From 19d50d2c09bf21020cb753376bee452d43d74804 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?=
 =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= <grabardm@ml-dev.ru>
Date: Sat, 23 May 2026 09:43:26 +0300
Subject: [PATCH] fix: enhance scripts to keep sudo credentials alive during
 installation

---
 cobot/commands/run.py          | 27 ++++++++++++++++-----------
 scripts/setup_ros2_desktop.sh  |  9 +++++++++
 scripts/setup_ros2_ros_base.sh |  9 +++++++++
 3 files changed, 34 insertions(+), 11 deletions(-)

diff --git a/cobot/commands/run.py b/cobot/commands/run.py
index 887127f..a0381d0 100644
--- a/cobot/commands/run.py
+++ b/cobot/commands/run.py
@@ -90,24 +90,29 @@ def _ask(step: str, question: str, options: List[str], default: str) -> Optional
 
 
 def _detect_webots_home() -> str:
-    """Return the WEBOTS_HOME path for the locally installed Webots.
+    """Return the WEBOTS_HOME path for the locally installed Linux Webots.
 
-    Checks the environment variable first, then the default deb install path,
-    then resolves the 'webots' symlink to find the real installation directory.
-    Returns an empty string if Webots cannot be located.
+    Validates that the candidate directory contains the Linux 'webots' binary
 
-    Возвращает путь WEBOTS_HOME для локально установленного Webots.
-    Сначала проверяет переменную окружения, затем стандартный путь deb-установки,
-    затем разворачивает симлинк 'webots' до реальной директории установки.
-    Возвращает пустую строку если Webots не найден.
+    Возвращает путь WEBOTS_HOME для локально установленного Linux Webots.
     """
+    def _is_linux_webots(home: str) -> bool:
+        # Accept only directories that have the Linux 'webots' binary directly inside.
+        # Принимаем только директории с Linux-бинарником 'webots' напрямую внутри.
+        return (Path(home) / "webots").is_file()
+
     if "WEBOTS_HOME" in os.environ:
-        return os.environ["WEBOTS_HOME"]
-    if _WEBOTS_DEFAULT_HOME.is_dir():
+        home = os.environ["WEBOTS_HOME"]
+        if _is_linux_webots(home):
+            return home
+        return ""
+    if _WEBOTS_DEFAULT_HOME.is_dir() and _is_linux_webots(str(_WEBOTS_DEFAULT_HOME)):
         return str(_WEBOTS_DEFAULT_HOME)
     webots_bin = shutil.which("webots")
     if webots_bin:
-        return str(Path(webots_bin).resolve().parent)
+        home = str(Path(webots_bin).resolve().parent)
+        if _is_linux_webots(home):
+            return home
     return ""
 
 
diff --git a/scripts/setup_ros2_desktop.sh b/scripts/setup_ros2_desktop.sh
index 7743aa5..4e79c41 100755
--- a/scripts/setup_ros2_desktop.sh
+++ b/scripts/setup_ros2_desktop.sh
@@ -8,6 +8,15 @@ export DEBIAN_FRONTEND=noninteractive
 
 PROGRESS() { echo "PROGRESS:$1:$2"; }
 
+# Keep sudo credentials alive throughout the installation so the build step that
+# follows (rosdep/colcon) does not trigger a password prompt inside the TUI.
+# Обновляем sudo-токен в фоне чтобы он не истёк за время установки и не запросил
+# пароль повторно во время rosdep/colcon внутри TUI.
+sudo -v
+( while true; do sudo -v; sleep 240; done ) &
+_SUDO_KEEPALIVE_PID=$!
+trap 'kill "$_SUDO_KEEPALIVE_PID" 2>/dev/null || true' EXIT
+
 PROGRESS 0 "Checking dpkg state..."
 echo "Checking dpkg state..."
 sudo dpkg --configure -a
diff --git a/scripts/setup_ros2_ros_base.sh b/scripts/setup_ros2_ros_base.sh
index a12efbc..fd07b31 100755
--- a/scripts/setup_ros2_ros_base.sh
+++ b/scripts/setup_ros2_ros_base.sh
@@ -8,6 +8,15 @@ export DEBIAN_FRONTEND=noninteractive
 
 PROGRESS() { echo "PROGRESS:$1:$2"; }
 
+# Keep sudo credentials alive throughout the installation so the build step that
+# follows (rosdep/colcon) does not trigger a password prompt inside the TUI.
+# Обновляем sudo-токен в фоне чтобы он не истёк за время установки и не запросил
+# пароль повторно во время rosdep/colcon внутри TUI.
+sudo -v
+( while true; do sudo -v; sleep 240; done ) &
+_SUDO_KEEPALIVE_PID=$!
+trap 'kill "$_SUDO_KEEPALIVE_PID" 2>/dev/null || true' EXIT
+
 PROGRESS 0 "Checking dpkg state..."
 echo "Checking dpkg state..."
 sudo dpkg --configure -a