Merge pull request #411 from CommonWealthRobotics/kh/auto-download-ed…

…itors

Kh/auto download editors

build.gradle

@@ -328,11 +328,11 @@ dependencies {
 	// https://mvnrepository.com/artifact/com.github.kurbatov/firmata4j
 
 	// https://mvnrepository.com/artifact/com.fifesoft/rsyntaxtextarea
-	compile group: 'com.fifesoft', name: 'rsyntaxtextarea', version: '2.6.0'
+	compile group: 'com.fifesoft', name: 'rsyntaxtextarea', version: '3.4.1'
 
 	//compile 'org.bubblecloud.jbullet:jbullet:2.72.2.4'
 	// https://mvnrepository.com/artifact/org.apache.xmlgraphics/batik-svggen
-	compile group: 'org.apache.xmlgraphics', name: 'batik-svggen', version: '1.7'
+    implementation group: 'org.apache.xmlgraphics', name: 'batik-all', version: '1.17'
 	// https://mvnrepository.com/artifact/org.axsl.org.w3c.dom.svg/svg-dom-java
 	compile group: 'org.axsl.org.w3c.dom.svg', name: 'svg-dom-java', version: '1.1'
 
@@ -358,6 +358,8 @@ dependencies {
 	//MuJoCo
 	implementation group: 'org.bytedeco', name: 'javacpp', version: '1.5.7'
 	implementation group: 'com.neuronrobotics', name: 'mujoco-java', version:'3.1.3-pre.11'
+	// Zip and unzip, tar and untar
+	implementation 'org.apache.commons:commons-compress:1.26.2'
 
 
 }

src/main/java/com/neuronrobotics/bowlerstudio/AddFileToGistController.java

@@ -201,16 +201,18 @@ public void onAddFile(ActionEvent event) {
 			System.out.println("Adding new file" + filename + " to " + getGitRepo());
 			try {
 				ScriptingEngine.pull(getGitRepo());
-				String defaultContents = ScriptingEngine.getLangaugeByExtention(extentionStr).getDefaultContents(getGitRepo(), fileSlug );
+				//String defaultContents = 
 				String fullBranch = ScriptingEngine.getFullBranch(getGitRepo());
 				if (fullBranch == null)
 					fullBranch = ScriptingEngine.newBranch(getGitRepo(), "main");
-
-				ScriptingEngine.pushCodeToGit(getGitRepo(), fullBranch, filename, defaultContents, message);
+				ScriptingEngine.getLangaugeByExtention(extentionStr).getDefaultContents(getGitRepo(), filename );
+				ScriptingEngine.pushCodeToGit(getGitRepo(), fullBranch, filename, null, message);
 				File nf = ScriptingEngine.fileFromGit(getGitRepo(), filename);
-
-				BowlerStudio.createFileTab(nf);
-
+				try {
+					BowlerStudio.createFileTab(nf);
+				}catch(Exception ex) {
+					ex.printStackTrace();
+				}
 				refreshevent.setToLoggedIn();
 			} catch (Exception e) {
 				new IssueReportingExceptionHandler().except(e);

src/main/java/com/neuronrobotics/bowlerstudio/BowlerStudio.java

@@ -1,6 +1,7 @@
 package com.neuronrobotics.bowlerstudio;
 
 import javafx.scene.control.Button;
+import javafx.scene.control.ButtonType;
 
 //import com.neuronrobotics.kinematicschef.InverseKinematicsEngine;
 import com.neuronrobotics.bowlerkernel.BowlerKernelBuildInfo;
@@ -13,16 +14,16 @@
 import com.neuronrobotics.bowlerstudio.assets.StudioBuildInfo;
 import com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager;
 import com.neuronrobotics.bowlerstudio.creature.MobileBaseLoader;
-import com.neuronrobotics.bowlerstudio.scripting.ArduinoLoader;
+import com.neuronrobotics.bowlerstudio.scripting.DownloadManager;
 import com.neuronrobotics.bowlerstudio.scripting.GitHubWebFlow;
+import com.neuronrobotics.bowlerstudio.scripting.IApprovalForDownload;
 import com.neuronrobotics.bowlerstudio.scripting.IURLOpen;
 import com.neuronrobotics.bowlerstudio.scripting.PasswordManager;
 import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine;
 import com.neuronrobotics.bowlerstudio.scripting.ScriptingFileWidget;
 import com.neuronrobotics.bowlerstudio.scripting.StlLoader;
 import com.neuronrobotics.bowlerstudio.util.FileChangeWatcher;
 import com.neuronrobotics.bowlerstudio.vitamins.Vitamins;
-import com.neuronrobotics.imageprovider.NativeResource;
 //import com.neuronrobotics.imageprovider.OpenCVJNILoader;
 import com.neuronrobotics.javacad.JavaCadBuildInfo;
 import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics;
@@ -59,23 +60,32 @@
 import org.eclipse.jgit.api.errors.RefNotFoundException;
 import org.eclipse.jgit.api.errors.TransportException;
 
+import static com.neuronrobotics.bowlerstudio.scripting.DownloadManager.delim;
+
 import java.awt.Desktop;
-import java.awt.Dimension;
 import java.awt.GraphicsEnvironment;
 import java.awt.SplashScreen;
+import java.io.BufferedReader;
 import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileNotFoundException;
 import java.io.IOException;
+import java.io.InputStreamReader;
 import java.io.OutputStream;
 import java.io.PrintStream;
 import java.net.MalformedURLException;
 import java.net.URI;
 import java.net.URL;
 import java.net.URLConnection;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashSet;
 import java.util.Iterator;
 import java.util.List;
+import java.util.Optional;
 
 import javax.swing.SwingUtilities;
 import javax.swing.UIManager;
@@ -123,7 +133,11 @@ public Console() {
 		}
 
 		@SuppressWarnings("restriction")
-		public void appendText(String valueOf) {
+		public void appendText(String v) {
+			if(v.length()>LengthOfOutputLog) {
+				v=v.substring(v.length()-LengthOfOutputLog, v.length());
+			}
+			String valueOf=v;
 			if (BowlerStudioModularFrame.getBowlerStudioModularFrame() == null) {
 				return;
 			}
@@ -301,7 +315,22 @@ public static void select(File script, int lineNumber) {
 	 * @param args the command line arguments
 	 * @throws Exception
 	 */
-
+	public static String getBowlerStudioBinaryVersion() throws FileNotFoundException {
+		String latestVersionString;
+		File currentVerFile = new File(System.getProperty("user.home") + delim() + "bin" + delim()
+				+ "BowlerStudioInstall" + delim() + "currentversion.txt");
+		String s = "";
+		BufferedReader br = new BufferedReader(new InputStreamReader(new FileInputStream(currentVerFile)));
+		String line;
+		try {
+			while (null != (line = br.readLine())) {
+				s += line;
+			}
+		} catch (IOException e) {
+		}
+		latestVersionString = s.trim();
+		return latestVersionString;
+	}
 	@SuppressWarnings({ "unchecked", "restriction" })
 	public static void main(String[] args) throws Exception {
 		if (args.length != 0) {
@@ -310,6 +339,12 @@ public static void main(String[] args) throws Exception {
 			BowlerKernel.main(args);
 			return;
 		}
+		try {
+			makeSymLinkOfCurrentVersion();
+		}catch(Throwable t) {
+			//t.printStackTrace();
+			System.err.println("Symlink not creaded");
+		}
 		System.setOut(System.err);// send all prints to err until replaced with the terminal
 		net.java.games.input.ControllerEnvironment.getDefaultEnvironment();
 
@@ -479,37 +514,6 @@ public void open(URI toOpe) {
 
 		// System.err.println("Loading Main.fxml");
 		renderSplashFrame(81, "Find arduino");
-		String arduino = "arduino";
-		if (NativeResource.isLinux()) {
-
-			// Slic3r.setExecutableLocation("/usr/bin/slic3r");
-
-		} else if (NativeResource.isWindows()) {
-			arduino = "C:\\Program Files (x86)\\Arduino\\arduino.exe";
-			if (!new File(arduino).exists()) {
-				arduino = "C:\\Program Files\\Arduino\\arduino.exe";
-			}
-
-		} else if (NativeResource.isOSX()) {
-			arduino = "/Applications/Arduino.app/Contents/MacOS/Arduino";
-		}
-		try {
-			if (!new File(arduino).exists() && !NativeResource.isLinux()) {
-				boolean alreadyNotified = Boolean.getBoolean(
-						ConfigurationDatabase.getObject("BowlerStudioConfigs", "notifiedArduinoDep", false).toString());
-				if (!alreadyNotified) {
-					ConfigurationDatabase.setObject("BowlerStudioConfigs", "notifiedArduinoDep", true);
-					String adr = arduino;
-
-				}
-
-			}
-			System.err.println("Arduino exec found at: " + arduino);
-			ArduinoLoader.setARDUINOExec(arduino);
-		} catch (Exception e) {
-			reporter.uncaughtException(Thread.currentThread(), e);
-
-		}
 		renderSplashFrame(82, "Set up UI");
 		try {
 			UIManager.setLookAndFeel(UIManager.getCrossPlatformLookAndFeelClassName());
@@ -534,7 +538,10 @@ public void open(URI toOpe) {
 			ensureUpdated("https://github.com/CommonWealthRobotics/DHParametersCadDisplay.git",
 					"https://github.com/CommonWealthRobotics/HotfixBowlerStudio.git",
 					"https://github.com/CommonWealthRobotics/DeviceProviders.git",
-					"https://github.com/OperationSmallKat/Katapult.git");
+					"https://github.com/OperationSmallKat/Katapult.git",
+					"https://github.com/CommonWealthRobotics/ExternalEditorsBowlerStudio.git",
+					"https://github.com/CommonWealthRobotics/freecad-bowler-cli.git",
+					"https://github.com/CommonWealthRobotics/blender-bowler-cli.git");
 			ScriptingEngine.gitScriptRun("https://github.com/CommonWealthRobotics/HotfixBowlerStudio.git",
 					"hotfix.groovy", null);
 			ScriptingEngine.gitScriptRun("https://github.com/CommonWealthRobotics/DeviceProviders.git",
@@ -561,11 +568,58 @@ public void open(URI toOpe) {
 			reporter.uncaughtException(Thread.currentThread(), e);
 
 		}
+		DownloadManager.setApproval(new IApprovalForDownload() {
+			private ButtonType buttonType = null;
+
+			@Override
+			public boolean get(String name, String url) {
+				buttonType = null;
+
+				BowlerKernel.runLater(() -> {
+					Alert alert = new Alert(Alert.AlertType.CONFIRMATION);
+					alert.setTitle("Message");
+					alert.setHeaderText("Would you like to download: " + name + "\nfrom:\n" + url);
+					Optional<ButtonType> result = alert.showAndWait();
+					buttonType = result.get();
+					alert.close();
+				});
+
+				while (buttonType == null) {
+					try {
+						Thread.sleep(100);
+					} catch (InterruptedException e) {
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+					}
+
+				}
+
+				return buttonType.equals(ButtonType.OK);
+			}
+		});
 		renderSplashFrame(92, "Launching UI");
 		launch();
 
 
 	}
+
+	private static void makeSymLinkOfCurrentVersion() throws Exception {
+		String version = getBowlerStudioBinaryVersion();
+		File installDir = new File(System.getProperty("user.home") + delim() + "bin" + delim()+ "BowlerStudioInstall" + delim());
+		File link = new File(installDir.getAbsolutePath()+delim()+"latest");
+		File latest = new File(installDir.getAbsolutePath()+delim()+version);
+		if(link.exists())
+			link.delete();
+		try {
+
+			Files.createSymbolicLink( link.toPath(),latest.toPath());
+		}catch(Throwable t) {
+			//t.printStackTrace();
+			//link = new File("\""+link.getAbsolutePath()+"\"");
+			Path ret = Files.createSymbolicLink( link.toPath(), Paths.get(".", version));
+			System.out.println("Path created "+ret);
+		}
+	}
 
 	private static void ensureUpdated(String ... urls) {
 		for(String s:urls) {

src/main/java/com/neuronrobotics/bowlerstudio/GistHelper.java

@@ -25,7 +25,7 @@ public static String createNewGist(String filename, String description, boolean
     {
         //TODO: Perhaps this method should throw GitAPIException and IOException
         //Setup gist
-    	String defaultContents = ScriptingEngine.getLangaugeByExtention(filename).getDefaultContents();
+    	String defaultContents = "";//;
         GitHub gitHub = PasswordManager.getGithub();
         GHGistBuilder builder = gitHub.createGist();
         builder.file(filename, defaultContents);
@@ -93,6 +93,7 @@ private static String createGistFromBuilder(GHGistBuilder builder, String filena
             }
 
             System.out.println("Creating gist at " + filename);
+            ScriptingEngine.getLangaugeByExtention(filename).getDefaultContents(gist.getGitPullUrl(), filename);
             return gist.getGitPullUrl();
         }
         catch (IOException e)

src/main/java/com/neuronrobotics/bowlerstudio/creature/EngineeringUnitsSliderWidget.java

@@ -1,6 +1,7 @@
 package com.neuronrobotics.bowlerstudio.creature;
 
 import com.neuronrobotics.bowlerstudio.BowlerStudio;
+import com.neuronrobotics.bowlerstudio.assets.FontSizeManager;
 
 import javafx.application.Platform;
 import javafx.beans.value.ChangeListener;
@@ -127,12 +128,12 @@ public void changed(ObservableValue<? extends Boolean> arg0, Boolean oldProperty
 		setpoint.valueProperty().addListener(this);
 
 		String unitsString = "(" + units + ")";
-
-		getColumnConstraints().add(new ColumnConstraints(30)); // column 2 is 100 wide
-		getColumnConstraints().add(new ColumnConstraints(40)); // column 2 is 100 wide
-		getColumnConstraints().add(new ColumnConstraints(30)); // column 2 is 100 wide
-		getColumnConstraints().add(new ColumnConstraints(100)); // column 2 is 100 wide
-		getColumnConstraints().add(new ColumnConstraints(unitsString.length() * 7)); // column 2 is 100 wide
+		double scale = (double)(FontSizeManager.getDefaultSize())/12.0;
+		getColumnConstraints().add(new ColumnConstraints(30*scale)); // column 2 is 100 wide
+		getColumnConstraints().add(new ColumnConstraints(40*scale)); // column 2 is 100 wide
+		getColumnConstraints().add(new ColumnConstraints(30*scale)); // column 2 is 100 wide
+		getColumnConstraints().add(new ColumnConstraints(100*scale)); // column 2 is 100 wide
+		getColumnConstraints().add(new ColumnConstraints(unitsString.length() * 7*scale)); // column 2 is 100 wide
 
 		add(setpoint, 3, 1);
 		add(jogplus, 2, 0);

src/main/java/com/neuronrobotics/bowlerstudio/creature/MobleBaseMenueFactory.java

@@ -67,7 +67,7 @@ public static String[] copyGitFile(String sourceGit, String targetGit, String fi
 
 	public static void addVitamins(IVitaminHolder vitamins,  TreeItem<String> rootItem,
 			HashMap<TreeItem<String>, Runnable> callbackMapForTreeitems,
-			HashMap<TreeItem<String>, Parent> widgetMapForTreeitems,ITransformProvider tfp) {
+			HashMap<TreeItem<String>, Parent> widgetMapForTreeitems,ITransformProvider tfp,Affine manipulator, Affine lastLink, TransformNR offset) {
 		TreeItem<String> vitaminsMenu = new TreeItem<String>("Vitamins Add/Remove",
 				AssetFactory.loadIcon("Vitamins.png"));
 		HashMap<Parent,VitatminWidget> widget = new HashMap<>();
@@ -80,7 +80,9 @@ public static void addVitamins(IVitaminHolder vitamins,  TreeItem<String> rootIt
 					Parent w = loader.load();
 					VitatminWidget tw = loader.getController();
 					tw.setVitaminProvider(vitamins,tfp);
-
+					tw.setManipulator(manipulator);
+					tw.setLastLinkAffine(lastLink);
+					tw.setOffset(offset);
 					//Group value = new Group(w);
 					widgetMapForTreeitems.put(vitaminsMenu, w);
 					widget.put(w, tw);
@@ -571,7 +573,7 @@ public void onTransformChaging(TransformNR newTrans) {
 			rootItem.getChildren().addAll(bodymass, imuCenter,PlaceLimb);
 			addVitamins( device,   rootItem, callbackMapForTreeitems, widgetMapForTreeitems, selected->{
 				 return device.forwardOffset(new TransformNR()); 
-			});
+			},(Affine)device.getRootListener(),(Affine)device.getRootListener(),new TransformNR());
 			if (root)
 				rootItem.getChildren().addAll(  printable,arrangeBed, kinematics);
 			rootItem.getChildren().addAll(addArm, addleg, addFixed, addsteerable);
@@ -1104,6 +1106,10 @@ public void onSliderDoneMoving(EngineeringUnitsSliderWidget source, double newAn
 
 
 		link.getChildren().addAll(design);
+		Affine manipulator = (Affine) dh.getListener(linkIndex);
+		TransformNR offset = dh.getDHStep(linkIndex).inverse();
+		Affine lastLinkAffine = linkIndex==0? (Affine) dh.getRootListener() :(Affine) dh.getListener(linkIndex-1);
+
 		addVitamins( dh.getLinkConfiguration(linkIndex),   link, callbackMapForTreeitems, widgetMapForTreeitems,selected->{
 			Affine linkObjectManipulator = (Affine) dh.getLinkObjectManipulator(linkIndex);
 			TransformNR pose = TransformFactory.affineToNr(linkObjectManipulator);
@@ -1120,7 +1126,7 @@ public void onSliderDoneMoving(EngineeringUnitsSliderWidget source, double newAn
 				pose = TransformFactory.affineToNr(ll);
 			}
 			return pose; 
-		});
+		},manipulator,lastLinkAffine,offset);
 
 
 		link.getChildren().addAll(slaves, remove);

src/main/java/com/neuronrobotics/bowlerstudio/creature/PhysicsWidget.java

@@ -7,6 +7,7 @@
 import com.neuronrobotics.bowlerstudio.assets.ConfigurationDatabase;
 import com.neuronrobotics.bowlerstudio.physics.MuJoCoPhysicsManager;
 import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine;
+import com.neuronrobotics.bowlerstudio.vitamins.Vitamins;
 import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration;
 import com.neuronrobotics.sdk.addons.kinematics.MobileBase;
 import com.neuronrobotics.sdk.addons.kinematics.imu.IMUUpdate;
@@ -241,17 +242,8 @@ private void validateInput(TextField text,ComboBox<String> box,String key,String
 		BowlerStudio.runLater(()->box.setDisable(true));
 		String text2 = text.getText();
 		ConfigurationDatabase.setObject("PhysicsWidget",key ,text2);
-		if(!text2.endsWith(".git"))
+		if(!Vitamins.isGitURL(text2)) {
 			return;
-		if(text2.length()<=5)
-			return;
-		try {
-			new java.net.URL(text2);
-		}catch(Exception ex) {
-			if(!text2.startsWith("git@")) {
-				ex.printStackTrace();
-				return;
-			}
 		}
 		BowlerStudio.runLater(()->box.setDisable(false));