Merge branch 'master' into dependabot/npm_and_yarn/tough-cookie-4.1.3

README.md

@@ -170,9 +170,9 @@ A big ***Thank you!*** to everyone that have helped make this extension better!
 * PickNikRobotics ([@PickNikRobotics](https://github.com/PickNikRobotics)) for code formatting
 
 ### ROS Web Tools
-This extension leverages [ROS Web Tools](http://robotwebtools.org/) for URDF Previewing.
+This extension leverages [ROS Web Tools](http://robotwebtools.github.io/) for URDF Previewing.
 
-*Russell Toris, Julius Kammerl, David Lu, Jihoon Lee, Odest Chadwicke Jenkins, Sarah Osentoski, Mitchell Wills, and Sonia Chernova. [Robot Web Tools: Efficient Messaging for Cloud Robotics](http://robotwebtools.org/pdf/paper.pdf). In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015*
+*Russell Toris, Julius Kammerl, David Lu, Jihoon Lee, Odest Chadwicke Jenkins, Sarah Osentoski, Mitchell Wills, and Sonia Chernova. [Robot Web Tools: Efficient Messaging for Cloud Robotics](http://robotwebtools.github.io/pdf/paper.pdf). In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015*
 
 
 <!-- link to files -->

package.json

@@ -1,6 +1,6 @@
 {
     "name": "vscode-ros",
-    "version": "0.9.5",
+    "version": "0.9.6",
     "publisher": "ms-iot",
     "engines": {
         "vscode": "^1.69.0"
@@ -456,8 +456,8 @@
         "test-compile": "npm run webpack"
     },
     "dependencies": {
-        "@polyhobbyist/babylon_ros": "^0.0.5",
-        "@polyhobbyist/babylon-collada-loader": "^0.0.3",
+        "@polyhobbyist/babylon_ros": "^0.0.6",
+        "@polyhobbyist/babylon-collada-loader": "^0.0.4",
         "@vscode/debugadapter": "^1.59.0",
         "@vscode/extension-telemetry": "^0.6.2",
         "@vscode/webview-ui-toolkit": "^1.2.2",
@@ -475,14 +475,15 @@
         "path-browserify": "^1.0.1",
         "portfinder": "^1.0.32",
         "querystring-es3": "^0.2.1",
-        "shell-quote": "^1.7.4",
+        "shell-quote": "^1.8.1",
         "stream-browserify": "^3.0.0",
         "stream-http": "^3.2.0",
         "string_decoder": "^1.3.0",
         "sudo-prompt": "^9.2.1",
         "timers-browserify": "^2.0.12",
         "tmp": "^0.2.1",
         "tslib": "^2.5.0",
+        "vsce": "^2.15.0",
         "xmlrpc": "^1.3.2"
     },
     "devDependencies": {
@@ -502,8 +503,8 @@
         "tslint": "^6.1.3",
         "typescript": "^5.0.2",
         "vscode-test": "^1.6.1",
-        "webpack": "^5.76.3",
-        "webpack-cli": "^5.0.1"
+        "webpack": "^5.88.2",
+        "webpack-cli": "^5.1.4"
     },
     "extensionDependencies": [
         "ms-python.python",

src/build-tool/build-tool.ts

@@ -96,15 +96,12 @@ BuildTool.current = new NotImplementedBuildTool();
 export async function determineBuildTool(dir: string): Promise<boolean> {
     while (dir && path.dirname(dir) !== dir) {
         if (await CatkinMakeBuildTool.isApplicable(dir)) {
-            extension.setBaseDir(dir);
             BuildTool.current = new CatkinMakeBuildTool();
             return true;
         } else if (await CatkinToolsBuildTool.isApplicable(dir)) {
-            extension.setBaseDir(dir);
             BuildTool.current = new CatkinToolsBuildTool();
             return true;
         } else if (await ColconBuildTool.isApplicable(dir)) {
-            extension.setBaseDir(dir);
             BuildTool.current = new ColconBuildTool();
             return true;
         }

src/build-tool/catkin-tools.ts

@@ -8,7 +8,7 @@ import * as common from "./common";
 import * as rosShell from "./ros-shell";
 
 function makeCatkin(command: string, args: string[], category?: string): vscode.Task {
-    const task = rosShell.make({type: command, command, args: ['--workspace', extension.baseDir, ...args]}, category)
+    const task = rosShell.make({type: command, command, args: ['--workspace', vscode.workspace.rootPath, ...args]}, category)
     task.problemMatchers = ["$catkin-gcc"];
 
     return task;

src/build-tool/catkin.ts

@@ -8,7 +8,7 @@ import * as common from "./common";
 import * as rosShell from "./ros-shell";
 
 function makeCatkin(command: string, args: string[], category?: string): vscode.Task {
-    const task = rosShell.make({type: command, command, args: ['--directory', extension.baseDir, '-DCMAKE_BUILD_TYPE=RelWithDebInfo',...args]}, category)
+    const task = rosShell.make({type: command, command, args: ['--directory', vscode.workspace.rootPath, '-DCMAKE_BUILD_TYPE=RelWithDebInfo',...args]}, category)
     task.problemMatchers = ["$catkin-gcc"];
 
     return task;

src/build-tool/colcon.ts

@@ -8,6 +8,7 @@ import * as child_process from "child_process";
 import * as extension from "../extension";
 import * as common from "./common";
 import * as rosShell from "./ros-shell";
+import { env } from "process";
 
 function makeColcon(command: string, verb: string, args: string[], category?: string): vscode.Task {
     let installType = '--symlink-install';
@@ -17,7 +18,7 @@ function makeColcon(command: string, verb: string, args: string[], category?: st
         installType = '--merge-install';
     }
 
-        const task = rosShell.make({type: command, command, args: [verb, installType, '--event-handlers', 'console_cohesion+', '--base-paths', extension.baseDir, `--cmake-args`, `-DCMAKE_BUILD_TYPE=RelWithDebInfo`,...args]},
+        const task = rosShell.make({type: command, command, args: [verb, installType, '--event-handlers', 'console_cohesion+', '--base-paths', vscode.workspace.rootPath, `--cmake-args`, `-DCMAKE_BUILD_TYPE=RelWithDebInfo`,...args]},
                                category)
     task.problemMatchers = ["$catkin-gcc"];
 
@@ -53,7 +54,7 @@ export async function isApplicable(dir: string): Promise<boolean> {
         colconCommand = `colcon --log-base /dev/null list --base-paths ${srcDir}`;
     }
 
-    const { stdout, stderr } = await child_process.exec(colconCommand);
+    const { stdout, stderr } = await child_process.exec(colconCommand, { env: extension.env });
 
     // Does this workspace have packages?
     for await (const line of stdout) {

src/build-tool/common.ts

@@ -28,7 +28,7 @@ export async function _createPackage(createPkgCommand: (dependencies: string, na
         return;
     }
 
-    const cwd = typeof uri !== "undefined" ? uri.fsPath : `${extension.baseDir}/src`;
+    const cwd = typeof uri !== "undefined" ? uri.fsPath : `${vscode.workspace.rootPath}/src`;
     const opts = { cwd, env: extension.env };
 
     child_process.exec(createPkgCommand(dependencies, name), opts, (err, stdout, stderr) => {

src/debugger/configuration/resolvers/attach.ts

@@ -88,7 +88,7 @@ export class AttachResolver implements vscode.DebugConfigurationProvider {
             try {
                 if (os.platform() === "win32") {
                     const processOptions: child_process.ExecOptions = {
-                        cwd: extension.baseDir,
+                        cwd: vscode.workspace.rootPath,
                         env: await extension.resolvedEnv(),
                     };
 

src/extension.ts

@@ -21,15 +21,6 @@ import * as debug_manager from "./debugger/manager";
 import * as debug_utils from "./debugger/utils";
 import { registerRosShellTaskProvider } from "./build-tool/ros-shell";
 
-/**
- * The catkin workspace base dir.
- */
-export let baseDir: string;
-
-export function setBaseDir(dir: string) {
-    baseDir = dir;
-}
-
 /**
  * The sourced ROS environment.
  */
@@ -192,7 +183,6 @@ export async function activate(context: vscode.ExtensionContext) {
         await activateEnvironment(context);
 
         return {
-            getBaseDir: () => baseDir,
             getEnv: () => env,
             onDidChangeEnv: (listener: () => any, thisArg: any) => onDidChangeEnv(listener, thisArg),
         };
@@ -233,13 +223,17 @@ async function activateEnvironment(context: vscode.ExtensionContext) {
     await sourceRosAndWorkspace();
 
     if (typeof env.ROS_DISTRO === "undefined") {
+        processingWorkspace = false;
         return;
     }
 
     if (typeof env.ROS_VERSION === "undefined") {
+        processingWorkspace = false;
         return;
     }
 
+    outputChannel.appendLine(`Determining build tool for workspace: ${vscode.workspace.rootPath}`);
+
     // Determine if we're in a catkin workspace.
     let buildToolDetected = await buildtool.determineBuildTool(vscode.workspace.rootPath);
 
@@ -255,6 +249,9 @@ async function activateEnvironment(context: vscode.ExtensionContext) {
     subscriptions.push(rosApi.activateCoreMonitor());
     if (buildToolDetected) {
         subscriptions.push(...buildtool.BuildTool.registerTaskProvider());
+    } else {
+        outputChannel.appendLine(`Build tool NOT detected`);
+
     }
     subscriptions.push(...registerRosShellTaskProvider());
 
@@ -300,6 +297,8 @@ async function sourceRosAndWorkspace(): Promise<void> {
     // Wait to atomicly switch by composing a new environment block then switching at the end.
     let newEnv = undefined;
 
+    outputChannel.appendLine("Sourcing ROS and Workspace");
+
     const kWorkspaceConfigTimeout = 30000; // ms
 
     let setupScriptExt: string;
@@ -328,6 +327,8 @@ async function sourceRosAndWorkspace(): Promise<void> {
             try {
                 newEnv = await ros_utils.sourceSetupFile(rosSetupScript, newEnv);
 
+                outputChannel.appendLine(`Sourced ${rosSetupScript}`);
+
                 attemptWorkspaceDiscovery = false;
             } catch (err) {
                 vscode.window.showErrorMessage(`A ROS setup script was provided, but could not source "${rosSetupScript}". Attempting standard discovery.`);
@@ -339,22 +340,39 @@ async function sourceRosAndWorkspace(): Promise<void> {
         let distro = config.get("distro", "");
 
         // Is there a distro defined either by setting or environment?
-        if (!distro && !process.env.ROS_DISTRO)
+        outputChannel.appendLine(`Current ROS_DISTRO environment variable: ${process.env.ROS_DISTRO}`);
+        if (!distro)
         {
             // No? Try to find one.
             const installedDistros = await ros_utils.getDistros();
             if (!installedDistros.length) {
+                outputChannel.appendLine(`No distros found.`);
+
                 throw new Error("ROS has not been found on this system.");
             } else if (installedDistros.length === 1) {
+                outputChannel.appendLine(`Only one distro, selecting ${installedDistros[0]}`);
 
                 // if there is only one distro installed, directly choose it
                 config.update("distro", installedDistros[0]);
+                distro = installedDistros[0];
             } else {
+                outputChannel.appendLine(`Multiple distros found, prompting user to select one.`);
+                // dump installedDistros to outputChannel
+                outputChannel.appendLine(`Installed distros: ${installedDistros}`);
+
                 const message = "Unable to determine ROS distribution, please configure this workspace by adding \"ros.distro\": \"<ROS Distro>\" in settings.json";
                 await vscode.window.setStatusBarMessage(message, kWorkspaceConfigTimeout);
             }
         }
 
+        if (process.env.ROS_DISTRO && process.env.ROS_DISTRO !== distro) {
+            outputChannel.appendLine(`ROS_DISTRO environment variable (${process.env.ROS_DISTRO}) does not match configured distro (${distro}).`);
+
+            outputChannel.appendLine(`Overriding the configured distro with the environment variable.`);
+
+            distro = process.env.ROS_DISTRO;
+        }
+
         if (distro) {
             let setupScript: string;
             try {
@@ -369,6 +387,8 @@ async function sourceRosAndWorkspace(): Promise<void> {
                     name: "setup",
                     ext: setupScriptExt,
                 });
+
+                outputChannel.appendLine(`Sourcing ROS Distro: ${setupScript}`);
                 newEnv = await ros_utils.sourceSetupFile(setupScript, newEnv);
             } catch (err) {
                 vscode.window.showErrorMessage(`Could not source ROS setup script at "${setupScript}".`);
@@ -377,28 +397,37 @@ async function sourceRosAndWorkspace(): Promise<void> {
             newEnv = process.env;
         }
     }
+
+    let workspaceOverlayPath: string = "";
     // Source the workspace setup over the top.
-    // TODO: we should test what's the build tool (catkin vs colcon).
-    let workspaceOverlayPath: string;
-    workspaceOverlayPath = path.join(`${baseDir}`, "devel_isolated");
-    if (!await pfs.exists(workspaceOverlayPath)) {
-        workspaceOverlayPath = path.join(`${baseDir}`, "devel");
-    }
-    if (!await pfs.exists(workspaceOverlayPath)) {
-        workspaceOverlayPath = path.join(`${baseDir}`, "install");
+
+    if (newEnv.ROS_VERSION === "1") {
+        workspaceOverlayPath = path.join(`${vscode.workspace.rootPath}`, "devel_isolated");
+        if (!await pfs.exists(workspaceOverlayPath)) {
+            workspaceOverlayPath = path.join(`${vscode.workspace.rootPath}`, "devel");
+        }
+    } else {    // FUTURE: Revisit if ROS_VERSION changes - not clear it will be called 3
+        if (!await pfs.exists(workspaceOverlayPath)) {
+            workspaceOverlayPath = path.join(`${vscode.workspace.rootPath}`, "install");
+        }
     }
+
     let wsSetupScript: string = path.format({
         dir: workspaceOverlayPath,
         name: "setup",
         ext: setupScriptExt,
     });
 
-    if (newEnv && typeof newEnv.ROS_DISTRO !== "undefined" && await pfs.exists(wsSetupScript)) {
+    if (await pfs.exists(wsSetupScript)) {
+        outputChannel.appendLine(`Workspace overlay path: ${wsSetupScript}`);
+
         try {
             newEnv = await ros_utils.sourceSetupFile(wsSetupScript, newEnv);
         } catch (_err) {
             vscode.window.showErrorMessage("Failed to source the workspace setup file.");
         }
+    } else {
+        outputChannel.appendLine(`Not sourcing workspace does not exist yet: ${wsSetupScript}. Need to build workspace.`);
     }
 
     env = newEnv;

src/ros/build-env-utils.ts

@@ -50,7 +50,7 @@ export async function updateCppProperties(context: vscode.ExtensionContext): Pro
  */
 async function updateCppPropertiesInternal(): Promise<void> {
     let includes = await rosApi.getIncludeDirs();
-    const workspaceIncludes = await rosApi.getWorkspaceIncludeDirs(extension.baseDir);
+    const workspaceIncludes = await rosApi.getWorkspaceIncludeDirs(vscode.workspace.rootPath);
     includes = includes.concat(workspaceIncludes);
 
     if (process.platform === "linux") {

src/ros/ros1/core-helper.ts

@@ -15,7 +15,7 @@ export function startCore(context: vscode.ExtensionContext) {
 
     let launchCoreCommand: string = "roscore";
     let processOptions: child_process.SpawnOptions = {
-        cwd: extension.baseDir,
+        cwd: vscode.workspace.rootPath,
         env: extension.env,
     };
 

src/ros/utils.ts

@@ -25,7 +25,7 @@ export function sourceSetupFile(filename: string, env?: any): Promise<any> {
         }
 
         let processOptions: child_process.ExecOptions = {
-            cwd: extension.baseDir,
+            cwd: vscode.workspace.rootPath,
             env: env,
         };
         child_process.exec(exportEnvCommand, processOptions, (error, stdout, _stderr) => {
@@ -49,7 +49,7 @@ export function sourceSetupFile(filename: string, env?: any): Promise<any> {
 export function xacro(filename: string): Promise<any> {
     return new Promise((resolve, reject) => {
         let processOptions = {
-            cwd: extension.baseDir,
+            cwd: vscode.workspace.rootPath,
             env: extension.env,
             windowsHide: false,
         };