fix: enable added week deletion and preserve learning concepts when cloning courses
This commit is contained in:
+91
-32
@@ -1,6 +1,8 @@
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import { app, BrowserWindow, dialog, Menu, globalShortcut, ipcMain, screen, shell } from 'electron'
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import { checkDockerStatus } from './dockerStatus'
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import { yahboomDevicePreflight, yahboomModuleCases, yahboomRuntimeImage, yahboomRuntimeArtifacts, yahboomSimulation } from './yahboomRuntime'
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import { visualizationProgress, reportVisualizationProgress } from './visualizationProgress'
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import { moduleProgress, reportModuleProgress, createModuleProgressParser } from './moduleProgress'
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import { bridgeArtifact, jetsonBridgeImage, localBridgeImage } from './bridgeArtifacts'
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import type { WebContents } from 'electron'
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import { spawn } from 'child_process'
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@@ -1359,6 +1361,8 @@ function resolveNav2RuntimeImage(
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folderName?: string | null,
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rosParams = '',
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): string {
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const yahboomImage = yahboomRuntimeImage(folderName)
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if (yahboomImage) return yahboomImage
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// NAV2-MKMini normally targets the real platform image. Gazebo is an
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// explicit local opt-in, so existing platform launches keep their image.
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const mkminiGazebo = /lms-nav2-mkmini/i.test(folderName ?? '')
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@@ -1699,7 +1703,24 @@ function remoteRepositoryUrl(repositoryUrl: string): string {
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return repositoryUrl
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}
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function handleModuleOperation(channel: string, handler: Parameters<typeof ipcMain.handle>[1]): void {
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ipcMain.handle(channel, (event, ...args) => {
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const remote = channel.startsWith('remote-')
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const folderName = String(args[2] || args[remote ? 1 : 0])
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const send = (message: string): void => {
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if (!event.sender.isDestroyed()) event.sender.send('module:progress', folderName, message)
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}
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return moduleProgress.run(send, () => visualizationProgress.run((message) => {
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if (!message.startsWith('시각화')) send(message)
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}, async () => {
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send('모듈 작업 준비 중...')
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try { return await handler(event, ...args) } finally { send('') }
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}))
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})
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}
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async function runCommandOutput(command: string, args: string[], cwd?: string, env?: NodeJS.ProcessEnv, timeoutMs = 120_000): Promise<string> {
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const readProgress = createModuleProgressParser()
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return new Promise<string>((resolvePromise, rejectPromise) => {
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let output = ''
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let terminated = false
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@@ -1729,8 +1750,10 @@ async function runCommandOutput(command: string, args: string[], cwd?: string, e
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rejectPromise(new Error(`${command} ${args.join(' ')} timed out`))
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}, timeoutMs)
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child.stdout.on('data', (data: Buffer) => {
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child.stdout.setEncoding('utf8')
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child.stdout.on('data', (data: string) => {
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output += data.toString()
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readProgress(data.toString())
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})
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child.stderr.on('data', (data: Buffer) => {
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output += data.toString()
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@@ -2331,18 +2354,18 @@ async function syncRemoteSavedMapArtifacts(
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'set -e',
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`ROOT=${quoteShellSingle(target.workspaceRoot)}`,
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`MAPS_DIRECTORY=${quoteShellSingle(mapsDirectory)}`,
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'if [ ! -d "$MAPS_DIRECTORY" ] || [ ! -w "$MAPS_DIRECTORY" ]; then',
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' if docker image inspect future-nav2:humble-jetson_orin >/dev/null 2>&1; then',
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' IMAGE="future-nav2:humble-jetson_orin"',
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' elif docker image inspect future-nav2:humble >/dev/null 2>&1; then',
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' IMAGE="future-nav2:humble"',
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' else',
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' IMAGE=""',
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' fi',
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// A missing directory is normal on first install, not a permission failure.
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'mkdir -p "$MAPS_DIRECTORY" 2>/dev/null || true',
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'if [ ! -d "$MAPS_DIRECTORY" ] || [ ! -w "$MAPS_DIRECTORY" ] || [ ! -x "$MAPS_DIRECTORY" ]; then',
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' IMAGE=""',
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' for CANDIDATE in future-nav2:humble-yahboom future-nav2:humble-yahboom-agent future-nav2:humble-jetson_orin future-nav2:humble; do',
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' if docker image inspect "$CANDIDATE" >/dev/null 2>&1; then IMAGE="$CANDIDATE"; break; fi',
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' done',
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' if [ -z "$IMAGE" ]; then echo "저장된 맵 디렉터리에 쓸 권한이 없고 권한 복구용 NAV2 이미지를 찾을 수 없습니다." >&2; exit 1; fi',
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' docker run --rm --user 0:0 -v "$ROOT:/workspace" --entrypoint /bin/sh "$IMAGE" -lc "mkdir -p /workspace/maps && chown -R $(id -u):$(id -g) /workspace/maps"',
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'fi',
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'mkdir -p "$MAPS_DIRECTORY"',
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'test -w "$MAPS_DIRECTORY" && test -x "$MAPS_DIRECTORY" || { echo "저장된 맵 디렉터리 권한 복구에 실패했습니다: $MAPS_DIRECTORY" >&2; exit 1; }',
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...downloads.map((artifact) => (
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`curl -fsSL --retry 2 ${quoteShellSingle(artifact.url)} -o ${quoteShellSingle(`${mapsDirectory}/${artifact.fileName}`)}`
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)),
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@@ -4573,6 +4596,7 @@ function buildNav2DockerRunScript(): string {
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' )',
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'else',
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'case "$MODULE_FOLDER" in',
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...yahboomModuleCases(),
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' *lms-nav2-mkmini*) PACKAGE=vehicle_pkg; LAUNCH=vehicle.launch.py ;;',
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' *lms-nav2-gazebo-simulator*) PACKAGE=nav2_turtlebot_simulator; LAUNCH=simulator.launch.py ;;',
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' *lms-nav2-gazebo-vehicle*) PACKAGE=vehicle_pkg; LAUNCH=vehicle.launch.py ;;',
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@@ -4609,6 +4633,7 @@ function buildNav2DockerRunScript(): string {
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'fi',
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'',
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'test -f "$MODULE_ROOT/$MODULE_FOLDER/install/setup.bash" || { echo "Module is not built: $MODULE_FOLDER" >&2; exit 1; }',
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...yahboomDevicePreflight(),
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'docker rm -f "$CONTAINER_NAME" >/dev/null 2>&1 || true',
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'',
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'args=(',
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@@ -4625,6 +4650,7 @@ function buildNav2DockerRunScript(): string {
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' -v "$(dirname "$0"):/runtime/nav2/docker:ro"',
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' -v /etc/localtime:/etc/localtime:ro',
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')',
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'if [ -n "$YAHBOOM_DEVICE" ]; then args+=(--device "$YAHBOOM_DEVICE:$YAHBOOM_DEVICE"); fi',
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'if [[ "$GPU_ENABLED" == "true" || "$GPU_ENABLED" == "1" ]]; then',
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' args+=(--gpus all -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics)',
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'fi',
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@@ -4667,6 +4693,7 @@ function buildNav2DockerBuildScript(): string {
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' )',
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'else',
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'case "$MODULE_FOLDER" in',
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...yahboomModuleCases(true),
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' *lms-nav2-mkmini*) TARGET=vehicle_pkg ;;',
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' *lms-nav2-gazebo-simulator*) TARGET=nav2_turtlebot_simulator ;;',
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' *lms-nav2-gazebo-vehicle*) TARGET=vehicle_pkg ;;',
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@@ -4897,7 +4924,7 @@ async function findNav2SimulatorRobotModel(containerName: string): Promise<strin
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// Query Gazebo directly first. The ROS GetModelList service can be slow or
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// unavailable while DDS participants are still discovering each other, even
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// though the simulator itself is already able to accept a pose update.
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const knownModels = ['mkmini_gazebo', 'turtlebot3_burger_3d_lidar', 'turtlebot3_burger']
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const knownModels = ['mkmini_gazebo', 'turtlebot3_burger_3d_lidar', 'turtlebot3_burger', 'yahboom_gazebo']
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for (const modelName of knownModels) {
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const pose = await runCommandOutput(
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'docker',
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@@ -4923,7 +4950,7 @@ async function findNav2SimulatorRobotModel(containerName: string): Promise<strin
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const modelList = output.match(/model_names=\[([^\]]*)\]/)?.[1] ?? ''
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const modelNames = Array.from(modelList.matchAll(/'([^']+)'/g), (match) => match[1])
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const robotModel = modelNames.find((modelName) => (
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/turtlebot|burger|mkmini|mk-mini|robot/i.test(modelName) && !/world/i.test(modelName)
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/turtlebot|burger|mkmini|mk-mini|yahboom|robot/i.test(modelName) && !/world/i.test(modelName)
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))
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if (!robotModel) throw new Error('Gazebo 로봇 모델을 찾을 수 없습니다.')
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return robotModel
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@@ -5017,6 +5044,29 @@ async function clearNav2RuntimeObstacles(): Promise<{ ok: boolean; message: stri
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return { ok: true, message: '장애물을 제거했습니다.' }
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}
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async function resolveLocalModuleRuntime(
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moduleRoot: string,
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folderName: string,
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rosParams: string,
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runtimeImages?: RuntimeImageArtifact[] | null,
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): Promise<{ image: string; artifacts: RuntimeImageArtifact[] | null | undefined }> {
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if (yahboomSimulation(folderName, rosParams)) {
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const artifact = runtimeImages?.find((item) =>
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item.image?.trim() === defaultNav2GazeboRuntimeImage.image && item.url?.trim())
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?? defaultNav2GazeboRuntimeImage
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return { image: 'future-nav2-gazebo:humble', artifacts: [artifact] }
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}
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const image = await resolveCustomModuleRuntimeImage(
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moduleRoot, resolveNav2RuntimeImage(runtimeImages, folderName, rosParams),
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)
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return {
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image,
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artifacts: yahboomRuntimeImage(folderName)
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? yahboomRuntimeArtifacts(folderName, image, runtimeImages)
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: requiredRuntimeImages(runtimeImages, image),
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}
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}
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async function startWorkspaceModule(
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moduleName: string,
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workspaceRoot?: string | null,
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@@ -5044,11 +5094,10 @@ async function startWorkspaceModule(
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const fastDdsConfigPath = await prepareLocalRosNetworkConfig(rosNetwork, rosDomainId)
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const rosParams = typeof rosParamsOverride === 'string' ? rosParamsOverride.trim() : await readModuleRosParams(moduleRoot)
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const scriptPath = resolveNav2DockerRunScript()
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const runtimeImage = await resolveCustomModuleRuntimeImage(
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moduleRoot,
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resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams),
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)
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await prepareRuntimeImages(requiredRuntimeImages(runtimeImages, runtimeImage))
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const runtime = await resolveLocalModuleRuntime(moduleRoot, targetFolderName, rosParams, runtimeImages)
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const runtimeImage = runtime.image
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await prepareRuntimeImages(runtime.artifacts)
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reportModuleProgress("모듈 실행 중...")
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await runCommand(
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'bash',
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[
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@@ -5072,6 +5121,7 @@ async function startWorkspaceModule(
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}
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await prepareRuntimeImages(runtimeImages)
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reportModuleProgress("모듈 실행 중...")
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await ensureStudioRuntimeAssets()
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const scriptPath = resolveAutowareDockerRunScript()
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if (!existsSync(scriptPath)) throw new Error(`${scriptPath} 파일을 찾을 수 없습니다.`)
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@@ -5129,11 +5179,10 @@ async function buildWorkspaceModule(
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if (isNav2ModuleFolder(targetFolderName)) {
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await ensureNav2RuntimeAssets()
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const rosParams = typeof rosParamsOverride === 'string' ? rosParamsOverride.trim() : await readModuleRosParams(moduleRoot)
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const runtimeImage = await resolveCustomModuleRuntimeImage(
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moduleRoot,
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resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams),
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)
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await prepareRuntimeImages(requiredRuntimeImages(runtimeImages, runtimeImage))
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const runtime = await resolveLocalModuleRuntime(moduleRoot, targetFolderName, rosParams, runtimeImages)
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const runtimeImage = runtime.image
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await prepareRuntimeImages(runtime.artifacts)
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reportModuleProgress("모듈 빌드 중...")
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await runCommand(
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'bash',
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[
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@@ -5151,6 +5200,7 @@ async function buildWorkspaceModule(
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}
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await prepareRuntimeImages(runtimeImages)
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reportModuleProgress("모듈 빌드 중...")
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await runCommand(
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'docker',
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[
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@@ -5173,6 +5223,7 @@ async function prepareRemoteRuntimeImages(
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target: RemoteWorkspaceTarget,
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runtimeImages?: RuntimeImageArtifact[] | null,
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): Promise<void> {
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reportModuleProgress('이미지 준비 대기 중...')
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const artifacts = (runtimeImages ?? [])
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.filter((image) => image?.image?.trim())
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.map((image) => ({
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@@ -5208,12 +5259,18 @@ async function prepareRemoteRuntimeImages(
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' name = item.get("fileName") or os.path.basename(url.split("?", 1)[0]) or "runtime-image.tar"',
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' path = os.path.join(cache, name)',
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' if os.path.exists(path): os.unlink(path)',
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' print("LMS_MODULE_PROGRESS:이미지 다운로드 중...", flush=True)',
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' subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
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' print("LMS_MODULE_PROGRESS:이미지 파일 확인 중...", flush=True)',
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' expected = (item.get("checksumSha256") or "").strip().lower()',
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' if expected:',
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' import hashlib',
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' with open(path, "rb") as fp: actual = hashlib.sha256(fp.read()).hexdigest().lower()',
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' digest = hashlib.sha256()',
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' with open(path, "rb") as fp:',
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' for chunk in iter(lambda: fp.read(1024 * 1024), b""): digest.update(chunk)',
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' actual = digest.hexdigest().lower()',
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' if actual != expected: raise SystemExit(f"runtime image checksum mismatch: {name}")',
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' print("LMS_MODULE_PROGRESS:이미지 불러오는 중...", flush=True)',
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' if path.lower().endswith(".tar.zst") or path.lower().endswith(".tzst"):',
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' import shlex',
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' subprocess.run(f"zstd -dc {shlex.quote(path)} | docker load", shell=True, check=True)',
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@@ -5255,14 +5312,15 @@ async function startRemoteWorkspaceModule(
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? await resolveRemoteCustomModuleRuntimeImage(
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target,
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targetFolderName,
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await resolveRemoteNav2RuntimeImage(runtimeImages),
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yahboomRuntimeImage(targetFolderName) ?? await resolveRemoteNav2RuntimeImage(runtimeImages),
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)
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: null
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const runtimeRoot = nav2Module
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? await ensureRemoteNav2RuntimeAssets(target)
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: await ensureRemoteStudioRuntimeAssets(target)
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const fastDdsConfigPath = await prepareRemoteRosNetworkConfig(target, runtimeRoot, rosNetwork, rosDomainId)
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await prepareRemoteRuntimeImages(target, runtimeImages)
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await prepareRemoteRuntimeImages(target, yahboomRuntimeArtifacts(targetFolderName, runtimeImage, runtimeImages))
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reportModuleProgress("모듈 실행 중...")
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const currentStatus = await runSshOutput(target, `timeout 12s docker ps -a --filter ${quoteShellSingle(`name=^/${dockerInfo.containerKey}$`)} --format "{{.Status}}" 2>/dev/null || true`, 20000)
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if (/^Up\b/i.test(currentStatus.trim())) return { ok: true, message: '이미 실행 중입니다.' }
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if (currentStatus.trim()) {
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@@ -5352,9 +5410,10 @@ async function buildRemoteWorkspaceModule(
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const runtimeImage = await resolveRemoteCustomModuleRuntimeImage(
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target,
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targetFolderName,
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await resolveRemoteNav2RuntimeImage(runtimeImages),
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yahboomRuntimeImage(targetFolderName) ?? await resolveRemoteNav2RuntimeImage(runtimeImages),
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)
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await prepareRemoteRuntimeImages(target, runtimeImages)
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await prepareRemoteRuntimeImages(target, yahboomRuntimeArtifacts(targetFolderName, runtimeImage, runtimeImages))
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reportModuleProgress("모듈 빌드 중...")
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await runSsh(target, [
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'set -e',
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`RUNTIME_ROOT=${quoteShellSingle(runtimeRoot)}`,
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@@ -6286,8 +6345,8 @@ function registerLocalWorkspaceHandlers(): void {
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return importCustomWorkspaceModule(workspaceRoot, input)
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})
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ipcMain.handle('local-workspace:modules:delete', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => deleteWorkspaceModule(moduleName, workspaceRoot, folderName))
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ipcMain.handle('local-workspace:modules:start', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startWorkspaceModule(moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
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ipcMain.handle('local-workspace:modules:build', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string | null) => buildWorkspaceModule(moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams))
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handleModuleOperation('local-workspace:modules:start', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startWorkspaceModule(moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
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handleModuleOperation('local-workspace:modules:build', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string | null) => buildWorkspaceModule(moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams))
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ipcMain.handle('local-workspace:modules:stop', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => stopWorkspaceModule(moduleName, workspaceRoot, folderName))
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ipcMain.handle('local-workspace:modules:stop-many', (_event, modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string | null) => stopWorkspaceModules(modules, workspaceRoot))
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ipcMain.handle('local-workspace:modules:stop-running', () => stopRunningWorkspaceContainers())
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@@ -6349,8 +6408,8 @@ function registerLocalWorkspaceHandlers(): void {
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if (!moduleName?.trim()) throw new Error('전송할 모듈명이 없습니다.')
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return transferLocalWorkspaceModuleToRemote(target, sourceWorkspaceRoot, moduleName, folderName)
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})
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ipcMain.handle('remote-workspace:modules:start', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startRemoteWorkspaceModule(target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
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ipcMain.handle('remote-workspace:modules:build', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null) => buildRemoteWorkspaceModule(target, moduleName, folderName, gpuEnabled, rosDomainId, runtimeImages))
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handleModuleOperation('remote-workspace:modules:start', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startRemoteWorkspaceModule(target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
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handleModuleOperation('remote-workspace:modules:build', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null) => buildRemoteWorkspaceModule(target, moduleName, folderName, gpuEnabled, rosDomainId, runtimeImages))
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ipcMain.handle('remote-workspace:modules:stop', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null) => stopRemoteWorkspaceModule(target, moduleName, folderName))
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ipcMain.handle('remote-workspace:modules:stop-many', (_event, target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => stopRemoteWorkspaceModules(target, modules))
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ipcMain.handle('remote-workspace:modules:reset-session', (_event, target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null; templateRepositoryUrl?: string | null }>) => resetRemoteWorkspaceSession(target, modules))
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@@ -6535,8 +6594,8 @@ app.whenReady().then(() => {
|
||||
ipcMain.handle('modules:list', (_event, workspaceRoot?: string | null, courseModules?: CourseModuleInput[] | null) => collectAvailableModules(workspaceRoot, courseModules))
|
||||
ipcMain.handle('modules:install', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => installModuleFromCache(moduleName, workspaceRoot, folderName, templateRepositoryUrl, studentRepositoryUrl, options))
|
||||
ipcMain.handle('modules:delete', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => deleteWorkspaceModule(moduleName, workspaceRoot, folderName))
|
||||
ipcMain.handle('modules:start', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startWorkspaceModule(moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
|
||||
ipcMain.handle('modules:build', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string | null) => buildWorkspaceModule(moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams))
|
||||
handleModuleOperation('modules:start', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startWorkspaceModule(moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
|
||||
handleModuleOperation('modules:build', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string | null) => buildWorkspaceModule(moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams))
|
||||
ipcMain.handle('modules:stop', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => stopWorkspaceModule(moduleName, workspaceRoot, folderName))
|
||||
ipcMain.handle('modules:stop-many', (_event, modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string | null) => stopWorkspaceModules(modules, workspaceRoot))
|
||||
ipcMain.handle('modules:stop-running', () => stopRunningWorkspaceContainers())
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
import { strict as assert } from 'node:assert'
|
||||
import { test } from 'node:test'
|
||||
import { createRequire } from 'node:module'
|
||||
|
||||
const { moduleProgress, createModuleProgressParser } = createRequire(import.meta.url)('./moduleProgress.ts') as typeof import('./moduleProgress')
|
||||
|
||||
test('progress parser handles split lines and ignores normal command output', () => {
|
||||
const messages: string[] = []
|
||||
const parse = moduleProgress.run((message) => messages.push(message), createModuleProgressParser)
|
||||
parse('ordinary output\nLMS_MODULE_PRO')
|
||||
parse('GRESS:download\nLMS_MODULE_PROGRESS:load\n')
|
||||
assert.deepEqual(messages, ['download', 'load'])
|
||||
})
|
||||
|
||||
test('concurrent operations retain their own progress callbacks', () => {
|
||||
const first: string[] = []
|
||||
const second: string[] = []
|
||||
const a = moduleProgress.run((message) => first.push(message), createModuleProgressParser)
|
||||
const b = moduleProgress.run((message) => second.push(message), createModuleProgressParser)
|
||||
b('LMS_MODULE_PROGRESS:build\n')
|
||||
a('LMS_MODULE_PROGRESS:download\n')
|
||||
assert.deepEqual(first, ['download'])
|
||||
assert.deepEqual(second, ['build'])
|
||||
})
|
||||
|
||||
test('commands outside a module operation do not report progress', () => {
|
||||
assert.doesNotThrow(() => createModuleProgressParser()('LMS_MODULE_PROGRESS:ignored\n'))
|
||||
})
|
||||
@@ -0,0 +1,21 @@
|
||||
import { AsyncLocalStorage } from 'node:async_hooks'
|
||||
|
||||
export const moduleProgress = new AsyncLocalStorage<(message: string) => void>()
|
||||
|
||||
export function reportModuleProgress(message: string): void {
|
||||
moduleProgress.getStore()?.(message)
|
||||
}
|
||||
|
||||
export function createModuleProgressParser(): (chunk: string) => void {
|
||||
const report = moduleProgress.getStore()
|
||||
let pending = ''
|
||||
return (chunk) => {
|
||||
if (!report) return
|
||||
pending += chunk
|
||||
const lines = pending.split('\n')
|
||||
pending = lines.pop()!.slice(-4096)
|
||||
for (const line of lines) {
|
||||
if (line.startsWith('LMS_MODULE_PROGRESS:')) report(line.slice('LMS_MODULE_PROGRESS:'.length).trim())
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,115 @@
|
||||
import { strict as assert } from 'node:assert'
|
||||
import { readFileSync, mkdtempSync, mkdirSync, writeFileSync, rmSync } from 'node:fs'
|
||||
import { tmpdir } from 'node:os'
|
||||
import { join } from 'node:path'
|
||||
import { spawnSync } from 'node:child_process'
|
||||
import { test } from 'node:test'
|
||||
import { createRequire } from 'node:module'
|
||||
import ts from 'typescript'
|
||||
const { yahboomDevicePreflight, yahboomModuleCases, yahboomRuntimeImage, yahboomRuntimeArtifacts, yahboomSimulation } = createRequire(import.meta.url)('./yahboomRuntime.ts') as typeof import('./yahboomRuntime')
|
||||
|
||||
test('simulation is an explicit opt-in and excludes physical device modules', () => {
|
||||
for (const role of ['vehicle', 'slam', 'map', 'localization', 'planning', 'control']) {
|
||||
const folder = `[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`
|
||||
assert.equal(yahboomSimulation(folder, ''), false)
|
||||
assert.equal(yahboomSimulation(folder, 'sim_mode:=false'), false)
|
||||
assert.equal(yahboomSimulation(folder, 'foo:=bar sim_mode:=true'), true)
|
||||
}
|
||||
for (const role of ['agent', 'camera']) {
|
||||
assert.equal(yahboomSimulation(`[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`, 'sim_mode:=true'), false)
|
||||
}
|
||||
assert.equal(yahboomSimulation('[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', 'sim_mode:=true'), false)
|
||||
})
|
||||
|
||||
test('local simulation overrides ARM metadata and downloads only the PC image', async () => {
|
||||
const source = ts.createSourceFile('index.ts', readFileSync(new URL('./index.ts', import.meta.url), 'utf8'), ts.ScriptTarget.Latest, true)
|
||||
const declaration = source.statements.find((item): item is ts.FunctionDeclaration => ts.isFunctionDeclaration(item) && item.name?.text === 'resolveLocalModuleRuntime')
|
||||
assert.ok(declaration)
|
||||
const artifact = { image: 'future-nav2-gazebo:humble', url: 'https://example.com/gazebo.tar.zst' }
|
||||
const resolver = new Function('yahboomSimulation', 'defaultNav2GazeboRuntimeImage', 'resolveCustomModuleRuntimeImage',
|
||||
ts.transpile(declaration.getText(source), { target: ts.ScriptTarget.ES2022 }) + '; return resolveLocalModuleRuntime;'
|
||||
)(yahboomSimulation, artifact, () => { throw new Error('ARM metadata must not override simulation') })
|
||||
const result = await resolver('/module', '[lms-nav2-yahboom-vehicle]yahboom_vehicle_v1.0.0_ws', 'sim_mode:=true',
|
||||
[{ image: 'future-nav2:humble-jetson_orin', url: 'https://example.com/arm.tar.zst' }])
|
||||
assert.deepEqual(result, { image: artifact.image, artifacts: [artifact] })
|
||||
})
|
||||
|
||||
test('remote Yahboom downloads only its own image and preserves explicit overrides', () => {
|
||||
const configured = [{ image: 'future-nav2:humble-jetson_orin', url: 'https://example.com/jetson.tar.zst' }]
|
||||
assert.equal(yahboomRuntimeArtifacts('[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', configured[0].image, configured), configured)
|
||||
const folder = '[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws'
|
||||
const image = 'future-nav2:humble-yahboom-agent'
|
||||
const selected = yahboomRuntimeArtifacts(folder, image, configured)
|
||||
assert.equal(selected?.length, 1)
|
||||
assert.equal(selected?.[0].image, image)
|
||||
assert.match(selected?.[0].checksumSha256 ?? '', /^[a-f0-9]{64}$/)
|
||||
const override = { image, url: 'https://example.com/override.tar.zst' }
|
||||
assert.deepEqual(yahboomRuntimeArtifacts(folder, image, [...configured, override]), [override])
|
||||
assert.deepEqual(yahboomRuntimeArtifacts(folder, 'custom:tag', configured), [])
|
||||
})
|
||||
|
||||
function runtimeScript(name: string): string {
|
||||
const source = ts.createSourceFile('index.ts', readFileSync(new URL('./index.ts', import.meta.url), 'utf8'), ts.ScriptTarget.Latest, true)
|
||||
const declaration = source.statements.find((item): item is ts.FunctionDeclaration => ts.isFunctionDeclaration(item) && item.name?.text === name)
|
||||
assert.ok(declaration)
|
||||
const code = ts.transpile(declaration.getText(source), { target: ts.ScriptTarget.ES2022 })
|
||||
return new Function('yahboomModuleCases', 'yahboomDevicePreflight', `${code}; return ${name}();`)(yahboomModuleCases, yahboomDevicePreflight)
|
||||
}
|
||||
|
||||
test('Yahboom image routing does not change MKMini, Gazebo or custom modules', () => {
|
||||
assert.equal(yahboomRuntimeImage('[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws'), 'future-nav2:humble-yahboom-agent')
|
||||
assert.equal(yahboomRuntimeImage('[lms-nav2-yahboom-slam]yahboom_slam_v1.0.0_ws'), 'future-nav2:humble-yahboom')
|
||||
for (const name of ['[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', '[lms-nav2-gazebo-map]nav2-map_v1.0.0_ws', '[lms-nav2-custom]yahboom_agent_v1.0.0_ws', '[lms-nav2-yahboom-agent]other_v1.0.0_ws']) {
|
||||
assert.equal(yahboomRuntimeImage(name), null)
|
||||
}
|
||||
})
|
||||
|
||||
test('all eight templates map to their own package in both runtime scripts', () => {
|
||||
for (const build of [false, true]) {
|
||||
for (const role of ['agent', 'vehicle', 'slam', 'map', 'localization', 'planning', 'control', 'camera']) {
|
||||
const script = ['case "$1" in', ...yahboomModuleCases(build), 'esac', build ? 'printf "%s" "$TARGET"' : 'printf "%s %s" "$PACKAGE" "$LAUNCH"'].join('\n')
|
||||
const result = spawnSync('bash', ['-c', script, '_', `[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`], { encoding: 'utf8' })
|
||||
assert.equal(result.status, 0, result.stderr)
|
||||
assert.equal(result.stdout, build ? `yahboom_${role}` : `yahboom_${role} ${role}.launch.py`)
|
||||
}
|
||||
}
|
||||
})
|
||||
|
||||
test('generated build and run shell scripts are syntactically valid', () => {
|
||||
for (const name of ['buildNav2DockerRunScript', 'buildNav2DockerBuildScript']) {
|
||||
const result = spawnSync('bash', ['-n'], { input: runtimeScript(name), encoding: 'utf8' })
|
||||
assert.equal(result.status, 0, result.stderr)
|
||||
}
|
||||
})
|
||||
|
||||
test('invalid hardware path fails before Docker is called; MKMini still launches without extra device', () => {
|
||||
const root = mkdtempSync(join(tmpdir(), 'yahboom-runtime-'))
|
||||
try {
|
||||
const bin = join(root, 'bin')
|
||||
mkdirSync(bin)
|
||||
writeFileSync(join(bin, 'docker'), '#!/bin/bash\nprintf "%s\\n" "$@"\n', { mode: 0o755 })
|
||||
const script = join(root, 'docker_run_nav2.sh')
|
||||
writeFileSync(script, runtimeScript('buildNav2DockerRunScript'))
|
||||
for (const [folder, parameter] of [
|
||||
['[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws', 'serial_device:=/etc/passwd'],
|
||||
['[lms-nav2-yahboom-camera]yahboom_camera_v1.0.0_ws', 'video_device:=/dev/../etc/passwd'],
|
||||
['[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', ''],
|
||||
]) {
|
||||
mkdirSync(join(root, folder, 'install'), { recursive: true })
|
||||
writeFileSync(join(root, folder, 'install/setup.bash'), '')
|
||||
const result = spawnSync('bash', [script, 'test-container', root, folder, 'test-image', '77', 'false', parameter], {
|
||||
encoding: 'utf8', env: { ...process.env, PATH: `${bin}:${process.env.PATH}`, DISPLAY: '', FASTDDS_CONFIG_PATH: '' },
|
||||
})
|
||||
if (parameter) {
|
||||
assert.equal(result.status, 64)
|
||||
assert.equal(result.stdout, '')
|
||||
} else {
|
||||
assert.equal(result.status, 0, result.stderr)
|
||||
assert.match(result.stdout, /vehicle_pkg\nvehicle.launch.py/)
|
||||
assert.doesNotMatch(result.stdout, /ttyUSB|video0|privileged/)
|
||||
}
|
||||
}
|
||||
} finally {
|
||||
rmSync(root, { recursive: true, force: true })
|
||||
}
|
||||
})
|
||||
@@ -0,0 +1,70 @@
|
||||
const roles = ['agent', 'vehicle', 'slam', 'map', 'localization', 'planning', 'control', 'camera'] as const
|
||||
|
||||
export function yahboomSimulation(folderName: string | null | undefined, rosParams: string): boolean {
|
||||
return Boolean(yahboomRuntimeImage(folderName))
|
||||
&& !/yahboom-(agent|camera)\]/.test(folderName ?? '')
|
||||
&& /(?:^|\s)sim_mode:=true(?:\s|$)/.test(rosParams)
|
||||
}
|
||||
|
||||
type RuntimeArtifact = {
|
||||
image?: string | null
|
||||
url?: string | null
|
||||
fileName?: string | null
|
||||
checksumSha256?: string | null
|
||||
required?: boolean | null
|
||||
}
|
||||
|
||||
const artifactRoot = 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/nav2/yahboom/arm64'
|
||||
const artifacts: RuntimeArtifact[] = [
|
||||
['future-nav2:humble-yahboom', 'future-nav2-humble-yahboom.tar.zst', 'b2f168c45b961ab96badeeb7df68d1c997996c75dcb5e0cc677b0b6669b1ffd2'],
|
||||
['future-nav2:humble-yahboom-agent', 'future-nav2-humble-yahboom-agent.tar.zst', 'e30404506c320af1d53c8733177eaf27997dcb2864019b8fcc6888874f02d191'],
|
||||
].map(([image, fileName, checksumSha256]) => ({
|
||||
image, fileName, checksumSha256, required: true,
|
||||
url: `${artifactRoot}/${checksumSha256.slice(0, 16)}/${fileName}`,
|
||||
}))
|
||||
|
||||
export function yahboomRuntimeArtifacts(
|
||||
folderName: string,
|
||||
runtimeImage: string | null,
|
||||
configured?: RuntimeArtifact[] | null,
|
||||
): RuntimeArtifact[] | null | undefined {
|
||||
if (!yahboomRuntimeImage(folderName)) return configured
|
||||
const selected = configured?.find((item) => item.image?.trim() === runtimeImage && item.url?.trim())
|
||||
?? artifacts.find((item) => item.image === runtimeImage)
|
||||
// Yahboom must not download unrelated Jetson images from an existing profile.
|
||||
return selected ? [selected] : []
|
||||
}
|
||||
|
||||
export function yahboomRuntimeImage(folderName?: string | null): string | null {
|
||||
const role = folderName?.match(/^\[lms-nav2-yahboom-([a-z]+)\]yahboom_\1_v[^/]+_ws$/)?.[1]
|
||||
if (!roles.some((value) => value === role)) return null
|
||||
return role === 'agent' ? 'future-nav2:humble-yahboom-agent' : 'future-nav2:humble-yahboom'
|
||||
}
|
||||
|
||||
export function yahboomModuleCases(build = false): string[] {
|
||||
return roles.map((role) => (
|
||||
` "[lms-nav2-yahboom-${role}]yahboom_${role}_v"*_ws) ${build ? `TARGET=yahboom_${role}` : `PACKAGE=yahboom_${role}; LAUNCH=${role}.launch.py`} ;;`
|
||||
))
|
||||
}
|
||||
|
||||
// Keep hardware exposure limited to the two hardware-facing Yahboom templates.
|
||||
export function yahboomDevicePreflight(): string[] {
|
||||
return [
|
||||
'YAHBOOM_DEVICE=""',
|
||||
'case "$MODULE_FOLDER" in',
|
||||
' "[lms-nav2-yahboom-agent]yahboom_agent_v"*_ws)',
|
||||
' YAHBOOM_DEVICE=/dev/ttyUSB0',
|
||||
' for arg in "$@"; do case "$arg" in serial_device:=*) YAHBOOM_DEVICE=${arg#serial_device:=} ;; esac; done',
|
||||
' case "$YAHBOOM_DEVICE" in /dev/ttyUSB*|/dev/ttyACM*|/dev/serial/by-id/*) ;; *) echo "Invalid Yahboom serial device" >&2; exit 64 ;; esac',
|
||||
' ;;',
|
||||
' "[lms-nav2-yahboom-camera]yahboom_camera_v"*_ws)',
|
||||
' YAHBOOM_DEVICE=/dev/video0',
|
||||
' for arg in "$@"; do case "$arg" in video_device:=*) YAHBOOM_DEVICE=${arg#video_device:=} ;; esac; done',
|
||||
' [[ "$YAHBOOM_DEVICE" =~ ^/dev/video[0-9]+$ ]] || { echo "Invalid Yahboom camera device" >&2; exit 64; }',
|
||||
' ;;',
|
||||
'esac',
|
||||
'if [ -n "$YAHBOOM_DEVICE" ]; then',
|
||||
' [[ "$YAHBOOM_DEVICE" != *".."* ]] && [ -c "$YAHBOOM_DEVICE" ] || { echo "Yahboom device not found: $YAHBOOM_DEVICE" >&2; exit 1; }',
|
||||
'fi',
|
||||
]
|
||||
}
|
||||
@@ -197,6 +197,11 @@ contextBridge.exposeInMainWorld('visualization', {
|
||||
stop: (environmentProfile?: unknown) => ipcRenderer.invoke('visualization:stop', environmentProfile)
|
||||
})
|
||||
contextBridge.exposeInMainWorld('localWorkspace', {
|
||||
onModuleProgress: (callback: (folderName: string, message: string) => void) => {
|
||||
const listener = (_event: Electron.IpcRendererEvent, folderName: string, message: string) => callback(folderName, message)
|
||||
ipcRenderer.on('module:progress', listener)
|
||||
return () => ipcRenderer.removeListener('module:progress', listener)
|
||||
},
|
||||
docker: {
|
||||
status: () => ipcRenderer.invoke('local-workspace:docker:status'),
|
||||
openGuide: () => ipcRenderer.invoke('local-workspace:docker:guide'),
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 2.5 MiB After Width: | Height: | Size: 2.4 MiB |
Binary file not shown.
|
After Width: | Height: | Size: 1.6 MiB |
Binary file not shown.
@@ -48,11 +48,11 @@
|
||||
}
|
||||
#cameraPreviewWrap {
|
||||
position:absolute;
|
||||
right:16px;
|
||||
bottom:256px;
|
||||
left:16px;
|
||||
top:48px;
|
||||
z-index:10;
|
||||
display:none;
|
||||
width:260px;
|
||||
width:min(260px, calc(100vw - 32px));
|
||||
border:1px solid rgba(0,0,0,.45);
|
||||
background:#111520;
|
||||
box-shadow:0 10px 26px rgba(0,0,0,.16);
|
||||
@@ -61,16 +61,16 @@
|
||||
#cameraPreviewWrap.is-collapsed { background:transparent; border-color:transparent; box-shadow:none; }
|
||||
#cameraPreview {
|
||||
display:block;
|
||||
width:260px;
|
||||
width:100%;
|
||||
aspect-ratio:16 / 9;
|
||||
object-fit:cover;
|
||||
object-fit:contain;
|
||||
background:#111520;
|
||||
}
|
||||
#cameraPreviewWrap.is-collapsed #cameraPreview { display:none; }
|
||||
#cameraPreviewToggle {
|
||||
position:absolute;
|
||||
right:0;
|
||||
top:-28px;
|
||||
top:100%;
|
||||
display:grid;
|
||||
width:30px;
|
||||
height:28px;
|
||||
@@ -86,8 +86,8 @@
|
||||
box-shadow:0 10px 28px rgba(0,0,0,.16);
|
||||
}
|
||||
#cameraPreviewToggle:hover { color:#fff; background:rgba(255,255,255,.06); }
|
||||
#cameraPreviewChevron { font-size:13px; line-height:1; }
|
||||
#cameraPreviewWrap.is-collapsed #cameraPreviewChevron { transform:rotate(180deg); }
|
||||
#cameraPreviewChevron { font-size:13px; line-height:1; transform:rotate(180deg); }
|
||||
#cameraPreviewWrap.is-collapsed #cameraPreviewChevron { transform:rotate(0deg); }
|
||||
#topRightControls {
|
||||
position:absolute;
|
||||
right:16px;
|
||||
@@ -369,6 +369,8 @@
|
||||
.nav2-navigation #rosTopicStatusWrap { bottom:16px; }
|
||||
.real-runtime #topLeftControls { display:none; }
|
||||
.real-runtime #keyGuide { display:none; }
|
||||
.real-yahboom-teleop:not(.editor-mode) #keyGuide { display:block; }
|
||||
.real-yahboom-teleop #rosTopicStatusWrap { bottom:72px; }
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
@@ -441,12 +443,12 @@ const REAL_RUNTIME = params.get('runtime') === 'real';
|
||||
const ROBOT_PLATFORM = (params.get('platform') || '').trim().toLowerCase();
|
||||
// Keep the prior real-platform default when an older LMS URL has no platform.
|
||||
const USE_MKMINI_MODEL = ROBOT_PLATFORM === 'mkmini' || (!ROBOT_PLATFORM && REAL_RUNTIME);
|
||||
const USE_YAHBOOM_MODEL = ROBOT_PLATFORM === 'yahboom';
|
||||
const REAL_YAHBOOM_TELEOP = REAL_RUNTIME && USE_YAHBOOM_MODEL;
|
||||
const SHOW_POINT_CLOUD = params.get('pointCloud') === '1';
|
||||
const SHOW_SENSOR_POINT_CLOUD = REAL_RUNTIME && SHOW_POINT_CLOUD;
|
||||
const SENSOR_POINT_CLOUD_MAX_AGE_MS = 3_000;
|
||||
// Camera preview is kept for the RGB test module, but is paused for now so
|
||||
// regular visualization sessions never poll `/camera-frame`.
|
||||
const ENABLE_CAMERA_PREVIEW = false;
|
||||
const ENABLE_CAMERA_PREVIEW = params.get('editor') !== '1';
|
||||
const CUSTOM_WORLD = !REAL_RUNTIME && viewerMapKey === 'nav2-custom';
|
||||
const SAVED_GAZEBO_MAP_WORLD = !REAL_RUNTIME && viewerMapKey === 'nav2-saved-gazebo-map';
|
||||
const activeWorldModel = viewerMapKey === 'nav2-turtlebot3-house' ? 'turtlebot3_house' : 'turtlebot3_world';
|
||||
@@ -493,6 +495,12 @@ const rosTopicStatusList = document.getElementById('rosTopicStatusList');
|
||||
if (EDITOR_MODE) document.body.classList.add('editor-mode');
|
||||
if (!EDITOR_MODE) document.body.classList.add(`nav2-${NAV2_VIEW_MODE}`);
|
||||
if (REAL_RUNTIME) document.body.classList.add('real-runtime');
|
||||
if (REAL_YAHBOOM_TELEOP && !EDITOR_MODE) {
|
||||
document.body.classList.add('real-yahboom-teleop');
|
||||
const hint = document.createElement('div');
|
||||
hint.textContent = '키를 누르는 동안 이동 · 놓으면 정지';
|
||||
document.getElementById('keyGuide')?.appendChild(hint);
|
||||
}
|
||||
if (EDITOR_MODE) responseWaitOverlay?.classList.add('is-hidden');
|
||||
|
||||
let visualizationResponseReceived = EDITOR_MODE;
|
||||
@@ -868,6 +876,7 @@ let laserFrontBeam = null;
|
||||
let slamSocket = null;
|
||||
let controlSocket = null;
|
||||
let latestSlamState = null;
|
||||
let latestSlamStateReceivedAt = 0;
|
||||
let currentRobotPose = { x:-2.0, y:-0.5, z:0.01, roll:0, pitch:0, yaw:0 };
|
||||
let targetRobotPose = { ...currentRobotPose };
|
||||
let hasRobotPose = false;
|
||||
@@ -1385,6 +1394,42 @@ async function loadMkMiniModel(sdfPose = { x:0, y:0, z:0, roll:0, pitch:0, yaw:0
|
||||
sdfRoot.add(posePreviewModel);
|
||||
}
|
||||
|
||||
async function loadYahboomModel(sdfPose) {
|
||||
const gltf = await new GLTFLoader().loadAsync('./assets/yahboom-pi5.glb');
|
||||
const robotGroup = new THREE.Group();
|
||||
robotGroup.name = 'yahboom';
|
||||
applySdfPose(robotGroup, sdfPose);
|
||||
// GLB is meter-scaled Y-up; the viewer's SDF root expects ROS Z-up.
|
||||
// The exported origin is already base_footprint, so do not recenter it.
|
||||
gltf.scene.rotation.x = Math.PI / 2;
|
||||
gltf.scene.traverse((child) => {
|
||||
if (!child.isMesh) return;
|
||||
child.castShadow = true;
|
||||
// The world-scale shadow map causes self-shadow acne on small CAD parts.
|
||||
child.receiveShadow = false;
|
||||
});
|
||||
robotGroup.add(gltf.scene);
|
||||
sdfRoot.add(robotGroup);
|
||||
robotModel = robotGroup;
|
||||
robotModel.visible = shouldRenderRobot();
|
||||
posePreviewModel = robotGroup.clone(true);
|
||||
posePreviewModel.name = 'yahboom_pose_preview';
|
||||
posePreviewModel.traverse((child) => {
|
||||
if (!child.isMesh) return;
|
||||
child.castShadow = false;
|
||||
child.material = Array.isArray(child.material)
|
||||
? child.material.map((material) => material.clone()) : child.material.clone();
|
||||
const materials = Array.isArray(child.material) ? child.material : [child.material];
|
||||
for (const material of materials) {
|
||||
material.transparent = true;
|
||||
material.opacity = 0.38;
|
||||
material.depthWrite = false;
|
||||
}
|
||||
});
|
||||
posePreviewModel.visible = false;
|
||||
sdfRoot.add(posePreviewModel);
|
||||
}
|
||||
|
||||
function createMkMiniFrontWheelPivots(model) {
|
||||
const pivots = [];
|
||||
model.updateMatrixWorld(true);
|
||||
@@ -1411,10 +1456,10 @@ const LASER_HOLE_R = 0.14;
|
||||
const LASER_RENDER_INTERVAL_MS = 100;
|
||||
const LASER_OPEN_SPACE_RAY_STRIDE = 4;
|
||||
const MINI_MAP_RENDER_INTERVAL_MS = 100;
|
||||
const LASER_OFFSET_X = USE_MKMINI_MODEL ? 0.15 : -0.032;
|
||||
const LASER_OFFSET_X = USE_MKMINI_MODEL ? 0.15 : USE_YAHBOOM_MODEL ? 0 : -0.032;
|
||||
const LASER_OFFSET_Y = 0;
|
||||
// Fallback height when an explicit ROS scan pose is unavailable.
|
||||
const LASER_Z = USE_MKMINI_MODEL ? 0.5 : 0.181;
|
||||
const LASER_Z = USE_MKMINI_MODEL ? 0.5 : USE_YAHBOOM_MODEL ? 0.124183557 : 0.181;
|
||||
const MKMINI_LASER_RENDER_BACKWARD_OFFSET = 0.03;
|
||||
|
||||
function setRobotPose(pose) {
|
||||
@@ -2010,10 +2055,10 @@ function setCameraPreviewAvailable(available) {
|
||||
}
|
||||
|
||||
async function refreshCameraFrame() {
|
||||
if (!ENABLE_CAMERA_PREVIEW || !REAL_RUNTIME || cameraFrameRequestInFlight) return;
|
||||
if (!ENABLE_CAMERA_PREVIEW || cameraFrameRequestInFlight || document.hidden) return;
|
||||
cameraFrameRequestInFlight = true;
|
||||
try {
|
||||
const response = await fetch(`${BACKEND_URL}/camera-frame`, { cache: 'no-store' });
|
||||
const response = await fetch(`${BACKEND_URL}/camera-frame`, { cache: 'no-store', signal: AbortSignal.timeout(2000) });
|
||||
if (!response.ok) {
|
||||
setCameraPreviewAvailable(false);
|
||||
return;
|
||||
@@ -2023,7 +2068,6 @@ async function refreshCameraFrame() {
|
||||
cameraFrameObjectUrl = nextUrl;
|
||||
if (cameraPreview) cameraPreview.src = nextUrl;
|
||||
if (previousUrl) URL.revokeObjectURL(previousUrl);
|
||||
setCameraPreviewAvailable(true);
|
||||
} catch (_) {
|
||||
setCameraPreviewAvailable(false);
|
||||
} finally {
|
||||
@@ -2031,6 +2075,9 @@ async function refreshCameraFrame() {
|
||||
}
|
||||
}
|
||||
|
||||
cameraPreview?.addEventListener('load', () => setCameraPreviewAvailable(true));
|
||||
cameraPreview?.addEventListener('error', () => setCameraPreviewAvailable(false));
|
||||
|
||||
function drawMiniMap(state) {
|
||||
pendingMiniMapState = state;
|
||||
if (miniMapRenderTimer) return;
|
||||
@@ -3063,6 +3110,7 @@ renderer.domElement.addEventListener('click', async (event) => {
|
||||
|
||||
function applySlamState(state) {
|
||||
latestSlamState = state;
|
||||
latestSlamStateReceivedAt = Date.now();
|
||||
resetNavigationPoseForNewSession(state);
|
||||
restoreNavigationPoseFromState(state);
|
||||
updateNavigationLocalizationState(state);
|
||||
@@ -3155,7 +3203,7 @@ if (SHOW_SENSOR_POINT_CLOUD && navigationSensorVisible) {
|
||||
void refreshSensorPointCloud();
|
||||
sensorPointCloudRefreshTimer = window.setInterval(() => void refreshSensorPointCloud(), 750);
|
||||
}
|
||||
if (ENABLE_CAMERA_PREVIEW && REAL_RUNTIME) {
|
||||
if (ENABLE_CAMERA_PREVIEW) {
|
||||
void refreshCameraFrame();
|
||||
cameraFrameRefreshTimer = window.setInterval(() => void refreshCameraFrame(), 200);
|
||||
}
|
||||
@@ -3172,6 +3220,10 @@ function connectControlSocket() {
|
||||
if (!CONTROL_WS) return;
|
||||
controlSocket = new WebSocket(CONTROL_WS);
|
||||
controlSocket.addEventListener('close', () => {
|
||||
if (REAL_YAHBOOM_TELEOP) {
|
||||
activeMoveKey = null;
|
||||
stopRobot();
|
||||
}
|
||||
setTimeout(connectControlSocket, 1000);
|
||||
});
|
||||
controlSocket.addEventListener('error', () => {
|
||||
@@ -3179,8 +3231,8 @@ function connectControlSocket() {
|
||||
});
|
||||
}
|
||||
|
||||
let maxLinear = 0.22;
|
||||
let maxAngular = 2.84;
|
||||
let maxLinear = REAL_YAHBOOM_TELEOP ? 0.1 : 0.22;
|
||||
let maxAngular = REAL_YAHBOOM_TELEOP ? 0.5 : 2.84;
|
||||
let activeMoveKey = null;
|
||||
let teleopInterval = null;
|
||||
let singleMoveStopTimer = null;
|
||||
@@ -3204,12 +3256,19 @@ const speedBindings = {
|
||||
};
|
||||
|
||||
function canUseTeleop(event) {
|
||||
if (REAL_RUNTIME) return false;
|
||||
if (REAL_RUNTIME && (!REAL_YAHBOOM_TELEOP || !realTeleopReady())) return false;
|
||||
if (!document.hasFocus()) return false;
|
||||
if (document.hidden || event.ctrlKey || event.altKey || event.metaKey || event.target?.isContentEditable) return false;
|
||||
const tag = event.target?.tagName?.toLowerCase();
|
||||
return !['input', 'textarea', 'select', 'button'].includes(tag);
|
||||
}
|
||||
|
||||
function realTeleopReady() {
|
||||
return latestSlamState?.teleop_deadman === true
|
||||
&& Date.now() - latestSlamStateReceivedAt < 1000
|
||||
&& controlSocket?.readyState === WebSocket.OPEN;
|
||||
}
|
||||
|
||||
function flushQueuedCmdVel() {
|
||||
if (cmdVelRequestInFlight || !queuedCmdVel) return;
|
||||
const command = queuedCmdVel;
|
||||
@@ -3236,6 +3295,20 @@ function flushQueuedCmdVel() {
|
||||
|
||||
function sendCmdVel(linear, angular) {
|
||||
const payload = { type:'cmd_vel', linear, angular };
|
||||
if (REAL_YAHBOOM_TELEOP) {
|
||||
// Never queue physical motion for replay after a connection recovers.
|
||||
if (!controlSocket || controlSocket.readyState !== WebSocket.OPEN) return;
|
||||
if ((linear || angular) && !realTeleopReady()) return;
|
||||
payload.deadman = true;
|
||||
payload.linear = Math.max(-0.1, Math.min(0.1, linear));
|
||||
payload.angular = Math.max(-0.5, Math.min(0.5, angular));
|
||||
if (controlSocket.bufferedAmount > 0) {
|
||||
controlSocket.close();
|
||||
return;
|
||||
}
|
||||
controlSocket.send(JSON.stringify(payload));
|
||||
return;
|
||||
}
|
||||
if (controlSocket?.readyState === WebSocket.OPEN) {
|
||||
controlSocket.send(JSON.stringify(payload));
|
||||
return;
|
||||
@@ -3289,6 +3362,11 @@ function stopRobot() {
|
||||
|
||||
function sendActiveMoveCommand() {
|
||||
if (!activeMoveKey) return;
|
||||
if (REAL_YAHBOOM_TELEOP && (!realTeleopReady() || document.hidden || !document.hasFocus())) {
|
||||
activeMoveKey = null;
|
||||
stopRobot();
|
||||
return;
|
||||
}
|
||||
const [linearSign, angularSign] = moveBindings[activeMoveKey];
|
||||
if (linearSign === 0 && angularSign === 0) return;
|
||||
|
||||
@@ -3340,6 +3418,7 @@ window.addEventListener('keydown', (event) => {
|
||||
|
||||
if (speedBindings[key]) {
|
||||
event.preventDefault();
|
||||
if (REAL_YAHBOOM_TELEOP) return;
|
||||
const [linearScale, angularScale] = speedBindings[key];
|
||||
maxLinear = Math.max(0.01, maxLinear * linearScale);
|
||||
maxAngular = Math.max(0.1, maxAngular * angularScale);
|
||||
@@ -3355,6 +3434,11 @@ window.addEventListener('keydown', (event) => {
|
||||
stopRobot();
|
||||
return;
|
||||
}
|
||||
if (REAL_YAHBOOM_TELEOP) {
|
||||
activeMoveKey = key;
|
||||
startActiveMoveCommand();
|
||||
return;
|
||||
}
|
||||
if (USE_MKMINI_MODEL && !REAL_RUNTIME && (key === 'j' || key === 'l')) {
|
||||
activeMoveKey = key;
|
||||
sendActiveMoveCommand();
|
||||
@@ -3370,6 +3454,11 @@ window.addEventListener('keydown', (event) => {
|
||||
});
|
||||
|
||||
window.addEventListener('keyup', (event) => {
|
||||
if (REAL_YAHBOOM_TELEOP && event.key.toLowerCase() === activeMoveKey) {
|
||||
activeMoveKey = null;
|
||||
stopRobot();
|
||||
return;
|
||||
}
|
||||
if (!canUseTeleop(event)) return;
|
||||
const key = event.key.toLowerCase();
|
||||
if (moveBindings[key]) event.preventDefault();
|
||||
@@ -3381,6 +3470,14 @@ window.addEventListener('blur', () => {
|
||||
stopRobot();
|
||||
});
|
||||
|
||||
function releaseRealTeleop() {
|
||||
if (!REAL_YAHBOOM_TELEOP || !activeMoveKey) return;
|
||||
activeMoveKey = null;
|
||||
stopRobot();
|
||||
}
|
||||
document.addEventListener('visibilitychange', () => { if (document.hidden) releaseRealTeleop(); });
|
||||
window.addEventListener('pagehide', releaseRealTeleop);
|
||||
|
||||
// A static Gazebo model can contain assets that the browser cannot render.
|
||||
// Keep the ROS stream available even when the decorative world mesh fails.
|
||||
const worldSceneTasks = CUSTOM_WORLD || SAVED_GAZEBO_MAP_WORLD || REAL_RUNTIME
|
||||
@@ -3389,7 +3486,7 @@ const worldSceneTasks = CUSTOM_WORLD || SAVED_GAZEBO_MAP_WORLD || REAL_RUNTIME
|
||||
const remoteNavigationSceneTasks = [];
|
||||
Promise.all(EDITOR_MODE
|
||||
? worldSceneTasks
|
||||
: [...worldSceneTasks, ...remoteNavigationSceneTasks, (USE_MKMINI_MODEL ? loadMkMiniModel : loadBurgerModel)({ ...DEFAULT_SIMULATION_SPAWN, z:0.01, roll:0, pitch:0, yaw:0 })]
|
||||
: [...worldSceneTasks, ...remoteNavigationSceneTasks, (USE_YAHBOOM_MODEL ? loadYahboomModel : USE_MKMINI_MODEL ? loadMkMiniModel : loadBurgerModel)({ ...DEFAULT_SIMULATION_SPAWN, z:0.01, roll:0, pitch:0, yaw:0 })]
|
||||
).then(() => {
|
||||
if (EDITOR_MODE) {
|
||||
window.parent.postMessage({ source:'autonomy-world-editor', type:'ready' }, '*');
|
||||
|
||||
@@ -1437,7 +1437,13 @@ function LocalPcWorkspaceMockup({
|
||||
?.slice('platform:='.length)
|
||||
.trim()
|
||||
.toLowerCase()
|
||||
if (!value) return null
|
||||
if (!value) {
|
||||
// The Yahboom vehicle publishes its platform through /vehicle_config,
|
||||
// so its module parameters need not include platform:=yahboom.
|
||||
return /^\[lms-nav2-yahboom-vehicle\]yahboom_vehicle_v[^/]+_ws$/.test(module?.folderName ?? '')
|
||||
? 'yahboom'
|
||||
: null
|
||||
}
|
||||
return value === 'mk-mini' ? 'mkmini' : value
|
||||
}
|
||||
|
||||
|
||||
Vendored
+1
@@ -258,6 +258,7 @@ interface Window {
|
||||
}>
|
||||
}
|
||||
localWorkspace: {
|
||||
onModuleProgress?: (callback: (folderName: string, message: string) => void) => () => void
|
||||
docker: {
|
||||
status: () => Promise<{ status: 'ready' | 'missing' | 'permission' | 'unavailable' | 'error'; platform: string }>
|
||||
openGuide: () => Promise<void>
|
||||
|
||||
@@ -5,6 +5,7 @@ import type React from 'react'
|
||||
import { createPortal } from 'react-dom'
|
||||
|
||||
export type ModuleListRowItem = {
|
||||
folderName?: string | null
|
||||
state: 'running' | 'stopped' | 'uninstalled'
|
||||
category: string
|
||||
name: string
|
||||
@@ -181,6 +182,11 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
|
||||
}: ModuleListRowProps<Module>): React.JSX.Element {
|
||||
const selectable = module.state !== 'uninstalled'
|
||||
const busy = installing || controlling
|
||||
const [progress, setProgress] = useState('')
|
||||
useEffect(() => window.localWorkspace?.onModuleProgress?.((folderName, message) => {
|
||||
if (folderName === (module.folderName || module.name)) setProgress(message)
|
||||
}), [module.folderName, module.name])
|
||||
useEffect(() => { if (!busy) setProgress('') }, [busy])
|
||||
const stateStyle: Record<ModuleListRowItem['state'], string> = {
|
||||
running: dark ? 'bg-[#12372d] text-[#72e2b5]' : 'bg-[#dff8ed] text-[#177553]',
|
||||
stopped: dark ? 'bg-white/8 text-white/45' : 'bg-[#edf0f5] text-[#687284]',
|
||||
@@ -278,6 +284,12 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
|
||||
{module.parameters.length ? module.parameters.join(' ') : '파라미터 설정'}
|
||||
</button>
|
||||
</span>
|
||||
{busy ? (
|
||||
<span role="status" className={['col-span-3 flex min-w-0 items-center justify-center gap-2 px-2 text-[11px]', dark ? 'text-white/65' : 'text-[#687284]'].join(' ')}>
|
||||
<RefreshCw size={12} className="shrink-0 animate-spin" />
|
||||
<span className="truncate" title={progress}>{progress || (installing ? '모듈 설치 중...' : '모듈 작업 준비 중...')}</span>
|
||||
</span>
|
||||
) : <>
|
||||
<span className="flex items-center justify-center gap-1.5">
|
||||
{module.cpu === null ? (
|
||||
<span className={dark ? 'text-white/28' : 'text-[#a0a7b4]'}>-</span>
|
||||
@@ -309,6 +321,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
|
||||
<span className={['text-center', module.runtime === '-' ? (dark ? 'text-white/28' : 'text-[#a0a7b4]') : (dark ? 'font-mono text-white/58' : 'font-mono text-[#687284]')].join(' ')}>
|
||||
{module.runtime}
|
||||
</span>
|
||||
</>}
|
||||
<span className="flex justify-center gap-1.5">
|
||||
{selectable && (
|
||||
<button
|
||||
|
||||
@@ -512,7 +512,18 @@ const moduleGuidePages = [
|
||||
]
|
||||
},
|
||||
{
|
||||
environment: '원격 플랫폼',
|
||||
environment: '원격 플랫폼(Yahboom Car)',
|
||||
imageAlt: '야붐 실차 모듈 가이드',
|
||||
imageSrc: './assets/images/module-guide-yahboom.png',
|
||||
slamModules: ['NAV2-Yahboom-Agent', 'NAV2-Yahboom', 'NAV2-Yahboom-Slam'],
|
||||
navigationModules: ['NAV2-Yahboom-Agent', 'NAV2-Yahboom', 'NAV2-Yahboom-Map', 'NAV2-Yahboom-Localization', 'NAV2-Yahboom-Planning', 'NAV2-Yahboom-Control'],
|
||||
parameters: [
|
||||
['NAV2-Yahboom', 'sim_mode:=false'],
|
||||
['Agent', 'serial_device:=/dev/ttyUSB0, baudrate:=921600']
|
||||
]
|
||||
},
|
||||
{
|
||||
environment: '원격 플랫폼(MK-mini)',
|
||||
imageAlt: '원격 플랫폼 환경 모듈 가이드',
|
||||
imageSrc: './assets/images/module-guide-remote-platform.png',
|
||||
slamModules: ['NAV2-MKMini', 'NAV2-Perception', 'NAV2-SLAM'],
|
||||
@@ -524,7 +535,7 @@ const moduleGuidePages = [
|
||||
]
|
||||
},
|
||||
{
|
||||
environment: '원격 플랫폼 3D',
|
||||
environment: '원격 플랫폼 3D(MK-mini)',
|
||||
imageAlt: '원격 3D SLAM 환경 모듈 가이드',
|
||||
imageSrc: './assets/images/module-guide-remote-3d.png',
|
||||
slamModules: ['NAV2-MKMini', 'NAV2-Perception3D', 'NAV2-SLAM3D'],
|
||||
|
||||
Reference in New Issue
Block a user