339 lines
11 KiB
Python
339 lines
11 KiB
Python
from __future__ import annotations
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import argparse
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import os
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import re
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import shutil
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import subprocess
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import sys
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from dataclasses import dataclass
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from pathlib import Path
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from typing import List, Optional
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from rich.console import Console
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from rich.progress import BarColumn, Progress, SpinnerColumn, TaskProgressColumn, TextColumn
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from textual.app import App
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from cobot.tui import SCREEN_CSS, InputScreen, PickScreen
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_console = Console()
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_PROJECT_DIR = Path(__file__).parent.parent.parent
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_DOCKER_DIR = _PROJECT_DIR / "docker"
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_DEFAULT_HUB_REPO = "evilfisru/lwc"
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_DEFAULT_PREFIX = "lwc-local"
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_CONTROLLER_CHAIN = ["ros-core", "ros-base", "ros-iiwa7"]
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_WEBOTS_CHAIN = ["ros-core", "ros-base", "ros-iiwa7-webots"]
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_IMAGE_PARENT: dict[str, str | None] = {
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"ros-core": None,
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"ros-base": "ros-core",
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"ros-iiwa7": "ros-base",
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"ros-iiwa7-webots": "ros-base",
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}
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# Images that COPY from src/ — need project root as build context.
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# Others use their Dockerfile's own directory.
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_NEEDS_PROJECT_CTX = {"ros-iiwa7", "ros-iiwa7-webots"}
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@dataclass
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class _Config:
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ros_version: str
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variant: str # "controller" | "webots"
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source: str # "build" | "pull"
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build_type: str # "release" | "dev"
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image_prefix: str
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hub_repo: str
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class _Wizard(App[Optional[_Config]]):
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CSS = SCREEN_CSS
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def __init__(self, versions: List[str], default_version: str = "jazzy"):
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super().__init__()
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self.versions = versions
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self.default_version = default_version
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self._state: dict = {}
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def on_mount(self) -> None:
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self._ask_version()
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# ── step helpers ──────────────────────────────────────────────────────────
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def _ask_version(self) -> None:
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self.push_screen(
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PickScreen("Step 1 of 5", "Select ROS version:", self.versions, self.default_version),
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self._got_version,
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)
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def _got_version(self, v: Optional[str]) -> None:
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if v is None:
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self.exit(None)
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return
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self._state["ros_version"] = v
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self.push_screen(
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PickScreen("Step 2 of 5", "Source:", ["Pull from Docker Hub", "Build locally"], "Pull from Docker Hub"),
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self._got_source,
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)
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def _got_source(self, v: Optional[str]) -> None:
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if v is None:
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self.exit(None)
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return
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self._state["source"] = "build" if v == "Build locally" else "pull"
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self.push_screen(
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PickScreen(
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"Step 3 of 5",
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"What to install:",
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[
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"Controller only — ros-core, ros-base, ros-iiwa7",
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"Controller with Webots — ros-core, ros-base, ros-iiwa7-webots",
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],
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"Controller only — ros-core, ros-base, ros-iiwa7",
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),
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self._got_variant,
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)
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def _got_variant(self, v: Optional[str]) -> None:
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if v is None:
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self.exit(None)
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return
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self._state["variant"] = "webots" if v.startswith("Controller with Webots") else "controller"
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self.push_screen(
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PickScreen("Step 4 of 5", "Build type:", ["release", "dev"], "release"),
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self._got_build_type,
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)
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def _got_build_type(self, v: Optional[str]) -> None:
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if v is None:
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self.exit(None)
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return
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self._state["build_type"] = v or "release"
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if self._state["source"] == "pull":
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self.push_screen(
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InputScreen("Step 5 of 5", "Docker Hub repository:", _DEFAULT_HUB_REPO),
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self._got_hub_repo,
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)
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else:
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self.push_screen(
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InputScreen("Step 5 of 5", "Image prefix:", _DEFAULT_PREFIX),
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self._got_prefix,
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)
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def _got_hub_repo(self, v: Optional[str]) -> None:
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if v is None:
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self.exit(None)
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return
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self._state["hub_repo"] = v
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self._finish()
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def _got_prefix(self, v: Optional[str]) -> None:
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if v is None:
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self.exit(None)
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return
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self._state["image_prefix"] = v
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self._finish()
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def _finish(self) -> None:
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s = self._state
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self.exit(_Config(
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ros_version=s["ros_version"],
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variant=s["variant"],
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source=s["source"],
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build_type=s["build_type"],
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image_prefix=s.get("image_prefix", _DEFAULT_PREFIX),
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hub_repo=s.get("hub_repo", _DEFAULT_HUB_REPO),
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))
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def _discover_versions() -> List[str]:
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if not _DOCKER_DIR.exists():
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return ["jazzy"]
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dirs = sorted(d.name for d in _DOCKER_DIR.iterdir() if d.is_dir())
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if "jazzy" in dirs:
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dirs = ["jazzy"] + [d for d in dirs if d != "jazzy"]
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return dirs or ["jazzy"]
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def _build_image(
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name: str, tag: str, dockerfile: Path, ctx: Path,
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parent_tag: Optional[str] = None,
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build_type: str = "release",
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) -> bool:
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env = {**os.environ, "DOCKER_BUILDKIT": "0"}
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cmd = [
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"docker", "build",
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"-t", tag,
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"-f", str(dockerfile),
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"--build-arg", f"BUILD_TYPE={build_type}",
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]
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if parent_tag:
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cmd += ["--build-arg", f"IMAGE={parent_tag}"]
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cmd.append(str(ctx))
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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, env=env,
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)
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captured: List[str] = []
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with Progress(
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SpinnerColumn(),
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TextColumn(f" [bold cyan]{name:<24}[/bold cyan]"),
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BarColumn(bar_width=32),
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TaskProgressColumn(),
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console=_console,
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transient=False,
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) as prog:
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task = prog.add_task("", total=100)
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total = 1
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for line in proc.stdout:
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captured.append(line)
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m = re.match(r"Step (\d+)/(\d+) :", line)
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if m:
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step, total = int(m.group(1)), int(m.group(2))
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prog.update(task, completed=step / total * 100)
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prog.update(task, completed=100)
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proc.wait()
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if proc.returncode != 0:
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_console.print(f"\n[red]Build failed:[/red] {tag}\n")
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_console.print("".join(captured), highlight=False)
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return False
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return True
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def _parse_docker_size(s: str) -> float:
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s = s.strip()
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for suffix, mult in [("GB", 1e9), ("MB", 1e6), ("kB", 1e3), ("B", 1.0)]:
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if s.endswith(suffix):
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try:
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return float(s[: -len(suffix)]) * mult
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except ValueError:
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return 0.0
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try:
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return float(s)
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except ValueError:
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return 0.0
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_RE_PULLING = re.compile(r"^([a-f0-9]+): Pulling fs layer")
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_RE_DONE = re.compile(r"^([a-f0-9]+): (?:Pull complete|Already exists|Layer already exists)")
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_RE_DL = re.compile(r"^([a-f0-9]+): Downloading(?:\s+\[.*?\])?\s+([\d.]+\s*\w+)/([\d.]+\s*\w+)")
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def _pull_image(name: str, tag: str) -> bool:
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proc = subprocess.Popen(
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["docker", "pull", tag],
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stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
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text=True,
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)
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captured: List[str] = []
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layers_pulling: set[str] = set()
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layers_done: set[str] = set()
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layers_total: dict[str, float] = {}
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layers_current: dict[str, float] = {}
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has_bytes = False
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with Progress(
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SpinnerColumn(),
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TextColumn(f" [bold cyan]{name:<24}[/bold cyan]"),
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BarColumn(bar_width=32),
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TaskProgressColumn(),
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console=_console,
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transient=False,
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) as prog:
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task = prog.add_task("", total=100)
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for line in proc.stdout:
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captured.append(line)
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line = line.strip()
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if m := _RE_PULLING.match(line):
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layers_pulling.add(m.group(1))
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elif m := _RE_DL.match(line):
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lid, cur, tot = m.group(1), _parse_docker_size(m.group(2)), _parse_docker_size(m.group(3))
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if tot > 0:
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has_bytes = True
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layers_current[lid] = cur
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layers_total[lid] = tot
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elif m := _RE_DONE.match(line):
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lid = m.group(1)
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layers_done.add(lid)
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if lid in layers_total:
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layers_current[lid] = layers_total[lid]
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if has_bytes and layers_total:
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total_b = sum(layers_total.values())
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done_b = sum(layers_current.get(lid, 0.0) for lid in layers_total)
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prog.update(task, completed=done_b / total_b * 100)
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elif layers_pulling:
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prog.update(task, completed=len(layers_done) / len(layers_pulling) * 100)
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prog.update(task, completed=100)
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proc.wait()
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if proc.returncode != 0:
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_console.print(f"\n[red]Pull failed:[/red] {tag}\n")
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_console.print("".join(captured), highlight=False)
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return False
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return True
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def _execute(cfg: _Config) -> None:
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chain = _WEBOTS_CHAIN if cfg.variant == "webots" else _CONTROLLER_CHAIN
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_console.print()
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if cfg.source == "build":
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_console.print(
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f"[bold]Building {len(chain)} image(s) • ROS {cfg.ros_version} • {cfg.build_type}[/bold]\n"
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)
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for name in chain:
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tag = f"{cfg.image_prefix}:{name}-{cfg.ros_version}"
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dockerfile = _DOCKER_DIR / cfg.ros_version / name / "Dockerfile"
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if not dockerfile.exists():
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_console.print(f"[red]Dockerfile not found:[/red] {dockerfile}")
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sys.exit(1)
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ctx = _PROJECT_DIR if name in _NEEDS_PROJECT_CTX else dockerfile.parent
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parent_name = _IMAGE_PARENT.get(name)
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parent_tag = f"{cfg.image_prefix}:{parent_name}-{cfg.ros_version}" if parent_name else None
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if not _build_image(name, tag, dockerfile, ctx, parent_tag, cfg.build_type):
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sys.exit(1)
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_console.print(f"\n[green]Done.[/green] Images: [bold]{cfg.image_prefix}:{{name}}-{cfg.ros_version}[/bold].")
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else:
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short = "webots" if cfg.variant == "webots" else "iiwa"
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suffix = "-dev" if cfg.build_type == "dev" else ""
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image_tag = f"{short}-{cfg.ros_version}{suffix}"
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full_ref = f"{cfg.hub_repo}:{image_tag}"
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_console.print(f"[bold]Pulling from {cfg.hub_repo} • ROS {cfg.ros_version} • {cfg.build_type}[/bold]\n")
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if not _pull_image(short, full_ref):
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sys.exit(1)
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_console.print(f"\n[green]Done.[/green] Image ready: [bold]{full_ref}[/bold].")
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def register(subparsers: argparse._SubParsersAction) -> None:
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p = subparsers.add_parser("docker-setup", help="Set up Docker images for KUKA iiwa7")
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p.set_defaults(func=run)
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def run(args: argparse.Namespace) -> None:
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if not shutil.which("docker"):
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_console.print("[red]Error:[/red] Docker is not installed or not on PATH.")
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sys.exit(1)
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versions = _discover_versions()
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default = "jazzy" if "jazzy" in versions else versions[0]
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cfg = _Wizard(versions=versions, default_version=default).run()
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if cfg is None:
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return
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_execute(cfg)
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