@transitive-sdk/utils-caps 0.1.0

package/Dockerfile

@@ -0,0 +1,15 @@
+FROM node:16
+
+WORKDIR /app
+ENV TRANSITIVE_IS_CLOUD=1
+ENV TR_DEVMODE=1
+ENV EXTERNAL_IP=127.0.0.1
+RUN apt-get update && apt-get install -y vim
+
+COPY . /app/
+ENV npm_config_userconfig=/app/.npmrc
+RUN npm --prefix cloud install
+
+# CMD cp -a dist /app/run && npm run cloud
+CMD ["npm","run","cloud"]
+

package/LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
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+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
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+   Copyright 2016 Chris Smith
+
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package/README.md

@@ -0,0 +1,10 @@
+# @transitive-sdk/utils-caps
+
+Utilities to build and run Transitive capabilities in dev.
+
+This package is included as a dependency in new Transitive capabilities created using the capability initializer (`npm init @transitive-sdk@latest mycap`). It contains scripts to:
+- run the robot component in development,
+- build the web components using [esbuild](https://esbuild.github.io/),
+- build and run the docker container for the cloud component in development.
+
+You do not typically use this package directly, so we recommend to follow our documentation for creating your own capabilities.

package/docker.sh

@@ -0,0 +1,82 @@
+#!/bin/bash
+
+
+# Script to run cloud caps in docker. This tries to replicate what we do in
+# cloud/app/docker.js, just for dev.
+# Usage: sym-link into cap folder, run there.
+
+set -e
+
+BASE_PORT=1234
+
+# The directory where this script lives
+DIR=$(dirname $0)
+
+# find an available port we can use
+function findOffset() {
+  local PORT=$BASE_PORT
+  local OFFSET=0
+  while (nc -z 127.0.0.1 $PORT); do
+    OFFSET=$(( $OFFSET + 1 ));
+    PORT=$(( $BASE_PORT + $OFFSET ));
+  done
+  echo $OFFSET
+}
+
+OFFSET=$(findOffset)
+PORT=$(( $BASE_PORT + $OFFSET ))
+MIN_PORT=$((30000 + $OFFSET * 100))
+MAX_PORT=$((30080 + $OFFSET * 100))
+
+echo "using port offset $OFFSET, i.e., port $PORT and port range $MIN_PORT-$MAX_PORT"
+
+CAP_NAME=$(npm pkg get name)
+VERSION=$(npm pkg get version)
+FULL_NAME=${CAP_NAME/\//.}.${VERSION}
+FULL_NAME2=${FULL_NAME//\"/}
+CONTAINER_NAME=${FULL_NAME2//@/}
+TAG="transitive-robotics/$(basename $PWD):${VERSION//\"/}"
+TMP=${CAP_NAME//[\"@]/};
+SAFE_NAME=${TMP//\//_} # e.g., transitive-robotics-webrtc-video
+
+echo Building $TAG and running as $CONTAINER_NAME
+
+$DIR/generate_certs.sh
+mkdir -p cloud/certs
+mv client.* cloud/certs
+
+# copy with -L (symlink resolution) into tmp dir for building
+TMPDIR=/tmp/_tr_build/$TAG
+mkdir -p $TMPDIR
+echo "copying to $TMPDIR"
+cp -aLu . $TMPDIR
+
+# docker build -f $SCRIPT_PATH/Dockerfile -t $TAG \
+docker build -f $DIR/Dockerfile -t $TAG \
+--add-host=registry.homedesk.local:host-gateway \
+$TMPDIR
+
+mkdir -p /tmp/pers/common
+mkdir -p /tmp/pers/$TAG
+
+docker run -it --rm --init \
+--env MQTT_URL=mqtts://mosquitto \
+--env PUBLIC_PORT=$PORT \
+--env MIN_PORT=$MIN_PORT \
+--env MAX_PORT=$MAX_PORT \
+--env MONGO_DB="cap_$SAFE_NAME" \
+--env MONGO_URL="mongodb://mongodb" \
+-p $PORT:1000 -p $PORT:1000/udp \
+-p $MIN_PORT-$MAX_PORT:$MIN_PORT-$MAX_PORT -p $MIN_PORT-$MAX_PORT:$MIN_PORT-$MAX_PORT/udp \
+-v /tmp/pers/common:/persistent/common \
+-v /tmp/pers/${TAG//:/.}:/persistent/self \
+--network=cloud_caps \
+--name $CONTAINER_NAME \
+$TAG $@
+# -v $PWD/cloud:/app/cloud \
+
+# doesn't yet work: when using this, the npm script runs as the owning user,
+# "node", because it has the same uid (1000) as us. But we want root.
+# -v $PWD:/app \
+
+rm -rf $TMPDIR

package/esbuild.js

@@ -0,0 +1,64 @@
+const esbuild = require('esbuild');
+const fs = require('fs');
+const { execSync } = require('child_process');
+// const svgrPlugin = require('esbuild-plugin-svgr');
+const { getPackageVersionNamespace } = require('@transitive-sdk/utils');
+
+if (!process.env.npm_package_version || !process.env.npm_package_name) {
+  console.error('This build script must be run from npm.');
+  process.exit(1);
+}
+
+const entryPoints = fs.readdirSync('./web', {withFileTypes: true})
+    .filter(item => !item.isDirectory())
+    .filter(({name}) => name.search('test.js') == -1)
+    .map(({name}) => `./web/${name}`);
+
+const isDevelopment = (process.env.npm_lifecycle_event != 'prepare');
+
+const config = {
+  entryPoints,
+  bundle: true,
+  preserveSymlinks: true, // this allows us to use symlinks to ../shared
+  minify: !isDevelopment,
+  sourcemap: isDevelopment,
+  target: ['es2022'],
+  outdir: 'dist',
+  define: {
+    TR_PKG_VERSION: JSON.stringify(process.env.npm_package_version),
+    TR_PKG_NAME: JSON.stringify(process.env.npm_package_name),
+    TR_PKG_VERSION_NS: JSON.stringify(getPackageVersionNamespace()),
+  },
+  // plugins: [
+  //   svgrPlugin(),
+  // ],
+  loader: {
+    '.svg': 'text',
+    '.wasm': 'file',
+    // '.css': 'local-css',
+  },
+  plugins: [{
+    name: 'rebuild-notify',
+    setup(build) {
+      build.onEnd(result => {
+        console.log(new Date(),
+          `build ended with ${result.errors.length} errors`);
+
+        const dir = `/tmp/caps/${process.env.npm_package_name}`;
+        isDevelopment && execSync(`mkdir -p ${dir} && cp -r package.json dist ${dir}`);
+      })
+    },
+  }],
+};
+
+const run = async () => {
+  const ctx = await esbuild.context(config);
+  if (isDevelopment) {
+    await ctx.watch();
+  } else {
+    await ctx.rebuild();
+    process.exit(0);
+  }
+};
+
+run();

package/generate_certs.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+# generate client certificate for mqtt broker for the package of the current folder
+
+set -e
+
+CN=$(npm pkg get name)  # get package name
+CN=${CN//\"}            # remove the quotes
+CN=${CN/\//\\/}         # escape the slash
+
+if [ ! -e client.crt ]; then
+  TR_VAR_DIR=$(curl -sf http://install.localhost/var-folder-location)
+  VARDIR=${TR_VAR_DIR:-~/transitive}
+  echo "Generating cloud certs using CA certs in $VARDIR"
+
+  openssl genrsa -out client.key 2048
+  echo using "CN=cap:$CN"
+  openssl req -out client.csr -key client.key -new -subj="/CN=cap:$CN"
+  openssl x509 -req -in client.csr -CA $VARDIR/certs/ca.crt \
+  -CAkey $VARDIR/certs/ca.key -CAcreateserial -out client.crt -days 36500
+
+  echo "certificate generated (client.crt):"
+  openssl x509 -in client.crt -text | grep CN
+else
+  echo "certificates already exist, not overwriting"
+fi

package/package.json

@@ -0,0 +1,34 @@
+{
+  "name": "@transitive-sdk/utils-caps",
+  "version": "0.1.0",
+  "description": "Utilities to build and run Transitive capabilities in dev",
+  "homepage": "https://transitiverobotics.com",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/transitiverobotics/transitive-utils.git",
+    "directory": "caps"
+  },
+  "main": "index.js",
+  "author": {
+    "name": "Christian Fritz",
+    "email": "christian@transitiverobotics.com"
+  },
+  "keywords": [
+    "robotics"
+  ],
+  "bin": {
+    "subScript": "subScript.sh",
+    "transitiveDev": "transitiveDev.sh"
+  },
+  "scripts": {
+    "test": "echo \"Error: no test specified\" && exit 1"
+  },
+  "license": "Apache-2.0",
+  "publishConfig": {
+    "access": "public"
+  },
+  "dependencies": {
+    "@transitive-sdk/utils": ">=0.9.5",
+    "esbuild": "^0.18.15"
+  }
+}

package/publish.sh

@@ -0,0 +1,80 @@
+#!/bin/bash
+
+set -e
+
+# Ensure we are logged in to the given registry
+function ensureAuth() {
+  registry=$1
+  if ( grep "^//$registry/:_authToken" ~/.npmrc ); then
+    echo "We are already logged into registry"
+  else
+    # get location of local dev's var folder
+    TR_VAR_DIR=$(curl -sf http://install.localhost/var-folder-location)
+    # "source" the .env file
+    set -o allexport
+    . $TR_VAR_DIR/.env
+    set +o allexport
+
+    echo "Logging in to local npm registry"
+
+    # add npm login authentication using the bot token from local .env file
+    echo "//$registry/:_authToken=$TR_BOT_TOKEN" >> ~/.npmrc
+  fi;
+}
+
+CWD=$PWD
+
+if ( git rev-parse --is-inside-work-tree &>/dev/null ); then
+  # We are inside a git repo.
+  # Refuse to run if git working directory has unstaged changes. Untracked files
+  # are OK. See https://unix.stackexchange.com/a/155077/53593
+  git diff --quiet --exit-code || (echo 'Not clean, refusing to publish' && exit 1);
+else
+  if [[ $1 = "prod" ]]; then
+    echo 'Need to be inside a clean git working directory to publish to prod'
+    exit 2
+  fi;
+fi;
+
+NAME=$(npm pkg get name | tr -d '"');
+VERSION=$(npm pkg get version | tr -d '"');
+TAG="${NAME/*\//}@$VERSION"
+
+TMPDIR=$(mktemp -d)
+
+echo "copying to $TMPDIR"
+cp -aL . $TMPDIR
+cd $TMPDIR
+
+echo "Transpiling front-end components"
+rm -rf dist
+npm run prepare
+
+npm install --no-save javascript-obfuscator@4.0.0
+
+FILES=$(find . -name "*.js" -not -path "**/hi-perf/*" -not -path "**/node_modules/*" -not -path "./dist/*")
+for f in $FILES; do
+   npx javascript-obfuscator --split-strings true --split-strings-chunk-length 8 --string-array-encoding base64 --ignore-imports true --output $f $f
+   # Maybe add later: --self-defending true
+done
+
+rm -f .npmrc
+
+# This allows `npm prepack` to run, see package.json in cap itself (from init package)
+export TRANSITIVEDEV=1
+
+if [[ $1 = "prod" ]]; then
+  echo "publishing $TAG to production"
+  npm publish --registry=https://registry.transitiverobotics.com
+  echo
+  cd $CWD
+  echo 'tagging'
+  git tag $TAG
+  git push --tags
+else
+  ensureAuth registry.localhost
+  echo "publishing $TAG to development"
+  npm publish --registry=http://registry.localhost
+fi;
+
+echo 'done'

package/republish.sh

@@ -0,0 +1,2 @@
+npm unpublish --registry=http://registry.$(hostname).local -f
+./publish.sh

package/rundev.sh

@@ -0,0 +1,54 @@
+#!/bin/bash
+
+# A script for starting the robot component of a capability in development, i.e.
+# establishing the same or similar runtime context as when the component is run
+# on a robot/device in production.
+
+if [[ ! -e ~/.transitive/.env ]]; then
+  >&2 echo "** Error. It seems that the Transitive agent is not installed. Aborting."
+  exit 1;
+fi;
+
+CAP=$(npm pkg get name | tr -d '"')
+mkdir -p ~/.transitive/packages/$CAP
+echo -n 1234 > ~/.transitive/packages/$CAP/password
+. ~/.transitive/etc/env_local
+
+getROSRelease() {
+  case $(lsb_release -sc) in
+    xenial) echo kinetic;;
+    bionic) echo melodic;;
+    focal) echo noetic;;
+    *) echo noetic;;
+  esac
+}
+
+tryToSourceROS() {
+  ROS_RELEASE=$1
+  if [ -e /opt/ros/$ROS_RELEASE/setup.bash ]; then
+    echo "found ROS $ROS_RELEASE, sourcing it";
+    . /opt/ros/$ROS_RELEASE/setup.bash;
+  fi
+}
+
+# automatically decide which ROS1 release to source based on OS
+tryToSourceROS $(getROSRelease)
+
+# ROS 2:
+tryToSourceROS foxy
+tryToSourceROS galactic
+tryToSourceROS humble
+tryToSourceROS iron
+
+# Make sure a config file exists
+if [[ ! -e ~/.transitive/config.json ]]; then
+  echo "{}" > ~/.transitive/config.json
+fi;
+
+env $(cat ~/.transitive/.env | grep -v ^\# | xargs) \
+PASSWORD="1234" \
+TRPACKAGE=$CAP \
+TRCONFIG="$(cat ~/.transitive/config.json | tr -d '\n' | sed "s#$CAP#package#")" \
+NODE_ARGS=$@ \
+TRANSITIVE_IS_ROBOT=1 \
+npm start

package/subScript.sh

@@ -0,0 +1,51 @@
+#!/bin/bash
+
+# Use this script in your wrapper package's script to relay invokation to scripts
+# int he correct subproject.
+
+# Define a mapping from lifecycle events to scripts in sub-project. Note that
+# we *don't* want to map preinstall to preinstall, since in the subproject
+# preinstall will already be executed when running install. Instead we create
+# new script names, preall and postall, that will run before *anything* happens
+# in the subproject, and in particular before npm dependencies are installed.
+declare -A subscripts
+subscripts["preinstall"]="preall"
+subscripts["postinstall"]="postall"
+
+# Known npm command that should be invoked without `run`
+declare -A npmCommands
+npmCommands["install"]=1
+npmCommands["update"]=1
+npmCommands["rebuild"]=1
+
+SUBSCRIPT=${subscripts[$npm_lifecycle_event]:-$npm_lifecycle_event}
+
+if [[ $TRANSITIVE_IS_ROBOT ]]; then
+  SUBPROJECT=robot
+elif [[ $TRANSITIVE_IS_CLOUD ]]; then
+  SUBPROJECT=cloud
+fi;
+
+if [[ $SUBPROJECT ]]; then
+  PREFIX="--prefix $SUBPROJECT"
+else
+  PREFIX=
+fi;
+
+if [[ $SUBSCRIPT == "start" ]]; then
+  # ensure dependencies are installed
+  npm $PREFIX ls || npm $PREFIX update
+fi;
+
+if [[ $SUBPROJECT ]]; then
+  if [[ ${npmCommands[$npm_lifecycle_event]} ]]; then
+    echo "Invoking $npm_lifecycle_event in $SUBPROJECT"
+    npm $PREFIX $npm_lifecycle_event
+  else
+    echo "Invoking $SUBSCRIPT in $SUBPROJECT"
+    npm $PREFIX run --if-present $SUBSCRIPT
+  fi;
+else
+  echo "Invoking dev:$SUBSCRIPT"
+  npm run --if-present dev:$SUBSCRIPT
+fi;

package/tmux.sh

@@ -0,0 +1,34 @@
+#! /bin/bash
+
+# usage: newWindow NAME COMMAND [DIRECTORY]
+function newWindow() {
+  tmux new-window
+  run "$@"
+}
+
+# usage: run NAME COMMAND [DIRECTORY]
+function run() {
+  tmux rename-window $1
+  if [[ $# > 2 ]]; then
+    tmux send "cd \"$3\"" C-m
+  fi;
+  tmux send "$2" C-m
+}
+
+# -----------------------------------
+
+NAME=$(npm pkg get name)
+NAME_UNQUOTED=${NAME//[\"\@]}
+NAME_DOT=${NAME_UNQUOTED//\//\.}
+VERSION=$(npm pkg get version)
+
+BASENAME=$(basename $PWD)
+echo -e "\033]0;$BASENAME\007"
+
+tmux new-session -s "$BASENAME" -d
+sleep 0.25
+run "robot" "npx transitiveDev robot"
+newWindow "web" "npx transitiveDev web"
+newWindow "cloud" "npx transitiveDev cloud"
+
+tmux a

package/transitiveDev.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+
+if [[ $# -lt 1 ]]; then
+  echo "need to provide command"
+  exit 1;
+fi;
+
+# echo $0
+# DIR=$(dirname $0)
+DIR=node_modules/@transitive-sdk/utils-caps
+
+declare -A commands
+commands[env]="env | sort"
+commands[robot]="$DIR/rundev.sh"
+commands[web]="node $DIR/esbuild.js"
+commands[cloud]="$DIR/docker.sh"
+commands[tmux]="$DIR/tmux.sh"
+
+commands[prepack]="if [ ${npm_command} = 'publish' ] &&  [ ! $TRANSITIVEDEV ]; then echo -e '\033[33m*** Please use \"npx transitiveDev publish [prod]\"\n\n'; exit 1; fi";
+commands[publish]="$DIR/publish.sh $2"
+
+commands[all]="(${commands[robot]} | sed 's/^/\r🤖 /' ) & (${commands[web]} | sed 's/^/\r🌐 /') & (${commands[cloud]} | sed 's/^/\r☁️: /') & wait"
+
+cmd=${commands[$1]}
+if [[ -z $cmd ]]; then
+  echo "Unknown command: " $1
+  exit 2
+fi;
+
+bash -c "$cmd"