Даниил Грабарь
ee047618cd
- 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
118 lines
3.8 KiB
Python
118 lines
3.8 KiB
Python
from __future__ import annotations
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import argparse
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import subprocess
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from pathlib import Path
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from typing import List, Optional
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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 _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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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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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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pkg_label = " ".join(packages) if packages else "все пакеты"
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symlink_label = " --symlink-install" if symlink else ""
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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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built = 0
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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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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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p = subparsers.add_parser(
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"rebuild",
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help="Rebuild ROS2 packages in src/ with colcon",
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)
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p.add_argument(
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"packages",
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nargs="*",
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metavar="PACKAGE",
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help="Packages to rebuild (omit to be asked, or leave empty for all)",
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)
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p.set_defaults(symlink=None)
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p.add_argument(
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"--symlink-install",
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dest="symlink",
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action="store_true",
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help="Pass --symlink-install to colcon build",
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)
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p.add_argument(
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"--no-symlink-install",
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dest="symlink",
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action="store_false",
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help="Do not pass --symlink-install to colcon build",
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)
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p.set_defaults(func=run)
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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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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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