Merge branch '1.5' into dev

.gitignore

@@ -3,7 +3,6 @@
 tmp
 logs
 build
-htdocs
 *.o
 *.a
 test_fjage

.travis.yml

@@ -0,0 +1,5 @@
+language: java
+install: true
+notifications:
+  slack:
+    secure: QAm3ehwD1y1CQatjEB1aQ/oGJhLGMnsmlqehbT7V+KVq15hBeDZMKZocsmPMs+CwfXwSbYOeGSOtMigKTDVJXy+YmHaU4btO6JJxZwKB+HQBofgG2KO9/Ak/WPhBhqA9eJJzowjzHv/dVYvtWRRPriD9yJ8vv+2ZDC56cY06OZdWJxau3hTX0XAAJNPOXeVHXWmfORwIOQR5r5nGlYNhwbbuuPDlKLbvIaZ+5X3XHyNNgi+S+4nB8utrgEYumq8stgXDeZL8lS8rGeqCLt4RNrOBTw3UUIlPCZMnyq75BDtBRPs9bWTIFv3XqTWqBmvWY/OVQKRe6tc66dleRRc0+6xd5w5yNV44t8zsUbgpFs02+4mHbEGrrlXpJ0j0OZzBa5xWX5THhSgvdhw/rl/YAP57sLC6amsccLKoO/sBaEu73pXxafJ0C1un8gNAgVfIISsyplikSBzS9lVrUZLNnrAuESpC/kwPH4SGj0m3MxitVDtGgmM4+MINA0XAT8IJqiMnEagshbwKHBqWzQAJbMjlgI8rxlMZr1BXCfxf9mffxPpgsLKlM9jbG/JVmeQg8xcxedfkxsDm0FZ4egMiaHKv8kbdgldx8jruuIDcjWn7115hXpE2q1U4dcUnzTVGX1rG3gcTOqBVv+80+mGG8tmzX54iOwkB2XszUWIWMbg=

README.md

@@ -1,9 +1,9 @@
+[![Build Status](https://travis-ci.org/org-arl/fjage.svg?branch=1.5)](https://travis-ci.org/org-arl/fjage)
+
 fjåge
 =====
 **Framework for Java and Groovy Agents**
 
-developed by [Mandar Chitre](http://www.chitre.net), [Acoustic Research Laboratory](http://www.arl.nus.edu.sg)
-
 Introduction
 ------------
 
@@ -17,42 +17,39 @@ Key Features
 * Agent development in Java or Groovy
 * Interactive Groovy shell and scripting
 * Easy switching between realtime operation and discrete event simulation
+* APIs for access from Javascript, Python, C
 
 Documentation
 -------------
 
-* [Getting Started](http://org-arl.github.io/fjage/doc/html/quickstart.html)
-* [Developer's Guide](http://org-arl.github.com/fjage/doc/html/)
-* [API documentation](http://org-arl.github.com/fjage/javadoc/)
+* [Getting Started](https://fjage.readthedocs.io/en/latest/quickstart.html)
+* [Developer's Guide](https://fjage.readthedocs.io/en/latest/)
+* [API documentation](http://org-arl.github.io/fjage/javadoc/)
 
 Support
 -------
 
 * [Project Home](http://github.com/org-arl/fjage)
-* [Discussion Forum](http://groups.google.com/forum/#!forum/fjage-users)
 * [Issue Tracking](http://github.com/org-arl/fjage/issues)
 
-Binary Releases
----------------
-
-* [fjage-1.4.2.jar](http://repo1.maven.org/maven2/com/github/org-arl/fjage/1.4.2/fjage-1.4.2.jar), released Apr 19, 2018 ([release notes](https://groups.google.com/forum/#!topic/fjage-users/t1-rN2i7lyU))
-* [fjage-1.4.1.jar](http://repo1.maven.org/maven2/com/github/org-arl/fjage/1.4.1/fjage-1.4.1.jar), released Dec 5, 2017 ([release notes](https://groups.google.com/forum/#!topic/fjage-users/frim1f-5ZK8))
-* [fjage-1.4.jar](http://repo1.maven.org/maven2/com/github/org-arl/fjage/1.4/fjage-1.4.jar), released Mar 4, 2016 ([release notes](https://groups.google.com/forum/#!topic/fjage-users/9yZuVZWQSfY))
-* [fjage-1.3.4.jar](https://repo1.maven.org/maven2/com/github/org-arl/fjage/1.3.4/fjage-1.3.4.jar), released Jul 23, 2015 ([release notes](https://groups.google.com/forum/#!topic/fjage-users/7d5CZB82QCc))
-* [fjage-1.3.3.jar](https://repo1.maven.org/maven2/com/github/org-arl/fjage/1.3.3/fjage-1.3.3.jar), released Jul 21, 2014 ([release notes](https://groups.google.com/forum/#!topic/fjage-users/_9p7w8eES9Q))
-* [fjage-1.3.2.jar](https://repo1.maven.org/maven2/com/github/org-arl/fjage/1.3.2/fjage-1.3.2.jar), released Oct 21, 2013 ([release notes](https://groups.google.com/forum/#!topic/fjage-users/RdAidaBDlNQ))
-* [fjage-1.3.1.jar](https://repo1.maven.org/maven2/com/github/org-arl/fjage/1.3.1/fjage-1.3.1.jar), released Sep 1, 2013 ([release notes](https://groups.google.com/forum/#!topic/fjage-users/2M_FtV2zzRY))
-* [fjage-1.3.jar](https://repo1.maven.org/maven2/com/github/org-arl/fjage/1.3/fjage-1.3.jar), released Aug 26, 2013 ([release notes](https://groups.google.com/forum/#!topic/fjage-users/dibfe8w2Ijk))
-* [fjage-1.2.1.jar](https://repo1.maven.org/maven2/com/github/org-arl/fjage/1.2.1/fjage-1.2.1.jar), released May 29, 2013 ([release notes](https://groups.google.com/forum/#!topic/fjage-users/tw5Zf-7hil4))
-
-**Maven Central dependency:**
+Maven Central dependency
+------------------------
 
     <dependency>
       <groupId>com.github.org-arl</groupId>
       <artifactId>fjage</artifactId>
-      <version>1.4.2</version>
+      <version>1.5</version>
     </dependency>
 
+Contributing
+------------
+
+Contributions are always welcome! Clone, develop and do a pull request!
+
+Try to stick to the coding style already in use in the repository. Additionally, some guidelines:
+
+* [Commit message style](https://github.com/angular/angular.js/blob/master/DEVELOPERS.md#commits)
+
 License
 -------
 

VERSION

@@ -1 +1 @@
-1.4.3-SNAPSHOT
+1.5-SNAPSHOT

build.gradle

@@ -8,7 +8,7 @@ defaultTasks 'jars'
 archivesBaseName = 'fjage'
 group = 'com.github.org-arl'
 version = new File('VERSION').text.trim()
-docsDirName = '../htdocs'
+docsDirName = '../docs'
 
 targetCompatibility = 1.8
 sourceCompatibility = 1.8
@@ -19,12 +19,12 @@ repositories {
 
 dependencies {
   compile 'org.codehaus.groovy:groovy-all:2.4.4'
-  compile 'jline:jline:2.12'
+  compile 'org.jline:jline:3.9.0'
   compile 'org.apache.commons:commons-lang3:3.1'
   compile 'uk.com.robust-it:cloning:1.9.0'
-  compile 'org.eclipse.jetty:jetty-server:8.0.4.v20111024'
-  compile 'org.eclipse.jetty:jetty-servlet:8.0.4.v20111024'
-  compile 'org.eclipse.jetty:jetty-eventsource-servlet:1.0.0'
+  compile 'org.eclipse.jetty:jetty-server:9.4.12.v20180830'
+  compile 'org.eclipse.jetty:jetty-servlet:9.4.12.v20180830'
+  compile 'org.eclipse.jetty.websocket:websocket-server:9.4.12.v20180830'
   compile 'com.google.code.gson:gson:2.8.2'
   compile 'com.fazecast:jSerialComm:2.1.1'
   testCompile 'junit:junit:4.11'
@@ -55,21 +55,20 @@ jar {
   }
 }
 
+test {
+  testLogging {
+    events "passed", "skipped", "failed"
+    exceptionFormat "full"
+  }
+}
+
 task jars(dependsOn: jar, type: Copy) {
   into "$buildDir/libs"
   from configurations.runtime
 }
 
 jars.outputs.upToDateWhen { false }
 
-task doc {
-  doLast {
-    ant.exec(executable: 'make', dir: '.', failonerror: true) {
-      arg(line: 'html')
-    }
-  }
-}
-
 ////// tasks for MavenCentral deployment
 
 task javadocJar(type: Jar, dependsOn: javadoc) {

docs/index.html

@@ -0,0 +1,10 @@
+<html>
+<head>
+<title>fjåge documentation</title>
+</head>
+<body>
+<p>
+<a href="https://fjage.readthedocs.io/en/latest/">Documentation</a><br>
+<a href="javadoc/">API Javadocs</a>
+</p>
+</body>

etc/initrc-rconsole.groovy

@@ -26,5 +26,6 @@ if (devname != null) {
   container = new SlaveContainer(platform, hostname, port)
 }
 shell = new ShellAgent(new ConsoleShell(), new GroovyScriptEngine())
+shell.addInitrc("cls://org.arl.fjage.shell.fshrc");
 container.add 'rshell', shell
 platform.start()

etc/initrc.groovy

@@ -1,8 +1,9 @@
 import org.arl.fjage.*
 import org.arl.fjage.remote.*
 import org.arl.fjage.shell.*
+import org.arl.fjage.connectors.*
 
-boolean gui = System.properties.getProperty('fjage.gui') == 'true'
+boolean web = System.properties.getProperty('fjage.web') == 'true'
 int port = 5081
 try {
   port =  Integer.parseInt(System.properties.getProperty('fjage.port'))
@@ -20,9 +21,16 @@ if (devname != null) {
 }
 
 platform = new RealTimePlatform()
-if (devname == null) container = new MasterContainer(platform, port)
-else container = new MasterContainer(platform, port, devname, baud, 'N81')
-if (gui) shell = new ShellAgent(new SwingShell(), new GroovyScriptEngine())
-else shell = new ShellAgent(new ConsoleShell(), new GroovyScriptEngine())
+container = new MasterContainer(platform, port)
+if (devname != null)  container.addConnector(new SerialPortConnector(devname, baud, 'N81'))
+if (web) {
+  WebServer.getInstance(8080).add("/", "/org/arl/fjage/web")
+  Connector conn = new WebSocketConnector(8080, "/shell/ws")
+  shell = new ShellAgent(new ConsoleShell(conn), new GroovyScriptEngine())
+  container.addConnector(new WebSocketConnector(8080, "/ws", true))
+} else {
+  shell = new ShellAgent(new ConsoleShell(), new GroovyScriptEngine())
+}
+shell.addInitrc("cls://org.arl.fjage.shell.fshrc");
 container.add 'shell', shell
 platform.start()

fjage.sh

@@ -1,25 +1,24 @@
 #!/bin/bash
 #
 # Usage:
-#   ./fjage.sh [-gui] [-port port] [-baud baud] [-rs232 devname]
+#   ./fjage.sh [-web] [-port port] [-baud baud] [-rs232 devname]
 
 CLASSPATH=.`find build/libs -name *.jar -exec /bin/echo -n :'{}' \;`
 export CLASSPATH=$CLASSPATH:samples
 
 # Cygwin/Windows uses a ";" classpath separator
 if [ $(expr "$(uname -s)" : 'CYGWIN.*') -gt 0 ];then
   CLASSPATH=`echo "$CLASSPATH" | sed 's/:/;/g'`
-  TERMOPT="-Djline.terminal=jline.UnixTerminal"
 fi
 
 # process command line options
-GUI=false
+WEB=false
 OPT1=
 while [[ $1 == -* ]]
 do
   OPT=$1
-  if [ $OPT = "-gui" ]; then
-    GUI=true
+  if [ $OPT = "-web" ]; then
+    WEB=true
   elif [ $OPT = "-port" ]; then
     shift
     OPT1="$OPT1 -Dfjage.port=$1"
@@ -37,4 +36,4 @@ do
 done
 
 mkdir -p logs
-java -cp "$CLASSPATH" -Dfjage.gui=$GUI $TERMOPT $OPT1 org.arl.fjage.shell.GroovyBoot $@ etc/initrc.groovy
+java -cp "$CLASSPATH" -Dfjage.web=$WEB $OPT1 org.arl.fjage.shell.GroovyBoot $@ etc/initrc.groovy

src/main/groovy/org/arl/fjage/shell/BaseGroovyScript.groovy

@@ -12,7 +12,7 @@ package org.arl.fjage.shell;
 
 import java.util.logging.*;
 import org.arl.fjage.*;
-import org.codehaus.groovy.control.customizers.ImportCustomizer
+import org.codehaus.groovy.control.customizers.ImportCustomizer;
 
 /**
  * Methods and attributes available to Groovy scripts.
@@ -50,20 +50,39 @@ abstract class BaseGroovyScript extends Script {
    *
    * @param name name of class or package to import.
    */
-  def shellImport(String name) {
+  def export(String name) {
     Binding binding = getBinding();
     if (binding.hasVariable('imports')) {
       ImportCustomizer imports = binding.getVariable('imports');
-      if (name.endsWith('.*')) imports.addStarImport(name[0..-3]);
-      else imports.addImport(name);
+      name = name.trim();
+      if (name.startsWith("static ")) {
+        name = name.substring(7);
+        if (name.endsWith('.*')) imports.addStaticStars(name[0..-3]);
+        else {
+          int n = name.lastIndexOf('.');
+          if (n < 0) throw new FjageError('Bad static import');
+          imports.addStaticImport(name.substring(0, n), name.substring(n+1));
+        }
+      } else {
+        if (name.endsWith('.*')) imports.addStarImport(name[0..-3]);
+        else imports.addImport(name);
+      }
+      return null;
     }
   }
 
   /**
-   * Do not use include(), use shellImport() instead.
+   * Do not use shellImport(), use export() instead.
+   */
+  def shellImport(String name) {
+    throw new FjageError('shellImport() has been superceded by export()');
+  }
+
+  /**
+   * Do not use include(), use export() instead.
    */
   def include(String name) {
-    throw new FjageError('include() has been superceded by shellImport()');
+    throw new FjageError('include() has been superceded by export()');
   }
 
   /**
@@ -154,6 +173,18 @@ abstract class BaseGroovyScript extends Script {
     return new AgentID(name);
   }
 
+  /**
+   * Gets the container in which the shell is running.
+   */
+  Container getContainer() {
+    Binding binding = getBinding();
+    if (binding.hasVariable('agent')) {
+      Agent a = binding.getVariable('agent');
+      return a.getContainer();
+    }
+    return null;
+  }
+
   /**
    * Lists all the services, along with a list of agents that provide them.
    *
@@ -305,40 +336,25 @@ abstract class BaseGroovyScript extends Script {
     return who();
   }
 
-  /**
-   * Display on console. This method clears the current line
-   * and displays output on it, followed by a newline.
-   *
-   * @param s object to display.
-   */
-  void println(def x) {
-    Binding binding = getBinding();
-    if (binding.hasVariable('out')) {
-      def out = binding.getVariable('out');
-      if (out != null) out.println(x.toString(), OutputType.OUTPUT);
-    }
+  @Override
+  void println() {
+    println('');
   }
 
-  /**
-   * Display on console. This method clears the current line
-   * and displays output on it, followed by a newline.
-   *
-   * @param s object to display.
-   * @param type type of output to display.
-   */
-  void println(def x, OutputType type) {
-    Binding binding = getBinding();
-    if (binding.hasVariable('out')) {
-      def out = binding.getVariable('out');
-      if (out != null) out.println(x.toString(), type);
-    }
+  @Override
+  void print(def x) {
+    println(x);
   }
 
-  /**
-   * Do not use print(), use println() only.
-   */
-  void print(def x) {
-    throw new FjageError("print() not supported, use println() instead");
+  @Override
+  void printf(String format, Object value) {
+    println(String.format(format, value));
+  }
+
+  @Override
+  @SuppressWarnings("overrides")
+  void printf(String format, Object[] value) {
+    println(String.format(format, value));
   }
 
   /**
@@ -387,6 +403,35 @@ abstract class BaseGroovyScript extends Script {
     }
   }
 
+  /**
+   * Run a nested Groovy script.
+   *
+   * @param file script to run.
+   * @param args arguments to pass to the script.
+   */
+  @Override
+  @SuppressWarnings("overrides")
+  void run(File file, String... args) {
+    Binding binding = getBinding();
+    def oldScript = binding.getVariable('script');
+    def oldArgs = binding.getVariable('args');
+    try {
+      if (binding.hasVariable('groovy')) {
+        GroovyShell groovy = binding.getVariable('groovy');
+        groovy.getClassLoader().clearCache();
+        List<?> arglist = new ArrayList<?>();
+        if (args != null && args.length > 0)
+          for (a in args)
+            arglist.add(a.toString());
+        binding.setVariable('script', file.getAbsoluteFile());
+        groovy.run(file, arglist);
+      }
+    } finally {
+      binding.setVariable('script', oldScript);
+      binding.setVariable('args', oldArgs);
+    }
+  }
+
   /**
    * Run a nested Groovy script.
    *