feat: update robot setup to use ruamel.yaml for preserving YAML comments and formatting
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
+167
-15
@@ -17,12 +17,19 @@ from cobot.commands.docker_setup import run as _docker_setup
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_PROJECT_DIR = Path(__file__).parent.parent.parent
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# Paths used for the ROS2 apt repository signing key and sources list.
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# Пути для ключа подписи apt-репозитория ROS2 и файла sources list.
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_ROS_KEYRING = Path("/usr/share/keyrings/ros-archive-keyring.gpg")
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_ROS_SOURCES = Path("/etc/apt/sources.list.d/ros2.list")
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_ROS_KEY_URL = "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"
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# Suppress apt interactive prompts such as "restart services?".
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# Подавляем интерактивные запросы apt, например "перезапустить службы?".
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_APT_ENV = {**os.environ, "DEBIAN_FRONTEND": "noninteractive"}
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# Check whether we are running on Ubuntu 24.04, which is required for ROS2 Jazzy.
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# Проверяем, запущены ли мы на Ubuntu 24.04, которая требуется для ROS2 Jazzy.
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def _detect_ubuntu_2404() -> bool:
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path = Path("/etc/os-release")
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if not path.exists():
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@@ -35,6 +42,8 @@ def _detect_ubuntu_2404() -> bool:
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return info.get("ID") == "ubuntu" and info.get("VERSION_ID") == "24.04"
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# Check whether ROS2 Jazzy is already installed by looking for its directory.
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# Проверяем, установлен ли ROS2 Jazzy, проверяя наличие его директории.
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def _detect_ros2_jazzy() -> bool:
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return Path("/opt/ros/jazzy").is_dir()
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@@ -42,6 +51,8 @@ def _detect_ros2_jazzy() -> bool:
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Write = Callable[[str], None]
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# Run a command and capture output. Print it to the log only if the command fails.
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# Запускаем команду и перехватываем вывод. Выводим в лог только если команда завершилась с ошибкой.
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def _run_quiet(cmd: List[str], write: Write | None = None, env: dict | None = None, cwd=None) -> None:
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result = subprocess.run(
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cmd, capture_output=True, text=True,
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@@ -55,6 +66,8 @@ def _run_quiet(cmd: List[str], write: Write | None = None, env: dict | None = No
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raise RuntimeError(f"Command failed: {cmd[0]}")
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# Run a command and stream every output line to the log in real time.
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# Запускаем команду и транслируем каждую строку вывода в лог в реальном времени.
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def _run_logged(cmd: List[str], write: Write, env: dict | None = None, cwd=None) -> None:
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proc = subprocess.Popen(
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cmd,
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@@ -80,6 +93,10 @@ def _run_apt_with_progress(
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env: dict | None = None,
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) -> None:
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"""Run an apt command and feed real percentage from APT::Status-Fd to on_progress(0-100)."""
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# APT::Status-Fd makes apt write progress lines to a pipe descriptor instead of stdout.
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# We read that pipe in a background thread so we can update the progress bar live.
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# APT::Status-Fd заставляет apt писать строки прогресса в дескриптор канала, а не в stdout.
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# Читаем этот канал в фоновом потоке, чтобы обновлять прогресс-бар в реальном времени.
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r_fd, w_fd = os.pipe()
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try:
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proc = subprocess.Popen(
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@@ -91,6 +108,8 @@ def _run_apt_with_progress(
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pass_fds=(w_fd,),
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)
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finally:
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# Close the write end in the parent process so the reader thread gets EOF when apt exits.
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# Закрываем пишущий конец в родительском процессе, чтобы читающий поток получил EOF при выходе apt.
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os.close(w_fd)
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def _read_status() -> None:
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@@ -116,10 +135,8 @@ def _run_apt_with_progress(
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raise RuntimeError(f"Command failed: {cmd[0]}")
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# ---------------------------------------------------------------------------
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# Installation steps
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# ---------------------------------------------------------------------------
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# Make sure the system has a UTF-8 locale, which ROS2 requires to work correctly.
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# Убеждаемся, что в системе есть локаль UTF-8, которая требуется ROS2 для корректной работы.
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def _setup_locale(write: Write) -> None:
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write("[cyan][*][/cyan] Checking locale...")
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if "UTF-8" in subprocess.run(["locale"], capture_output=True, text=True).stdout:
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@@ -133,6 +150,8 @@ def _setup_locale(write: Write) -> None:
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write("[green][ok][/green] Locale configured")
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# Add the official ROS2 apt repository and its signing key so we can install ROS2 packages.
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# Добавляем официальный apt-репозиторий ROS2 и его ключ подписи, чтобы можно было установить пакеты ROS2.
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def _add_ros2_repo(write: Write, on_progress: Optional[Callable[[float], None]] = None) -> None:
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def _prog(p: float) -> None:
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if on_progress:
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@@ -159,6 +178,8 @@ def _add_ros2_repo(write: Write, on_progress: Optional[Callable[[float], None]]
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try:
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urllib.request.urlretrieve(_ROS_KEY_URL, tmp_path)
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_prog(60)
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# Convert the ASCII-armored key to binary GPG format that apt understands.
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# Конвертируем ключ из ASCII-armor формата в бинарный GPG, который понимает apt.
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_run_quiet(["sudo", "gpg", "--dearmor", "--yes", "-o", str(_ROS_KEYRING), tmp_path])
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finally:
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os.unlink(tmp_path)
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@@ -192,6 +213,8 @@ def _add_ros2_repo(write: Write, on_progress: Optional[Callable[[float], None]]
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_prog(100)
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# Install the full ROS2 Jazzy Desktop and the developer tools (colcon, rosdep, etc.).
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# Устанавливаем полный ROS2 Jazzy Desktop и инструменты разработчика (colcon, rosdep и т.д.).
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def _install_ros2_jazzy(write: Write, on_progress: Optional[Callable[[float], None]] = None) -> None:
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write("[cyan][*][/cyan] Installing ros-jazzy-desktop and ros-dev-tools...")
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_run_apt_with_progress(
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@@ -203,6 +226,8 @@ def _install_ros2_jazzy(write: Write, on_progress: Optional[Callable[[float], No
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write("[green][ok][/green] ROS2 Jazzy Desktop installed")
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# Install colcon if it is not already available. It is used to build the project packages.
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# Устанавливаем colcon если он ещё не доступен. Он используется для сборки пакетов проекта.
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def _install_colcon(write: Write) -> None:
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if shutil.which("colcon"):
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write("[green][ok][/green] colcon already available")
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@@ -216,6 +241,10 @@ def _install_colcon(write: Write) -> None:
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write("[green][ok][/green] colcon installed")
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# Add "source /opt/ros/jazzy/setup.bash" to the user's shell config file.
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# This makes ROS2 commands available in every new terminal session.
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# Добавляем "source /opt/ros/jazzy/setup.bash" в конфиг оболочки пользователя.
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# Это делает команды ROS2 доступными в каждой новой сессии терминала.
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def _setup_shell_rc(write: Write) -> None:
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shell_name = Path(os.environ.get("SHELL", "/bin/bash")).name
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rc = Path.home() / (".zshrc" if shell_name == "zsh" else ".bashrc")
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@@ -228,10 +257,8 @@ def _setup_shell_rc(write: Write) -> None:
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write(f"[green][ok][/green] Added ROS2 setup to ~/{rc.name}")
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# ---------------------------------------------------------------------------
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# Background tasks (run inside LogScreen worker)
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# ---------------------------------------------------------------------------
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# Full ROS2 Jazzy installation split into 5 clearly visible steps with individual progress ranges.
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# Полная установка ROS2 Jazzy, разбитая на 5 наглядных шагов с отдельными диапазонами прогресса.
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def _task_install_jazzy(screen: LogScreen) -> None:
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try:
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# Step 1 — locale (0 → 5 %)
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@@ -275,6 +302,8 @@ def _task_install_jazzy(screen: LogScreen) -> None:
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screen.finish(False)
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# Build all project packages with colcon and track progress by counting finished packages.
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# Собираем все пакеты проекта с помощью colcon и отслеживаем прогресс по количеству завершённых пакетов.
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def _task_build(screen: LogScreen) -> None:
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try:
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if not shutil.which("colcon"):
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@@ -283,7 +312,8 @@ def _task_build(screen: LogScreen) -> None:
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screen.finish(False)
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return
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# Count packages so we can show X/total progress
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# Count packages first so we can show X/total in the progress label.
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# Сначала считаем пакеты, чтобы показывать X/всего в подписи прогресса.
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list_result = subprocess.run(
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["colcon", "list"], capture_output=True, text=True, cwd=_PROJECT_DIR,
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)
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@@ -296,6 +326,8 @@ def _task_build(screen: LogScreen) -> None:
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def _track(line: str) -> None:
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nonlocal built
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screen.write(line)
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# colcon prints "Finished <<<" or "Failed <<<" when each package is done.
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# colcon печатает "Finished <<<" или "Failed <<<" когда каждый пакет готов.
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if "Finished <<<" in line or "Failed <<<" in line:
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built += 1
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screen.set_progress(built / total * 100, f"{built} / {total} packages done")
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@@ -310,10 +342,109 @@ def _task_build(screen: LogScreen) -> None:
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screen.finish(False)
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# ---------------------------------------------------------------------------
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# Textual apps
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# ---------------------------------------------------------------------------
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# Webots version that matches the Docker images used in this project.
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# Версия Webots, соответствующая Docker-образам используемым в этом проекте.
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_WEBOTS_VERSION = "2025a"
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_WEBOTS_DEB_URL = (
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f"https://github.com/cyberbotics/webots/releases/download/"
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f"R{_WEBOTS_VERSION}/webots_{_WEBOTS_VERSION}_amd64.deb"
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)
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def webots_installed() -> bool:
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"""Return True if Webots is available on PATH."""
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return shutil.which("webots") is not None
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# Download the Webots .deb from GitHub and install it with apt.
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# Progress: download (0-65%), apt install (65-100%).
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# Скачиваем .deb Webots с GitHub и устанавливаем через apt.
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# Прогресс: скачивание (0-65%), установка apt (65-100%).
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def _task_install_webots(screen: LogScreen) -> None:
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try:
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screen.write(f"[bold]Installing Webots {_WEBOTS_VERSION}[/bold]\n")
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with tempfile.TemporaryDirectory() as tmp:
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deb_path = Path(tmp) / f"webots_{_WEBOTS_VERSION}_amd64.deb"
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screen.write(f"[dim]{_WEBOTS_DEB_URL}[/dim]\n")
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screen.set_progress(0, "Downloading Webots...")
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# urllib calls this hook periodically with how many bytes have been downloaded.
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# urllib вызывает этот обратный вызов периодически с количеством скачанных байт.
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def _hook(blocks: int, block_size: int, total: int) -> None:
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if total > 0:
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pct = min(blocks * block_size / total * 65, 65)
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mb = blocks * block_size / 1_048_576
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total_mb = total / 1_048_576
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screen.set_progress(pct, f"Downloading... {mb:.0f} / {total_mb:.0f} MB")
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urllib.request.urlretrieve(_WEBOTS_DEB_URL, deb_path, _hook)
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screen.write("[green]Download complete.[/green]")
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screen.set_progress(65, "Installing package...")
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proc = subprocess.Popen(
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["sudo", "apt-get", "install", "-y", str(deb_path)],
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stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
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text=True,
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)
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for line in proc.stdout:
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s = line.rstrip()
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if s:
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screen.write(s)
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proc.wait()
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if proc.returncode != 0:
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screen.write("\n[red]Installation failed.[/red]")
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screen.finish(False)
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return
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screen.set_progress(100, "Done")
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screen.write("\n[green]Webots installed successfully.[/green]")
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screen.finish(True)
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except Exception as exc:
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screen.write(f"\n[red]Error:[/red] {exc}")
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screen.finish(False)
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# Minimal single-question app used between steps where a full wizard is not needed.
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# Минимальное приложение с одним вопросом, используемое между шагами где полный мастер не нужен.
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class _Ask(App[Optional[str]]):
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CSS = SCREEN_CSS
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def __init__(self, step: str, question: str, options: list, default: str):
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super().__init__()
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self._step = step
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self._question = question
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self._options = options
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self._default = default
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def on_mount(self) -> None:
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self.push_screen(
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PickScreen(self._step, self._question, self._options, self._default),
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self.exit,
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)
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def _ask(step: str, question: str, options: list, default: str) -> Optional[str]:
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return _Ask(step, question, options, default).run()
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# Public app used by run.py to install Webots before launching locally.
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# Публичное приложение, используемое run.py для установки Webots перед локальным запуском.
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class WebotsInstallApp(App[bool]):
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CSS = SCREEN_CSS
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def on_mount(self) -> None:
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self.push_screen(
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LogScreen(f"Installing Webots {_WEBOTS_VERSION}", _task_install_webots, show_progress=True),
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self.exit,
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)
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# Ask the user if they want to install ROS2 Jazzy, then run the installer if they say yes.
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# Спрашиваем пользователя хочет ли он установить ROS2 Jazzy, и запускаем установщик если да.
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class _InstallJazzyApp(App[None]):
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CSS = SCREEN_CSS
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@@ -338,6 +469,8 @@ class _InstallJazzyApp(App[None]):
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)
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# Run the colcon build without asking any questions - used when ROS2 is already installed.
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# Запускаем сборку colcon без лишних вопросов - используется когда ROS2 уже установлен.
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class _BuildApp(App[None]):
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CSS = SCREEN_CSS
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@@ -348,6 +481,8 @@ class _BuildApp(App[None]):
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)
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# Shown when the OS is not Ubuntu 24.04. Offers to fall back to docker-setup instead.
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# Показывается когда ОС не Ubuntu 24.04. Предлагает перейти к docker-setup вместо этого.
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class _DockerPromptApp(App[bool]):
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CSS = SCREEN_CSS
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@@ -363,9 +498,6 @@ class _DockerPromptApp(App[bool]):
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)
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# ---------------------------------------------------------------------------
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# CLI registration
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# ---------------------------------------------------------------------------
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def register(subparsers: argparse._SubParsersAction) -> None:
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p = subparsers.add_parser(
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@@ -376,13 +508,33 @@ def register(subparsers: argparse._SubParsersAction) -> None:
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def run(args: argparse.Namespace) -> None:
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# If this is not Ubuntu 24.04 we cannot install ROS2 Jazzy natively - offer Docker instead.
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# Если это не Ubuntu 24.04 мы не можем установить ROS2 Jazzy нативно - предлагаем Docker вместо этого.
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if not _detect_ubuntu_2404():
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if _DockerPromptApp().run():
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_docker_setup(args)
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return
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# ROS2 not installed yet - show the installer.
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# After installation the user must restart the terminal, so we stop here.
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# ROS2 ещё не установлен - показываем установщик.
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# После установки пользователь должен перезапустить терминал, поэтому останавливаемся здесь.
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if not _detect_ros2_jazzy():
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_InstallJazzyApp().run()
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return
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# ROS2 is ready - build the project.
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# ROS2 готов - собираем проект.
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_BuildApp().run()
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# Ask about Webots only after a successful build, and only if it is not already installed.
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# Спрашиваем про Webots только после успешной сборки и только если он ещё не установлен.
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if not webots_installed():
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v = _ask(
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"Optional: Webots",
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f"Install Webots {_WEBOTS_VERSION} simulator? (can also be done later via cobot run)",
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[f"Yes, install Webots {_WEBOTS_VERSION}", "No, skip"],
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"No, skip",
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)
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if v and v.startswith("Yes"):
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WebotsInstallApp().run()
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Reference in New Issue
Block a user