fix: add process tracking and cancellation support to command execution

This commit is contained in:
Даниил Грабарь
2026-05-22 13:23:38 +10:00
parent 14337aa4e7
commit 4202421d5b
6 changed files with 224 additions and 73 deletions
+7 -5
View File
@@ -178,13 +178,15 @@ def _task_delete(screen: LogScreen, remove_ros: bool, remove_webots: bool) -> No
screen.set_progress(88, "Removing project directory...")
_remove_project_dir(screen.write)
screen.set_progress(100, "Done")
screen.write("\n[green]Project fully removed.[/green]")
screen.finish(True)
if not screen.is_stopped():
screen.set_progress(100, "Done")
screen.write("\n[green]Project fully removed.[/green]")
screen.finish(True)
except Exception as exc:
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
if not screen.is_stopped():
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
# Multi-step confirmation wizard before anything is deleted.
+49 -15
View File
@@ -53,6 +53,7 @@ def _image_exists() -> bool:
def _build_docs_image(
write: Write,
on_progress: Optional[Callable[[float], None]] = None,
register_proc: Optional[Callable] = None,
) -> bool:
write("[cyan][*][/cyan] Building documentation image (runs once)...")
# DOCKER_BUILDKIT=0 gives us "Step X/Y" lines that we can parse for progress.
@@ -62,6 +63,8 @@ def _build_docs_image(
["docker", "build", "-t", _IMAGE_NAME, str(_DOC_DIR)],
stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, env=env,
)
if register_proc:
register_proc(proc)
for line in proc.stdout:
s = line.rstrip()
if s:
@@ -72,6 +75,8 @@ def _build_docs_image(
step, total = int(m.group(1)), int(m.group(2))
on_progress(step / total * 100)
proc.wait()
if proc.returncode in (-9, -15):
return False
if proc.returncode == 0:
write("[green][ok][/green] Documentation image ready")
return True
@@ -86,25 +91,34 @@ def _task_up(screen: LogScreen, port: str) -> None:
if _is_running():
screen.write(f"[green]Docs already running at:[/green] http://localhost:{port}")
screen.write(" Stop with: [bold]cobot doc-setup down[/bold]")
screen.finish(True)
if not screen.is_stopped():
screen.finish(True)
return
if not _DOC_DIR.exists():
screen.write(f"[red]Doc directory not found:[/red] {_DOC_DIR}")
screen.finish(False)
if not screen.is_stopped():
screen.finish(False)
return
if not _image_exists():
screen.set_progress(0, "Building documentation image...")
if not _build_docs_image(
ok = _build_docs_image(
screen.write,
on_progress=lambda p: screen.set_progress(p * 0.85, "Building documentation image..."),
):
register_proc=screen.set_proc,
)
if screen.is_stopped():
return
if not ok:
screen.finish(False)
return
else:
screen.write("[dim]Documentation image already built, skipping.[/dim]")
if screen.is_stopped():
return
screen.set_progress(88, "Starting MkDocs server...")
screen.write("\n[cyan][*][/cyan] Starting MkDocs server...")
result = _docker(
@@ -116,6 +130,8 @@ def _task_up(screen: LogScreen, port: str) -> None:
_IMAGE_NAME, "serve", "--dev-addr=0.0.0.0:8000",
capture=True,
)
if screen.is_stopped():
return
if result.returncode != 0:
screen.write(f"[red]Failed to start container.[/red]\n{result.stderr}")
screen.finish(False)
@@ -125,11 +141,13 @@ def _task_up(screen: LogScreen, port: str) -> None:
screen.write(f"\n[green]Docs running at:[/green] http://localhost:{port}")
screen.write(" Edit files in [bold]doc/lwc-doc/docs/[/bold] — reloads automatically.")
screen.write(" Stop with: [bold]cobot doc-setup down[/bold]")
screen.finish(True)
if not screen.is_stopped():
screen.finish(True)
except Exception as exc:
screen.write(f"[red]Error:[/red] {exc}")
screen.finish(False)
if not screen.is_stopped():
screen.write(f"[red]Error:[/red] {exc}")
screen.finish(False)
# Stop the running docs container.
@@ -138,17 +156,21 @@ def _task_down(screen: LogScreen) -> None:
try:
if not _is_running():
screen.write("[yellow]Docs container is not running.[/yellow]")
screen.finish(True)
if not screen.is_stopped():
screen.finish(True)
return
screen.set_progress(30, "Stopping container...")
screen.write("[cyan][*][/cyan] Stopping documentation server...")
_docker("stop", _CONTAINER_NAME)
if screen.is_stopped():
return
screen.set_progress(100, "Done")
screen.write("[green][ok][/green] Container stopped.")
screen.finish(True)
except Exception as exc:
screen.write(f"[red]Error:[/red] {exc}")
screen.finish(False)
if not screen.is_stopped():
screen.write(f"[red]Error:[/red] {exc}")
screen.finish(False)
# Stop the container, remove the old image, rebuild it, and start a new container.
@@ -159,19 +181,27 @@ def _task_rebuild(screen: LogScreen, port: str) -> None:
screen.set_progress(5, "Stopping container...")
screen.write("[cyan][*][/cyan] Stopping existing container...")
_docker("stop", _CONTAINER_NAME)
if screen.is_stopped():
return
screen.write("[green][ok][/green] Stopped.")
if _image_exists():
screen.set_progress(15, "Removing old image...")
screen.write("[cyan][*][/cyan] Removing old image...")
_docker("rmi", "-f", _IMAGE_NAME)
if screen.is_stopped():
return
screen.write("[green][ok][/green] Image removed.")
screen.set_progress(20, "Building documentation image...")
if not _build_docs_image(
ok = _build_docs_image(
screen.write,
on_progress=lambda p: screen.set_progress(20 + p * 0.68, "Building documentation image..."),
):
register_proc=screen.set_proc,
)
if screen.is_stopped():
return
if not ok:
screen.finish(False)
return
@@ -184,6 +214,8 @@ def _task_rebuild(screen: LogScreen, port: str) -> None:
_IMAGE_NAME, "serve", "--dev-addr=0.0.0.0:8000",
capture=True,
)
if screen.is_stopped():
return
if result.returncode != 0:
screen.write(f"[red]Failed to start container.[/red]\n{result.stderr}")
screen.finish(False)
@@ -192,11 +224,13 @@ def _task_rebuild(screen: LogScreen, port: str) -> None:
screen.set_progress(100, "Server running")
screen.write(f"\n[green]Docs running at:[/green] http://localhost:{port}")
screen.write(" Stop with: [bold]cobot doc-setup down[/bold]")
screen.finish(True)
if not screen.is_stopped():
screen.finish(True)
except Exception as exc:
screen.write(f"[red]Error:[/red] {exc}")
screen.finish(False)
if not screen.is_stopped():
screen.write(f"[red]Error:[/red] {exc}")
screen.finish(False)
# One app handles all three actions (up/down/rebuild) by branching in on_mount.
+38 -14
View File
@@ -68,6 +68,7 @@ def _build_image(
on_progress: Optional[Callable[[float], None]] = None,
parent_tag: Optional[str] = None,
build_type: str = "release",
register_proc: Optional[Callable] = None,
) -> bool:
write(f"[cyan][*][/cyan] Building [bold]{name}[/bold]...")
# DOCKER_BUILDKIT=0 gives us "Step X/Y" lines in the output which we parse for progress.
@@ -84,6 +85,8 @@ def _build_image(
proc = subprocess.Popen(
cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, env=env,
)
if register_proc:
register_proc(proc)
for line in proc.stdout:
s = line.rstrip()
if s:
@@ -94,6 +97,8 @@ def _build_image(
step, total = int(m.group(1)), int(m.group(2))
on_progress(step / total * 100)
proc.wait()
if proc.returncode in (-9, -15):
return False
if proc.returncode == 0:
write(f"[green][ok][/green] {name}")
return True
@@ -102,12 +107,13 @@ def _build_image(
# Pull a Docker image from Hub and track progress by counting downloaded layers.
# Скачиваем Docker-образ с Hub и отслеживаем прогресс по количеству скачанных слоёв.
# Скачиваем Docker-образ с Hub и отслеживаем прогресс по количеством скачанных слоёв.
def _pull_image(
name: str,
tag: str,
write: Write,
on_progress: Optional[Callable[[float], None]] = None,
register_proc: Optional[Callable] = None,
) -> bool:
write(f"[cyan][*][/cyan] Pulling [bold]{name}[/bold] ({tag})...")
if on_progress:
@@ -117,6 +123,8 @@ def _pull_image(
["docker", "pull", tag],
stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True,
)
if register_proc:
register_proc(proc)
layers_total = 0
layers_done = 0
for line in proc.stdout:
@@ -132,6 +140,8 @@ def _pull_image(
if on_progress and layers_total > 0:
on_progress(5 + layers_done / layers_total * 90)
proc.wait()
if proc.returncode in (-9, -15):
return False
if proc.returncode == 0:
write(f"[green][ok][/green] {name}")
if on_progress:
@@ -156,6 +166,8 @@ def _task_execute(screen: LogScreen, cfg: _Config) -> None:
f"ROS {cfg.ros_version}{cfg.build_type}[/bold]\n"
)
for i, name in enumerate(chain):
if screen.is_stopped():
return
lo = i / n * 100
hi = (i + 1) / n * 100
screen.set_progress(lo, f"Image {i + 1}/{n}: building {name}...")
@@ -164,7 +176,8 @@ def _task_execute(screen: LogScreen, cfg: _Config) -> None:
dockerfile = _DOCKER_DIR / cfg.ros_version / name / "Dockerfile"
if not dockerfile.exists():
screen.write(f"[red]Dockerfile not found:[/red] {dockerfile}")
screen.finish(False)
if not screen.is_stopped():
screen.finish(False)
return
ctx = _PROJECT_DIR if name in _NEEDS_PROJECT_CTX else dockerfile.parent
parent_name = _IMAGE_PARENT.get(name)
@@ -172,23 +185,28 @@ def _task_execute(screen: LogScreen, cfg: _Config) -> None:
f"{cfg.image_prefix}:{parent_name}-{cfg.ros_version}"
if parent_name else None
)
if not _build_image(
ok = _build_image(
name, tag, dockerfile, ctx, screen.write,
on_progress=lambda p, lo=lo, hi=hi: screen.set_progress(
lo + p * (hi - lo) / 100, f"Image {i + 1}/{n}: building {name}..."
),
parent_tag=parent_tag,
build_type=cfg.build_type,
):
register_proc=screen.set_proc,
)
if screen.is_stopped():
return
if not ok:
screen.finish(False)
return
screen.set_progress(hi)
screen.set_progress(100, "All images built")
screen.write(
f"\n[green]Done.[/green] "
f"Images tagged [bold]{cfg.image_prefix}:<name>-{cfg.ros_version}[/bold]."
)
if not screen.is_stopped():
screen.set_progress(100, "All images built")
screen.write(
f"\n[green]Done.[/green] "
f"Images tagged [bold]{cfg.image_prefix}:<name>-{cfg.ros_version}[/bold]."
)
else:
short = "webots" if cfg.variant == "webots" else "iiwa"
@@ -199,20 +217,26 @@ def _task_execute(screen: LogScreen, cfg: _Config) -> None:
f"ROS {cfg.ros_version}{cfg.build_type}[/bold]\n"
)
screen.set_progress(0, f"Pulling {full_ref}...")
if not _pull_image(
ok = _pull_image(
short, full_ref, screen.write,
on_progress=lambda p: screen.set_progress(p, f"Pulling {full_ref}..."),
):
register_proc=screen.set_proc,
)
if screen.is_stopped():
return
if not ok:
screen.finish(False)
return
screen.set_progress(100, "Pull complete")
screen.write(f"\n[green]Done.[/green] Image ready: [bold]{full_ref}[/bold].")
screen.finish(True)
if not screen.is_stopped():
screen.finish(True)
except Exception as exc:
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
if not screen.is_stopped():
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
# Scan the docker/ directory for subdirectories named after ROS versions (e.g. jazzy).
+86 -31
View File
@@ -78,7 +78,13 @@ def _run_quiet(cmd: List[str], write: Write | None = None, env: dict | None = No
# Run a command and stream every output line to the log in real time.
# Запускаем команду и транслируем каждую строку вывода в лог в реальном времени.
def _run_logged(cmd: List[str], write: Write, env: dict | None = None, cwd=None) -> None:
def _run_logged(
cmd: List[str],
write: Write,
env: dict | None = None,
cwd=None,
register_proc: Callable | None = None,
) -> None:
proc = subprocess.Popen(
cmd,
stdout=subprocess.PIPE,
@@ -87,12 +93,14 @@ def _run_logged(cmd: List[str], write: Write, env: dict | None = None, cwd=None)
env=env or os.environ,
cwd=cwd,
)
if register_proc:
register_proc(proc)
for line in proc.stdout:
s = line.rstrip()
if s:
write(s)
proc.wait()
if proc.returncode != 0:
if proc.returncode not in (0, -9):
raise RuntimeError(f"Command failed: {cmd[0]}")
@@ -101,6 +109,7 @@ def _run_apt_with_progress(
write: Write,
on_progress: Callable[[float], None],
env: dict | None = None,
register_proc: Callable | None = None,
) -> None:
"""Run an apt command and feed real percentage from APT::Status-Fd to on_progress(0-100)."""
# APT::Status-Fd makes apt write progress lines to a pipe descriptor instead of stdout.
@@ -110,7 +119,7 @@ def _run_apt_with_progress(
r_fd, w_fd = os.pipe()
try:
proc = subprocess.Popen(
cmd + [f"-o", f"APT::Status-Fd={w_fd}"],
cmd + ["-o", f"APT::Status-Fd={w_fd}"],
stdout=subprocess.PIPE,
stderr=subprocess.STDOUT,
text=True,
@@ -122,6 +131,11 @@ def _run_apt_with_progress(
# Закрываем пишущий конец в родительском процессе, чтобы читающий поток получил EOF при выходе apt.
os.close(w_fd)
# Tell the caller about this process so it can be killed if the user cancels.
# Сообщаем вызывающему о процессе, чтобы его можно было завершить при отмене пользователем.
if register_proc:
register_proc(proc)
def _read_status() -> None:
with os.fdopen(r_fd, "r") as f:
for line in f:
@@ -141,7 +155,7 @@ def _run_apt_with_progress(
write(s)
proc.wait()
t.join()
if proc.returncode != 0:
if proc.returncode not in (0, -9):
raise RuntimeError(f"Command failed: {cmd[0]}")
@@ -162,7 +176,11 @@ def _setup_locale(write: Write) -> None:
# Add the official ROS2 apt repository and its signing key so we can install ROS2 packages.
# Добавляем официальный apt-репозиторий ROS2 и его ключ подписи, чтобы можно было установить пакеты ROS2.
def _add_ros2_repo(write: Write, on_progress: Optional[Callable[[float], None]] = None) -> None:
def _add_ros2_repo(
write: Write,
on_progress: Optional[Callable[[float], None]] = None,
register_proc: Callable | None = None,
) -> None:
def _prog(p: float) -> None:
if on_progress:
on_progress(p)
@@ -171,7 +189,6 @@ def _add_ros2_repo(write: Write, on_progress: Optional[Callable[[float], None]]
# Best-effort update - 60 second timeout so a bad mirror doesn't hang forever.
# Фоновое обновление с таймаутом 60 секунд, чтобы зависший зеркальный сервер не блокировал процесс.
# subprocess.run(["sudo", "apt-get", "update", "-qq"] + _APT_TIMEOUTS, capture_output=True, timeout=120)
subprocess.run(["sudo", "apt-get", "update"] + _APT_TIMEOUTS, capture_output=True, timeout=120)
_prog(15)
@@ -224,6 +241,7 @@ def _add_ros2_repo(write: Write, on_progress: Optional[Callable[[float], None]]
write,
lambda p: _prog(70 + p * 0.30),
_APT_ENV,
register_proc=register_proc,
)
write("[green][ok][/green] ROS2 repository ready")
_prog(100)
@@ -231,13 +249,18 @@ def _add_ros2_repo(write: Write, on_progress: Optional[Callable[[float], None]]
# Install the full ROS2 Jazzy Desktop and the developer tools (colcon, rosdep, etc.).
# Устанавливаем полный ROS2 Jazzy Desktop и инструменты разработчика (colcon, rosdep и т.д.).
def _install_ros2_jazzy(write: Write, on_progress: Optional[Callable[[float], None]] = None) -> None:
def _install_ros2_jazzy(
write: Write,
on_progress: Optional[Callable[[float], None]] = None,
register_proc: Callable | None = None,
) -> None:
write("[cyan][*][/cyan] Installing ros-jazzy-desktop and ros-dev-tools...")
_run_apt_with_progress(
["sudo", "apt-get", "install", "-y", "ros-jazzy-desktop", "ros-dev-tools"] + _APT_TIMEOUTS,
write,
on_progress or (lambda _: None),
_APT_ENV,
register_proc=register_proc,
)
write("[green][ok][/green] ROS2 Jazzy Desktop installed")
@@ -288,16 +311,24 @@ def _task_install_jazzy(screen: LogScreen) -> None:
_add_ros2_repo(
screen.write,
on_progress=lambda p: screen.set_progress(5 + p * 0.15),
register_proc=screen.set_proc,
)
if screen.is_stopped():
return
# Step 3 — ROS2 Jazzy (20 → 85 %)
screen.set_progress(20, "Installing ROS2 Jazzy Desktop...")
screen.write("\n[bold]Step 3 / 5 — ROS2 Jazzy Desktop[/bold]")
_install_ros2_jazzy(
screen.write,
on_progress=lambda p: screen.set_progress(20 + p * 0.65),
register_proc=screen.set_proc,
)
if screen.is_stopped():
return
# Step 4 — colcon (85 → 92 %)
screen.set_progress(85, "Installing colcon...")
screen.write("\n[bold]Step 4 / 5 — colcon[/bold]")
@@ -309,13 +340,15 @@ def _task_install_jazzy(screen: LogScreen) -> None:
_setup_shell_rc(screen.write)
screen.set_progress(100, "Done")
screen.write(
"\nRestart the terminal, then run [bold]cobot local-setup[/bold] again to build."
)
screen.finish(True)
if not screen.is_stopped():
screen.write(
"\nRestart the terminal, then run [bold]cobot local-setup[/bold] again to build."
)
screen.finish(True)
except Exception as exc:
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
if not screen.is_stopped():
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
# Build all project packages with colcon and track progress by counting finished packages.
@@ -348,14 +381,16 @@ def _task_build(screen: LogScreen) -> None:
built += 1
screen.set_progress(built / total * 100, f"{built} / {total} packages done")
_run_logged(["colcon", "build", "--symlink-install"], _track, cwd=_PROJECT_DIR)
_run_logged(["colcon", "build", "--symlink-install"], _track, cwd=_PROJECT_DIR, register_proc=screen.set_proc)
screen.set_progress(100, "Build complete")
screen.write("\nActivate workspace: [bold]source install/setup.bash[/bold]")
screen.finish(True)
if not screen.is_stopped():
screen.set_progress(100, "Build complete")
screen.write("\nActivate workspace: [bold]source install/setup.bash[/bold]")
screen.finish(True)
except Exception as exc:
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
if not screen.is_stopped():
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
# Webots version that matches the Docker images used in this project.
@@ -386,16 +421,31 @@ def _task_install_webots(screen: LogScreen) -> None:
screen.write(f"[dim]{_WEBOTS_DEB_URL}[/dim]\n")
screen.set_progress(0, "Downloading Webots...")
# urllib calls this hook periodically with how many bytes have been downloaded.
# urllib вызывает этот обратный вызов периодически с количеством скачанных байт.
def _hook(blocks: int, block_size: int, total: int) -> None:
if total > 0:
pct = min(blocks * block_size / total * 65, 65)
mb = blocks * block_size / 1_048_576
total_mb = total / 1_048_576
screen.set_progress(pct, f"Downloading... {mb:.0f} / {total_mb:.0f} MB")
# Download in 64 KB chunks so we can update the progress bar and bail out if the user
# cancels midway through instead of blocking in urlretrieve until the full file arrives.
# Скачиваем по 64 КБ, чтобы обновлять прогресс-бар и прерваться при отмене пользователем,
# а не блокироваться в urlretrieve до получения всего файла.
with urllib.request.urlopen(_WEBOTS_DEB_URL, timeout=30) as resp:
total = int(resp.headers.get("Content-Length", 0))
downloaded = 0
with open(deb_path, "wb") as f:
while True:
if screen.is_stopped():
return
chunk = resp.read(65536)
if not chunk:
break
f.write(chunk)
downloaded += len(chunk)
if total > 0:
pct = min(downloaded / total * 65, 65)
mb = downloaded / 1_048_576
total_mb = total / 1_048_576
screen.set_progress(pct, f"Downloading... {mb:.0f} / {total_mb:.0f} MB")
if screen.is_stopped():
return
urllib.request.urlretrieve(_WEBOTS_DEB_URL, deb_path, _hook)
screen.write("[green]Download complete.[/green]")
screen.set_progress(65, "Installing package...")
@@ -404,23 +454,28 @@ def _task_install_webots(screen: LogScreen) -> None:
stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
text=True,
)
screen.set_proc(proc)
for line in proc.stdout:
s = line.rstrip()
if s:
screen.write(s)
proc.wait()
if proc.returncode != 0:
if proc.returncode not in (0, -9):
screen.write("\n[red]Installation failed.[/red]")
screen.finish(False)
return
if screen.is_stopped():
return
screen.set_progress(100, "Done")
screen.write("\n[green]Webots installed successfully.[/green]")
screen.finish(True)
except Exception as exc:
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
if not screen.is_stopped():
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
# Minimal single-question app used between steps where a full wizard is not needed.
+17 -8
View File
@@ -32,6 +32,8 @@ def _task_update(screen: LogScreen) -> None:
["git", "fetch", "origin"],
cwd=_PROJECT_DIR, capture_output=True, text=True,
)
if screen.is_stopped():
return
if fetch.returncode != 0:
screen.write(f"[red]Fetch failed:[/red] {fetch.stderr.strip()}")
screen.finish(False)
@@ -46,9 +48,10 @@ def _task_update(screen: LogScreen) -> None:
).strip()
if behind == "0":
screen.set_progress(100, "Already up to date")
screen.write("[green][ok][/green] Already up to date.")
screen.finish(True)
if not screen.is_stopped():
screen.set_progress(100, "Already up to date")
screen.write("[green][ok][/green] Already up to date.")
screen.finish(True)
return
# Show which commits are coming in so the user knows what changed.
@@ -68,6 +71,8 @@ def _task_update(screen: LogScreen) -> None:
["git", "pull", "origin", branch],
capture_output=True, text=True, cwd=_PROJECT_DIR,
)
if screen.is_stopped():
return
if pull.returncode != 0:
for line in (pull.stdout + pull.stderr).splitlines():
if line.strip():
@@ -86,18 +91,22 @@ def _task_update(screen: LogScreen) -> None:
["uv", "tool", "install", "--editable", str(_PROJECT_DIR)],
capture_output=True, text=True,
)
if screen.is_stopped():
return
if reinstall.returncode == 0:
screen.write("[green][ok][/green] cobot reinstalled")
else:
screen.write(f"[yellow]Warning:[/yellow] reinstall failed — {reinstall.stderr.strip()}")
screen.set_progress(100, "Done")
screen.write("\n[green]Project updated successfully.[/green]")
screen.finish(True)
if not screen.is_stopped():
screen.set_progress(100, "Done")
screen.write("\n[green]Project updated successfully.[/green]")
screen.finish(True)
except Exception as exc:
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
if not screen.is_stopped():
screen.write(f"\n[red]Error:[/red] {exc}")
screen.finish(False)
class _UpdateApp(App[None]):