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fix: add process tracking and cancellation support to command execution

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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
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cobot/commands/local_setup.py
+86 -31
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@@ -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.