RobotWebTools · minggangw · Sep 26, 2024 · Sep 26, 2024
diff --git a/README.md b/README.md
@@ -35,6 +35,7 @@ rclnodejs.init().then(() => {
 - [API Documentation](#api-documentation)
 - [Using TypeScript](#using-rclnodejs-with-typescript)
 - [Examples](https://github.com/RobotWebTools/rclnodejs/tree/develop/example)
+- [Electron demo](https://github.com/RobotWebTools/rclnodejs/tree/develop/electron_demo)
 - [Efficient Usage Tips](./docs/EFFICIENCY.md)
 - [FAQ and Known Issues](./docs/FAQ.md)
 - [Building from Scratch](./docs/BUILDING.md)

diff --git a/electron_demo/README.md b/electron_demo/README.md
@@ -0,0 +1,54 @@
+# Rclnodejs Electron demo
+
+## Introduction
+
+This is a minimal rclnodejs demo using Electron. More information about Electron, please check with [Electron documentation](https://electronjs.org/docs/latest/tutorial/quick-start).
+
+The demo includes the following files:
+
+- `package.json` - Points to the app's main file and lists its details and dependencies.
+- `main.js` - Introduces the `rclnodejs` native module, starts the app and creates a browser window to render HTML. This is the app's **main process**.
+- `index.html` - Includes a text editor where you can input the the topic to be published. This is the app's **renderer process**.
+- `renderer.js` - Communicate with main process to publish a topic and get it through a subscription.
+
+## To run the demo
+
+Before starting, please ensure you have installed [nodejs](https://nodejs.org/en).
+
+1. Clone this repository.
+
+```bash
+git clone https://github.com/RobotWebTools/rclnodejs.git
+```
+
+2. Go into the demo.
+```bash
+cd rclnodejs/electron_demo
+```
+
+3. [SOURCE THE ROS 2 SETUP FILE](https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files)
+
+4. Install dependencies
+```bash
+npm install
+```
+
+5. Rebuild rclnodejs for Electron
+```bash
+# Every time you run "npm install", run this:
+./node_modules/.bin/electron-rebuild
+```
+
+6. Run the app
+```
+npm start
+```
+
+If it works, you can see the demo as:
+![demo screenshot](./electron-demo.gif)
+
+## Resources for Learning Electron
+
+- [electronjs.org/docs](https://electronjs.org/docs) - all of Electron's documentation.
+- [Native Node Modules](https://www.electronjs.org/docs/latest/tutorial/using-native-node-modules) - Use a native node module.
+
diff --git a/electron_demo/electron-demo.gif b/electron_demo/electron-demo.gif
diff --git a/electron_demo/index.html b/electron_demo/index.html
@@ -0,0 +1,25 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+  <meta charset="UTF-8">
+  <meta http-equiv="Content-Security-Policy"
+    content="default-src 'self'; script-src 'self'; style-src 'self' 'unsafe-inline'">
+  <title>RCLNODEJS Electron Demo</title>
+</head>
+
+<body>
+  <div>
+    <div style="height: 20px;"></div>
+    <div>
+      <input id="topic-input"></input>
+      <button id="publish-topic">Publish topic</button>
+    </div>
+    <div style="height: 20px;"></div>
+    <span>Received topic:</span>
+    <span id="received-topic"></span>
+  </div>
+  <script src="./renderer.js"></script>
+</body>
+
+</html>
diff --git a/electron_demo/main.js b/electron_demo/main.js
@@ -0,0 +1,66 @@
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+const { app, BrowserWindow } = require('electron')
+let rclnodejs = require("rclnodejs");
+const { ipcMain } = require('electron');
+
+function createWindow() {
+  // Create the browser window.
+  const mainWindow = new BrowserWindow({
+    width: 800,
+    height: 600,
+    webPreferences: {
+      // Add the following two lines in order to use require() in renderer, see details
+      // https://stackoverflow.com/questions/44391448/electron-require-is-not-defined
+      nodeIntegration: true,
+      contextIsolation: false,
+    }
+  });
+
+  mainWindow.loadFile('index.html');
+}
+
+// This method will be called when Electron has finished
+// initialization and is ready to create browser windows.
+// Some APIs can only be used after this event occurs.
+app.whenReady().then(() => {
+  createWindow();
+  rclnodejs.init().then(() => {
+    let sender = null;
+    const node = rclnodejs.createNode('publisher_example_node');
+    node.createSubscription('std_msgs/msg/String', 'topic', (msg) => {
+      if (sender) {
+        sender.send('topic-received', msg.data);
+      }
+    });
+    const publisher = node.createPublisher('std_msgs/msg/String', 'topic');
+    ipcMain.on('publish-topic', (event, topic) => {
+      publisher.publish(topic);
+      sender = event.sender;
+    });
+    rclnodejs.spin(node);
+  });
+
+  app.on('activate', function () {
+    // On macOS it's common to re-create a window in the app when the
+    // dock icon is clicked and there are no other windows open.
+    if (BrowserWindow.getAllWindows().length === 0) createWindow();
+  });
+});
+
+// Quit when all windows are closed, except on macOS. There, it's common
+// for applications and their menu bar to stay active until the user quits
+// explicitly with Cmd + Q.
+app.on('window-all-closed', function () {
+  if (process.platform !== 'darwin') app.quit()
+});
diff --git a/electron_demo/package.json b/electron_demo/package.json
@@ -0,0 +1,22 @@
+{
+  "name": "rclnodejs-electron-demo",
+  "version": "1.0.0",
+  "description": "A minimal rclnodejs Electron application",
+  "main": "main.js",
+  "scripts": {
+    "start": "electron ."
+  },
+  "keywords": [
+    "Electron",
+    "rclnodejs",
+    "demo"
+  ],
+  "license": "Apache",
+  "dependencies": {
+    "rclnodejs": "^0.27.4"
+  },
+  "devDependencies": {
+    "@electron/rebuild": "^3.6.0",
+    "electron": "^31.0.0"
+  }
+}
diff --git a/electron_demo/renderer.js b/electron_demo/renderer.js
@@ -0,0 +1,22 @@
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+const { ipcRenderer } = require('electron');
+
+ipcRenderer.on('topic-received', function (event, response) {
+  document.getElementById('received-topic').innerText = response;
+});
+
+document.getElementById('publish-topic').addEventListener('click', () => {
+  const topic = document.getElementById('topic-input').value;
+  ipcRenderer.send('publish-topic', topic);
+});