open-rmf · aaronchongth · Aug 6, 2024 · Aug 2, 2024 · Aug 2, 2024 · Aug 2, 2024
diff --git a/package.json b/package.json
@@ -27,8 +27,8 @@
       "prettier --write"
     ],
     "**/*.py": [
-      ".venv/bin/isort",
-      ".venv/bin/black"
+      ".venv/bin/pipenv run isort",
+      ".venv/bin/pipenv run black"
     ]
   },
   "overrides": {

diff --git a/packages/api-server/api_server/models/ros_pydantic/__init__.py b/packages/api-server/api_server/models/ros_pydantic/__init__.py
diff --git a/packages/dashboard/app-config.d.ts b/packages/dashboard/app-config.d.ts
@@ -0,0 +1,56 @@
+export interface RobotResource {
+  icon?: string;
+  scale?: number;
+}
+
+export interface FleetResource {
+  default: RobotResource;
+}
+
+export interface LogoResource {
+  header: string;
+}
+
+export interface Resources {
+  fleets: Record<string, FleetResource>;
+  logos: LogoResource;
+}
+
+export interface TaskResource {
+  taskDefinitionId: string;
+  displayName?: string;
+}
+
+export interface StubAuthConfig {
+  provider: 'stub';
+  config: null;
+}
+
+export interface KeycloakAuthConfig {
+  provider: 'keycloak';
+  config: {
+    url: string;
+    realm: string;
+    clientId: string;
+  };
+}
+
+export interface AppConfigInput {
+  rmfServerUrl: string;
+  trajectoryServerUrl: string;
+  auth: KeycloakAuthConfig | StubAuthConfig;
+  helpLink: string;
+  reportIssue: string;
+  pickupZones: string[];
+  defaultZoom: number;
+  defaultRobotZoom: number;
+  attributionPrefix: string;
+  defaultMapLevel: string;
+  allowedTasks: TaskResource[];
+  resources: Record<string, Resources> & Record<'default', Resources>;
+  customTabs?: boolean;
+  adminTab?: boolean;
+  // FIXME(koonpeng): this is used for very specific tasks, should be removed when mission
+  // system is implemented.
+  cartIds: string[];
+}
diff --git a/packages/dashboard/app-config.json b/packages/dashboard/app-config.json
@@ -1,9 +1,7 @@
 {
   "rmfServerUrl": "http://localhost:8000",
   "trajectoryServerUrl": "ws://localhost:8006",
-  "auth": {
-    "provider": "stub"
-  },
+  "authConfig": {},
   "helpLink": "https://osrf.github.io/ros2multirobotbook/rmf-core.html",
   "reportIssue": "https://github.com/open-rmf/rmf-web/issues",
   "pickupZones": [],
@@ -33,7 +31,11 @@
       }
     }
   },
-  "customTabs": false,
-  "adminTab": false,
-  "cartIds": []
+  "cartIds": [],
+  "buildConfig": {
+    "baseUrl": "/",
+    "authProvider": "stub",
+    "customTabs": false,
+    "adminTab": false
+  }
 }
diff --git a/packages/dashboard/index.html b/packages/dashboard/index.html
@@ -1,4 +1,4 @@
-<!DOCTYPE html>
+<!doctype html>
 <html lang="en">
   <head>
     <meta charset="utf-8" />

diff --git a/packages/dashboard/package.json b/packages/dashboard/package.json
@@ -4,7 +4,7 @@
   "type": "module",
   "private": true,
   "scripts": {
-    "build": "vite build",
+    "build": "pnpm run --filter {.}^... build && vite build",
     "build-storybook": "storybook build",
     "lint": "tsc --build && eslint --max-warnings 0 src",
     "start": "concurrently npm:start:rmf-server npm:start:react",

diff --git a/packages/dashboard/src/app-config.ts b/packages/dashboard/src/app-config.ts
@@ -1,7 +1,7 @@
 import React from 'react';
 import { getDefaultTaskDefinition, TaskDefinition } from 'react-components';
 
-import appConfigJson from '../app-config.json';
+import testConfig from '../app-config.json';
 import { Authenticator, KeycloakAuthenticator, StubAuthenticator } from './auth';
 import { BasePath } from './util/url';
 
@@ -28,27 +28,18 @@ export interface TaskResource {
   displayName?: string;
 }
 
-export interface StubAuthConfig {
-  provider: 'stub';
-}
+export interface StubAuthConfig {}
 
 export interface KeycloakAuthConfig {
-  provider: 'keycloak';
-  config: {
-    url: string;
-    realm: string;
-    clientId: string;
-  };
-}
-
-export interface AuthConfig {
-  provider: string;
+  url: string;
+  realm: string;
+  clientId: string;
 }
 
-export interface AppConfig {
+export interface RuntimeConfig {
   rmfServerUrl: string;
   trajectoryServerUrl: string;
-  auth: KeycloakAuthConfig | StubAuthConfig;
+  authConfig: KeycloakAuthConfig | StubAuthConfig;
   helpLink: string;
   reportIssue: string;
   pickupZones: string[];
@@ -58,32 +49,48 @@ export interface AppConfig {
   defaultMapLevel: string;
   allowedTasks: TaskResource[];
   resources: Record<string, Resources> & Record<'default', Resources>;
-  customTabs: boolean;
-  adminTab: boolean;
   // FIXME(koonpeng): this is used for very specific tasks, should be removed when mission
   // system is implemented.
   cartIds: string[];
 }
 
-// we specifically don't export app config to force consumers to use the context.
-const appConfig: AppConfig = appConfigJson as AppConfig;
+// these will be injected as defines and potentially be tree shaken out
+export interface BuildConfig {
+  baseUrl: string;
+  authProvider: 'keycloak' | 'stub';
+  customTabs?: boolean;
+  adminTab?: boolean;
+}
+
+export interface AppConfig extends RuntimeConfig {
+  buildConfig: BuildConfig;
+}
+
+declare const APP_CONFIG: AppConfig;
+
+const appConfig: AppConfig = (() => {
+  if (import.meta.env.PROD) {
+    return APP_CONFIG;
+  } else {
+    // globals cannot be injected in tests so we need a fallback, this should be
+    // removed by terser in prod builds.
+    return testConfig as AppConfig;
+  }
+})();
 
 export const AppConfigContext = React.createContext(appConfig);
 
 const authenticator: Authenticator = (() => {
-  switch (appConfig.auth.provider) {
-    case 'keycloak':
-      if (!import.meta.env.VITE_KEYCLOAK_CONFIG) {
-        throw new Error('missing VITE_KEYCLOAK_CONFIG');
-      }
-      return new KeycloakAuthenticator(
-        appConfig.auth.config,
-        `${window.location.origin}${BasePath}/silent-check-sso.html`,
-      );
-    case 'stub':
-      return new StubAuthenticator();
-    default:
-      throw new Error('unknown auth provider');
+  // must use if statement instead of switch for vite tree shaking to work
+  if (APP_CONFIG_AUTH_PROVIDER === 'keycloak') {
+    return new KeycloakAuthenticator(
+      APP_CONFIG.authConfig as KeycloakAuthConfig,
+      `${window.location.origin}${BasePath}/silent-check-sso.html`,
+    );
+  } else if (APP_CONFIG_AUTH_PROVIDER === 'stub') {
+    return new StubAuthenticator();
+  } else {
+    throw new Error('unknown auth provider');
   }
 })();
 

diff --git a/packages/dashboard/src/components/app.tsx b/packages/dashboard/src/components/app.tsx
@@ -96,32 +96,38 @@ export default function App(): JSX.Element | null {
                 }
               />
 
-              <Route
-                path={CustomRoute1}
-                element={
-                  <PrivateRoute unauthorizedComponent={loginRedirect} user={user}>
-                    <ManagedWorkspace key="custom1" workspaceId="custom1" />
-                  </PrivateRoute>
-                }
-              />
+              {APP_CONFIG_ENABLE_CUSTOM_TABS && (
+                <Route
+                  path={CustomRoute1}
+                  element={
+                    <PrivateRoute unauthorizedComponent={loginRedirect} user={user}>
+                      <ManagedWorkspace key="custom1" workspaceId="custom1" />
+                    </PrivateRoute>
+                  }
+                />
+              )}
 
-              <Route
-                path={CustomRoute2}
-                element={
-                  <PrivateRoute unauthorizedComponent={loginRedirect} user={user}>
-                    <ManagedWorkspace key="custom2" workspaceId="custom2" />
-                  </PrivateRoute>
-                }
-              />
+              {APP_CONFIG_ENABLE_CUSTOM_TABS && (
+                <Route
+                  path={CustomRoute2}
+                  element={
+                    <PrivateRoute unauthorizedComponent={loginRedirect} user={user}>
+                      <ManagedWorkspace key="custom2" workspaceId="custom2" />
+                    </PrivateRoute>
+                  }
+                />
+              )}
 
-              <Route
-                path={AdminRoute}
-                element={
-                  <PrivateRoute unauthorizedComponent={loginRedirect} user={user}>
-                    <AdminRouter />
-                  </PrivateRoute>
-                }
-              />
+              {APP_CONFIG_ENABLE_ADMIN_TAB && (
+                <Route
+                  path={AdminRoute}
+                  element={
+                    <PrivateRoute unauthorizedComponent={loginRedirect} user={user}>
+                      <AdminRouter />
+                    </PrivateRoute>
+                  }
+                />
+              )}
             </Routes>
           </AppBase>
         </RmfApp>
@@ -132,7 +138,7 @@ export default function App(): JSX.Element | null {
             element={
               <LoginPage
                 title={'Dashboard'}
-                logo="assets/defaultLogo.png"
+                logo={resources.logos.header}
                 onLoginClick={() =>
                   authenticator.login(`${window.location.origin}${DashboardRoute}`)
                 }

diff --git a/packages/dashboard/src/components/appbar.tsx b/packages/dashboard/src/components/appbar.tsx
@@ -344,7 +344,7 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea
             aria-label="Tasks"
             onTabClick={() => navigate(TasksRoute)}
           />
-          {appConfig.customTabs && (
+          {APP_CONFIG_ENABLE_CUSTOM_TABS && (
             <>
               <StyledAppBarTab
                 label="Custom 1"
@@ -360,7 +360,7 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea
               />
             </>
           )}
-          {appConfig.adminTab && profile?.user.is_admin && (
+          {APP_CONFIG_ENABLE_ADMIN_TAB && profile?.user.is_admin && (
             <StyledAppBarTab
               label="Admin"
               value="admin"

diff --git a/packages/dashboard/src/vite-env.d.ts b/packages/dashboard/src/vite-env.d.ts
@@ -1 +1,6 @@
 /// <reference types="vite/client" />
+
+declare const APP_CONFIG_BASE_URL: string;
+declare const APP_CONFIG_AUTH_PROVIDER: string;
+declare const APP_CONFIG_ENABLE_CUSTOM_TABS: boolean;
+declare const APP_CONFIG_ENABLE_ADMIN_TAB: boolean;
diff --git a/packages/dashboard/vite.config.ts b/packages/dashboard/vite.config.ts
@@ -1,11 +1,55 @@
 /// <reference types="vitest" />
 
 import react from '@vitejs/plugin-react-swc';
-import { defineConfig } from 'vite';
+import { defineConfig, Plugin } from 'vite';
+
+import appConfig from './app-config.json';
+
+/**
+ * The goal of this plugin is to inject global variables to `index.html`, allowing
+ * a crude way to configure some variables after the bundle is built via `sed`.
+ *
+ * An example use case is building a dockerfile, because the domain in a dev or staging
+ * environment is typically different from prod, we would normally end up needing to build
+ * different images (which is really detrimental for staging). In such scenario, you can
+ * set the `rmfServerUrl` to a placeholder like `__RMF_SERVER_URL_PLACEHOLDER__` in
+ * `app-config.json`, then do a search and replace at the container entrypoint.
+ *
+ * The reason for doing this outside the app code is to avoid these variables from
+ * being modified by the bundler, and to reduce the chance that the search and replace modify
+ * unintended code.
+ */
+const injectGlobals: Plugin = {
+  name: 'injectRuntimeArgs',
+  transformIndexHtml: {
+    order: 'pre', // must be injected before the app
+    handler: () => {
+      return [
+        {
+          tag: 'script',
+          injectTo: 'head',
+          children: `const APP_CONFIG=${JSON.stringify(appConfig)}`,
+        },
+      ];
+    },
+  },
+};
+
+function booleanToString(b: boolean | null | undefined) {
+  return b ? 'true' : 'false';
+}
+
+const buildConfig = appConfig.buildConfig;
 
 // https://vitejs.dev/config/
 export default defineConfig({
-  plugins: [react()],
+  base: buildConfig.baseUrl,
+  define: {
+    APP_CONFIG_AUTH_PROVIDER: `'${buildConfig.authProvider}'`,
+    APP_CONFIG_ENABLE_CUSTOM_TABS: `${booleanToString(buildConfig.customTabs)}`,
+    APP_CONFIG_ENABLE_ADMIN_TAB: `${booleanToString(buildConfig.adminTab)}`,
+  },
+  plugins: [injectGlobals, react()],
   test: {
     environment: 'jsdom',
     globals: true,

diff --git a/packages/ros-translator/ros_translator/pydantic/__init__.py b/packages/ros-translator/ros_translator/pydantic/__init__.py
@@ -120,7 +120,9 @@ def generate_messages(roslib: RosLibrary, pkg: str, outdir: str):
 
 
 def generate_init(namespace: Namespace, outdir: str):
-    with open(joinp(outdir, namespace.full_name, "__init__.py"), mode="w") as f:
+    with open(
+        joinp(outdir, namespace.full_name, "__init__.py"), mode="w", encoding="utf8"
+    ) as f:
         for m in namespace.messages.values():
             name = m.structure.namespaced_type.name
             f.write(f"from .{name} import {name}\n")
@@ -140,6 +142,9 @@ def generate_modules(pkgs: Sequence[str], outdir: str):
         generate_messages(roslib, pkg_index.pkg_name, outdir)
         generate_init(pkg_index.root_ns, outdir)
 
+    with open(joinp(outdir, "__init__.py"), mode="w", encoding="utf8"):
+        pass
+
 
 def generate(pkgs: Sequence[str], outdir: str):
     print("Generating pydantic interfaces")