Runtime package for templated nodes

Projects/hello_ros/docker-compose.yml

@@ -6,4 +6,4 @@ services:
     working_dir: /workspace
     tty: true
     volumes:
-      - "/Users/trieutran/BROS/Projects/hello_ros/workspace:/workspace"
+      - "/Users/trieutran/BROS2/Projects/hello_ros/workspace:/workspace"

README.md

@@ -26,8 +26,8 @@ docker ps
 ## 🧱 First-Time Setup
 
 ```bash
-git clone https://github.com/nhathout/BROS.git
-cd BROS
+git clone https://github.com/nhathout/BROS2.git
+cd BROS2
 ./apps/desktop-app/scripts/bootstrap.sh
 ```
 
@@ -41,20 +41,54 @@ It launches the packaged app once everything compiles. If the script adds an `nv
 
 ## ⏳ Daily Development
 
-From a bootstrapped workspace, start the dev environment from the desktop app folder:
+1. **Select Node 20.19.x** (every new shell resets your `nvm` version):
 
-```bash
-cd apps/desktop-app
-node node_modules/electron/install.js  
-pnpm dev
-```
+   ```bash
+   source ~/.nvm/nvm.sh
+   nvm use 20.19.0
+   ```
+
+2. **Refresh dependencies** after pulling changes:
+
+   ```bash
+   pnpm install -r
+   ```
+
+3. **Build the workspace libraries** so their `.d.ts` files exist for the Electron main process. Run each filter separately from the repo root (brace expansion is not supported):
+
+   ```bash
+   pnpm --filter @bros2/runtime build
+   pnpm --filter @bros2/shared build
+   pnpm --filter @bros2/ui build
+   pnpm --filter @bros2/validation build
+   pnpm --filter @bros2/runner build
+   ```
+
+4. **Emit the desktop main + preload bundle** (run from the repo root so the filter resolves):
+
+   ```bash
+   pnpm --filter ./apps/desktop-app build:main
+   ```
+
+   (Optional) Build the renderer bundle for production checks — also from the repo root:
+
+   ```bash
+   pnpm --filter ./apps/desktop-app build:renderer
+   ```
+
+5. **Start the dev environment** (Electron main + Vite renderer):
+
+   ```bash
+   pnpm --filter ./apps/desktop-app dev
+   ```
 
-`pnpm dev` runs the Electron main process (`dev:main`) and the Vite renderer (`dev:renderer`) concurrently. Keep this terminal open while developing. You can also run the same command from the repo root with `pnpm --filter ./apps/desktop-app dev`.
+   Keep this process running while you iterate. You can still `cd apps/desktop-app && pnpm dev`, but the filtered form avoids path mistakes.
 
-If you pull dependency changes later, refresh them with:
+If Electron complains about missing binaries, reinstall them once:
 
 ```bash
-pnpm install -r
+cd apps/desktop-app
+node node_modules/electron/install.js
 ```
 
 ## 🤖 ROS 2 Dev Notes
@@ -98,23 +132,54 @@ const { errors, warnings } = await window.ir.validate(ir);
 console.log({ issues, errors, warnings });
 ```
 
-## 🧹 Cleaning
+### Runtime bridge & ArrowKey publisher smoke test
 
-Wipe compiled artifacts across every workspace when you need a fresh build:
+The preload now exposes `window.runtime` alongside the runner and IR bridges. With the dev app running:
 
-```bash
-pnpm -r clean
+```js
+typeof window.runtime; // "object"
+const id = window.runtime.create("ArrowKeyPub", { topic: "keys/arrows" });
+window.runtime.start(id);
+// Press arrow keys while the Electron window is focused:
+// [publish] keys/arrows <- { key: "left", ts: ... }
+// [node:ArrowKeyPub_1] pressed: left
+window.runtime.stop(id);
+window.runtime.list(); // ["ArrowKeyPub_1"]
 ```
 
-To reset dependencies as well:
+If `window.runtime` is missing, run `pnpm --filter ./apps/desktop-app build:main` again to regenerate the preload bridges.
 
-```bash
-pnpm store prune
-rm -rf node_modules
-pnpm install -r
-```
+## 🧹 Cleaning & Full Rebuild
+
+1. Remove build outputs everywhere (this clears `dist/` folders and `tsconfig.main.tsbuildinfo`, ensuring the desktop main bundle re-emits `dist/main.js`):
+
+   ```bash
+   pnpm -r clean
+   ```
+
+2. Reset dependencies if things get out of sync:
+
+   ```bash
+   pnpm store prune   # optional
+   rm -rf node_modules
+   pnpm install -r
+   ```
+
+3. Rebuild the workspaces and desktop app using the daily workflow above. When `build:main` succeeds you should have:
+
+   ```
+   apps/desktop-app/dist/main.js
+   apps/desktop-app/dist/preload.js
+   apps/desktop-app/dist/remote/runtime-bridge.cjs
+   ```
+
+4. (Optional) Produce installers:
+
+   ```bash
+   pnpm -r build
+   ```
 
-After cleaning, rerun `pnpm dev` (or `./apps/desktop-app/scripts/bootstrap.sh`) to rebuild the app.
+   You may ignore macOS code-sign warnings on local development machines.
 
 ## 💡 Tips
 - Keep Docker running whenever you use `window.runner.*`; the runner manages containers in `Projects/`.

apps/desktop-app/package.json

@@ -1,25 +1,25 @@
 {
-  "name": "bros-desktop",
+  "name": "2-desktop",
   "private": true,
   "version": "0.1.0",
-  "description": "BROS Desktop — Electron + React (Vite) app for visual ROS2 development",
+  "description": "BROS2 Desktop — Electron + React (Vite) app for visual ROS2 development",
   "main": "dist/main.js",
   "type": "commonjs",
   "scripts": {
     "dev": "concurrently \"pnpm dev:main\" \"pnpm dev:renderer\"",
     "dev:main": "cross-env NODE_ENV=development TS_NODE_PROJECT=tsconfig.main.json electron ./electron-main.cjs",
     "dev:renderer": "vite --config src/renderer/vite.config.ts",
     "build": "pnpm clean && pnpm build:main && pnpm build:renderer && electron-builder",
-    "build:main": "tsc -p tsconfig.main.json",
+    "build:main": "tsc -p tsconfig.main.json && tsc -p tsconfig.runtime.json",
     "build:renderer": "vite build --config src/renderer/vite.config.ts",
     "start": "cross-env NODE_ENV=production electron ./dist/main.js",
-    "clean": "rimraf dist release",
+    "clean": "rimraf dist release tsconfig.main.tsbuildinfo",
     "typecheck": "pnpm tsc -b tsconfig.main.json && pnpm tsc --noEmit -p tsconfig.renderer.json",
     "postinstall": "electron-builder install-app-deps"
   },
   "build": {
-    "appId": "com.bros.desktop",
-    "productName": "BROS Desktop",
+    "appId": "com.bros2.desktop",
+    "productName": "BROS2 Desktop",
     "directories": {
       "output": "release"
     },
@@ -66,9 +66,11 @@
     "vite": "^7.1.7"
   },
   "dependencies": {
-    "@bros/runner": "workspace:*",
-    "@bros/ui": "workspace:*",
-    "@bros/validation": "workspace:*",
+    "@bros2/runtime": "workspace:*",
+    "@bros2/shared": "workspace:*",
+    "@bros2/runner": "workspace:*",
+    "@bros2/ui": "workspace:*",
+    "@bros2/validation": "workspace:*",
     "bootstrap": "^5.3.8",
     "dotenv": "^17.2.3",
     "express": "^5.1.0",

apps/desktop-app/scripts/bootstrap.sh

@@ -2,7 +2,7 @@
 set -euo pipefail
 
 # -------------------------------
-# BROS Bootstrap Script
+# BROS2 Bootstrap Script
 # -------------------------------
 # 1. Ensures NVM is installed
 # 2. Uses Node 20.19.0
@@ -16,7 +16,7 @@ PNPM_VERSION="10.17.1"
 NVM_INSTALL_URL="https://raw.githubusercontent.com/nvm-sh/nvm/v0.39.7/install.sh"
 AUTO_NVM_CONFIGURED=0
 
-echo "Bootstrapping BROS development environment..."
+echo "Bootstrapping BROS2 development environment..."
 
 # --- Install / Load NVM ---
 export NVM_DIR="${NVM_DIR:-$HOME/.nvm}"
@@ -50,7 +50,7 @@ AUTO_NVM_SNIPPET="nvm use $NODE_VERSION"
 if [ -w "$ZSHRC_PATH" ] && ! grep -Fq "$AUTO_NVM_SNIPPET" "$ZSHRC_PATH"; then
   echo "ℹ️ Enabling automatic 'nvm use $NODE_VERSION' in $ZSHRC_PATH"
   {
-    echo "\n# BROS bootstrap: ensure Node $NODE_VERSION via nvm"
+    echo "\n# BROS2 bootstrap: ensure Node $NODE_VERSION via nvm"
     echo "if [ -s \"$NVM_DIR/nvm.sh\" ]; then"
     echo "  . \"$NVM_DIR/nvm.sh\""
     echo "  nvm use $NODE_VERSION >/dev/null"
@@ -113,7 +113,7 @@ echo "Building renderer assets..."
 pnpm --filter ./apps/desktop-app build:renderer
 
 # --- Launch packaged Electron binary ---
-echo "Launching BROS desktop (Electron)…"
+echo "Launching BROS2 desktop (Electron)…"
 pnpm --filter ./apps/desktop-app start
 
 echo "Bootstrap complete!"

apps/desktop-app/src/auth.js

@@ -18,7 +18,7 @@ async function loginWithGitHub() {
         console.error("❌ No access_token returned from GitHub OAuth exchange.");
         return;
     }
-    await keytar_1.default.setPassword("BROS", "github", token.access_token);
+    await keytar_1.default.setPassword("BROS2", "github", token.access_token);
     console.log("✅ Token stored in keychain");
 }
 async function openOAuthWindow(authUrl, redirectUri) {

apps/desktop-app/src/auth.ts

@@ -25,7 +25,7 @@ export async function loginWithGitHub(): Promise<void> {
     return;
   }
 
-  await keytar.setPassword("BROS", "github", token.access_token);
+  await keytar.setPassword("BROS2", "github", token.access_token);
   console.log("✅ Token stored in keychain");
 }
 

apps/desktop-app/src/main.js

@@ -4,9 +4,9 @@ import { fileURLToPath } from "node:url";
 import { app, BrowserWindow, ipcMain, shell } from "electron";
 import express from "express";
 import dotenv from "dotenv";
-import { Runner } from "@bros/runner";
-import { buildIR } from "@bros/ui";
-import { validateIR } from "@bros/validation";
+import { Runner } from "@bros2/runner";
+import { buildIR } from "@bros2/ui";
+import { validateIR } from "@bros2/validation";
 // --- Setup ---
 dotenv.config();
 const __filename = fileURLToPath(import.meta.url);