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fix: enhance apt command progress reporting and install dev tools

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This commit is contained in:
Даниил Грабарь
2026-05-22 17:20:57 +03:00
parent a1b9a21352
commit 58da9c0814
1 changed files with 78 additions and 38 deletions
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cobot/commands/local_setup.py
+78 -38
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@@ -6,6 +6,7 @@ import shutil
import subprocess
import tempfile
import threading
import time
import urllib.request
from pathlib import Path
from typing import Callable, List, Optional
@@ -103,10 +104,6 @@ def _run_apt_with_progress(
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.
# We read that pipe in a background thread so we can update the progress bar live.
# APT::Status-Fd заставляет apt писать строки прогресса в дескриптор канала, а не в stdout.
# Читаем этот канал в фоновом потоке, чтобы обновлять прогресс-бар в реальном времени.
r_fd, w_fd = os.pipe()
try:
proc = subprocess.Popen(
@@ -118,19 +115,23 @@ def _run_apt_with_progress(
pass_fds=(w_fd,),
)
finally:
# Close the write end in the parent process so the reader thread gets EOF when apt exits.
# 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)
done = threading.Event()
last_output = [time.monotonic()]
def _heartbeat() -> None:
while not done.wait(5):
idle = int(time.monotonic() - last_output[0])
if idle >= 5:
write(f"[dim]... waiting ({idle}s)[/dim]")
def _read_status() -> None:
with os.fdopen(r_fd, "r") as f:
for line in f:
# Format: dlstatus:N:PCT:MSG or pmstatus:NAME:PCT:MSG
parts = line.strip().split(":", 3)
if len(parts) >= 3:
try:
@@ -139,13 +140,18 @@ def _run_apt_with_progress(
pass
t = threading.Thread(target=_read_status, daemon=True)
hb = threading.Thread(target=_heartbeat, daemon=True)
t.start()
hb.start()
for line in proc.stdout:
last_output[0] = time.monotonic()
s = line.rstrip()
if s:
write(s)
proc.wait()
done.set()
t.join()
if proc.returncode not in (0, -9):
raise RuntimeError(f"Command failed: {cmd[0]}")
@@ -285,19 +291,38 @@ def _install_ros2_jazzy(
write("[green][ok][/green] ROS2 Jazzy Desktop installed")
# Install colcon if it is not already available. It is used to build the project packages.
# Устанавливаем colcon если он ещё не доступен. Он используется для сборки пакетов проекта.
def _install_colcon(write: Write) -> None:
if shutil.which("colcon"):
write("[green][ok][/green] colcon already available")
# Install colcon and rosdep if not already available.
# Устанавливаем colcon и rosdep если они ещё не доступны.
def _install_dev_tools(write: Write) -> None:
to_install = []
if not shutil.which("colcon"):
to_install.append("python3-colcon-common-extensions")
if not shutil.which("rosdep"):
to_install.append("python3-rosdep")
if not to_install:
write("[green][ok][/green] Dev tools already installed")
return
write("[cyan][*][/cyan] Installing colcon...")
write(f"[cyan][*][/cyan] Installing: {', '.join(to_install)}...")
_run_logged(
["sudo", "apt-get", "install", "-y", "--no-install-recommends",
"python3-colcon-common-extensions"] + _APT_TIMEOUTS,
["sudo", "apt-get", "install", "-y", "--no-install-recommends"] + to_install + _APT_TIMEOUTS,
write, _APT_ENV,
)
write("[green][ok][/green] colcon installed")
write("[green][ok][/green] Dev tools installed")
_ROSDEP_SOURCES = Path("/etc/ros/rosdep/sources.list.d/20-default.list")
# Initialize and update rosdep. Safe to call on repeated runs.
# Инициализируем и обновляем rosdep. Безопасно вызывать при повторных запусках.
def _setup_rosdep(write: Write) -> None:
if not _ROSDEP_SOURCES.exists():
write("[cyan][*][/cyan] Initializing rosdep...")
_run_logged(["sudo", "rosdep", "init"], write)
else:
write("[green][ok][/green] rosdep already initialized")
write("[cyan][*][/cyan] Updating rosdep...")
_run_logged(["rosdep", "update", "--rosdistro", "jazzy"], write)
# Add "source /opt/ros/jazzy/setup.bash" to the user's shell config file.
@@ -322,12 +347,12 @@ def _task_install_jazzy(screen: LogScreen) -> None:
try:
# Step 1 — locale (0 → 5 %)
screen.set_progress(0, "Setting up locale...")
screen.write("[bold]Step 1 / 5 — Locale[/bold]")
screen.write("[bold]Step 1 / 6 — Locale[/bold]")
_setup_locale(screen.write)
# Step 2 — ROS2 repo (5 → 20 %)
screen.set_progress(5, "Adding ROS2 repository...")
screen.write("\n[bold]Step 2 / 5 — ROS2 repository[/bold]")
screen.write("\n[bold]Step 2 / 6 — ROS2 repository[/bold]")
_add_ros2_repo(
screen.write,
on_progress=lambda p: screen.set_progress(5 + p * 0.15),
@@ -337,26 +362,31 @@ def _task_install_jazzy(screen: LogScreen) -> None:
if screen.is_stopped():
return
# Step 3 — ROS2 Jazzy (20 → 85 %)
# Step 3 — ROS2 Jazzy Desktop (20 → 82 %)
screen.set_progress(20, "Installing ROS2 Jazzy Desktop...")
screen.write("\n[bold]Step 3 / 5 — ROS2 Jazzy Desktop[/bold]")
screen.write("\n[bold]Step 3 / 6 — ROS2 Jazzy Desktop[/bold]")
_install_ros2_jazzy(
screen.write,
on_progress=lambda p: screen.set_progress(20 + p * 0.65),
on_progress=lambda p: screen.set_progress(20 + p * 0.62),
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]")
_install_colcon(screen.write)
# Step 4 — dev tools (82 → 90 %)
screen.set_progress(82, "Installing dev tools...")
screen.write("\n[bold]Step 4 / 6 — Dev tools (colcon, rosdep)[/bold]")
_install_dev_tools(screen.write)
# Step 5 — shell rc (92 → 100 %)
screen.set_progress(92, "Configuring shell...")
screen.write("\n[bold]Step 5 / 5 — Shell configuration[/bold]")
# Step 5 — rosdep (90 → 96 %)
screen.set_progress(90, "Setting up rosdep...")
screen.write("\n[bold]Step 5 / 6 — rosdep[/bold]")
_setup_rosdep(screen.write)
# Step 6 — shell rc (96 → 100 %)
screen.set_progress(96, "Configuring shell...")
screen.write("\n[bold]Step 6 / 6 — Shell configuration[/bold]")
_setup_shell_rc(screen.write)
screen.set_progress(100, "Done")
@@ -381,25 +411,35 @@ def _task_build(screen: LogScreen) -> None:
screen.finish(False)
return
# Count packages first so we can show X/total in the progress label.
# Сначала считаем пакеты, чтобы показывать X/всего в подписи прогресса.
# Step 1: install all src/ dependencies via rosdep (0 → 25 %)
screen.set_progress(0, "Installing dependencies...")
screen.write("[bold]Step 1 / 2 — rosdep install[/bold]\n")
_run_logged(
["rosdep", "install", "--from-paths", "src", "-i", "-r", "-y"],
screen.write,
cwd=_PROJECT_DIR,
register_proc=screen.set_proc,
)
if screen.is_stopped():
return
# Step 2: build with colcon (25 → 100 %)
screen.set_progress(25, "Building...")
list_result = subprocess.run(
["colcon", "list"], capture_output=True, text=True, cwd=_PROJECT_DIR,
)
total = max(len([l for l in list_result.stdout.splitlines() if l.strip()]), 1)
screen.write(f"[bold]Building {total} package(s) with colcon[/bold]\n")
screen.set_progress(0, f"0 / {total} packages done")
screen.write(f"\n[bold]Step 2 / 2 — colcon build ({total} packages)[/bold]\n")
built = 0
def _track(line: str) -> None:
nonlocal built
screen.write(line)
# colcon prints "Finished <<<" or "Failed <<<" when each package is done.
# colcon печатает "Finished <<<" или "Failed <<<" когда каждый пакет готов.
if "Finished <<<" in line or "Failed <<<" in line:
built += 1
screen.set_progress(built / total * 100, f"{built} / {total} packages done")
pct = 25 + built / total * 75
screen.set_progress(pct, f"{built} / {total} packages done")
_run_logged(["colcon", "build", "--symlink-install"], _track, cwd=_PROJECT_DIR, register_proc=screen.set_proc)