546 lines
23 KiB
Python
546 lines
23 KiB
Python
from __future__ import annotations
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import argparse
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import os
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import shutil
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import subprocess
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import tempfile
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import threading
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import urllib.request
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from pathlib import Path
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from typing import Callable, List, Optional
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from textual.app import App
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from cobot.tui import SCREEN_CSS, LogScreen, PickScreen
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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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return False
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info: dict[str, str] = {}
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for line in path.read_text().splitlines():
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if "=" in line:
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k, _, v = line.partition("=")
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info[k.strip()] = v.strip().strip('"')
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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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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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env=env or os.environ, cwd=cwd,
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)
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if result.returncode != 0:
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if write:
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for line in (result.stdout + result.stderr).splitlines():
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if line.strip():
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write(line)
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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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stdout=subprocess.PIPE,
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stderr=subprocess.STDOUT,
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text=True,
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env=env or os.environ,
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cwd=cwd,
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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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write(s)
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proc.wait()
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if proc.returncode != 0:
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raise RuntimeError(f"Command failed: {cmd[0]}")
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def _run_apt_with_progress(
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cmd: List[str],
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write: Write,
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on_progress: Callable[[float], None],
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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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cmd + [f"-o", f"APT::Status-Fd={w_fd}"],
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stdout=subprocess.PIPE,
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stderr=subprocess.STDOUT,
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text=True,
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env=env or os.environ,
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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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with os.fdopen(r_fd, "r") as f:
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for line in f:
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# Format: dlstatus:N:PCT:MSG or pmstatus:NAME:PCT:MSG
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parts = line.strip().split(":", 3)
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if len(parts) >= 3:
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try:
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on_progress(float(parts[2]))
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except ValueError:
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pass
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t = threading.Thread(target=_read_status, daemon=True)
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t.start()
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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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write(s)
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proc.wait()
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t.join()
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if proc.returncode != 0:
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raise RuntimeError(f"Command failed: {cmd[0]}")
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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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write("[green][ok][/green] UTF-8 locale active")
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return
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write("[cyan][*][/cyan] Configuring UTF-8 locale...")
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_run_quiet(["sudo", "apt-get", "update", "-qq"], write)
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_run_quiet(["sudo", "apt-get", "install", "-y", "--no-install-recommends", "locales"], write, _APT_ENV)
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_run_quiet(["sudo", "locale-gen", "en_US.UTF-8"], write)
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_run_quiet(["sudo", "update-locale", "LC_ALL=en_US.UTF-8", "LANG=en_US.UTF-8"], write)
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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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on_progress(p)
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write("[cyan][*][/cyan] Adding ROS2 apt repository...")
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# Best-effort update - 60 second timeout so a bad mirror doesn't hang forever.
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# Фоновое обновление с таймаутом 60 секунд, чтобы зависший зеркальный сервер не блокировал процесс.
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subprocess.run(["sudo", "apt-get", "update", "-qq"], capture_output=True, timeout=60)
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_prog(15)
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_run_quiet(
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["sudo", "apt-get", "install", "-y", "--no-install-recommends",
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"software-properties-common", "curl", "gnupg"],
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write, _APT_ENV,
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)
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_prog(35)
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_run_quiet(["sudo", "add-apt-repository", "-y", "universe"], write)
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_prog(45)
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write("[cyan][*][/cyan] Downloading ROS2 signing key...")
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with tempfile.NamedTemporaryFile(delete=False, suffix=".key") as tmp:
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tmp_path = tmp.name
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try:
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# 30 second timeout - if GitHub is unreachable we fail fast instead of hanging forever.
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# Таймаут 30 секунд - если GitHub недоступен, падаем быстро вместо бесконечного зависания.
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with urllib.request.urlopen(_ROS_KEY_URL, timeout=30) as resp:
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with open(tmp_path, "wb") as f:
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f.write(resp.read())
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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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write("[green][ok][/green] Signing key installed")
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_prog(65)
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arch = subprocess.check_output(["dpkg", "--print-architecture"], text=True).strip()
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codename = subprocess.check_output(
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["bash", "-c", ". /etc/os-release && echo $UBUNTU_CODENAME"], text=True
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).strip()
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sources_line = (
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f"deb [arch={arch} signed-by={_ROS_KEYRING}] "
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f"http://packages.ros.org/ros2/ubuntu {codename} main\n"
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)
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proc = subprocess.run(
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["sudo", "tee", str(_ROS_SOURCES)],
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input=sources_line, capture_output=True, text=True,
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)
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if proc.returncode != 0:
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raise RuntimeError(f"Failed to write {_ROS_SOURCES}")
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_prog(70)
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write("[cyan][*][/cyan] Updating apt cache...")
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_run_apt_with_progress(
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["sudo", "apt-get", "update", "-q"],
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write,
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lambda p: _prog(70 + p * 0.30),
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_APT_ENV,
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)
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write("[green][ok][/green] ROS2 repository ready")
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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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["sudo", "apt-get", "install", "-y", "ros-jazzy-desktop", "ros-dev-tools"],
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write,
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on_progress or (lambda _: None),
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_APT_ENV,
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)
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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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return
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write("[cyan][*][/cyan] Installing colcon...")
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_run_quiet(
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["sudo", "apt-get", "install", "-y", "--no-install-recommends",
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"python3-colcon-common-extensions"],
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write, _APT_ENV,
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)
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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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source_line = "source /opt/ros/jazzy/setup.bash"
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if rc.exists() and source_line in rc.read_text():
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write(f"[green][ok][/green] ROS2 setup already in {rc.name}")
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return
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with rc.open("a") as f:
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f.write(f"\n# ROS2 Jazzy\n{source_line}\n")
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write(f"[green][ok][/green] Added ROS2 setup to ~/{rc.name}")
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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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screen.set_progress(0, "Setting up locale...")
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screen.write("[bold]Step 1 / 5 — Locale[/bold]")
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_setup_locale(screen.write)
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# Step 2 — ROS2 repo (5 → 20 %)
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screen.set_progress(5, "Adding ROS2 repository...")
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screen.write("\n[bold]Step 2 / 5 — ROS2 repository[/bold]")
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_add_ros2_repo(
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screen.write,
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on_progress=lambda p: screen.set_progress(5 + p * 0.15),
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)
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# Step 3 — ROS2 Jazzy (20 → 85 %)
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screen.set_progress(20, "Installing ROS2 Jazzy Desktop...")
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screen.write("\n[bold]Step 3 / 5 — ROS2 Jazzy Desktop[/bold]")
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_install_ros2_jazzy(
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screen.write,
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on_progress=lambda p: screen.set_progress(20 + p * 0.65),
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)
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# Step 4 — colcon (85 → 92 %)
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screen.set_progress(85, "Installing colcon...")
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screen.write("\n[bold]Step 4 / 5 — colcon[/bold]")
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_install_colcon(screen.write)
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# Step 5 — shell rc (92 → 100 %)
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screen.set_progress(92, "Configuring shell...")
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screen.write("\n[bold]Step 5 / 5 — Shell configuration[/bold]")
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_setup_shell_rc(screen.write)
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screen.set_progress(100, "Done")
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screen.write(
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"\nRestart the terminal, then run [bold]cobot local-setup[/bold] again to build."
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)
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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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# 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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screen.write("[red]colcon not found.[/red]")
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screen.write("Source ROS2 first: [bold]source /opt/ros/jazzy/setup.bash[/bold]")
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screen.finish(False)
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return
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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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total = max(len([l for l in list_result.stdout.splitlines() if l.strip()]), 1)
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screen.write(f"[bold]Building {total} package(s) with colcon[/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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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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_run_logged(["colcon", "build", "--symlink-install"], _track, cwd=_PROJECT_DIR)
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screen.set_progress(100, "Build complete")
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screen.write("\nActivate workspace: [bold]source install/setup.bash[/bold]")
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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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# 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]")
|
|
screen.finish(True)
|
|
except Exception as exc:
|
|
screen.write(f"\n[red]Error:[/red] {exc}")
|
|
screen.finish(False)
|
|
|
|
|
|
# Minimal single-question app used between steps where a full wizard is not needed.
|
|
# Минимальное приложение с одним вопросом, используемое между шагами где полный мастер не нужен.
|
|
class _Ask(App[Optional[str]]):
|
|
CSS = SCREEN_CSS
|
|
|
|
def __init__(self, step: str, question: str, options: list, default: str):
|
|
super().__init__()
|
|
self._step = step
|
|
self._question = question
|
|
self._options = options
|
|
self._default = default
|
|
|
|
def on_mount(self) -> None:
|
|
self.push_screen(
|
|
PickScreen(self._step, self._question, self._options, self._default),
|
|
self.exit,
|
|
)
|
|
|
|
|
|
def _ask(step: str, question: str, options: list, default: str) -> Optional[str]:
|
|
return _Ask(step, question, options, default).run()
|
|
|
|
|
|
# Public app used by run.py to install Webots before launching locally.
|
|
# Публичное приложение, используемое run.py для установки Webots перед локальным запуском.
|
|
class WebotsInstallApp(App[bool]):
|
|
CSS = SCREEN_CSS
|
|
|
|
def on_mount(self) -> None:
|
|
self.push_screen(
|
|
LogScreen(f"Installing Webots {_WEBOTS_VERSION}", _task_install_webots, show_progress=True),
|
|
self.exit,
|
|
)
|
|
|
|
|
|
|
|
# Ask the user if they want to install ROS2 Jazzy, then run the installer if they say yes.
|
|
# Спрашиваем пользователя хочет ли он установить ROS2 Jazzy, и запускаем установщик если да.
|
|
class _InstallJazzyApp(App[None]):
|
|
CSS = SCREEN_CSS
|
|
|
|
def on_mount(self) -> None:
|
|
self.push_screen(
|
|
PickScreen(
|
|
"ROS2 not found",
|
|
"ROS2 Jazzy is not installed. Install it now?",
|
|
["Yes, install ROS2 Jazzy", "No, skip"],
|
|
"Yes, install ROS2 Jazzy",
|
|
),
|
|
self._on_choice,
|
|
)
|
|
|
|
def _on_choice(self, choice: Optional[str]) -> None:
|
|
if choice is None or choice.startswith("No"):
|
|
self.exit()
|
|
return
|
|
self.push_screen(
|
|
LogScreen("Installing ROS2 Jazzy", _task_install_jazzy, show_progress=True),
|
|
lambda _: self.exit(),
|
|
)
|
|
|
|
|
|
# Run the colcon build without asking any questions - used when ROS2 is already installed.
|
|
# Запускаем сборку colcon без лишних вопросов - используется когда ROS2 уже установлен.
|
|
class _BuildApp(App[None]):
|
|
CSS = SCREEN_CSS
|
|
|
|
def on_mount(self) -> None:
|
|
self.push_screen(
|
|
LogScreen("Building project", _task_build, show_progress=True),
|
|
lambda _: self.exit(),
|
|
)
|
|
|
|
|
|
# Shown when the OS is not Ubuntu 24.04. Offers to fall back to docker-setup instead.
|
|
# Показывается когда ОС не Ubuntu 24.04. Предлагает перейти к docker-setup вместо этого.
|
|
class _DockerPromptApp(App[bool]):
|
|
CSS = SCREEN_CSS
|
|
|
|
def on_mount(self) -> None:
|
|
self.push_screen(
|
|
PickScreen(
|
|
"Unsupported OS",
|
|
"Ubuntu 24.04 not detected. Build a Docker image for development?",
|
|
["Yes, run docker-setup", "No, exit"],
|
|
"Yes, run docker-setup",
|
|
),
|
|
lambda v: self.exit(v is not None and v.startswith("Yes")),
|
|
)
|
|
|
|
|
|
|
|
def register(subparsers: argparse._SubParsersAction) -> None:
|
|
p = subparsers.add_parser(
|
|
"local-setup",
|
|
help="Install ROS2 Jazzy natively and build the project with colcon",
|
|
)
|
|
p.set_defaults(func=run)
|
|
|
|
|
|
def run(args: argparse.Namespace) -> None:
|
|
# If this is not Ubuntu 24.04 we cannot install ROS2 Jazzy natively - offer Docker instead.
|
|
# Если это не Ubuntu 24.04 мы не можем установить ROS2 Jazzy нативно - предлагаем Docker вместо этого.
|
|
if not _detect_ubuntu_2404():
|
|
if _DockerPromptApp().run():
|
|
_docker_setup(args)
|
|
return
|
|
|
|
# ROS2 not installed yet - show the installer.
|
|
# After installation the user must restart the terminal, so we stop here.
|
|
# ROS2 ещё не установлен - показываем установщик.
|
|
# После установки пользователь должен перезапустить терминал, поэтому останавливаемся здесь.
|
|
if not _detect_ros2_jazzy():
|
|
_InstallJazzyApp().run()
|
|
return
|
|
|
|
# ROS2 is ready - build the project.
|
|
# ROS2 готов - собираем проект.
|
|
_BuildApp().run()
|
|
|
|
# Ask about Webots only after a successful build, and only if it is not already installed.
|
|
# Спрашиваем про Webots только после успешной сборки и только если он ещё не установлен.
|
|
if not webots_installed():
|
|
v = _ask(
|
|
"Optional: Webots",
|
|
f"Install Webots {_WEBOTS_VERSION} simulator? (can also be done later via cobot run)",
|
|
[f"Yes, install Webots {_WEBOTS_VERSION}", "No, skip"],
|
|
"No, skip",
|
|
)
|
|
if v and v.startswith("Yes"):
|
|
WebotsInstallApp().run()
|