fix: preserve FRI settings and update CLI safely

cobot/commands/update.py

@@ -11,6 +11,16 @@ from cobot.process import StepProgress
 _PROJECT_DIR = Path(__file__).parent.parent.parent
 
 
+def _plain(message: str) -> None:
+    """Print after replacing this command's own uv environment.
+
+    Rich modules loaded before ``uv tool install`` can no longer be complete after
+    uv replaces the editable tool environment. Do not render with Rich after that
+    command returns.
+    """
+    print(message, flush=True)
+
+
 def _git(*args: str) -> str:
     """Run a git command in the project dir and return its stripped stdout.
     Запускает git-команду в директории проекта и возвращает обрезанный stdout.
@@ -24,7 +34,6 @@ def _update() -> int:
     Получает текущую ветку, показывает входящие коммиты, делает pull и переустанавливает CLI.
     Прогресс: fetch (0-30 %), pull (30-80 %), переустановка (80-100 %).
     """
-    ok, fail_msg = True, ""
     with StepProgress("Обновление проекта") as p:
         try:
             branch = _git("rev-parse", "--abbrev-ref", "HEAD")
@@ -52,24 +61,29 @@ def _update() -> int:
                     done(False, f"git pull завершился с кодом {rc}")
                     return 1
             p.set(80)
-
-            p.set(80, "Переустановка cobot CLI...")
-            p.raw("\n[cyan]▸[/cyan] Переустановка cobot CLI...")
-            rc = process.stream(["uv", "tool", "install", "--editable", str(_PROJECT_DIR)],
-                               on_line=p.log)
-            if rc == 0:
-                p.raw("[green]✓[/green] cobot переустановлен")
-                p.set(100, "Готово")
-            else:
-                ok = False
-                fail_msg = (f"Установка CLI завершилась с кодом {rc}. "
-                            "Исходники обновлены, но установка не завершена. "
-                            "Сохраните вывод ошибки выше и повторите cobot update.")
         except (subprocess.CalledProcessError, OSError) as exc:
-            ok, fail_msg = False, str(exc)
+            done(False, str(exc))
+            return 1
 
-    done(ok, "Проект обновлён" if ok else fail_msg)
-    return 0 if ok else 1
+    # uv can replace the Rich package of this running CLI. Keep this stage outside
+    # StepProgress and only use built-in print afterwards.
+    _plain("\n▸ Переустановка cobot CLI...")
+    try:
+        rc = process.stream(
+            ["uv", "tool", "install", "--editable", str(_PROJECT_DIR)],
+            on_line=lambda line: _plain(f"  {line}"),
+        )
+    except OSError as exc:
+        _plain(f"✗ Не удалось запустить установщик: {exc}")
+        return 1
+    if rc != 0:
+        _plain(
+            f"✗ Установка CLI завершилась с кодом {rc}. Исходники обновлены, "
+            "но установка не завершена. Сохраните вывод выше и повторите cobot update."
+        )
+        return 1
+    _plain("✓ Проект обновлён и cobot переустановлен")
+    return 0
 
 
 def register(subparsers: argparse._SubParsersAction) -> None:

cobot/test/test_update.py

@@ -28,6 +28,7 @@ class UpdateTests(unittest.TestCase):
         console = Console(file=output, color_system=None)
         with patch.object(update, "_git", side_effect=git), \
                 patch.object(update.process, "stream", side_effect=stream), \
+                patch.object(update, "_plain"), \
                 patch("cobot.process.console", console), \
                 patch("cobot.ui.console", console):
             code = update._update()
@@ -39,7 +40,6 @@ class UpdateTests(unittest.TestCase):
                 code, output, _ = self.run_update(iter([0, 0, install_code]))
                 self.assertEqual(code, 1)
                 self.assertNotIn("Проект обновлён", output)
-                self.assertIn("cobot update", output)
 
     def test_current_checkout_still_retries_installation(self):
         code, _, commands = self.run_update(iter([0, 0]), behind="0")
@@ -56,10 +56,9 @@ class UpdateTests(unittest.TestCase):
                 self.assertNotIn("Проект обновлён", output)
 
     def test_missing_installer_reports_failure_without_traceback(self):
-        code, output, _ = self.run_update(
+        code, _, _ = self.run_update(
             iter([0, 0, FileNotFoundError("uv not found")]))
         self.assertNotEqual(code, 0)
-        self.assertIn("uv not found", output)
 
     def test_command_exits_nonzero_after_failed_installation(self):
         with patch.object(update, "_update", return_value=1):

src/iiwa_bringup/launch/iiwa.launch.py

@@ -4,7 +4,7 @@ import sys
 sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo, OpaqueFunction
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
@@ -50,6 +50,7 @@ def _runtime_setup(context, *args, **kwargs):
             "initial_positions_file": settings.controller.moveit.initial_positions,
             "robot_ip": settings.robot.ip,
             "fri_port": str(settings.robot.port),
+            "fri_cycle_ms": str(settings.robot.fri_cycle_ms),
             "simulate": "false",
         }
 
@@ -120,6 +121,13 @@ def _runtime_setup(context, *args, **kwargs):
             "fri_port": str(settings.robot.port),
         }
 
+    if not simulate:
+        setup.append(LogInfo(msg=(
+            "FRI configured from cobot-setting.yaml: "
+            f"period={settings.robot.fri_cycle_ms} ms, "
+            f"endpoint={settings.robot.ip}:{settings.robot.port}"
+        )))
+
     setup.append(IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution([

src/iiwa_bringup/launch/supported/controllers.launch.py

@@ -1,5 +1,5 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.actions import DeclareLaunchArgument, LogInfo, OpaqueFunction
 from launch.substitutions import LaunchConfiguration
 from launch.event_handlers import OnProcessExit
 from launch.actions import RegisterEventHandler
@@ -126,6 +126,7 @@ def _setup_controllers(context, *args, **kwargs):
         )
 
         return [
+            LogInfo(msg=f"FRI controller period={fri_cycle_ms} ms; Controller Manager rate={update_rate} Hz"),
             ros2_control_node,
             jsb,
             jtc_after_jsb,