Merge pull request #28 from rdeits/webio

Switch to WebIO under the hood

.travis.yml

@@ -1,11 +1,22 @@
 ## Documentation: http://docs.travis-ci.com/user/languages/julia/
 language: julia
-os:
-  - linux
-  - osx
-julia:
-  - 0.6
-  - nightly
+matrix:
+  include:
+    - os: linux
+      julia: 0.6
+      env: TESTCMD="xvfb-run julia"
+    - os: linux
+      julia: nightly
+      env: TESTCMD="xvfb-run julia"
+    - os: osx
+      julia: 0.6
+      env: TESTCMD="julia"
+    - os: osx
+      julia: nightly
+      env: TESTCMD="julia"
+  allow_failures:
+    - julia: nightly
+
 notifications:
   email: false
 git:
@@ -15,20 +26,10 @@ branches:
   only:
     - master
 
-addons:
-  apt:
-    packages:
-      - libzmq3
-
-# uncomment the following lines to allow failures on nightly julia
-# (tests will run but not make your overall status red)
-matrix:
- allow_failures:
- - julia: nightly
-
-## uncomment the following lines to override the default test script
-#script:
-#  - julia -e 'Pkg.clone(pwd()); Pkg.build("MeshCat"); Pkg.test("MeshCat"; coverage=true)'
+# uncomment the following lines to override the default test script
+script:
+ # - julia -e 'Pkg.clone(pwd()); Pkg.build("MeshCat"); Pkg.test("MeshCat"; coverage=true)'
+ - $TESTCMD -e 'Pkg.clone(pwd()); Pkg.build("MeshCat"); Pkg.test("MeshCat"; coverage=true)'
 after_success:
   # push coverage results to Coveralls
   # push coverage results to Codecov

REQUIRE

@@ -13,7 +13,6 @@ DocStringExtensions 0.4
 
 # Communication
 MsgPack 0.1.1
-WebSockets 0.3
-HttpServer 0.2
-URIParser 0.2
-ZMQ 0.4.2
+WebIO 0.1.8
+Mux 0.2.3
+JSExpr 0.1.0

appveyor.yml

@@ -2,8 +2,8 @@ environment:
   matrix:
   - JULIA_URL: "https://julialang-s3.julialang.org/bin/winnt/x86/0.6/julia-0.6-latest-win32.exe"
   - JULIA_URL: "https://julialang-s3.julialang.org/bin/winnt/x64/0.6/julia-0.6-latest-win64.exe"
-  - JULIA_URL: "https://julialangnightlies-s3.julialang.org/bin/winnt/x86/julia-latest-win32.exe"
-  - JULIA_URL: "https://julialangnightlies-s3.julialang.org/bin/winnt/x64/julia-latest-win64.exe"
+  # - JULIA_URL: "https://julialangnightlies-s3.julialang.org/bin/winnt/x86/julia-latest-win32.exe"
+  # - JULIA_URL: "https://julialangnightlies-s3.julialang.org/bin/winnt/x64/julia-latest-win64.exe"
 
 # uncomment the following lines to allow failures on nightly julia
 # (tests will run but not make your overall status red)

demo.ipynb

@@ -33,6 +33,48 @@
     "vis = Visualizer()"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Embed the visualizer inside this notebook\n",
+    "IJuliaCell(vis)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "There are several other ways you can open the visualizer if you like:\n",
+    "\n",
+    "### In-Browser\n",
+    "To open the meshcat viewer in your browser, you can simply do:\n",
+    "\n",
+    "```julia\n",
+    "open(vis)\n",
+    "```\n",
+    "\n",
+    "### Standalone (with Blink.jl)\n",
+    "\n",
+    "Blink.jl allows you to create standalone web apps with Electron. To use\n",
+    "Blink with MeshCat, you need to install Blink:\n",
+    "\n",
+    "```julia\n",
+    "Pkg.add(\"Blink\")\n",
+    "using Blink\n",
+    "Blink.AtomShell.install()\n",
+    "```\n",
+    "\n",
+    "Then you can open MeshCat in a Blink window with:\n",
+    "\n",
+    "```julia\n",
+    "open(vis, Blink.Window())\n",
+    "```\n",
+    "\n"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -53,16 +95,6 @@
     "# wait(vis)"
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# We can also embed the visualizer inside the notebook\n",
-    "IJuliaCell(vis)"
-   ]
-  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -351,15 +383,6 @@
     "`MeshCat.jl` supports a few extra types of geometry that you may want to visualize. One such geometry is a point cloud: "
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "delete!(vis)"
-   ]
-  },
   {
    "cell_type": "markdown",
    "metadata": {},
@@ -375,6 +398,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
+    "delete!(vis)\n",
     "pointcloud = PointCloud([[x, 0 + 0.01 * randn(), 0.5] for x in linspace(-1, 1, 1000)])\n",
     "setobject!(vis[:pointcloud], pointcloud)"
    ]

src/MeshCat.jl

@@ -5,15 +5,17 @@ module MeshCat
 using GeometryTypes
 using CoordinateTransformations
 using Rotations: rotation_between
-using ZMQ
 
 using Colors: Color, Colorant, RGB, RGBA, alpha
 using StaticArrays: StaticVector, SVector, SDiagonal
 using GeometryTypes: raw
 using Parameters: @with_kw
 using Base.Random: UUID, uuid1
-using URIParser: escape
 using DocStringExtensions
+using Requires
+using Mux: page
+using WebIO
+using JSExpr
 
 import Base: delete!, length
 import MsgPack: pack, Ext
@@ -38,19 +40,71 @@ export Visualizer,
        LineSegments,
        setobject!,
        settransform!,
-       delete!,
-       url
-
-include("servers/trees.jl")
-include("servers/zmqserver.jl")
-using .ZMQServer: ZMQWebSocketBridge, zmq_url, web_url, VIEWER_ROOT
+       delete!
 
+include("trees.jl")
+using .SceneTrees
 include("geometry.jl")
 include("objects.jl")
 include("commands.jl")
 include("lowering.jl")
 include("msgpack.jl")
 include("visualizer.jl")
-include("ijulia.jl")
+
+const VIEWER_ROOT = joinpath(@__DIR__, "..", "assets", "meshcat", "dist")
+
+Base.open(vis::Visualizer, args...; kw...) = open(vis.core, args...; kw...)
+
+function Base.open(core::CoreVisualizer, port::Integer)
+    WebIO.webio_serve(page("/", req -> core.scope), port)
+    url = "http://127.0.0.1:$port"
+    info("Serving MeshCat visualizer at $url")
+    open_url(url)
+end
+
+function open_url(url)
+    try
+        if is_windows()
+            run(`start $url`)
+        elseif is_apple()
+            run(`open $url`)
+        elseif is_linux()
+            run(`xdg-open $url`)
+        end
+    catch e
+        println("Could not open browser automatically: $e")
+        println("Please open the following URL in your browser:")
+        println(url)
+    end
+end
+
+function Base.open(core::CoreVisualizer; default_port=8700, max_retries=500)
+    for port in default_port + (0:max_retries)
+        server = try
+            listen(port)
+        catch e
+            if e isa Base.UVError
+                continue
+            end
+        end
+        close(server)
+        # It is *possible* that a race condition could occur here, in which 
+        # some other process grabs the given port in between the close() above
+        # and the open() below. But it's unlikely and would not be terribly
+        # damaging (the user would just have to call open() again). 
+        return open(core, port)
+    end
+end
+
+@require Blink begin
+    function Base.open(core::CoreVisualizer, w::Blink.AtomShell.Window) 
+        # Ensure the window is ready
+        Blink.js(w, "ok")
+        # Set its contents
+        Blink.body!(w, core.scope)
+        w
+    end
+end
+
 
 end

src/commands.jl

@@ -1,13 +1,5 @@
 abstract type AbstractCommand end
 
-struct Path
-    entries::Vector{String}
-end
-
-Base.convert(::Type{Path}, x::AbstractVector{<:AbstractString}) = Path(x)
-Base.vcat(p::Path, s...) = Path(vcat(p.entries, s...))
-Base.show(io::IO, p::Path) = print(io, string('/', join(p.entries, '/')))
-
 struct SetObject{O <: AbstractObject} <: AbstractCommand
     object::O
     path::Path
@@ -21,3 +13,22 @@ end
 struct Delete <: AbstractCommand
     path::Path
 end
+
+abstract type AbstractControl end
+
+struct Button <: AbstractControl
+    observer::Observable
+    name::String
+end
+
+struct NumericControl{T} <: AbstractControl
+    observer::Observable
+    name::String
+    value::T
+    min::T
+    max::T
+end
+
+struct SetControl <: AbstractCommand
+    control::AbstractControl
+end