From 738084d0eb151e79f4753e69e3309d9ab70caf5b Mon Sep 17 00:00:00 2001 From: cfry Date: Wed, 22 Jun 2022 23:25:06 -0400 Subject: [PATCH] releaase to fix build process after removing scp2 npm package --- core/index.js | 2 +- doc/guide.html | 2 +- doc/release_notes.html | 8 +- file_transfer.js | 431 ----------------------------------------- index.html | 4 +- package.json | 3 +- ready.js | 3 +- 7 files changed, 13 insertions(+), 440 deletions(-) delete mode 100644 file_transfer.js diff --git a/core/index.js b/core/index.js index 7582f010..da222495 100644 --- a/core/index.js +++ b/core/index.js @@ -1,4 +1,4 @@ -global.dde_version = "3.8.6" //require("../package.json").version +global.dde_version = "3.8.7" //require("../package.json").version global.dde_release_date = "Jun 22, 2022" //require("../package.json").release_date console.log("dde_version: " + global.dde_version + " dde_release_date: " + global.dde_release_date + diff --git a/doc/guide.html b/doc/guide.html index 63a8b95f..3fc59df5 100644 --- a/doc/guide.html +++ b/doc/guide.html @@ -8,7 +8,7 @@
About This is Dexter Development Environment
- version: 3.8.6
+ version: 3.8.7
released: Jun 22, 2022

DDE helps you create, debug, and send software to a Dexter robot. diff --git a/doc/release_notes.html b/doc/release_notes.html index 1fa62de3..e5551eb0 100644 --- a/doc/release_notes.html +++ b/doc/release_notes.html @@ -5,9 +5,15 @@ } .doc_details summary { font-weight: 600; } +
v 3.8.7, Jun 22, 2022 + Please see release notes for v 3.8.6 +
v 3.8.6, Jun 22, 2022 -Highlights: Bug fixes for SSH.run_command, SW.close_window, read_file_async.
+ Warning: This release failed to build. Please use 3.8.7 instead. + But the below notes are still accurate.
+Highlights: + Bug fixes for SSH.run_command, SW.close_window, read_file_async.
Simulator extended for Dexter.read_from_robot("#StepAngles") #MeasuredAngles & #POM.
The "net" npm package is now exported as a global variable. Dexter.defaults and Dexter instances property "defaults" now mirrors Defaults.make_ins. diff --git a/file_transfer.js b/file_transfer.js deleted file mode 100644 index 18fef8d3..00000000 --- a/file_transfer.js +++ /dev/null @@ -1,431 +0,0 @@ -const fs = require('fs') -const get = require('simple-get') -const pump = require('pump') -//const path = require('path') -const AdmZip = require('adm-zip'); -const crypto = require('crypto'); -const client = require("scp2") - -var FileTransfer = class FileTransfer { - - //create the zip file containing the update - //path is the path to the folder that represents slash on Dexter - //https://github.com/cthackers/adm-zip/wiki/ADM-ZIP-Introduction - static zip_folder(path_to_folder_to_zip){ - let zip = new AdmZip(); - zip.addLocalFolder(path_to_folder_to_zip) - zip.writeZip(path_to_folder_to_zip + ".zip") - out(path_to_folder_to_zip + ".zip created.") - } - - //called by both encrypt_file and decrypt_file - static process_password(passwd){ - return passwd.padEnd(32, passwd) //passwd must be 32 long - } - - //encrypt the zip file containing the update - //according to https://stackoverflow.com/questions/50963160/invalid-key-length-in-crypto-createcipheriv - //the undocumented key-passwd length must be 32 chars. - static encrypt_file(path_to_zip_file_to_encrypt, update_passwd){ - const algorithm = "aes-256-ctr" - const iv = "0123456789012345" - update_passwd = this.process_password(update_passwd) - const read_stream = fs.createReadStream(path_to_zip_file_to_encrypt); - const encrypt = crypto.createCipheriv(algorithm, - update_passwd, //the "key" arg - iv); - const output_path = path_to_zip_file_to_encrypt.substring(0, path_to_zip_file_to_encrypt.length - 4) - + ".encrypted" - const write_stream = fs.createWriteStream(output_path); - read_stream.pipe(encrypt) - .pipe(write_stream); - out(output_path + " created.") - } - - //the top level fn to create the zipped and encryptied file to upload. - //path_to_folder_to_zip is the path to the folder that represents slash on Dexter - //update_passwd is the string of the password used to encrypt and decrypt the zip file - static zip_and_encrypt(path_to_folder_to_zip, update_passwd){ - this.zip_folder(path_to_folder_to_zip) - this.encrypt_file(path_to_folder_to_zip + ".zip", update_passwd) - } - - static show_window_callback(vals){ - if(vals.clicked_button_value === "update"){ - vals.enable_file_transfer_to_dexter - FileTransfer.update_firmware(vals.dexter_user_name, - vals.dexter_pwd, - vals.update_pwd, - vals.enable_file_transfer_to_dexter) - } - } - - static enable_copy_checkbox = false - - //called by choosing the DDE menu item "update firmware" - static show_dialog(){ - show_window({title: "Update Dexter Firmware", - width: 450, - height: 435, - x: 400, - y: 50, - callback: "FileTransfer.show_window_callback", - content: -`
  1. Verify that your computer is connected to the Internet.
    2. -
  2. Choose the Dexter to update from the Dexter.default menu
    - in the Misc pane header.
    3. -
  3. Verify that your computer is connected to that Dexter
    - by running a small Job that moves that Dexter.
    4. -
  4. Enter the Dexter user name. (default is "root")
    -
    5. -
  5. Enter the Dexter password.
    -
    6. -
  6. Enter the update password to decrypt the software.
    - (Contact Haddington if you need the passwords.)
    -
    7. -
  7. - - Enable transfering files to Dexter. -
    8. -
  8. Click:
    9. -
  9. Be patient.
    - There's many megabytes of code to move.
    - Do not use your computer until you see
    - Dexter firmware update completed
    - (or an error message) in the Output pane.
    - Doing so may damage Dexter's file system.
    10. -
` - }) - } - static url_containing_releases = "https://github.com/HaddingtonDynamics/Dexter/releases" - - static update_firmware(dexter_user_name, dexter_pwd, update_pwd, enable_file_transfer_to_dexter=false){ - get_page_async(this.url_containing_releases, function(err, response, body){ - FileTransfer.get_releases_page_callback(err, response, body, dexter_user_name, dexter_pwd, update_pwd, enable_file_transfer_to_dexter) - }) - } - /* this.web_to_to_dde(url, ddd_encripted_zip_path, - function() { - FileTransfer.decrypt_file(ddd_encripted_zip_path, - update_pwd, - ddd_decripted_zip_path) - FileTransfer.unzip(ddd_decripted_zip_path) - FileTransfer.copy_to_dexter(from_dde_path, dexter_pwd) - } ) - }*/ - - static get_releases_page_callback(err, response, body, dexter_user_name, dexter_pwd, update_pwd, enable_file_transfer_to_dexter=false){ - if(err) { - dde_error("During update_firmware, could not get page:
" + - " https://github.com/HaddingtonDynamics/Dexter/releases") - } - else { - let url = FileTransfer.extract_update_url_from_page_content(body) - let ddd_encrypted_zip_path = dde_apps_folder + "/firmware_encrypted.zip" - let ddd_decrypted_zip_path = dde_apps_folder + "/firmware_decrypted.zip" - FileTransfer.web_to_dde(url, ddd_encrypted_zip_path, - function(){ - FileTransfer.decrypt_file(ddd_encrypted_zip_path, ddd_decrypted_zip_path, dexter_user_name, dexter_pwd, update_pwd, enable_file_transfer_to_dexter) - //FileTransfer.unzip(ddd_decrypted_zip_path) //todo comment in - //FileTransfer.copy_to_dexter(ddd_decrypted_zip_path, dexter_pwd) //todo comment in - }) - } - } - - static extract_update_url_from_page_content(page_content){ - let url_prefix = "/HaddingtonDynamics/Dexter/releases/download/" - let url_start_index = page_content.indexOf(url_prefix) - if (url_start_index === -1) { - dde_error("Could not find the released file url starting with: " + url_prefix) - } - else { - let url_end_index = page_content.indexOf('"', url_start_index) - let url = page_content.substring(url_start_index, url_end_index) //starts with slash, still needs prefix - url = "https://github.com" + url - out("Getting: " + url) - return url - } - } - - static path_to_file_name(url) { //includes extension - let file_name_start = url.lastIndexOf("/") - file_name_start += 1 //skip past slash - let file_name = url.substring(file_name_start) - return file_name - } - - static web_to_dde(url, dde_path, cb){ - if(!dde_path){ - let file_name = this.path_to_file_name(url) - dde_path = dde_apps_folder + "/" + file_name - } - out("Transfering " + url + " to: " + dde_path) - get(url, (err, res) => { - let the_callback = cb - let the_url = url - let the_dde_path = dde_path - if (err) throw err - const outStream = fs.createWriteStream(dde_path) - pump(res, outStream, (err) => { - if (err) { - dde_error("While transfering : " + url + " to: " + dde_path + - "
" + err.message) - } - if(the_callback) { the_callback.call(null, the_url, the_dde_path) } - else { out("Transfer complete to: " + the_dde_path) } - }) - }) - } - - //https://attacomsian.com/blog/nodejs-encrypt-decrypt-data#:~:text=Conclusion-,Node.,%2C%20sign%2C%20and%20verify%20functions. - //this url uses algorithm: "aes-256-ctr"" but 7zip specifies that it uses 'AES-256". - //there are other AES-256 alrorithms. 256 is just the length of the key. - //The crap Node doc at https://nodejs.org/api/crypto.html doesn't list the possible algorithms - //but evaling crypto.getCiphers() gives you a list. The list does not include "aes-256" - //but does includes aes_256-ctr so I guess picking that is the best we can do. - static decrypt_file(encrypted_dde_path, decrypted_zip_path, dexter_user_name, dexter_pwd, update_pwd, enable_file_transfer_to_dexter=false){ - out("Decyrpting: " + encrypted_dde_path + " to: " + decrypted_zip_path) - try{ - const readstream = fs.createReadStream(encrypted_dde_path); - const algorithm = "aes-256-ctr" - const iv = "0123456789012345" - update_pwd = this.process_password(update_pwd) - const decrypt = //crypto.createDecipher(algorithm, pwd) //createDecipher is deprecated. - crypto.createDecipheriv(algorithm, update_pwd, iv) //"nonce" null fails, and undefined - //or just have the iv be part of the file name ie hash last 5 chars. - - const writestream = fs.createWriteStream(decrypted_zip_path) - readstream.pipe(decrypt).pipe(writestream) - writestream.on("finish", function(){ - out("Finished decryption") - let unzip_to_folder = dde_apps_folder + "/firmware_unzipped" - FileTransfer.unzip(decrypted_zip_path, unzip_to_folder) - FileTransfer.copy_to_dexter(unzip_to_folder, dexter_user_name, dexter_pwd, enable_file_transfer_to_dexter) - }) - } - catch(err){ - dde_error("Failed to decrypt: " + encrypted_dde_path + - "
Maybe you entered the wrong password.") - } - } - - //zip_file_path expected to end in .zip - //unzips files into a new folder having the same file name as the zip_file_path - //(excluding the .zip) - //That new folder will be put under folder_for_folder_of_files. - static unzip(zip_file_path, unzip_into_folder){ - if(!unzip_into_folder) { - unzip_into_folder = dde_apps_folder + "/firmware_unzipped" - } - //let file_name = this.path_to_file_name(zip_file_path) - //file_name = file_name.substring(0, file_name.length - 4) //remove the .zip extension - //folder_for_files = dde_apps_folder + "/" + file_name - //} - out("Unzipping: " + zip_file_path + " into: " + unzip_into_folder) - let zip = new AdmZip(zip_file_path); - zip.extractAllTo(unzip_into_folder, true) //true means overwrite if folder already exists - out("Unzipped: " + zip_file_path + " into: " + unzip_into_folder) - } - - //for normal operation, keep as "", but - //for testing to copy folders to a different place on dexter, - //set it to something like "test_update/", - //then all the copied folders will go under it instead - //of their real destinations so you can test copying - //without screwing up the file system on Dexter. - - static destination_prefix = "" - - //the top level folders under from_dde_path are copied over to Dexter one at a time. - //these will have names like: "srv", "etc", ... - //below the closure fn "copy_fn" is the guts of the callback fn for calls to client.scp, - // so that copy_fn will get called once for each folder in folders_to_copy. - - static copy_to_dexter(from_dde_path, dexter_user_name, dexter_pwd, enable_file_transfer_to_dexter=false){ - out("Copying to Dexter from: " + from_dde_path) - let ip_addr = Dexter.default.ip_address - let folders_to_copy = folder_listing(from_dde_path) - let cur_folder_index = 0 - let copy_fn = function(){ - let top_level_in_dexter_folder = folders_to_copy[cur_folder_index] - let fold_name_begin_index = top_level_in_dexter_folder.lastIndexOf("/") + 1 - let fold_name = top_level_in_dexter_folder.substring(fold_name_begin_index) - if (fold_name.startsWith(".")) { //happens on Mac with .DS_STORE - cur_folder_index += 1 - copy_fn() - } - else { - let from_dde_path_fold = from_dde_path + "/" + fold_name - let scp_path = dexter_user_name + ':' + dexter_pwd + '@' + ip_addr + ":/" + FileTransfer.destination_prefix + fold_name - if(enable_file_transfer_to_dexter){ - out("Copying: " + from_dde_path_fold + " to Dexter: " + scp_path) - try { - client.scp(from_dde_path_fold, - scp_path, - function(err){ - if(err) { - dde_error("Failed to copy: " + fold_name + " to Dexter
" + err.message) - } - else { - out("Copied: " + fold_name + " to Dexter." + Dexter.default.name) - if (cur_folder_index < (folders_to_copy.length - 1)){ - cur_folder_index += 1 - copy_fn() - } - else { - out("Dexter firmware update completed.") - } - } - } - ) - } - catch(err){ - dde_error("Failed to copy to Dexter: " + from_dde_path_fold + - "
" + err.message) - } - } - else { - out("Transfering files to Dexter is not enabled.
" + - "If it were, " + from_dde_path_fold + "
would be copied to Dexter's: " + scp_path) - if(cur_folder_index < (folders_to_copy.length - 1)){ - cur_folder_index += 1 - copy_fn() - } - } - } - } - copy_fn() //the first call - } - - - static customize_defaults_make_ins(dh_matrix, orig_dm_content=null, enable_file_transfer_to_dexter=false){ - //dh_matrix is an array of 5 arrays, each of which contain 4 floats. - //If orig_dm_content is null (the default) then the Defaults.make_ins to customize - //is in the default Dexter's /srv/samba/share/Defaults.make_ins - //If enable_file_transfer_to_dexter is false (the default) then - //the default Dexter's /srv/samba/share/Defaults.make_ins is not modified but - //the customized content is printing in the Output pane with change info. - if(!orig_dm_content){ - this.get_default_make_ins_from_dexter(dh_matrix, enable_file_transfer_to_dexter) - } - else { - this.customize_defaults_make_ins_aux(dh_matrix, orig_dm_content) - if (enable_file_transfer_to_dexter) { - this.write_defaults_make_ins(new_dm_content) - } - } - } - - static get_default_make_ins_from_dexter(dh_matrix, enable_file_transfer_to_dexter=false){ - let dm_path = "Dexter." + Dexter.default.name + ":/srv/samba/share/Defaults.make_ins" - read_file_async(dm_path, undefined, - function(err, orig_dm_content){ - if (err) { - dde_error("While getting " + dm_path + "
" + err.message) - } - else { - let new_dm_content = FileTransfer.customize_defaults_make_ins_aux(dh_matrix, orig_dm_content) - if (enable_file_transfer_to_dexter) { - FileTransfer.write_defaults_make_ins(new_dm_content) - } - } - }) - } - - static customize_defaults_make_ins_aux(dh_matrix, orig_dm_content){ - let orig_lines = orig_dm_content.split("\n") - let orig_links_str = "" - let new_links_str = null //usually will be set but only if there is an orig links_str. - let new_lines = [] - let line_index_for_links = null - - let line_index_for_first_dh_row = null - for(let i = 0; i < orig_lines.length; i++){ - let orig_line = orig_lines[i] - let orig_line_trimmed = orig_line.trim() - let new_line = orig_line - if(orig_line_trimmed.length === 0){} //blank line. keep it - else if(orig_line.startsWith(";")) {} // comment. keep it - else if(orig_line.startsWith("S, LinkLengths")) { //record index and keep it - line_index_for_links = i - orig_links_str = orig_line - } - else if(orig_line.startsWith("S JointDH")) { //part of 2 D matrix. record it and keep it - if(line_index_for_first_dh_row === null){ //hits for first of 6 lines only. - line_index_for_first_dh_row = i - //let dh_row = orig_line.split(" ") - //let dh_1d_array = dh_row.slice(3) - //dh_matrix.push(dh_1d_array) - } - } - else {} //keep it - new_lines.push(new_line) - } - let new_array_for_links = [dh_matrix[5][0], - dh_matrix[4][0], - dh_matrix[2][2], - dh_matrix[1][2], - dh_matrix[0][0]] - if(line_index_for_links !== null){ //only include new LinkLengths line if it was in the orig_dm_content - new_links_str = "S, LinkLengths, " + new_array_for_links.join(", ") + "; For Dexter HDI" - new_lines[line_index_for_links] = new_links_str - } - if(line_index_for_first_dh_row === null) { // insert brand new dh_matrix into the new make_ins file - let new_dh_matrix_lines = ["\n", - "; DenavitHartenberg parameters for each joint in microns and arcseconds", - "; ___ Joint, Tz, Rz, Tx, Rx" - ] - for(let i = 0; i < dh_matrix.length; i++){ - let joint_number = i + 1 - let new_line = "S JointDH " + joint_number + ", " + dh_matrix[i].join(", ") + ";" - new_dh_matrix_lines.push(new_line) - } - new_dh_matrix_lines.push("\n") - new_lines.splice(line_index_for_links + 1, 0, ...new_dh_matrix_lines) - } - else if(line_index_for_first_dh_row !== null) { - for(let i = 0; i < dh_matrix.length; i++){ - let new_index = line_index_for_first_dh_row + i - let joint_number = i + 1 - let new_line = "S JointDH " + joint_number + ", " + dh_matrix[i].join(", ") + ";" - new_lines[new_index] = new_line - } - } - let new_dm_content = new_lines.join("\n") - //just for the printout to output pane - let new_dh_matrix_html = "" - for(let row of dh_matrix) { - let row_str = row.join(", ") - new_dh_matrix_html += "[" + row_str + "]
" - } - let new_dm_content_html = replace_substrings(new_dm_content, "\n", "
") - out( "customize_defaults_make_ins
" + - "Old LinkLengths:" + orig_links_str + "
" + - "New Linklengths:" + new_links_str + "
" + - "New dh matrix:[
" + new_dh_matrix_html + "]
" + - "New Defaults.make_ins file content:
" + - new_dm_content_html) //for debugging - - return new_dm_content - } - - static write_defaults_make_ins(new_dm_content){ - let path = "Dexter."+ Dexter.default.name + ":/srv/samba/share/Defaults.make_ins" - let cb = function(err){ - if(err){ - dde_error("Writing " + path + " failed with: " + err.message) - } - else { - out("Writing " + path + " succeeded.") - } - } - write_file_async(path, new_dm_content, undefined, cb) - } - - -} //end class - -// 'https://ballpit.github.io/website/pics.zip' -// path.join \ No newline at end of file diff --git a/index.html b/index.html index dd22c0f4..6bef3a89 100644 --- a/index.html +++ b/index.html @@ -130,7 +130,7 @@ - + @@ -674,7 +674,7 @@
  • Reboot Joints
  • Show errors.log
  • Start Options
    • -
  • Update Firmware
    • +
  • Run Job on Dexter
    • diff --git a/package.json b/package.json index 54dc7ec8..9152f429 100644 --- a/package.json +++ b/package.json @@ -1,7 +1,7 @@ { "name": "dexter_dev_env", "productName": "dexter_dev_env", - "version": "3.8.6", + "version": "3.8.7", "release_date": "Jun 22 2022", "description": "Dexter Development Environment for programming the Dexter robot.", "author": "Fry", @@ -60,7 +60,6 @@ "pump": "^3.0.0", "request": "^2.79.0", "rotating-calipers": "0.0.0", - "scp2": "^0.5.0", "semver": "^5.4.1", "serialport": "^8.0.0", "shepherd.js": "^8.0.2", diff --git a/ready.js b/ready.js index deacbb6a..69535381 100644 --- a/ready.js +++ b/ready.js @@ -1447,7 +1447,7 @@ show_errors_log_id.onclick = function(){ } dexter_start_options_id.onclick = show_dexter_start_options -update_firmware_id.onclick = FileTransfer.show_dialog +//update_firmware_id.onclick = FileTransfer.show_dialog run_job_on_dexter_id.onclick = function() { let job_src = Editor.get_any_selection() //we want to be able to select a Job def in @@ -1867,7 +1867,6 @@ var opencv_js = require("opencv.js") var plotly_js_dist = require("plotly.js-dist") //var pump = require("pump") //already declared //var request = require("request") //already declared -var scp2 = require("scp2") var semver = require("semver") var serialport = require("serialport") var simple_get = require("simple-get")