grabardm/lightweight-cobot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

feat: update robot setup to use ruamel.yaml for preserving YAML comments and formatting

Browse Source 
feat: enhance run command with Docker volume for Webots asset caching and GPU detection

feat: improve setup command to sequentially run sub-commands for documentation, environment, and robot parameters

fix: update update command to provide clearer logging during git operations and installation

refactor: enhance TUI components with better threading and logging for long-running tasks

chore: improve install script with better error handling, logging, and interactive setup wizard
This commit is contained in:
Даниил Грабарь
2026-05-21 12:46:54 +10:00
parent e18ff53532
commit 6be6032838
11 changed files with 647 additions and 124 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cobot/commands/delete.py
+121 -33
View File
@@ -1,7 +1,6 @@
from __future__ import annotations
import argparse
import os
import shutil
import subprocess
from pathlib import Path
@@ -14,6 +13,8 @@ from cobot.tui import SCREEN_CSS, LogScreen, PickScreen
_PROJECT_DIR = Path(__file__).parent.parent.parent
# Stop and remove all Docker containers whose name contains "lwc".
# Останавливаем и удаляем все Docker-контейнеры, чьё имя содержит "lwc".
def _stop_docker_containers(write) -> None:
write("[cyan][*][/cyan] Stopping Docker containers...")
result = subprocess.run(
@@ -29,6 +30,8 @@ def _stop_docker_containers(write) -> None:
write(f"[green][ok][/green] Removed container: {name}")
# Remove all Docker images whose repository or tag contains "lwc".
# Удаляем все Docker-образы, репозиторий или тег которых содержит "lwc".
def _remove_docker_images(write) -> None:
write("[cyan][*][/cyan] Removing Docker images...")
result = subprocess.run(
@@ -47,14 +50,50 @@ def _remove_docker_images(write) -> None:
write(f"[green][ok][/green] Removed image: {img}")
def _remove_ros2(write) -> None:
write("[cyan][*][/cyan] Removing ROS2 Jazzy...")
if Path("/opt/ros/jazzy").exists():
subprocess.run(["sudo", "rm", "-rf", "/opt/ros/jazzy"])
write("[green][ok][/green] Removed /opt/ros/jazzy")
else:
write("[dim]ROS2 Jazzy not found, skipping.[/dim]")
# Remove the Docker volume that stores the Webots asset cache.
# Удаляем Docker volume с кэшем ассетов Webots.
def _remove_webots_volume(write) -> None:
result = subprocess.run(
["docker", "volume", "inspect", "lwc-webots-cache"],
capture_output=True,
)
if result.returncode != 0:
write("[dim]Webots cache volume not found, skipping.[/dim]")
return
subprocess.run(["docker", "volume", "rm", "lwc-webots-cache"], capture_output=True)
write("[green][ok][/green] Removed Docker volume: lwc-webots-cache")
# Remove ROS2 Jazzy packages via apt and clean up the source line from shell configs.
# Uses the official removal commands to also unregister the ROS2 apt repository.
# Удаляем пакеты ROS2 Jazzy через apt и очищаем строку source из конфигов оболочки.
# Используем официальные команды удаления, которые также снимают регистрацию apt-репозитория ROS2.
def _remove_ros2(write) -> None:
write("[cyan][*][/cyan] Removing ROS2 Jazzy packages...")
if not Path("/opt/ros/jazzy").exists():
write("[dim]ROS2 Jazzy not found, skipping.[/dim]")
else:
# Remove all ros-jazzy-* packages matched by the apt regex pattern ~n<name>.
# Удаляем все пакеты ros-jazzy-* по regex-паттерну apt ~n<имя>.
subprocess.run(
["sudo", "apt", "remove", "-y", "~nros-jazzy-*"],
capture_output=True,
)
subprocess.run(["sudo", "apt", "autoremove", "-y"], capture_output=True)
write("[green][ok][/green] ROS2 Jazzy packages removed")
# Remove the ROS2 apt source package that added the repository.
# Удаляем пакет apt-источника ROS2, который добавил репозиторий.
subprocess.run(
["sudo", "apt", "remove", "-y", "ros2-apt-source"],
capture_output=True,
)
subprocess.run(["sudo", "apt", "update", "-qq"], capture_output=True)
subprocess.run(["sudo", "apt", "autoremove", "-y"], capture_output=True)
write("[green][ok][/green] ROS2 apt repository removed")
# Clean up the source line that local-setup added to the shell config.
# Очищаем строку source, добавленную local-setup в конфиг оболочки.
source_line = "source /opt/ros/jazzy/setup.bash"
for rc_name in [".bashrc", ".zshrc"]:
rc = Path.home() / rc_name
@@ -63,12 +102,28 @@ def _remove_ros2(write) -> None:
content = rc.read_text()
if source_line not in content:
continue
# Remove the whole block that was added by local-setup, not just the single line.
# Удаляем весь блок добавленный local-setup, а не только одну строку.
new_content = content.replace(f"\n# ROS2 Jazzy\n{source_line}\n", "\n")
new_content = new_content.replace(source_line, "")
rc.write_text(new_content)
write(f"[green][ok][/green] Cleaned up ~/{rc_name}")
# Remove Webots from the system via apt.
# Удаляем Webots из системы через apt.
def _remove_webots(write) -> None:
write("[cyan][*][/cyan] Removing Webots...")
if not shutil.which("webots"):
write("[dim]Webots not found, skipping.[/dim]")
return
subprocess.run(["sudo", "apt", "remove", "-y", "webots"], capture_output=True)
subprocess.run(["sudo", "apt", "autoremove", "-y"], capture_output=True)
write("[green][ok][/green] Webots removed")
# Uninstall the cobot CLI from the uv tool store.
# Удаляем cobot CLI из хранилища инструментов uv.
def _uninstall_cobot(write) -> None:
write("[cyan][*][/cyan] Uninstalling cobot CLI...")
result = subprocess.run(
@@ -81,6 +136,8 @@ def _uninstall_cobot(write) -> None:
write(f"[yellow]Warning:[/yellow] {result.stderr.strip() or 'could not uninstall cobot'}")
# Delete the entire project directory from disk.
# Удаляем всю директорию проекта с диска.
def _remove_project_dir(write) -> None:
write(f"[cyan][*][/cyan] Removing project directory...")
try:
@@ -91,31 +148,35 @@ def _remove_project_dir(write) -> None:
raise
def _task_delete(screen: LogScreen, remove_ros: bool) -> None:
# Run all deletion steps in order.
# Progress ranges are split evenly across the active steps so the bar always reaches 100%.
# Выполняем все шаги удаления по порядку.
# Диапазоны прогресса делятся равномерно между активными шагами, чтобы бар всегда доходил до 100%.
def _task_delete(screen: LogScreen, remove_ros: bool, remove_webots: bool) -> None:
try:
screen.set_progress(0, "Stopping containers...")
_stop_docker_containers(screen.write)
_remove_webots_volume(screen.write)
screen.set_progress(20, "Removing Docker images...")
_remove_docker_images(screen.write)
pct = 40
if remove_ros:
# stop(0-20) images(20-45) ros2(45-70) cobot(70-85) dir(85-100)
screen.set_progress(0, "Stopping containers...")
_stop_docker_containers(screen.write)
screen.set_progress(20, "Removing Docker images...")
_remove_docker_images(screen.write)
screen.set_progress(45, "Removing ROS2 Jazzy...")
screen.set_progress(pct, "Removing ROS2 Jazzy...")
_remove_ros2(screen.write)
screen.set_progress(70, "Uninstalling cobot CLI...")
_uninstall_cobot(screen.write)
screen.set_progress(85, "Removing project directory...")
_remove_project_dir(screen.write)
else:
# stop(0-25) images(25-60) cobot(60-85) dir(85-100)
screen.set_progress(0, "Stopping containers...")
_stop_docker_containers(screen.write)
screen.set_progress(25, "Removing Docker images...")
_remove_docker_images(screen.write)
screen.set_progress(60, "Uninstalling cobot CLI...")
_uninstall_cobot(screen.write)
screen.set_progress(85, "Removing project directory...")
_remove_project_dir(screen.write)
pct = 65
if remove_webots:
screen.set_progress(pct, "Removing Webots...")
_remove_webots(screen.write)
pct = 75
screen.set_progress(pct, "Uninstalling cobot CLI...")
_uninstall_cobot(screen.write)
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]")
@@ -126,7 +187,10 @@ def _task_delete(screen: LogScreen, remove_ros: bool) -> None:
screen.finish(False)
# Multi-step confirmation wizard before anything is deleted.
# Shows extra questions only when the relevant software is actually installed.
# Многошаговый мастер подтверждения перед удалением.
# Дополнительные вопросы показываются только если соответствующее ПО действительно установлено.
class _DeleteApp(App[None]):
CSS = SCREEN_CSS
@@ -148,7 +212,7 @@ class _DeleteApp(App[None]):
self.push_screen(
PickScreen(
"ROS2 Jazzy",
"Also remove ROS2 Jazzy (/opt/ros/jazzy)?",
"Also remove ROS2 Jazzy from the system?",
["No, keep ROS2", "Yes, remove ROS2 Jazzy"],
"No, keep ROS2",
),
@@ -157,8 +221,32 @@ class _DeleteApp(App[None]):
def _on_ros_choice(self, choice: Optional[str]) -> None:
remove_ros = choice is not None and choice.startswith("Yes")
# Only ask about Webots if it is actually installed on this machine.
# Спрашиваем про Webots только если он действительно установлен на этой машине.
if shutil.which("webots"):
self.push_screen(
PickScreen(
"Webots",
"Also remove Webots from the system?",
["No, keep Webots", "Yes, remove Webots"],
"No, keep Webots",
),
lambda c: self._on_webots_choice(c, remove_ros),
)
else:
self._start_deletion(remove_ros, remove_webots=False)
def _on_webots_choice(self, choice: Optional[str], remove_ros: bool) -> None:
remove_webots = choice is not None and choice.startswith("Yes")
self._start_deletion(remove_ros, remove_webots)
def _start_deletion(self, remove_ros: bool, remove_webots: bool) -> None:
self.push_screen(
LogScreen("Deleting project", lambda s: _task_delete(s, remove_ros), show_progress=True),
LogScreen(
"Deleting project",
lambda s: _task_delete(s, remove_ros, remove_webots),
show_progress=True,
),
lambda _: self.exit(),
)