  <description>__PLUGIN_NAME__ ROS2 node</description>
+  <maintainer email="todo@example.com">maintainer</maintainer>
+  <license>Proprietary</license>
+  <depend>rclpy</depend>
+  <export><build_type>ament_python</build_type></export>
+</package>

package/cli/templates/ros2/ros2_ws/src/__PLUGIN_SLUG__/setup.py

@@ -0,0 +1,18 @@
+from setuptools import setup
+
+package_name = "__PLUGIN_SLUG__"
+
+setup(
+    name=package_name,
+    version="0.0.1",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    entry_points={
+        "console_scripts": ["__PLUGIN_SLUG___node = __PLUGIN_SLUG__.node:main"],
+    },
+)

package/cli/templates/ros2-cpp/ros2_ws/src/__PLUGIN_SLUG__/CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.16)
+project(__PLUGIN_SLUG__)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
+add_executable(__PLUGIN_SLUG___node src/node.cpp)
+ament_target_dependencies(__PLUGIN_SLUG___node rclcpp)
+
+install(TARGETS __PLUGIN_SLUG___node
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

package/cli/templates/ros2-cpp/ros2_ws/src/__PLUGIN_SLUG__/package.xml

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>__PLUGIN_SLUG__</name>
+  <version>0.0.1</version>
+  <description>__PLUGIN_NAME__ ROS2 node (rclcpp)</description>
+  <maintainer email="todo@example.com">maintainer</maintainer>
+  <license>Proprietary</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <export><build_type>ament_cmake</build_type></export>
+</package>

package/cli/templates/ros2-cpp/ros2_ws/src/__PLUGIN_SLUG__/src/node.cpp

@@ -0,0 +1,22 @@
+// __PLUGIN_NAME__ — ROS2 node (rclcpp).
+//
+// The node is launched with `--ros-args -r __ns:=/{slug}` automatically by
+// dev:back. ROS2 topics are bridged to the plugin communication layer, so a
+// plain rclcpp node is all you need — relative topic names get the namespace
+// prefix applied automatically.
+#include "rclcpp/rclcpp.hpp"
+
+class __PLUGIN_CLASS__Node : public rclcpp::Node {
+public:
+  __PLUGIN_CLASS__Node() : Node("__PLUGIN_SLUG___node") {
+    RCLCPP_INFO(this->get_logger(), "__PLUGIN_NAME__ node started");
+    // create publishers / subscribers / services here
+  }
+};
+
+int main(int argc, char** argv) {
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<__PLUGIN_CLASS__Node>());
+  rclcpp::shutdown();
+  return 0;
+}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rainbow-robotics/muscat-plugin-kit",
-  "version": "0.1.2-dev.4",
+  "version": "0.1.2-dev.41",
   "type": "module",
   "engines": {
     "node": ">=20"
@@ -31,10 +31,10 @@
     "@types/react-dom": "^19.0.4"
   },
   "dependencies": {
-    "@rainbow-robotics/preview-host": "*",
-    "esbuild": "^0.25.0"
+    "@rainbow-robotics/preview-host": "0.1.2-dev.41",
+    "socket.io": "^4.8.1"
   },
   "optionalDependencies": {
     "esbuild-wasm": "^0.25.0"
   }
-}
+}

package/cli/src/pack.mjs

@@ -1,58 +0,0 @@
-// muscat-pk pack — build, then create a distributable ZIP with a size report.
-import { execSync } from "node:child_process";
-import { existsSync, readFileSync, readdirSync, rmSync, statSync } from "node:fs";
-import { basename, resolve } from "node:path";
-import { buildPlugin } from "./build.mjs";
-import { findPluginRoot, humanSize, log } from "./util.mjs";
-
-function dirSize(dir) {
-  let total = 0;
-  for (const entry of readdirSync(dir)) {
-    const full = resolve(dir, entry);
-    const st = statSync(full);
-    total += st.isDirectory() ? dirSize(full) : st.size;
-  }
-  return total;
-}
-
-export async function runPack() {
-  const pluginRoot = findPluginRoot();
-  await buildPlugin({ root: pluginRoot, minify: true });
-
-  const manifest = JSON.parse(
-    readFileSync(resolve(pluginRoot, "manifest.json"), "utf8"),
-  );
-  const zipName = `${basename(pluginRoot)}-${manifest.version || "0.0.0"}.zip`;
-  const zipPath = resolve(pluginRoot, zipName);
-  rmSync(zipPath, { force: true });
-
-  // Contents: dist/ + back-end files if present.
-  const entries = ["dist"];
-  for (const f of ["main.py", "requirements.txt"]) {
-    if (existsSync(resolve(pluginRoot, f))) entries.push(f);
-  }
-  if (existsSync(resolve(pluginRoot, "ros2_ws/install"))) {
-    entries.push("ros2_ws/install");
-  }
-
-  log.step(`packing ${entries.join(", ")} → ${zipName}`);
-  try {
-    execSync(`zip -r -q "${zipPath}" ${entries.map((e) => `"${e}"`).join(" ")}`, {
-      cwd: pluginRoot,
-      stdio: "inherit",
-    });
-  } catch {
-    throw new Error("`zip` not found. Install zip or pack manually.");
-  }
-
-  const zipBytes = statSync(zipPath).size;
-  log.ok(`${zipName}   ${humanSize(zipBytes)}`);
-  for (const e of entries) {
-    const full = resolve(pluginRoot, e);
-    const size = statSync(full).isDirectory() ? dirSize(full) : statSync(full).size;
-    log.info(`  ├─ ${e}   ${humanSize(size)}`);
-  }
-  log.warn(
-    "robot install checks free space via GET /plugin/capacity (507 if low).",
-  );
-}

package/cli/templates/sdk/main.py

@@ -1,21 +0,0 @@
-import asyncio
-
-from rb_sdk import RBManipulateSDK  # PyPI: rainbow-rb-sdk
-
-sdk = RBManipulateSDK()
-
-
-async def on_action(payload: dict):
-    # Matches manifest.actions[].topic — handle the "grip" action here.
-    width = payload.get("width")
-    print(f"[__PLUGIN_NAME__] grip width={width}")
-    # TODO: drive the robot via the SDK.
-
-
-async def main():
-    await sdk.subscribe("rby2/plugin/__PLUGIN_ID__/grip", on_action)
-    await sdk.spin()
-
-
-if __name__ == "__main__":
-    asyncio.run(main())

package/cli/templates/sdk/requirements.txt

@@ -1 +0,0 @@
-rainbow-rb-sdk==__SDK_VERSION__