Add ES6 module support (#214)

* Added Rollup

* Added yarn lockfile

* Removed references to COLLADA_LOADER_2

* Added es6 transpiler and rollup config, working on transpiling

* Touched up a couple potential mistypes prevent transpiler from working. 1 - removed explicit super.super() call from InteractiveMarker. 2 - Made Particles explicitly derive from THREE.Object3D.

* Rewrote Particles' method signatures in format consistent with rest of codebase

* Refactored updateMatrixWorld to be more statically analyzable

* ES6 modules properly compiling, Working on runtime errors

* Moved 'that' assignments happen *after* calls super constructors in derived classes

* Added missing super constructor call

* Removed assignment to read-only property causing a runtime error, added a relevant comment

* Moved all super constructor calls to preceed any use of 'this'

* Added shims for THREE and THREE extensions to support es6 compatible module extensions

* Cleanup and added examples for single page applications and using html imports in browsers

* Moved es6 support files to es6-support folder and renamed destination for es6 transpiled output

* Moved shims to top level

* Added build output

* Removed extra log

* Added angular app example

* Added react app example and touched up other SPA examples

* Updated ROSLIB import semantics

* Switched ColladaLoader shim from official ColladaLoader to the ros3djs fork

* Updated html-import example to use yarn like the other examples

* Updated outdated grunt plugins

* Fixed linter errors

* Updated grunt build process to build es6 output

* Switched from jshint to eslint, migrating rules and fixing lint issues

* Updated commonjs target to be es5

* Fixed pkg.module to use es6 module syntax, but es5 language features

* Fixed bug in Points class

* Switched from const to var for es5 compatibility

* Added PointCloud2 example for angular app

* Updated node version use by CI server

Author: keego

.eslintrc

@@ -0,0 +1,40 @@
+{
+  "env": {
+    "browser": true,
+    "commonjs": true,
+    "es6": true,
+    "mocha": true
+  },
+  "globals": {
+    "EventEmitter2": true,
+    "THREE": true,
+    "ROS3D": true,
+    "ROSLIB": true,
+    "requestAnimationFrame": true,
+    "cancelAnimationFrame": true
+  },
+  "parserOptions": {
+    "ecmaFeatures": {
+      "experimentalObjectRestSpread": true
+    },
+    "ecmaVersion": 5,
+    "sourceType": "module"
+  },
+  "rules": {
+    "semi": ["warn", "always"],
+    "curly": "error",
+    "eqeqeq": "error",
+    "wrap-iife": ["error", "any"],
+    "no-use-before-define": "off",
+    "new-cap": "error",
+    "no-caller": "error",
+    "dot-notation": "off",
+    "no-undef": "error",
+    "no-cond-assign": "off",
+    "no-eq-null": "off",
+    "no-proto": "off",
+    "strict": "off",
+    "quotes": ["error", "single"],
+    "linebreak-style": "error"
+  }
+}

.gitignore

@@ -2,3 +2,4 @@
 .vagrant
 node_modules
 doc
+src-esm

.jshintrc

@@ -1,7 +1,7 @@
 language: node_js
 
 node_js:
-  - "0.10"
+  - "8.9.4"
 
 branches:
   only:

.travis.yml

@@ -1,22 +1,40 @@
+const {
+  debugRules,
+  dependencies,
+  inheritance,
+  injectImports,
+  transpileToEs6
+} = require('./es6-transpiler');
+
+// Export Grunt config
 module.exports = function(grunt) {
 
   grunt.initConfig({
     pkg: grunt.file.readJSON('package.json'),
-    concat: {
-      build: {
-        src  : ['./src/*.js', './src/**/*.js'],
-        dest : './build/ros3d.js'
+    eslint: {
+      lint: {
+        options: {
+          configFile: '.eslintrc',
+        },
+        src: [
+          'Gruntfile.js',
+          './src/*.js',
+          './src/**/*.js',
+          './tests/*.js'
+        ],
+      },
+      fix: {
+        options: {
+          configFile: '<%= eslint.lint.options.configFile  %>',
+          fix: true
+        },
+        src: '<%= eslint.lint.src  %>',
       }
     },
-    jshint: {
-      options: {
-        jshintrc: '.jshintrc'
-      },
-      files: [
-        'Gruntfile.js',
-        './build/ros3d.js',
-        './tests/*.js'
-      ]
+    shell: {
+      build: {
+        command: 'rollup -c'
+      }
     },
     karma: {
       build: {
@@ -25,15 +43,6 @@ module.exports = function(grunt) {
         browsers: ['PhantomJS']
       }
     },
-    uglify: {
-      options: {
-        report: 'min'
-      },
-      build: {
-        src: './build/ros3d.js',
-        dest: './build/ros3d.min.js'
-      }
-    },
     watch: {
       dev: {
         options: {
@@ -51,7 +60,7 @@ module.exports = function(grunt) {
         },
         files: [
           'Gruntfile.js',
-          '.jshintrc',
+          '.eslintrc',
           './src/*.js',
           './src/**/*.js'
         ],
@@ -75,19 +84,85 @@ module.exports = function(grunt) {
           configure: 'jsdoc_conf.json'
         }
       }
+    },
+    pipe: {
+      transpile: {
+        options: {
+          process: transpileToEs6,
+        },
+        files: [{
+          expand: true,
+          cwd: 'src',
+          src: [
+            '*.js',
+            '**/*.js',
+          ],
+          dest: 'src-esm/',
+        }]
+      },
+      transpile_imports: {
+        options: {
+          process: injectImports,
+        },
+        files: [{
+          expand: true,
+          cwd: 'src-esm',
+          src: [
+            '*.js',
+            '**/*.js',
+          ],
+          dest: 'src-esm/',
+        }]
+      },
+      transpile_index: {
+        files: [{
+          expand: true,
+          cwd: 'es6-support',
+          src: [
+            'index.js'
+          ],
+          dest: 'src-esm/'
+        }]
+      }
+    },
+    execute: {
+      transpile: {
+        call: (grunt, options) => {
+          console.log();
+          if (debugRules.logInternalDepsAtEnd) {
+            console.log('Internal dependencies');
+            console.log(dependencies.internalToString());
+          }
+          if (debugRules.logExternalDepsAtEnd) {
+            console.log('External dependencies');
+            console.log(dependencies.externalToString());
+          }
+          if (debugRules.logInheritanceAtEnd) {
+            console.log('Inheritance hierarchy');
+            console.log(inheritance.toString());
+          }
+
+          console.log();
+        },
+      }
     }
   });
 
   grunt.loadNpmTasks('grunt-contrib-concat');
-  grunt.loadNpmTasks('grunt-contrib-jshint');
   grunt.loadNpmTasks('grunt-contrib-watch');
-  grunt.loadNpmTasks('grunt-contrib-uglify');
   grunt.loadNpmTasks('grunt-contrib-clean');
   grunt.loadNpmTasks('grunt-jsdoc');
   grunt.loadNpmTasks('grunt-karma');
+  grunt.loadNpmTasks('grunt-pipe');
+  grunt.loadNpmTasks('grunt-execute');
+  grunt.loadNpmTasks('grunt-shell');
+  grunt.loadNpmTasks('gruntify-eslint');
 
   grunt.registerTask('dev', ['concat', 'watch']);
-  grunt.registerTask('build', ['concat', 'jshint', 'uglify']);
+  grunt.registerTask('transpile', ['pipe', 'execute']);
+  grunt.registerTask('build', ['eslint:lint', 'pipe', 'shell']);
   grunt.registerTask('build_and_watch', ['watch']);
   grunt.registerTask('doc', ['clean', 'jsdoc']);
+  grunt.registerTask('lint', ['eslint:lint',]);
+  grunt.registerTask('lint-fix', ['eslint:fix',]);
 };

Gruntfile.js

@@ -94,6 +94,15 @@ Utilizes [mocha](https://mochajs.org/) and [chai](http://chaijs.com/) for in bro
 
 To run tests simply open `tests/index.html` in a web browser
 
+### Examples
+There are a variety of [examples](examples) of the different things that can be done with ros3djs.
+
+There are also some examples of how ros3djs can be used in different environments:
+
+- [Classic html script tag inclusion](examples)
+- [Modular html script tag inclusion](examples/html-import)
+- [Modular import for a Single Page Application](examples/single-page-application)
+
 ### License
 ros3djs is released with a BSD license. For full terms and conditions, see the [LICENSE](LICENSE) file.