Refactor Docker and Local Setup Commands

- Enhanced the docker_setup.py to streamline image building and pulling processes with improved logging and error handling.
- Introduced a new LogScreen for better user feedback during long-running tasks.
- Updated local_setup.py to utilize logging for installation steps and improved error handling.
- Refactored robot_setup.py to simplify configuration saving and user interaction.
- Added a new LogScreen class in tui.py for consistent logging across different setup processes.
- Modified install.sh to adjust the installation directory for better organization.

cobot/commands/doc_setup.py

@@ -2,20 +2,15 @@ from __future__ import annotations
 
 import argparse
 import os
-import re
 import shutil
 import subprocess
 import sys
 from pathlib import Path
-from typing import List, Optional
+from typing import Callable, Optional
 
-from rich.console import Console
-from rich.progress import BarColumn, Progress, SpinnerColumn, TaskProgressColumn, TextColumn
 from textual.app import App
 
-from cobot.tui import SCREEN_CSS, InputScreen
+from cobot.tui import SCREEN_CSS, InputScreen, LogScreen
-
-_console = Console()
 
 _PROJECT_DIR = Path(__file__).parent.parent.parent
 _DOC_DIR = _PROJECT_DIR / "doc" / "lwc-doc"
@@ -23,150 +18,183 @@ _IMAGE_NAME = "lwc-docs"
 _CONTAINER_NAME = "lwc-docs"
 _DEFAULT_PORT = "8000"
 
-
+Write = Callable[[str], None]
-
-class _Wizard(App[Optional[str]]):
-    CSS = SCREEN_CSS
-
-    def on_mount(self) -> None:
-        self.push_screen(
-            InputScreen("Step 1 of 1", "Port to serve documentation on:", _DEFAULT_PORT),
-            self._got_port,
-        )
-
-    def _got_port(self, v: Optional[str]) -> None:
-        if v is None:
-            self.exit(None)
-            return
-        port = v.strip() or _DEFAULT_PORT
-        if not port.isdigit():
-            self.exit(_DEFAULT_PORT)
-        else:
-            self.exit(port)
 
 
 
 def _docker(*args: str, capture: bool = False) -> subprocess.CompletedProcess:
-    return subprocess.run(
+    return subprocess.run(["docker", *args], capture_output=capture, text=True)
-        ["docker", *args],
-        capture_output=capture,
-        text=True,
-    )
 
 
 def _is_running() -> bool:
-    result = _docker(
+    r = _docker("ps", "--filter", f"name={_CONTAINER_NAME}", "--format", "{{.Names}}", capture=True)
-        "ps", "--filter", f"name={_CONTAINER_NAME}", "--format", "{{.Names}}",
+    return _CONTAINER_NAME in r.stdout
-        capture=True,
-    )
-    return _CONTAINER_NAME in result.stdout
 
 
 def _image_exists() -> bool:
-    result = _docker("images", "-q", _IMAGE_NAME, capture=True)
+    return bool(_docker("images", "-q", _IMAGE_NAME, capture=True).stdout.strip())
-    return bool(result.stdout.strip())
 
 
-def _build_docs_image() -> bool:
+def _build_docs_image(write: Write) -> bool:
-    _console.print("[dim]Installing MkDocs plugins into the image (this runs once)...[/dim]")
+    write("[cyan][*][/cyan] Building documentation image (runs once)...")
     env = {**os.environ, "DOCKER_BUILDKIT": "0"}
     proc = subprocess.Popen(
         ["docker", "build", "-t", _IMAGE_NAME, str(_DOC_DIR)],
         stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
         text=True, env=env,
     )
-
-    captured: List[str] = []
-
-    with Progress(
-        SpinnerColumn(),
-        TextColumn("  [bold cyan]lwc-docs[/bold cyan]"),
-        BarColumn(bar_width=32),
-        TaskProgressColumn(),
-        console=_console,
-        transient=False,
-    ) as prog:
-        task = prog.add_task("", total=100)
-        total = 1
     for line in proc.stdout:
-            captured.append(line)
+        s = line.rstrip()
-            m = re.match(r"Step (\d+)/(\d+) :", line)
+        if s:
-            if m:
+            write(s)
-                step, total = int(m.group(1)), int(m.group(2))
-                prog.update(task, completed=step / total * 100)
-        prog.update(task, completed=100)
-
     proc.wait()
     if proc.returncode != 0:
-        _console.print("\n[red]Image build failed:[/red]")
+        write("[red]Image build failed.[/red]")
-        _console.print("".join(captured), highlight=False)
         return False
+    write("[green][ok][/green] Documentation image ready")
     return True
 
 
 
-def _cmd_up() -> None:
+def _task_up(screen: LogScreen, port: str) -> None:
+    try:
         if _is_running():
-        _console.print(f"[green]Docs are already running at:[/green] http://localhost:{_DEFAULT_PORT}")
+            screen.write(f"[green]Docs already running at:[/green] http://localhost:{port}")
-        _console.print("  Stop with: [bold]cobot doc-setup down[/bold]")
+            screen.write("  Stop with: [bold]cobot doc-setup down[/bold]")
+            screen.finish(True)
             return
 
         if not _DOC_DIR.exists():
-        _console.print(f"[red]Doc directory not found:[/red] {_DOC_DIR}")
+            screen.write(f"[red]Doc directory not found:[/red] {_DOC_DIR}")
-        sys.exit(1)
+            screen.finish(False)
-
-    port = _Wizard().run()
-    if port is None:
             return
 
-    _console.print()
-
         if not _image_exists():
-        _console.print("[bold]Building documentation image...[/bold]")
+            if not _build_docs_image(screen.write):
-        if not _build_docs_image():
+                screen.finish(False)
-            sys.exit(1)
+                return
-        _console.print()
         else:
-        _console.print("[dim]Documentation image already built, skipping...[/dim]\n")
+            screen.write("[dim]Documentation image already built, skipping.[/dim]")
-
-    _console.print("[bold]Starting MkDocs server...[/bold]")
-    _console.print(f"[dim]Mounting {_DOC_DIR} into container on port {port}...[/dim]")
 
+        screen.write("\n[cyan][*][/cyan] Starting MkDocs server...")
         result = _docker(
-        "run", "-d",
+            "run", "-d", "--name", _CONTAINER_NAME, "--rm",
-        "--name", _CONTAINER_NAME,
-        "--rm",
             "-p", f"{port}:8000",
             "-v", f"{_DOC_DIR}:/docs",
-        _IMAGE_NAME,
+            _IMAGE_NAME, "serve", "--dev-addr=0.0.0.0:8000",
-        "serve", "--dev-addr=0.0.0.0:8000",
+            capture=True,
         )
         if result.returncode != 0:
-        _console.print("[red]Failed to start container.[/red]")
+            screen.write(f"[red]Failed to start container.[/red]\n{result.stderr}")
-        sys.exit(1)
+            screen.finish(False)
-
-    _console.print(f"\n[green]Docs running at:[/green] http://localhost:{port}")
-    _console.print("  Edit files in [bold]doc/lwc-doc/docs/[/bold] — the site reloads automatically.")
-    _console.print("  Stop with: [bold]cobot doc-setup down[/bold]")
-
-
-def _cmd_down() -> None:
-    if not _is_running():
-        _console.print("[yellow]Docs container is not running.[/yellow]")
             return
 
-    _console.print("[bold]Stopping documentation server...[/bold]")
+        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)
+
+    except Exception as exc:
+        screen.write(f"[red]Error:[/red] {exc}")
+        screen.finish(False)
+
+
+def _task_down(screen: LogScreen) -> None:
+    try:
+        if not _is_running():
+            screen.write("[yellow]Docs container is not running.[/yellow]")
+            screen.finish(True)
+            return
+        screen.write("[cyan][*][/cyan] Stopping documentation server...")
         _docker("stop", _CONTAINER_NAME)
-    _console.print("[green]Done.[/green] Container removed.")
+        screen.write("[green][ok][/green] Container stopped.")
+        screen.finish(True)
+    except Exception as exc:
+        screen.write(f"[red]Error:[/red] {exc}")
+        screen.finish(False)
 
 
+def _task_rebuild(screen: LogScreen, port: str) -> None:
+    try:
+        if _is_running():
+            screen.write("[cyan][*][/cyan] Stopping existing container...")
+            _docker("stop", _CONTAINER_NAME)
+            screen.write("[green][ok][/green] Stopped.")
 
-def _cmd_rebuild() -> None:
+        if _image_exists():
-    _cmd_down()
+            screen.write("[cyan][*][/cyan] Removing old image...")
-    result = _docker("rmi", "-f", _IMAGE_NAME, capture=True)
+            _docker("rmi", "-f", _IMAGE_NAME)
+            screen.write("[green][ok][/green] Image removed.")
+
+        if not _build_docs_image(screen.write):
+            screen.finish(False)
+            return
+
+        screen.write("\n[cyan][*][/cyan] Starting MkDocs server...")
+        result = _docker(
+            "run", "-d", "--name", _CONTAINER_NAME, "--rm",
+            "-p", f"{port}:8000",
+            "-v", f"{_DOC_DIR}:/docs",
+            _IMAGE_NAME, "serve", "--dev-addr=0.0.0.0:8000",
+            capture=True,
+        )
         if result.returncode != 0:
-        _console.print("[yellow]No image to remove, building fresh.[/yellow]")
+            screen.write(f"[red]Failed to start container.[/red]\n{result.stderr}")
-    _cmd_up()
+            screen.finish(False)
+            return
+
+        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)
+
+    except Exception as exc:
+        screen.write(f"[red]Error:[/red] {exc}")
+        screen.finish(False)
+
+
+class _DocApp(App[None]):
+    CSS = SCREEN_CSS
+
+    def __init__(self, action: str):
+        super().__init__()
+        self._action = action
+
+    def on_mount(self) -> None:
+        if self._action == "down":
+            self.push_screen(
+                LogScreen("Documentation server", _task_down),
+                lambda _: self.exit(),
+            )
+        elif self._action == "rebuild":
+            self.push_screen(
+                InputScreen("Step 1 of 1", "Port to serve documentation on:", _DEFAULT_PORT),
+                self._got_port_rebuild,
+            )
+        else:
+            self.push_screen(
+                InputScreen("Step 1 of 1", "Port to serve documentation on:", _DEFAULT_PORT),
+                self._got_port_up,
+            )
+
+    def _got_port_up(self, port: Optional[str]) -> None:
+        if port is None:
+            self.exit()
+            return
+        p = (port.strip() or _DEFAULT_PORT) if port.isdigit() or not port.strip() else _DEFAULT_PORT
+        self.push_screen(
+            LogScreen("Documentation server", lambda s: _task_up(s, p)),
+            lambda _: self.exit(),
+        )
+
+    def _got_port_rebuild(self, port: Optional[str]) -> None:
+        if port is None:
+            self.exit()
+            return
+        p = (port.strip() or _DEFAULT_PORT) if port.isdigit() or not port.strip() else _DEFAULT_PORT
+        self.push_screen(
+            LogScreen("Documentation server — rebuild", lambda s: _task_rebuild(s, p)),
+            lambda _: self.exit(),
+        )
 
 
 def register(subparsers: argparse._SubParsersAction) -> None:
@@ -183,13 +211,9 @@ def register(subparsers: argparse._SubParsersAction) -> None:
 
 def run(args: argparse.Namespace) -> None:
     if not shutil.which("docker"):
-        _console.print("[red]Error:[/red] Docker is not installed or not on PATH.")
+        from rich.console import Console
+        Console().print("[red]Error:[/red] Docker is not installed or not on PATH.")
         sys.exit(1)
 
     action = getattr(args, "action", "up")
-    if action == "down":
+    _DocApp(action).run()
-        _cmd_down()
-    elif action == "rebuild":
-        _cmd_rebuild()
-    else:
-        _cmd_up()

cobot/commands/docker_setup.py

@@ -8,15 +8,11 @@ import subprocess
 import sys
 from dataclasses import dataclass
 from pathlib import Path
-from typing import List, Optional
+from typing import Callable, List, Optional
 
-from rich.console import Console
-from rich.progress import BarColumn, Progress, SpinnerColumn, TaskProgressColumn, TextColumn
 from textual.app import App
 
-from cobot.tui import SCREEN_CSS, InputScreen, PickScreen
+from cobot.tui import SCREEN_CSS, InputScreen, LogScreen, PickScreen
-
-_console = Console()
 
 _PROJECT_DIR = Path(__file__).parent.parent.parent
 _DOCKER_DIR = _PROJECT_DIR / "docker"
@@ -33,22 +29,128 @@ _IMAGE_PARENT: dict[str, str | None] = {
     "ros-iiwa7-webots": "ros-base",
 }
 
-# Images that COPY from src/ — need project root as build context.
-# Others use their Dockerfile's own directory.
 _NEEDS_PROJECT_CTX = {"ros-iiwa7", "ros-iiwa7-webots"}
 
+Write = Callable[[str], None]
+
 
 @dataclass
 class _Config:
     ros_version: str
-    variant: str      # "controller" | "webots"
+    variant: str
-    source: str       # "build" | "pull"
+    source: str
-    build_type: str   # "release" | "dev"
+    build_type: str
     image_prefix: str
     hub_repo: str
 
 
-class _Wizard(App[Optional[_Config]]):
+def _stream(cmd: List[str], write: Write, env=None) -> bool:
+    proc = subprocess.Popen(
+        cmd,
+        stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
+        text=True, env=env or os.environ,
+    )
+    for line in proc.stdout:
+        s = line.rstrip()
+        if s:
+            write(s)
+    proc.wait()
+    return proc.returncode == 0
+
+
+def _build_image(
+    name: str, tag: str, dockerfile: Path, ctx: Path,
+    write: Write,
+    parent_tag: Optional[str] = None,
+    build_type: str = "release",
+) -> bool:
+    write(f"[cyan][*][/cyan] Building [bold]{name}[/bold]...")
+    env = {**os.environ, "DOCKER_BUILDKIT": "0"}
+    cmd = [
+        "docker", "build", "-t", tag, "-f", str(dockerfile),
+        "--build-arg", f"BUILD_TYPE={build_type}",
+    ]
+    if parent_tag:
+        cmd += ["--build-arg", f"IMAGE={parent_tag}"]
+    cmd.append(str(ctx))
+    ok = _stream(cmd, write, env)
+    if ok:
+        write(f"[green][ok][/green] {name}")
+    else:
+        write(f"[red]Build failed:[/red] {tag}")
+    return ok
+
+
+def _pull_image(name: str, tag: str, write: Write) -> bool:
+    write(f"[cyan][*][/cyan] Pulling [bold]{name}[/bold]  ({tag})...")
+    ok = _stream(["docker", "pull", tag], write)
+    if ok:
+        write(f"[green][ok][/green] {name}")
+    else:
+        write(f"[red]Pull failed:[/red] {tag}")
+    return ok
+
+
+def _task_execute(screen: LogScreen, cfg: _Config) -> None:
+    try:
+        chain = _WEBOTS_CHAIN if cfg.variant == "webots" else _CONTROLLER_CHAIN
+
+        if cfg.source == "build":
+            screen.write(
+                f"[bold]Building {len(chain)} image(s) — "
+                f"ROS {cfg.ros_version} — {cfg.build_type}[/bold]\n"
+            )
+            for name in chain:
+                tag = f"{cfg.image_prefix}:{name}-{cfg.ros_version}"
+                dockerfile = _DOCKER_DIR / cfg.ros_version / name / "Dockerfile"
+                if not dockerfile.exists():
+                    screen.write(f"[red]Dockerfile not found:[/red] {dockerfile}")
+                    screen.finish(False)
+                    return
+                ctx = _PROJECT_DIR if name in _NEEDS_PROJECT_CTX else dockerfile.parent
+                parent_name = _IMAGE_PARENT.get(name)
+                parent_tag = (
+                    f"{cfg.image_prefix}:{parent_name}-{cfg.ros_version}"
+                    if parent_name else None
+                )
+                if not _build_image(name, tag, dockerfile, ctx, screen.write, parent_tag, cfg.build_type):
+                    screen.finish(False)
+                    return
+            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"
+            suffix = "-dev" if cfg.build_type == "dev" else ""
+            full_ref = f"{cfg.hub_repo}:{short}-{cfg.ros_version}{suffix}"
+            screen.write(
+                f"[bold]Pulling from {cfg.hub_repo} — "
+                f"ROS {cfg.ros_version} — {cfg.build_type}[/bold]\n"
+            )
+            if not _pull_image(short, full_ref, screen.write):
+                screen.finish(False)
+                return
+            screen.write(f"\n[green]Done.[/green] Image ready: [bold]{full_ref}[/bold].")
+
+        screen.finish(True)
+
+    except Exception as exc:
+        screen.write(f"\n[red]Error:[/red] {exc}")
+        screen.finish(False)
+
+
+def _discover_versions() -> List[str]:
+    if not _DOCKER_DIR.exists():
+        return ["jazzy"]
+    dirs = sorted(d.name for d in _DOCKER_DIR.iterdir() if d.is_dir())
+    if "jazzy" in dirs:
+        dirs = ["jazzy"] + [d for d in dirs if d != "jazzy"]
+    return dirs or ["jazzy"]
+
+
+class _Wizard(App[None]):
     CSS = SCREEN_CSS
 
     def __init__(self, versions: List[str], default_version: str = "jazzy"):
@@ -60,8 +162,6 @@ class _Wizard(App[Optional[_Config]]):
     def on_mount(self) -> None:
         self._ask_version()
 
-    # ── step helpers ──────────────────────────────────────────────────────────
-
     def _ask_version(self) -> None:
         self.push_screen(
             PickScreen("Step 1 of 5", "Select ROS version:", self.versions, self.default_version),
@@ -70,17 +170,21 @@ class _Wizard(App[Optional[_Config]]):
 
     def _got_version(self, v: Optional[str]) -> None:
         if v is None:
-            self.exit(None)
+            self.exit()
             return
         self._state["ros_version"] = v
         self.push_screen(
-            PickScreen("Step 2 of 5", "Source:", ["Pull from Docker Hub", "Build locally"], "Pull from Docker Hub"),
+            PickScreen(
+                "Step 2 of 5", "Source:",
+                ["Pull from Docker Hub", "Build locally"],
+                "Pull from Docker Hub",
+            ),
             self._got_source,
         )
 
     def _got_source(self, v: Optional[str]) -> None:
         if v is None:
-            self.exit(None)
+            self.exit()
             return
         self._state["source"] = "build" if v == "Build locally" else "pull"
         self.push_screen(
@@ -98,7 +202,7 @@ class _Wizard(App[Optional[_Config]]):
 
     def _got_variant(self, v: Optional[str]) -> None:
         if v is None:
-            self.exit(None)
+            self.exit()
             return
         self._state["variant"] = "webots" if v.startswith("Controller with Webots") else "controller"
         self.push_screen(
@@ -108,7 +212,7 @@ class _Wizard(App[Optional[_Config]]):
 
     def _got_build_type(self, v: Optional[str]) -> None:
         if v is None:
-            self.exit(None)
+            self.exit()
             return
         self._state["build_type"] = v or "release"
         if self._state["source"] == "pull":
@@ -124,215 +228,50 @@ class _Wizard(App[Optional[_Config]]):
 
     def _got_hub_repo(self, v: Optional[str]) -> None:
         if v is None:
-            self.exit(None)
+            self.exit()
             return
         self._state["hub_repo"] = v
         self._finish()
 
     def _got_prefix(self, v: Optional[str]) -> None:
         if v is None:
-            self.exit(None)
+            self.exit()
             return
         self._state["image_prefix"] = v
         self._finish()
 
     def _finish(self) -> None:
         s = self._state
-        self.exit(_Config(
+        cfg = _Config(
             ros_version=s["ros_version"],
             variant=s["variant"],
             source=s["source"],
             build_type=s["build_type"],
             image_prefix=s.get("image_prefix", _DEFAULT_PREFIX),
             hub_repo=s.get("hub_repo", _DEFAULT_HUB_REPO),
-        ))
-
-
-def _discover_versions() -> List[str]:
-    if not _DOCKER_DIR.exists():
-        return ["jazzy"]
-    dirs = sorted(d.name for d in _DOCKER_DIR.iterdir() if d.is_dir())
-    if "jazzy" in dirs:
-        dirs = ["jazzy"] + [d for d in dirs if d != "jazzy"]
-    return dirs or ["jazzy"]
-
-
-def _build_image(
-    name: str, tag: str, dockerfile: Path, ctx: Path,
-    parent_tag: Optional[str] = None,
-    build_type: str = "release",
-) -> bool:
-    env = {**os.environ, "DOCKER_BUILDKIT": "0"}
-    cmd = [
-        "docker", "build",
-        "-t", tag,
-        "-f", str(dockerfile),
-        "--build-arg", f"BUILD_TYPE={build_type}",
-    ]
-    if parent_tag:
-        cmd += ["--build-arg", f"IMAGE={parent_tag}"]
-    cmd.append(str(ctx))
-    proc = subprocess.Popen(
-        cmd,
-        stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
-        text=True, env=env,
         )
-
+        title = (
-    captured: List[str] = []
+            f"Building Docker images — ROS {cfg.ros_version}"
-
+            if cfg.source == "build"
-    with Progress(
+            else f"Pulling Docker image — ROS {cfg.ros_version}"
-        SpinnerColumn(),
-        TextColumn(f"  [bold cyan]{name:<24}[/bold cyan]"),
-        BarColumn(bar_width=32),
-        TaskProgressColumn(),
-        console=_console,
-        transient=False,
-    ) as prog:
-        task = prog.add_task("", total=100)
-        total = 1
-        for line in proc.stdout:
-            captured.append(line)
-            m = re.match(r"Step (\d+)/(\d+) :", line)
-            if m:
-                step, total = int(m.group(1)), int(m.group(2))
-                prog.update(task, completed=step / total * 100)
-        prog.update(task, completed=100)
-
-    proc.wait()
-    if proc.returncode != 0:
-        _console.print(f"\n[red]Build failed:[/red] {tag}\n")
-        _console.print("".join(captured), highlight=False)
-        return False
-    return True
-
-
-def _parse_docker_size(s: str) -> float:
-    s = s.strip()
-    for suffix, mult in [("GB", 1e9), ("MB", 1e6), ("kB", 1e3), ("B", 1.0)]:
-        if s.endswith(suffix):
-            try:
-                return float(s[: -len(suffix)]) * mult
-            except ValueError:
-                return 0.0
-    try:
-        return float(s)
-    except ValueError:
-        return 0.0
-
-
-_RE_PULLING = re.compile(r"^([a-f0-9]+): Pulling fs layer")
-_RE_DONE = re.compile(r"^([a-f0-9]+): (?:Pull complete|Already exists|Layer already exists)")
-_RE_DL = re.compile(r"^([a-f0-9]+): Downloading(?:\s+\[.*?\])?\s+([\d.]+\s*\w+)/([\d.]+\s*\w+)")
-
-
-def _pull_image(name: str, tag: str) -> bool:
-    proc = subprocess.Popen(
-        ["docker", "pull", tag],
-        stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
-        text=True,
         )
-
+        self.push_screen(
-    captured: List[str] = []
+            LogScreen(title, lambda screen: _task_execute(screen, cfg)),
-    layers_pulling: set[str] = set()
+            lambda _: self.exit(),
-    layers_done: set[str] = set()
-    layers_total: dict[str, float] = {}
-    layers_current: dict[str, float] = {}
-    has_bytes = False
-
-    with Progress(
-        SpinnerColumn(),
-        TextColumn(f"  [bold cyan]{name:<24}[/bold cyan]"),
-        BarColumn(bar_width=32),
-        TaskProgressColumn(),
-        console=_console,
-        transient=False,
-    ) as prog:
-        task = prog.add_task("", total=100)
-
-        for line in proc.stdout:
-            captured.append(line)
-            line = line.strip()
-
-            if m := _RE_PULLING.match(line):
-                layers_pulling.add(m.group(1))
-
-            elif m := _RE_DL.match(line):
-                lid, cur, tot = m.group(1), _parse_docker_size(m.group(2)), _parse_docker_size(m.group(3))
-                if tot > 0:
-                    has_bytes = True
-                    layers_current[lid] = cur
-                    layers_total[lid] = tot
-
-            elif m := _RE_DONE.match(line):
-                lid = m.group(1)
-                layers_done.add(lid)
-                if lid in layers_total:
-                    layers_current[lid] = layers_total[lid]
-
-            if has_bytes and layers_total:
-                total_b = sum(layers_total.values())
-                done_b = sum(layers_current.get(lid, 0.0) for lid in layers_total)
-                prog.update(task, completed=done_b / total_b * 100)
-            elif layers_pulling:
-                prog.update(task, completed=len(layers_done) / len(layers_pulling) * 100)
-
-        prog.update(task, completed=100)
-
-    proc.wait()
-    if proc.returncode != 0:
-        _console.print(f"\n[red]Pull failed:[/red] {tag}\n")
-        _console.print("".join(captured), highlight=False)
-        return False
-    return True
-
-
-def _execute(cfg: _Config) -> None:
-    chain = _WEBOTS_CHAIN if cfg.variant == "webots" else _CONTROLLER_CHAIN
-    _console.print()
-
-    if cfg.source == "build":
-        _console.print(
-            f"[bold]Building {len(chain)} image(s)  •  ROS {cfg.ros_version}  •  {cfg.build_type}[/bold]\n"
         )
-        for name in chain:
-            tag = f"{cfg.image_prefix}:{name}-{cfg.ros_version}"
-            dockerfile = _DOCKER_DIR / cfg.ros_version / name / "Dockerfile"
-            if not dockerfile.exists():
-                _console.print(f"[red]Dockerfile not found:[/red] {dockerfile}")
-                sys.exit(1)
-            ctx = _PROJECT_DIR if name in _NEEDS_PROJECT_CTX else dockerfile.parent
-            parent_name = _IMAGE_PARENT.get(name)
-            parent_tag = f"{cfg.image_prefix}:{parent_name}-{cfg.ros_version}" if parent_name else None
-            if not _build_image(name, tag, dockerfile, ctx, parent_tag, cfg.build_type):
-                sys.exit(1)
-        _console.print(f"\n[green]Done.[/green] Images: [bold]{cfg.image_prefix}:{{name}}-{cfg.ros_version}[/bold].")
-
-    else:
-        short = "webots" if cfg.variant == "webots" else "iiwa"
-        suffix = "-dev" if cfg.build_type == "dev" else ""
-        image_tag = f"{short}-{cfg.ros_version}{suffix}"
-        full_ref = f"{cfg.hub_repo}:{image_tag}"
-        _console.print(f"[bold]Pulling from {cfg.hub_repo}  •  ROS {cfg.ros_version}  •  {cfg.build_type}[/bold]\n")
-        if not _pull_image(short, full_ref):
-            sys.exit(1)
-        _console.print(f"\n[green]Done.[/green] Image ready: [bold]{full_ref}[/bold].")
 
 
 def register(subparsers: argparse._SubParsersAction) -> None:
-    p = subparsers.add_parser("docker-setup", help="Set up Docker images for KUKA iiwa7")
+    p = subparsers.add_parser("docker-setup", help="Build or pull Docker images for KUKA iiwa7")
     p.set_defaults(func=run)
 
 
 def run(args: argparse.Namespace) -> None:
     if not shutil.which("docker"):
-        _console.print("[red]Error:[/red] Docker is not installed or not on PATH.")
+        from rich.console import Console
+        Console().print("[red]Error:[/red] Docker is not installed or not on PATH.")
         sys.exit(1)
 
     versions = _discover_versions()
     default = "jazzy" if "jazzy" in versions else versions[0]
-    cfg = _Wizard(versions=versions, default_version=default).run()
+    _Wizard(versions=versions, default_version=default).run()
-
-    if cfg is None:
-        return
-
-    _execute(cfg)

cobot/commands/local_setup.py

@@ -4,32 +4,30 @@ import argparse
 import os
 import shutil
 import subprocess
-import sys
 import tempfile
 import urllib.request
 from pathlib import Path
-from typing import List, Optional
+from typing import Callable, List, Optional
 
-from rich.console import Console
 from textual.app import App
 
-from cobot.tui import SCREEN_CSS, PickScreen
+from cobot.tui import SCREEN_CSS, LogScreen, PickScreen
 from cobot.commands.docker_setup import run as _docker_setup
 
-_console = Console()
 _PROJECT_DIR = Path(__file__).parent.parent.parent
 
 _ROS_KEYRING = Path("/usr/share/keyrings/ros-archive-keyring.gpg")
 _ROS_SOURCES = Path("/etc/apt/sources.list.d/ros2.list")
 _ROS_KEY_URL = "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"
+_APT_ENV = {**os.environ, "DEBIAN_FRONTEND": "noninteractive"}
 
 
 def _detect_ubuntu_2404() -> bool:
-    os_release = Path("/etc/os-release")
+    path = Path("/etc/os-release")
-    if not os_release.exists():
+    if not path.exists():
         return False
     info: dict[str, str] = {}
-    for line in os_release.read_text().splitlines():
+    for line in path.read_text().splitlines():
         if "=" in line:
             k, _, v = line.partition("=")
             info[k.strip()] = v.strip().strip('"')
@@ -40,142 +38,159 @@ def _detect_ros2_jazzy() -> bool:
     return Path("/opt/ros/jazzy").is_dir()
 
 
-def _run(cmd: List[str]) -> None:
+Write = Callable[[str], None]
-    result = subprocess.run(cmd)
+
+
+def _run_quiet(cmd: List[str]) -> None:
+    result = subprocess.run(cmd, capture_output=True)
     if result.returncode != 0:
-        raise RuntimeError(f"Command failed: {' '.join(cmd)}")
+        raise RuntimeError(f"Exit {result.returncode}: {cmd[0]}")
 
 
-def _check_output(cmd: List[str]) -> str:
+def _run_logged(cmd: List[str], write: Write, env: dict | None = None, cwd=None) -> None:
-    return subprocess.check_output(cmd, text=True).strip()
+    proc = subprocess.Popen(
+        cmd,
+        stdout=subprocess.PIPE,
+        stderr=subprocess.STDOUT,
+        text=True,
+        env=env or os.environ,
+        cwd=cwd,
+    )
+    for line in proc.stdout:
+        s = line.rstrip()
+        if s:
+            write(s)
+    proc.wait()
+    if proc.returncode != 0:
+        raise RuntimeError(f"Exit {proc.returncode}: {cmd[0]}")
 
 
-def _step(msg: str) -> None:
+def _setup_locale(write: Write) -> None:
-    _console.print(f"[cyan][*][/cyan] {msg}")
+    write("[cyan][*][/cyan] Checking locale...")
-
+    if "UTF-8" in subprocess.run(["locale"], capture_output=True, text=True).stdout:
-
+        write("[green][ok][/green] UTF-8 locale active")
-def _ok(msg: str) -> None:
-    _console.print(f"[green][ok][/green] {msg}")
-
-
-def _apt_install(*packages: str) -> None:
-    _run(["sudo", "apt-get", "install", "-y", "--no-install-recommends", *packages])
-
-
-def _setup_locale() -> None:
-    _step("Checking locale...")
-    result = subprocess.run(["locale"], capture_output=True, text=True)
-    if "UTF-8" in result.stdout:
-        _ok("UTF-8 locale active")
         return
-    _run(["sudo", "apt-get", "update", "-qq"])
+    write("[cyan][*][/cyan] Configuring UTF-8 locale...")
-    _apt_install("locales")
+    _run_quiet(["sudo", "apt-get", "update", "-qq"])
-    _run(["sudo", "locale-gen", "en_US.UTF-8"])
+    _run_logged(["sudo", "apt-get", "install", "-y", "--no-install-recommends", "locales"], write, _APT_ENV)
-    _run(["sudo", "update-locale", "LC_ALL=en_US.UTF-8", "LANG=en_US.UTF-8"])
+    _run_logged(["sudo", "locale-gen", "en_US.UTF-8"], write)
-    _ok("Locale configured")
+    _run_quiet(["sudo", "update-locale", "LC_ALL=en_US.UTF-8", "LANG=en_US.UTF-8"])
+    write("[green][ok][/green] Locale configured")
 
 
-def _add_ros2_repo() -> None:
+def _add_ros2_repo(write: Write) -> None:
-    _step("Adding ROS2 apt repository...")
+    write("[cyan][*][/cyan] Adding ROS2 apt repository...")
-    _run(["sudo", "apt-get", "update", "-qq"])
+    _run_quiet(["sudo", "apt-get", "update", "-qq"])
-    _apt_install("software-properties-common", "curl")
+    _run_logged(
-    _run(["sudo", "add-apt-repository", "-y", "universe"])
+        ["sudo", "apt-get", "install", "-y", "--no-install-recommends",
+         "software-properties-common", "curl"],
+        write, _APT_ENV,
+    )
+    _run_quiet(["sudo", "add-apt-repository", "-y", "universe"])
 
     if not _ROS_KEYRING.exists():
-        _step("Downloading ROS2 signing key...")
+        write("[cyan][*][/cyan] Downloading ROS2 signing key...")
         with tempfile.NamedTemporaryFile(delete=False, suffix=".gpg") as tmp:
             tmp_path = tmp.name
         try:
             urllib.request.urlretrieve(_ROS_KEY_URL, tmp_path)
-            _run(["sudo", "cp", tmp_path, str(_ROS_KEYRING)])
+            _run_quiet(["sudo", "cp", tmp_path, str(_ROS_KEYRING)])
         finally:
             os.unlink(tmp_path)
 
     if not _ROS_SOURCES.exists():
-        arch = _check_output(["dpkg", "--print-architecture"])
+        arch = subprocess.check_output(["dpkg", "--print-architecture"], text=True).strip()
-        codename = _check_output(
+        codename = subprocess.check_output(
-            ["bash", "-c", ". /etc/os-release && echo $UBUNTU_CODENAME"]
+            ["bash", "-c", ". /etc/os-release && echo $UBUNTU_CODENAME"], text=True
-        )
+        ).strip()
         sources_line = (
             f"deb [arch={arch} signed-by={_ROS_KEYRING}] "
             f"http://packages.ros.org/ros2/ubuntu {codename} main\n"
         )
         proc = subprocess.run(
             ["sudo", "tee", str(_ROS_SOURCES)],
-            input=sources_line,
+            input=sources_line, capture_output=True, text=True,
-            capture_output=True,
-            text=True,
         )
         if proc.returncode != 0:
             raise RuntimeError(f"Failed to write {_ROS_SOURCES}")
 
-    _run(["sudo", "apt-get", "update", "-qq"])
+    _run_quiet(["sudo", "apt-get", "update", "-qq"])
-    _ok("ROS2 repository ready")
+    write("[green][ok][/green] ROS2 repository ready")
 
 
-def _install_ros2_jazzy() -> None:
+def _install_ros2_jazzy(write: Write) -> None:
-    _step("Installing ros-jazzy-ros-base + ros-dev-tools...")
+    write("[cyan][*][/cyan] Installing ros-jazzy-ros-base and ros-dev-tools...")
-    _apt_install("ros-jazzy-ros-base", "ros-dev-tools")
+    _run_logged(
-    _ok("ROS2 Jazzy installed")
+        ["sudo", "apt-get", "install", "-y", "--no-install-recommends",
+         "ros-jazzy-ros-base", "ros-dev-tools"],
+        write, _APT_ENV,
+    )
+    write("[green][ok][/green] ROS2 Jazzy installed")
 
 
-def _install_colcon() -> None:
+def _install_colcon(write: Write) -> None:
     if shutil.which("colcon"):
-        _ok("colcon already available")
+        write("[green][ok][/green] colcon already available")
         return
-    _step("Installing colcon...")
+    write("[cyan][*][/cyan] Installing colcon...")
-    _apt_install("python3-colcon-common-extensions")
+    _run_logged(
-    _ok("colcon installed")
+        ["sudo", "apt-get", "install", "-y", "--no-install-recommends",
+         "python3-colcon-common-extensions"],
+        write, _APT_ENV,
+    )
+    write("[green][ok][/green] colcon installed")
 
 
-def _setup_shell_rc() -> None:
+def _setup_shell_rc(write: Write) -> None:
     shell_name = Path(os.environ.get("SHELL", "/bin/bash")).name
     rc = Path.home() / (".zshrc" if shell_name == "zsh" else ".bashrc")
     source_line = "source /opt/ros/jazzy/setup.bash"
     if rc.exists() and source_line in rc.read_text():
-        _ok(f"ROS2 setup already in {rc.name}")
+        write(f"[green][ok][/green] ROS2 setup already in {rc.name}")
         return
     with rc.open("a") as f:
         f.write(f"\n# ROS2 Jazzy\n{source_line}\n")
-    _ok(f"Added ROS2 setup to ~/{rc.name}")
+    write(f"[green][ok][/green] Added ROS2 setup to ~/{rc.name}")
 
 
-def _install_jazzy() -> None:
+def _task_install_jazzy(screen: LogScreen) -> None:
-    _console.print("\n[bold]Installing ROS2 Jazzy...[/bold]\n")
     try:
-        _setup_locale()
+        screen.write("[bold]Installing ROS2 Jazzy[/bold]\n")
-        _add_ros2_repo()
+        _setup_locale(screen.write)
-        _install_ros2_jazzy()
+        _add_ros2_repo(screen.write)
-        _install_colcon()
+        _install_ros2_jazzy(screen.write)
-        _setup_shell_rc()
+        _install_colcon(screen.write)
-    except (subprocess.CalledProcessError, RuntimeError) as exc:
+        _setup_shell_rc(screen.write)
-        _console.print(f"\n[red]Installation failed:[/red] {exc}")
+        screen.write(
-        sys.exit(1)
+            "\nRestart the terminal, then run [bold]cobot local-setup[/bold] again to build."
-    _console.print(
-        "\n[green]ROS2 Jazzy installed.[/green] "
-        "Restart 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)
 
 
-def _build_project() -> None:
+def _task_build(screen: LogScreen) -> None:
+    try:
         if not shutil.which("colcon"):
-        _console.print("[red]Error:[/red] colcon not found. Source ROS2 first:")
+            screen.write("[red]colcon not found.[/red]")
-        _console.print("  [bold]source /opt/ros/jazzy/setup.bash[/bold]")
+            screen.write("Source ROS2 first:  [bold]source /opt/ros/jazzy/setup.bash[/bold]")
-        sys.exit(1)
+            screen.finish(False)
-
+            return
-    _console.print("\n[bold]Building project with colcon...[/bold]\n")
+        screen.write("[bold]Building project with colcon[/bold]\n")
-    result = subprocess.run(
+        _run_logged(
             ["colcon", "build", "--symlink-install"],
+            screen.write,
             cwd=_PROJECT_DIR,
         )
-    if result.returncode != 0:
+        screen.write("\nActivate workspace:  [bold]source install/setup.bash[/bold]")
-        _console.print("\n[red]Build failed.[/red]")
+        screen.finish(True)
-        sys.exit(result.returncode)
+    except Exception as exc:
-    _console.print("\n[green]Build complete.[/green]")
+        screen.write(f"\n[red]Error:[/red] {exc}")
-    _console.print("  Activate workspace:  [bold]source install/setup.bash[/bold]")
+        screen.finish(False)
 
 
-class _AskInstallJazzy(App[Optional[str]]):
+class _InstallJazzyApp(App[None]):
     CSS = SCREEN_CSS
 
     def on_mount(self) -> None:
@@ -186,11 +201,30 @@ class _AskInstallJazzy(App[Optional[str]]):
                 ["Yes, install ROS2 Jazzy", "No, skip"],
                 "Yes, install ROS2 Jazzy",
             ),
-            self.exit,
+            self._on_choice,
+        )
+
+    def _on_choice(self, choice: Optional[str]) -> None:
+        if choice is None or choice.startswith("No"):
+            self.exit()
+            return
+        self.push_screen(
+            LogScreen("Installing ROS2 Jazzy", _task_install_jazzy),
+            lambda _: self.exit(),
         )
 
 
-class _AskDockerSetup(App[Optional[str]]):
+class _BuildApp(App[None]):
+    CSS = SCREEN_CSS
+
+    def on_mount(self) -> None:
+        self.push_screen(
+            LogScreen("Building project", _task_build),
+            lambda _: self.exit(),
+        )
+
+
+class _DockerPromptApp(App[bool]):
     CSS = SCREEN_CSS
 
     def on_mount(self) -> None:
@@ -201,55 +235,26 @@ class _AskDockerSetup(App[Optional[str]]):
                 ["Yes, run docker-setup", "No, exit"],
                 "Yes, run docker-setup",
             ),
-            self.exit,
+            lambda v: self.exit(v is not None and v.startswith("Yes")),
         )
 
 
-def _flow_ubuntu_without_ros() -> None:
-    _console.print(
-        "\n[yellow]Warning:[/yellow] ROS2 Jazzy is not installed "
-        "(/opt/ros/jazzy not found).\n"
-    )
-    answer = _AskInstallJazzy().run()
-    if answer is None or answer.startswith("No"):
-        _console.print("[yellow]Skipped ROS2 installation.[/yellow]")
-        return
-    _install_jazzy()
-
-
-def _flow_not_ubuntu(args: argparse.Namespace) -> None:
-    _console.print(
-        "\n[yellow]Warning:[/yellow] Ubuntu 24.04 not detected. "
-        "Native build is not supported on this OS.\n"
-    )
-    answer = _AskDockerSetup().run()
-    if answer is None or answer.startswith("No"):
-        _console.print("[yellow]Exiting without changes.[/yellow]")
-        return
-
-    _docker_setup(args)
-
-
 def register(subparsers: argparse._SubParsersAction) -> None:
     p = subparsers.add_parser(
         "local-setup",
-        help="Build the project locally (requires Ubuntu 24.04 and ROS2 Jazzy)",
+        help="Install ROS2 Jazzy natively and build the project with colcon",
     )
     p.set_defaults(func=run)
 
 
 def run(args: argparse.Namespace) -> None:
-    _console.print("[bold]Checking environment...[/bold]")
-
     if not _detect_ubuntu_2404():
-        _flow_not_ubuntu(args)
+        if _DockerPromptApp().run():
+            _docker_setup(args)
         return
 
-    _console.print("[green]  Ubuntu 24.04[/green]  ✓")
-
     if not _detect_ros2_jazzy():
-        _flow_ubuntu_without_ros()
+        _InstallJazzyApp().run()
         return
 
-    _console.print("[green]  ROS2 Jazzy[/green]    ✓\n")
+    _BuildApp().run()
-    _build_project()

cobot/commands/robot_setup.py

@@ -6,13 +6,14 @@ from dataclasses import dataclass, field
 from pathlib import Path
 from typing import Any, Callable, List, Optional, Tuple
 
-from rich.console import Console
 from ruamel.yaml import YAML
-from textual.app import App
+from textual.app import App, ComposeResult
+from textual.binding import Binding
+from textual.screen import Screen
+from textual.widgets import Footer, Static
 
 from cobot.tui import SCREEN_CSS, InputScreen, PickScreen
 
-_console = Console()
 _PROJECT_DIR = Path(__file__).parent.parent.parent
 _CONFIG_PATH = _PROJECT_DIR / "cobot-setting.yaml"
 
@@ -20,17 +21,13 @@ _yaml = YAML()
 _yaml.preserve_quotes = True
 
 
-# ---------------------------------------------------------------------------
-# Field descriptors
-# ---------------------------------------------------------------------------
-
 @dataclass
 class _Field:
     key: str               # dot-separated path within the block, e.g. "webots.world"
     question: str
     default: Any
     note: str = ""
-    options: Optional[List[str]] = None  # if set → PickScreen, else → InputScreen
+    options: Optional[List[str]] = None  # if set - PickScreen, else - InputScreen
 
     def label(self) -> str:
         return self.key.split(".")[-1]
@@ -43,10 +40,6 @@ class _Block:
     fields: List[_Field]
 
 
-# ---------------------------------------------------------------------------
-# Block definitions — bottom to top order
-# ---------------------------------------------------------------------------
-
 _BLOCKS: List[_Block] = [
     _Block(
         yaml_key="foxglove",
@@ -117,10 +110,6 @@ _BLOCKS: List[_Block] = [
 ]
 
 
-# ---------------------------------------------------------------------------
-# Wizard app
-# ---------------------------------------------------------------------------
-
 def _coerce(value: str, original: Any) -> Any:
     """Try to preserve the original YAML scalar type."""
     if isinstance(original, bool):
@@ -157,7 +146,20 @@ def _set_nested(mapping: Any, path: str, value: Any) -> None:
     cur[keys[-1]] = _coerce(value, original)
 
 
-class _Wizard(App[bool]):
+class _SavedScreen(Screen[None]):
+    BINDINGS = [Binding("enter,escape", "close", "Close")]
+
+    def compose(self) -> ComposeResult:
+        yield Static("Done", id="step")
+        yield Static(f"Configuration saved to {_CONFIG_PATH.name}", id="question")
+        yield Static("Press Enter to close.", id="note")
+        yield Footer()
+
+    def action_close(self) -> None:
+        self.dismiss(None)
+
+
+class _Wizard(App[None]):
     CSS = SCREEN_CSS
 
     def __init__(self, data: Any):
@@ -172,13 +174,11 @@ class _Wizard(App[bool]):
     def on_mount(self) -> None:
         self._next_block()
 
-    # ------------------------------------------------------------------
-    # Block-level flow
-    # ------------------------------------------------------------------
 
     def _next_block(self) -> None:
         if self._block_idx >= len(self._blocks):
-            self.exit(True)
+            _save_config(self._data)
+            self.push_screen(_SavedScreen(), lambda _: self.exit())
             return
         block = self._blocks[self._block_idx]
         total = len(self._blocks)
@@ -195,7 +195,7 @@ class _Wizard(App[bool]):
 
     def _got_block_choice(self, v: Optional[str], block: _Block) -> None:
         if v is None:
-            self.exit(False)
+            self.exit()
             return
         self._block_idx += 1
         if v == "Yes":
@@ -206,9 +206,6 @@ class _Wizard(App[bool]):
         else:
             self._next_block()
 
-    # ------------------------------------------------------------------
-    # Field-level flow
-    # ------------------------------------------------------------------
 
     def _next_field(self) -> None:
         if not self._pending_fields:
@@ -240,7 +237,7 @@ class _Wizard(App[bool]):
 
     def _got_field(self, v: Optional[str], f: _Field) -> None:
         if v is None:
-            self.exit(False)
+            self.exit()
             return
         block = self._current_block
         _set_nested(self._data[block.yaml_key], f.key, v)
@@ -248,9 +245,6 @@ class _Wizard(App[bool]):
         self._next_field()
 
 
-# ---------------------------------------------------------------------------
-# YAML read / write
-# ---------------------------------------------------------------------------
 
 def _load_config() -> Any:
     with open(_CONFIG_PATH, "r", encoding="utf-8") as fh:
@@ -262,10 +256,6 @@ def _save_config(data: Any) -> None:
         _yaml.dump(data, fh)
 
 
-# ---------------------------------------------------------------------------
-# CLI entry points
-# ---------------------------------------------------------------------------
-
 def register(subparsers: argparse._SubParsersAction) -> None:
     p = subparsers.add_parser("robot-setup", help="Configure cobot-setting.yaml interactively")
     p.set_defaults(func=run)
@@ -273,18 +263,9 @@ def register(subparsers: argparse._SubParsersAction) -> None:
 
 def run(args: argparse.Namespace) -> None:
     if not _CONFIG_PATH.exists():
-        _console.print(f"[red]Config not found:[/red] {_CONFIG_PATH}")
+        from rich.console import Console
+        Console().print(f"[red]Config not found:[/red] {_CONFIG_PATH}")
         sys.exit(1)
 
     data = _load_config()
-    ok = _Wizard(data).run()
+    _Wizard(data).run()
-    if not ok:
-        _console.print("[yellow]Setup cancelled.[/yellow]")
-        return
-
-    _save_config(data)
-    _console.print(f"\n[green]Configuration saved:[/green] {_CONFIG_PATH}")
-    _console.print(
-        "  Start the robot container with: [bold]cobot robot-setup[/bold] "
-        "then run [bold]./docker/jazzy/ros-iiwa7-webots/run.sh[/bold]"
-    )

cobot/tui.py

@@ -1,12 +1,12 @@
 from __future__ import annotations
 
-from typing import List, Optional
+from typing import Callable, List, Optional
 
 from textual import on
 from textual.app import ComposeResult
 from textual.binding import Binding
 from textual.screen import Screen
-from textual.widgets import Footer, Input, RadioButton, RadioSet, Static
+from textual.widgets import Footer, Input, RadioButton, RadioSet, RichLog, Static
 
 SCREEN_CSS = """
 Screen {
@@ -36,6 +36,16 @@ RadioSet {
 Input {
     margin-bottom: 1;
 }
+LogScreen #log {
+    height: 1fr;
+    border: none;
+    padding: 0 1;
+    margin-top: 1;
+}
+LogScreen #hint {
+    margin-top: 1;
+    color: $text;
+}
 """
 
 
@@ -114,3 +124,49 @@ class InputScreen(Screen[Optional[str]]):
 
     def action_abort(self) -> None:
         self.app.exit(None)
+
+
+class LogScreen(Screen[bool]):
+    """Streams task output into a scrollable log; press Enter to close when done."""
+
+    BINDINGS = [Binding("enter,escape", "close", "Close", show=False)]
+
+    def __init__(self, title: str, task: Callable[[LogScreen], None]):
+        super().__init__()
+        self._title = title
+        self._run_fn = task
+        self._finished = False
+
+    def compose(self) -> ComposeResult:
+        yield Static(self._title, id="step")
+        yield RichLog(id="log", highlight=True, markup=True, wrap=True)
+        yield Static("", id="hint")
+        yield Footer()
+
+    def on_mount(self) -> None:
+        self.query_one(RichLog).focus()
+        self.app.run_worker(lambda: self._run_fn(self), thread=True)
+
+    def write(self, line: str) -> None:
+        """Thread-safe: append a line to the log."""
+        self.app.call_from_thread(self._append, line)
+
+    def _append(self, line: str) -> None:
+        self.query_one(RichLog).write(line)
+
+    def finish(self, success: bool) -> None:
+        """Thread-safe: mark task done and prompt the user to close."""
+        self.app.call_from_thread(self._do_finish, success)
+
+    def _do_finish(self, success: bool) -> None:
+        self._finished = True
+        msg = (
+            "[green]Done![/green]  Press [bold]Enter[/bold] to close."
+            if success
+            else "[red]Failed.[/red]  Press [bold]Enter[/bold] to close."
+        )
+        self.query_one("#hint", Static).update(msg)
+
+    def action_close(self) -> None:
+        if self._finished:
+            self.dismiss(True)

install.sh

@@ -13,7 +13,7 @@ BOLD='\033[1m'
 
 PYTHON_VERSION="3.11"
 REPO_URL="https://gitverse.ru/daniel-robotics/lightweight-cobot.git"
-INSTALL_DIR="${COBOT_INSTALL_DIR:-$HOME/.lwc/ros2_iiwa7}"
+INSTALL_DIR="${COBOT_INSTALL_DIR:-$HOME/.lwc}"
 
 # Определяем интерактивный режим: при запуске через curl | bash stdin не является терминалом
 if [ -t 0 ]; then IS_INTERACTIVE=true; else IS_INTERACTIVE=false; fi