fix: enhance subprocess management and progress reporting in setup and update commands

cobot/commands/local_setup.py

@@ -250,7 +250,11 @@ def _run_apt_with_progress(
 
 # Installation steps - each step maps to one visible phase in the log screen
 # Шаги установки - каждый шаг соответствует одной видимой фазе в экране лога
-def _step_prereqs(write: Write, on_progress: Callable[[float], None]) -> None:
+def _step_prereqs(
+    write: Write,
+    on_progress: Callable[[float], None],
+    register_proc: Callable | None = None,
+) -> None:
     """Step 1 - Refresh apt cache and install packages required for the ROS2 setup.
 
     Installs: software-properties-common, curl, gnupg2, lsb-release, build-essential.
@@ -264,7 +268,7 @@ def _step_prereqs(write: Write, on_progress: Callable[[float], None]) -> None:
     write("[cyan][*][/cyan] Updating package lists...")
     _run_apt_with_progress(
         ["sudo", "apt-get", "update"] + _APT_OPTS,
-        write, on_progress, _APT_ENV,
+        write, on_progress, _APT_ENV, register_proc,
     )
     write("[cyan][*][/cyan] Installing prerequisites...")
     _run_apt_with_progress(
@@ -273,18 +277,23 @@ def _step_prereqs(write: Write, on_progress: Callable[[float], None]) -> None:
             "software-properties-common", "curl", "gnupg2",
             "lsb-release", "build-essential",
         ] + _APT_OPTS,
-        write, on_progress, _APT_ENV,
+        write, on_progress, _APT_ENV, register_proc,
     )
     write("[cyan][*][/cyan] Adding universe repository...")
     # --no-update prevents add-apt-repository from running its own apt-get update,
     # which would ignore our timeout options and could hang indefinitely.
     # --no-update запрещает add-apt-repository запускать собственный apt-get update,
     # который игнорирует наши таймауты и может зависнуть.
-    _run_logged(["sudo", "add-apt-repository", "-y", "--no-update", "universe"], write)
+    _run_logged(["sudo", "add-apt-repository", "-y", "--no-update", "universe"], write,
+                register_proc=register_proc)
     write("[green][ok][/green] Prerequisites ready")
 
 
-def _step_ros2_repo(write: Write, on_progress: Callable[[float], None]) -> None:
+def _step_ros2_repo(
+    write: Write,
+    on_progress: Callable[[float], None],
+    register_proc: Callable | None = None,
+) -> None:
     """Step 2 - Download the ROS2 signing key and register the ROS2 apt repository.
 
     Removes any previous key and sources file first so re-runs always start clean.
@@ -351,7 +360,7 @@ def _step_ros2_repo(write: Write, on_progress: Callable[[float], None]) -> None:
             "-o", "Dir::Etc::sourceparts=-",
             "-o", "APT::Get::List-Cleanup=0",
         ] + _APT_OPTS,
-        write, on_progress, _APT_ENV,
+        write, on_progress, _APT_ENV, register_proc,
     )
     write("[green][ok][/green] ROS2 repository ready")
 
@@ -380,7 +389,11 @@ def _step_install_ros2(
     write(f"[green][ok][/green] ros-{_DISTRO}-{pkg} installed")
 
 
-def _step_dev_tools(write: Write, on_progress: Callable[[float], None]) -> None:
+def _step_dev_tools(
+    write: Write,
+    on_progress: Callable[[float], None],
+    register_proc: Callable | None = None,
+) -> None:
     """Step 4 - Install colcon, rosdep, vcstool and initialize rosdep.
 
     Installs the Python packages needed to build and manage ROS2 workspaces.
@@ -403,15 +416,16 @@ def _step_dev_tools(write: Write, on_progress: Callable[[float], None]) -> None:
             "python3-rosdep",
             "python3-vcstool",
         ] + _APT_OPTS,
-        write, on_progress, _APT_ENV,
+        write, on_progress, _APT_ENV, register_proc,
     )
     if not _ROSDEP_SOURCES.exists():
         write("[cyan][*][/cyan] Initializing rosdep...")
-        _run_logged(["sudo", "rosdep", "init"], write)
+        _run_logged(["sudo", "rosdep", "init"], write, register_proc=register_proc)
     else:
         write("[green][ok][/green] rosdep already initialized")
     write("[cyan][*][/cyan] Updating rosdep...")
-    _run_logged(["rosdep", "update", "--rosdistro", _DISTRO], write)
+    _run_logged(["rosdep", "update", "--rosdistro", _DISTRO], write,
+                register_proc=register_proc)
     write("[green][ok][/green] Dev tools ready")
 
 
@@ -474,12 +488,12 @@ def _task_install(screen: LogScreen, pkg: str) -> None:
             return lambda p: screen.set_progress(lo + p / 100.0 * (hi - lo))
 
         screen.set_progress(0, "Preparing...")
-        _step_prereqs(screen.write, prog(0, 15))
+        _step_prereqs(screen.write, prog(0, 15), register_proc=screen.set_proc)
         if screen.is_stopped():
             return
 
         screen.set_progress(15, "Setting up ROS2 repository...")
-        _step_ros2_repo(screen.write, prog(15, 30))
+        _step_ros2_repo(screen.write, prog(15, 30), register_proc=screen.set_proc)
         if screen.is_stopped():
             return
 
@@ -489,7 +503,7 @@ def _task_install(screen: LogScreen, pkg: str) -> None:
             return
 
         screen.set_progress(75, "Installing dev tools...")
-        _step_dev_tools(screen.write, prog(75, 95))
+        _step_dev_tools(screen.write, prog(75, 95), register_proc=screen.set_proc)
         if screen.is_stopped():
             return
 

cobot/commands/update.py

@@ -33,14 +33,16 @@ def _task_update(screen: LogScreen) -> None:
         # Fetch (0 → 30 %)
         screen.set_progress(0, "Fetching from remote...")
         screen.write("[cyan][*][/cyan] Fetching from remote...")
-        fetch = subprocess.run(
+        fetch_proc = subprocess.Popen(
             ["git", "fetch", "origin"],
-            cwd=_PROJECT_DIR, capture_output=True, text=True,
+            cwd=_PROJECT_DIR, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True,
         )
+        screen.set_proc(fetch_proc)
+        fetch_out, fetch_err = fetch_proc.communicate()
         if screen.is_stopped():
             return
-        if fetch.returncode != 0:
-            screen.write(f"[red]Fetch failed:[/red] {fetch.stderr.strip()}")
+        if fetch_proc.returncode not in (0, -9):
+            screen.write(f"[red]Fetch failed:[/red] {fetch_err.strip()}")
             screen.finish(False)
             return
         screen.set_progress(30)
@@ -72,14 +74,16 @@ def _task_update(screen: LogScreen) -> None:
         # Pull (30 → 80 %)
         screen.set_progress(30, "Pulling changes...")
         screen.write("\n[cyan][*][/cyan] Pulling changes...")
-        pull = subprocess.run(
+        pull_proc = subprocess.Popen(
             ["git", "pull", "origin", branch],
-            capture_output=True, text=True, cwd=_PROJECT_DIR,
+            stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True, cwd=_PROJECT_DIR,
         )
+        screen.set_proc(pull_proc)
+        pull_out, pull_err = pull_proc.communicate()
         if screen.is_stopped():
             return
-        if pull.returncode != 0:
-            for line in (pull.stdout + pull.stderr).splitlines():
+        if pull_proc.returncode not in (0, -9):
+            for line in (pull_out + pull_err).splitlines():
                 if line.strip():
                     screen.write(line)
             screen.write("[red]Pull failed.[/red]")
@@ -92,16 +96,18 @@ def _task_update(screen: LogScreen) -> None:
         # Переустанавливаем, чтобы бинарник cobot подхватил новые зависимости из pyproject.toml.
         screen.set_progress(80, "Reinstalling cobot CLI...")
         screen.write("\n[cyan][*][/cyan] Reinstalling cobot CLI...")
-        reinstall = subprocess.run(
+        reinstall_proc = subprocess.Popen(
             ["uv", "tool", "install", "--editable", str(_PROJECT_DIR)],
-            capture_output=True, text=True,
+            stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True,
         )
+        screen.set_proc(reinstall_proc)
+        reinstall_out, reinstall_err = reinstall_proc.communicate()
         if screen.is_stopped():
             return
-        if reinstall.returncode == 0:
+        if reinstall_proc.returncode in (0, -9):
             screen.write("[green][ok][/green] cobot reinstalled")
         else:
-            screen.write(f"[yellow]Warning:[/yellow] reinstall failed — {reinstall.stderr.strip()}")
+            screen.write(f"[yellow]Warning:[/yellow] reinstall failed — {reinstall_err.strip()}")
 
         if not screen.is_stopped():
             screen.set_progress(100, "Done")

cobot/tui.py

@@ -1,5 +1,7 @@
 from __future__ import annotations
 
+import os
+import signal
 from typing import Callable, List, Optional
 
 from textual import on
@@ -195,9 +197,10 @@ class LogScreen(Screen[bool]):
         self._finished = False
         self._success = False
         self._show_progress = show_progress
-        # Tracks the subprocess that is currently running so on_unmount can kill it.
-        # Отслеживает текущий subprocess, чтобы on_unmount мог его завершить.
+        # All subprocesses registered via set_proc() - every one gets killed on unmount.
+        # Все подпроцессы зарегистрированные через set_proc() - каждый убивается при выходе.
         self._active_proc = None
+        self._procs: list = []
         self._stopped = False
 
     def compose(self) -> ComposeResult:
@@ -217,11 +220,12 @@ class LogScreen(Screen[bool]):
         self.app.run_worker(lambda: self._run_fn(self), thread=True)
 
     def set_proc(self, proc) -> None:
-        # Register the subprocess that is currently running.
-        # Called from the worker thread - GIL makes simple assignment safe here.
-        # Регистрируем текущий subprocess.
-        # Вызывается из рабочего потока - простое присваивание безопасно благодаря GIL.
+        # Register the subprocess that is currently running. Added to _procs so on_unmount
+        # can kill it even if another proc is registered afterwards.
+        # Регистрируем текущий subprocess. Добавляем в _procs, чтобы on_unmount мог его убить
+        # даже если после него будет зарегистрирован другой процесс.
         self._active_proc = proc
+        self._procs.append(proc)
 
     def is_stopped(self) -> bool:
         # Return True if the user has closed the screen before the task finished.
@@ -229,15 +233,24 @@ class LogScreen(Screen[bool]):
         return self._stopped
 
     def on_unmount(self) -> None:
-        # Kill the active subprocess when the screen closes so it does not keep running in the background.
-        # Убиваем активный subprocess при закрытии экрана, чтобы он не продолжал работать в фоне.
+        # Kill every registered subprocess so nothing keeps running in the background after exit.
+        # Use SIGKILL on the process group to also terminate any children spawned by the process
+        # (e.g. dpkg or apt subprocesses spawned under sudo). Falls back to proc.kill() if the
+        # process group is not available (e.g. already exited).
+        # Убиваем все зарегистрированные подпроцессы, чтобы ничего не висело в фоне после выхода.
+        # Используем SIGKILL по группе процессов, чтобы завершить и дочерние процессы
+        # (например dpkg или apt запущенные под sudo). Откат на proc.kill() если группа недоступна.
         self._stopped = True
-        proc = self._active_proc
-        if proc is not None:
+        for proc in list(self._procs):
+            try:
+                pgid = os.getpgid(proc.pid)
+                os.killpg(pgid, signal.SIGKILL)
+            except Exception:
                 try:
                     proc.kill()
                 except Exception:
                     pass
+        self._procs.clear()
 
     def set_progress(self, pct: float, label: str = "") -> None:
         # Thread-safe - this is called from the worker thread, not the UI thread.
@@ -305,6 +318,7 @@ class RunScreen(Screen[None]):
         self._kill_fn = None       # optional custom kill callable, set via set_kill_fn()
         self._finished = False
         self._stopped = False
+        self._procs: list = []     # all registered procs for cleanup on forced exit
 
     def compose(self) -> ComposeResult:
         yield Static(self._title, id="step")
@@ -323,6 +337,7 @@ class RunScreen(Screen[None]):
         # Register the subprocess so the Stop button knows what to terminate.
         # Регистрируем subprocess, чтобы кнопка Stop знала что завершать.
         self._proc = proc
+        self._procs.append(proc)
 
     def set_kill_fn(self, fn: Callable) -> None:
         # Override the default proc.terminate() with a custom kill function.
@@ -353,6 +368,26 @@ class RunScreen(Screen[None]):
             msg = "[green]Process exited.[/green]  Press [bold]Enter[/bold] to close."
         self.query_one("#hint", Static).update(msg)
 
+    def on_unmount(self) -> None:
+        # Kill all registered subprocesses when the screen is forcibly closed (e.g. Ctrl+Q).
+        # Убиваем все зарегистрированные подпроцессы при принудительном закрытии экрана (Ctrl+Q).
+        self._stopped = True
+        if self._kill_fn is not None:
+            try:
+                self._kill_fn()
+            except Exception:
+                pass
+        for proc in list(self._procs):
+            try:
+                pgid = os.getpgid(proc.pid)
+                os.killpg(pgid, signal.SIGKILL)
+            except Exception:
+                try:
+                    proc.kill()
+                except Exception:
+                    pass
+        self._procs.clear()
+
     def action_stop_close(self) -> None:
         # This runs in the UI thread, so we call _append() directly instead of write()
         # because write() uses call_from_thread() which only works from other threads.