feat: update version and dependencies in setup.py; add privilege management and process handling modules
- Updated version from 2026.05.31 to 2026.06.11 in setup.py - Replaced 'textual' with 'rich' in install_requires - Added privilege.py for managing sudo privileges with a keep-alive mechanism - Introduced process.py for handling subprocesses with enhanced control and output streaming - Created ui.py for unified console interactions and user prompts
This commit is contained in:
Даниил Грабарь
+63
-138
@@ -5,154 +5,63 @@ import subprocess
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from pathlib import Path
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from typing import List, Optional
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from textual.app import App
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from cobot.tui import SCREEN_CSS, InputScreen, LogScreen, PickScreen
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from cobot import ui, process
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from cobot.commands.local_setup import _ros2_env
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_PROJECT_DIR = Path(__file__).parent.parent.parent
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def _task_rebuild(screen: LogScreen, packages: List[str], symlink: bool) -> None:
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"""Run colcon build for the selected packages (or all if packages is empty).
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Streams output to the log and tracks per-package progress.
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Запускает colcon build для выбранных пакетов (или всех если packages пуст).
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Транслирует вывод в лог и отслеживает прогресс по каждому пакету.
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def _count_packages(packages: List[str], env: dict) -> int:
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"""Count how many colcon packages will be built so we can show X / total progress.
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Считает количество пакетов colcon для отображения прогресса X / всего.
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"""
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try:
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env = _ros2_env()
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# Count packages so we can show X / total progress.
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# Считаем пакеты чтобы показывать X / всего в прогрессе.
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list_cmd = ["colcon", "list", "--base-paths", "src"]
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if packages:
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list_cmd += ["--packages-select"] + packages
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list_result = subprocess.run(
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list_cmd, capture_output=True, text=True,
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cwd=_PROJECT_DIR, env=env,
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)
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total = max(len([l for l in list_result.stdout.splitlines() if l.strip()]), 1)
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pkg_label = " ".join(packages) if packages else "all packages"
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symlink_label = " --symlink-install" if symlink else ""
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screen.write(f"[bold]colcon build{symlink_label} — {pkg_label}[/bold]\n")
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screen.set_progress(0, f"0 / {total} packages done")
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built = 0
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cmd = ["colcon", "build", "--base-paths", "src"]
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if symlink:
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cmd.append("--symlink-install")
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if packages:
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cmd += ["--packages-select"] + packages
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proc = subprocess.Popen(
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cmd,
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stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
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text=True, cwd=_PROJECT_DIR, env=env,
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)
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screen.set_proc(proc)
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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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if "Finished <<<" in line or "Failed <<<" in line:
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built += 1
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screen.set_progress(
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built / total * 100,
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f"{built} / {total} packages done",
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)
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proc.wait()
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if screen.is_stopped():
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return
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if proc.returncode not in (0, -9):
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screen.write("\n[red]Build 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]Build complete.[/green]")
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screen.finish(True)
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except Exception as exc:
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if not screen.is_stopped():
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screen.write(f"\n[red]Error:[/red] {exc}")
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screen.finish(False)
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list_cmd = ["colcon", "list", "--base-paths", "src"]
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if packages:
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list_cmd += ["--packages-select"] + packages
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result = subprocess.run(list_cmd, capture_output=True, text=True,
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cwd=_PROJECT_DIR, env=env)
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return max(len([l for l in result.stdout.splitlines() if l.strip()]), 1)
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class _RebuildApp(App[None]):
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"""Rebuild wizard: optionally asks for packages and symlink flag, then runs colcon.
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Мастер пересборки: опционально спрашивает пакеты и флаг symlink, затем запускает colcon.
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def _rebuild(packages: List[str], symlink: bool) -> None:
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"""Run colcon build for the selected packages (or all), streaming live output
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with a per-package progress bar.
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Запускает colcon build для выбранных пакетов (или всех), транслируя живой вывод
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с прогресс-баром по пакетам.
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"""
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env = _ros2_env()
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total = _count_packages(packages, env)
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CSS = SCREEN_CSS
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pkg_label = " ".join(packages) if packages else "все пакеты"
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symlink_label = " --symlink-install" if symlink else ""
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def __init__(self, packages: Optional[List[str]], symlink: Optional[bool]):
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super().__init__()
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# None means "ask the user interactively".
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# None означает "спросить пользователя интерактивно".
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self._packages = packages
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self._symlink = symlink
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cmd = ["colcon", "build", "--base-paths", "src"]
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if symlink:
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cmd.append("--symlink-install")
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if packages:
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cmd += ["--packages-select"] + packages
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def on_mount(self) -> None:
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if self._packages is None:
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self._ask_packages()
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elif self._symlink is None:
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self._ask_symlink()
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else:
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self._start()
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built = 0
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def _ask_packages(self) -> None:
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self.push_screen(
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InputScreen(
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"rebuild",
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"Packages to rebuild (space-separated, leave empty for all):",
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"",
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note="Example: iiwa_controller iiwa_bringup",
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),
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self._got_packages,
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)
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def _parse(line: str):
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nonlocal built
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if "Finished <<<" in line or "Failed <<<" in line:
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built += 1
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return (built / total * 100, f"{built} / {total} пакетов")
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return None
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def _got_packages(self, value: Optional[str]) -> None:
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if value is None:
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self.exit()
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return
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self._packages = value.split() if value.strip() else []
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if self._symlink is None:
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self._ask_symlink()
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else:
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self._start()
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def _ask_symlink(self) -> None:
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self.push_screen(
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PickScreen(
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"rebuild",
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"Use --symlink-install?",
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["Yes", "No"],
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"Yes",
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),
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self._got_symlink,
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)
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def _got_symlink(self, value: Optional[str]) -> None:
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if value is None:
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self.exit()
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return
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self._symlink = value == "Yes"
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self._start()
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def _start(self) -> None:
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self.push_screen(
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LogScreen(
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"Rebuilding packages",
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lambda s: _task_rebuild(s, self._packages, self._symlink),
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show_progress=True,
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),
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lambda _: self.exit(),
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)
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rc = process.run_step(
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f"colcon build{symlink_label} — {pkg_label}",
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cmd,
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env=env,
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cwd=str(_PROJECT_DIR),
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total=100.0,
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parse_progress=_parse,
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success_msg="Сборка завершена",
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fail_msg="Сборка завершилась с ошибкой",
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)
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if rc in (0, -9, -15):
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ui.note("Активируйте окружение: source install/setup.bash")
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def register(subparsers: argparse._SubParsersAction) -> None:
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@@ -186,7 +95,23 @@ def run(args: argparse.Namespace) -> None:
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"""Entry point for the rebuild command.
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Точка входа для команды rebuild.
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"""
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# Convert empty list to None so the TUI asks interactively.
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# Преобразуем пустой список в None, чтобы TUI спросил интерактивно.
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packages = args.packages if args.packages else None
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_RebuildApp(packages, args.symlink).run()
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packages: Optional[List[str]] = args.packages if args.packages else None
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if packages is None:
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value = ui.text(
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"Какие пакеты пересобрать? (через пробел, пусто — все)",
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"",
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note="Пример: iiwa_controller iiwa_bringup",
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)
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if value is None:
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return
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packages = value.split() if value.strip() else []
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symlink = args.symlink
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if symlink is None:
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choice = ui.select("Использовать --symlink-install?", ["Да", "Нет"], "Да")
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if choice is None:
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return
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symlink = choice == "Да"
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_rebuild(packages, symlink)
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