feat(workspace): preserve terminal sessions across view changes

package.json

@@ -1,6 +1,6 @@
 {
   "name": "lms",
-  "version": "1.1.19",
+  "version": "1.1.20",
   "description": "Autonomy Studio LMS Electron app",
   "main": "./out/main/index.js",
   "author": {

src/main/index.ts

@@ -977,7 +977,7 @@ function buildCustomModuleFiles(input: CustomModuleScaffoldInput): Record<string
       "    maintainer_email='student@autonomy-studio.local',",
       `    description='${module.name}',`,
       "    license='Apache-2.0',",
-      `    entry_points={{'console_scripts': ['${executable} = ${module.packageName}.node:main']}},`,
+      `    entry_points={'console_scripts': ['${executable} = ${module.packageName}.node:main']},`,
       ')',
       '',
     ].join('\n'),
@@ -4287,7 +4287,13 @@ function buildNav2DockerBuildScript(): string {
     'fi',
     '',
     'MODULE_PATH="$MODULE_ROOT/$MODULE_FOLDER"',
-    'test -d "$MODULE_PATH/src" || { echo "Module source is missing: $MODULE_FOLDER" >&2; exit 1; }',
+    'if [[ "$MODULE_FOLDER" == *lms-nav2-custom* ]]; then',
+    '  test -f "$MODULE_PATH/package.xml" || { echo "Custom module source is missing: $MODULE_FOLDER" >&2; exit 1; }',
+    '  SOURCE_BASE_PATH=.',
+    'else',
+    '  test -d "$MODULE_PATH/src" || { echo "Module source is missing: $MODULE_FOLDER" >&2; exit 1; }',
+    '  SOURCE_BASE_PATH=src',
+    'fi',
     'BUILD_CONTAINER="nav2-build-${TARGET}"',
     'cleanup() {',
     '  docker run --rm -v "$MODULE_ROOT:/modules" "$IMAGE" bash -lc "chown -R $(id -u):$(id -g) \'/modules/$MODULE_FOLDER/build\' \'/modules/$MODULE_FOLDER/install\' \'/modules/$MODULE_FOLDER/log\' 2>/dev/null || true" >/dev/null 2>&1 || true',
@@ -4302,10 +4308,13 @@ function buildNav2DockerBuildScript(): string {
     "  \"$IMAGE\" bash -lc '",
     '    set -e',
     '    source /opt/ros/humble/setup.bash',
-    '    mapfile -t paths < <(colcon list --base-paths src --paths-only)',
+    '    mapfile -t paths < <(colcon list --base-paths "$3" --paths-only)',
     '    ROSDEP_SKIP_ARGS=()',
+    '    if [[ "$1" == *lms-nav2-custom* ]]; then',
+    '      ROSDEP_SKIP_ARGS+=(--skip-keys ament_python)',
+    '    fi',
     '    if ! apt-cache show ros-humble-gazebo-ros >/dev/null 2>&1; then',
-    '      ROSDEP_SKIP_ARGS=(--skip-keys gazebo_ros)',
+    '      ROSDEP_SKIP_ARGS+=(--skip-keys gazebo_ros)',
     '    fi',
     "    rosdep install --from-paths \"${paths[@]}\" --ignore-src \"${ROSDEP_SKIP_ARGS[@]}\" \\",
     "      --dependency-types buildtool --dependency-types build \\",
@@ -4314,9 +4323,9 @@ function buildNav2DockerBuildScript(): string {
     '    if [[ "$1" == *lms-nav2-gazebo-slam* && "$1" != *lms-nav2-gazebo-slam3d* ]]; then',
     '      BUILD_TARGETS=(slam_pkg slam2d_pkg slam3d_pkg)',
     '    fi',
-    "    colcon --log-base log build --base-paths src --build-base build --install-base install \\",
+    "    colcon --log-base log build --base-paths \"$3\" --build-base build --install-base install \\",
     '      --executor sequential --cmake-args -DBUILD_TESTING=OFF --packages-up-to "${BUILD_TARGETS[@]}"',
-    "' bash \"$MODULE_FOLDER\" \"$TARGET\"",
+    "' bash \"$MODULE_FOLDER\" \"$TARGET\" \"$SOURCE_BASE_PATH\"",
     ''
   ].join('\n')
 }

src/renderer/src/App.tsx

@@ -2081,10 +2081,12 @@ function LocalPcWorkspaceMockup({
     fitTerminal,
     copyTerminalSelection,
     pasteTerminalClipboard,
-    startTerminalResize
+    startTerminalResize,
+    stopAllTerminalSessions
   } = useWorkspaceTerminal({
     moduleName: selectedModule?.name,
     moduleFolderName: selectedModule?.folderName,
+    openModuleNames: moduleTabs.map((module) => module.name),
     clonePathPreview,
     remoteWorkspace,
     getRemoteWorkspaceTarget,
@@ -2950,6 +2952,7 @@ function LocalPcWorkspaceMockup({
       setPendingEditorCloseRequest({ kind: 'workspace' })
       return
     }
+    stopAllTerminalSessions()
     onClose()
   }
   const performPendingEditorCloseRequest = (): void => {
@@ -2995,6 +2998,7 @@ function LocalPcWorkspaceMockup({
     }
 
     discardDirtyFiles(Object.keys(dirtyEditorFiles).filter((file) => dirtyEditorFiles[file]))
+    stopAllTerminalSessions()
     onClose()
   }
   const revealSearchMatch = (lineNumber: number, query: string): boolean => {

src/renderer/src/features/workspace/useWorkspaceTerminal.ts

@@ -10,9 +10,19 @@ type TerminalContextMenu = {
   y: number
 }
 
+type ManagedTerminalSession = {
+  moduleName: string
+  remoteWorkspace: boolean
+  attachedTerminal: XTerm | null
+  suppressedData: string[]
+  removeDataListener: () => void
+  removeSuppressListener: () => void
+}
+
 type UseWorkspaceTerminalOptions = {
   moduleName?: string | null
   moduleFolderName?: string | null
+  openModuleNames: string[]
   clonePathPreview: string
   remoteWorkspace: boolean
   getRemoteWorkspaceTarget: () => RemoteWorkspaceTarget
@@ -32,11 +42,13 @@ type UseWorkspaceTerminalResult = {
   copyTerminalSelection: () => void
   pasteTerminalClipboard: () => void
   startTerminalResize: (event: React.MouseEvent<HTMLDivElement>) => void
+  stopAllTerminalSessions: () => void
 }
 
 export function useWorkspaceTerminal({
   moduleName,
   moduleFolderName,
+  openModuleNames,
   clonePathPreview,
   remoteWorkspace,
   getRemoteWorkspaceTarget,
@@ -52,12 +64,31 @@ export function useWorkspaceTerminal({
   const terminalFitRef = useRef<FitAddon | null>(null)
   const terminalSessionIdRef = useRef<string | null>(null)
   const remoteTargetResolverRef = useRef(getRemoteWorkspaceTarget)
-  const terminalSuppressQueueRef = useRef<string[]>([])
   const terminalOutputBufferRef = useRef<Record<string, string>>({})
+  const terminalSessionsRef = useRef<Map<string, ManagedTerminalSession>>(new Map())
+  const resetKeyRef = useRef(resetKey)
   const [terminalPanelHeight, setTerminalPanelHeight] = useState(235)
 
   remoteTargetResolverRef.current = getRemoteWorkspaceTarget
 
+  const stopTerminalSession = (sessionId: string): void => {
+    const session = terminalSessionsRef.current.get(sessionId)
+    if (!session) return
+
+    session.attachedTerminal = null
+    session.removeDataListener()
+    session.removeSuppressListener()
+    terminalSessionsRef.current.delete(sessionId)
+    delete terminalOutputBufferRef.current[sessionId]
+
+    if (session.remoteWorkspace) window.remoteWorkspace.terminal.stop(sessionId)
+    else window.localWorkspace.terminal.stop(sessionId)
+  }
+
+  const stopAllTerminalSessions = (): void => {
+    Array.from(terminalSessionsRef.current.keys()).forEach(stopTerminalSession)
+  }
+
   const fitTerminal = (): void => {
     terminalFitRef.current?.fit()
   }
@@ -115,6 +146,21 @@ export function useWorkspaceTerminal({
     document.addEventListener('mouseup', onMouseUp)
   }
 
+  const openModuleNamesKey = openModuleNames.join('\u0000')
+
+  useEffect(() => {
+    const openModuleNameSet = new Set(openModuleNames)
+    Array.from(terminalSessionsRef.current.entries()).forEach(([sessionId, session]) => {
+      if (!openModuleNameSet.has(session.moduleName)) stopTerminalSession(sessionId)
+    })
+  }, [openModuleNamesKey])
+
+  useEffect(() => {
+    if (resetKeyRef.current === resetKey) return
+    resetKeyRef.current = resetKey
+    stopAllTerminalSessions()
+  }, [resetKey])
+
   useEffect(() => {
     if (!moduleName || !terminalActive || !terminalHostRef.current || terminalRef.current) return
     const terminalSessionId = getModuleTerminalSessionId(moduleName)
@@ -164,22 +210,36 @@ export function useWorkspaceTerminal({
     terminalFitRef.current = fitAddon
 
     const terminalApi = remoteWorkspace ? window.remoteWorkspace.terminal : window.localWorkspace.terminal
-    const removeDataListener = terminalApi.onData((data) => {
+    let terminalSession = terminalSessionsRef.current.get(terminalSessionId)
-      const suppressQueue = terminalSuppressQueueRef.current
+    if (!terminalSession || terminalSession.remoteWorkspace !== remoteWorkspace) {
-      if (suppressQueue.length && suppressQueue[0] === data) {
+      if (terminalSession) stopTerminalSession(terminalSessionId)
-        suppressQueue.shift()
-        return
-      }
 
-      const nextData = stripInternalTerminalCommands(data)
+      const suppressedData: string[] = []
-      if (nextData) {
+      const removeDataListener = terminalApi.onData((data) => {
+        if (suppressedData.length && suppressedData[0] === data) {
+          suppressedData.shift()
+          return
+        }
+
+        const nextData = stripInternalTerminalCommands(data)
+        if (!nextData) return
         terminalOutputBufferRef.current[terminalSessionId] = `${terminalOutputBufferRef.current[terminalSessionId] ?? ''}${nextData}`.slice(-60000)
-        term.write(nextData)
+        terminalSessionsRef.current.get(terminalSessionId)?.attachedTerminal?.write(nextData)
+      }, terminalSessionId)
+      const removeSuppressListener = terminalApi.onSuppressData((data) => {
+        suppressedData.push(data)
+      }, terminalSessionId)
+      terminalSession = {
+        moduleName,
+        remoteWorkspace,
+        attachedTerminal: null,
+        suppressedData,
+        removeDataListener,
+        removeSuppressListener
       }
-    }, terminalSessionId)
+      terminalSessionsRef.current.set(terminalSessionId, terminalSession)
-    const removeSuppressListener = terminalApi.onSuppressData((data) => {
+    }
-      terminalSuppressQueueRef.current.push(data)
+    terminalSession.attachedTerminal = term
-    }, terminalSessionId)
     const inputDisposable = term.onData((data) => terminalApi.write(data, terminalSessionId))
 
     let sizeSyncTimer: number | null = null
@@ -215,9 +275,10 @@ export function useWorkspaceTerminal({
       })
     })
     void startTerminal.then((started) => {
+      if (disposed || !started) return
       fitAddon.fit()
-      if (!started) return
       sizeSyncTimer = window.setTimeout(() => {
+        if (disposed) return
         fitAddon.fit()
         if (remoteWorkspace) {
           void window.remoteWorkspace.terminal.resize(remoteTargetResolverRef.current(), term.cols, term.rows, terminalSessionId)
@@ -237,19 +298,14 @@ export function useWorkspaceTerminal({
       window.removeEventListener('resize', onResize)
       terminalElement.removeEventListener('contextmenu', handleTerminalContextMenu)
       terminalElement.removeEventListener('mousedown', focusTerminal)
-      removeDataListener()
+      const currentSession = terminalSessionsRef.current.get(terminalSessionId)
-      removeSuppressListener()
+      if (currentSession?.attachedTerminal === term) currentSession.attachedTerminal = null
       inputDisposable.dispose()
       if (sizeSyncTimer !== null) window.clearTimeout(sizeSyncTimer)
-      // Full-screen programs such as vi cannot be restored from a partial raw output buffer.
-      delete terminalOutputBufferRef.current[terminalSessionId]
-      if (remoteWorkspace) window.remoteWorkspace.terminal.stop(terminalSessionId)
-      else window.localWorkspace.terminal.stop(terminalSessionId)
       term.dispose()
       terminalRef.current = null
       terminalFitRef.current = null
       terminalSessionIdRef.current = null
-      terminalSuppressQueueRef.current = []
     }
   }, [clonePathPreview, dark, moduleFolderName, moduleName, remoteWorkspace, resetKey, terminalActive])
 
@@ -262,6 +318,7 @@ export function useWorkspaceTerminal({
     fitTerminal,
     copyTerminalSelection,
     pasteTerminalClipboard,
-    startTerminalResize
+    startTerminalResize,
+    stopAllTerminalSessions
   }
 }