Merge pull request #250 from rdeits/hf/julia-1.10

Add PrecompileTools.jl dependency and method to close server

Author: ferrolho

Project.toml

@@ -1,7 +1,7 @@
 name = "MeshCat"
 uuid = "283c5d60-a78f-5afe-a0af-af636b173e11"
 authors = ["Robin Deits <[email protected]>"]
-version = "0.16.0"
+version = "0.16.1"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
@@ -17,6 +17,7 @@ Logging = "56ddb016-857b-54e1-b83d-db4d58db5568"
 MsgPack = "99f44e22-a591-53d1-9472-aa23ef4bd671"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
+PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 Sockets = "6462fe0b-24de-5631-8697-dd941f90decc"
@@ -36,6 +37,7 @@ MeshIO = "0.4"
 Meshing = "0.5"
 MsgPack = "1"
 Parameters = "0.10, 0.11, 0.12"
+PrecompileTools = "1"
 Requires = "0.5, 1"
 Rotations = "1.3"
 StaticArrays = "0.10, 0.11, 0.12, 1"

src/MeshCat.jl

@@ -130,5 +130,7 @@ function __init__()
     setup_integrations()
 end
 
+# Code to "exercise" the package - see https://julialang.github.io/PrecompileTools.jl/stable/
+include("./precompile.jl")
 
 end

src/precompile.jl

@@ -0,0 +1,6 @@
+import PrecompileTools
+
+PrecompileTools.@compile_workload begin
+    vis = Visualizer()
+    close_server!(vis.core)
+end

src/visualizer.jl

@@ -2,18 +2,19 @@
 Low-level type which manages the actual meshcat server. See [`Visualizer`](@ref)
 for the public-facing interface.
 """
-struct CoreVisualizer
+mutable struct CoreVisualizer
     tree::SceneNode
     connections::Set{HTTP.WebSockets.WebSocket}
     host::IPAddr
     port::Int
+    server::HTTP.Server
 
     function CoreVisualizer(host::IPAddr = ip"127.0.0.1", default_port=8700)
         connections = Set([])
         tree = SceneNode()
         port = find_open_port(host, default_port, 500)
         core = new(tree, connections, host, port)
-        start_server(core)
+        core.server = start_server(core)
         return core
     end
 end
@@ -53,14 +54,22 @@ function start_server(core::CoreVisualizer)
         if HTTP.WebSockets.isupgrade(http.message)
             HTTP.WebSockets.upgrade(http) do websocket
                 push!(core.connections, websocket)
-                send_scene(core, websocket)
+                send_scene(core.tree, websocket)
                 wait()
             end
         else
             HTTP.streamhandler(router)(http)
         end
     end
     @info "MeshCat server started. You can open the visualizer by visiting the following URL in your browser:\n$(url(core))"
+    return server
+end
+
+function close_server!(core::CoreVisualizer)
+    if !isnothing(core.server) && isopen(core.server)
+        HTTP.close(core.server)
+        @info "MeshCat server closed."
+    end
 end
 
 function url(core::CoreVisualizer)
@@ -95,8 +104,8 @@ function update_tree!(core::CoreVisualizer, cmd::SaveImage, data)
     nothing
 end
 
-function send_scene(core::CoreVisualizer, connection)
-    foreach(core.tree) do node
+function send_scene(tree::SceneNode, connection)
+    foreach(tree) do node
         if node.object !== nothing
             HTTP.WebSockets.send(connection, node.object)
         end