fix: enable added week deletion and preserve learning concepts when cloning courses

src/main/index.ts

@@ -1,6 +1,8 @@
 import { app, BrowserWindow, dialog, Menu, globalShortcut, ipcMain, screen, shell } from 'electron'
 import { checkDockerStatus } from './dockerStatus'
+import { yahboomDevicePreflight, yahboomModuleCases, yahboomRuntimeImage, yahboomRuntimeArtifacts, yahboomSimulation } from './yahboomRuntime'
 import { visualizationProgress, reportVisualizationProgress } from './visualizationProgress'
+import { moduleProgress, reportModuleProgress, createModuleProgressParser } from './moduleProgress'
 import { bridgeArtifact, jetsonBridgeImage, localBridgeImage } from './bridgeArtifacts'
 import type { WebContents } from 'electron'
 import { spawn } from 'child_process'
@@ -1359,6 +1361,8 @@ function resolveNav2RuntimeImage(
   folderName?: string | null,
   rosParams = '',
 ): string {
+  const yahboomImage = yahboomRuntimeImage(folderName)
+  if (yahboomImage) return yahboomImage
   // NAV2-MKMini normally targets the real platform image. Gazebo is an
   // explicit local opt-in, so existing platform launches keep their image.
   const mkminiGazebo = /lms-nav2-mkmini/i.test(folderName ?? '')
@@ -1699,7 +1703,24 @@ function remoteRepositoryUrl(repositoryUrl: string): string {
   return repositoryUrl
 }
 
+function handleModuleOperation(channel: string, handler: Parameters<typeof ipcMain.handle>[1]): void {
+  ipcMain.handle(channel, (event, ...args) => {
+    const remote = channel.startsWith('remote-')
+    const folderName = String(args[2] || args[remote ? 1 : 0])
+    const send = (message: string): void => {
+      if (!event.sender.isDestroyed()) event.sender.send('module:progress', folderName, message)
+    }
+    return moduleProgress.run(send, () => visualizationProgress.run((message) => {
+      if (!message.startsWith('시각화')) send(message)
+    }, async () => {
+      send('모듈 작업 준비 중...')
+      try { return await handler(event, ...args) } finally { send('') }
+    }))
+  })
+}
+
 async function runCommandOutput(command: string, args: string[], cwd?: string, env?: NodeJS.ProcessEnv, timeoutMs = 120_000): Promise<string> {
+  const readProgress = createModuleProgressParser()
   return new Promise<string>((resolvePromise, rejectPromise) => {
     let output = ''
     let terminated = false
@@ -1729,8 +1750,10 @@ async function runCommandOutput(command: string, args: string[], cwd?: string, e
       rejectPromise(new Error(`${command} ${args.join(' ')} timed out`))
     }, timeoutMs)
 
-    child.stdout.on('data', (data: Buffer) => {
+    child.stdout.setEncoding('utf8')
+    child.stdout.on('data', (data: string) => {
       output += data.toString()
+      readProgress(data.toString())
     })
     child.stderr.on('data', (data: Buffer) => {
       output += data.toString()
@@ -2331,18 +2354,18 @@ async function syncRemoteSavedMapArtifacts(
     'set -e',
     `ROOT=${quoteShellSingle(target.workspaceRoot)}`,
     `MAPS_DIRECTORY=${quoteShellSingle(mapsDirectory)}`,
-    'if [ ! -d "$MAPS_DIRECTORY" ] || [ ! -w "$MAPS_DIRECTORY" ]; then',
-    '  if docker image inspect future-nav2:humble-jetson_orin >/dev/null 2>&1; then',
-    '    IMAGE="future-nav2:humble-jetson_orin"',
-    '  elif docker image inspect future-nav2:humble >/dev/null 2>&1; then',
-    '    IMAGE="future-nav2:humble"',
-    '  else',
-    '    IMAGE=""',
-    '  fi',
+    // A missing directory is normal on first install, not a permission failure.
+    'mkdir -p "$MAPS_DIRECTORY" 2>/dev/null || true',
+    'if [ ! -d "$MAPS_DIRECTORY" ] || [ ! -w "$MAPS_DIRECTORY" ] || [ ! -x "$MAPS_DIRECTORY" ]; then',
+    '  IMAGE=""',
+    '  for CANDIDATE in future-nav2:humble-yahboom future-nav2:humble-yahboom-agent future-nav2:humble-jetson_orin future-nav2:humble; do',
+    '    if docker image inspect "$CANDIDATE" >/dev/null 2>&1; then IMAGE="$CANDIDATE"; break; fi',
+    '  done',
     '  if [ -z "$IMAGE" ]; then echo "저장된 맵 디렉터리에 쓸 권한이 없고 권한 복구용 NAV2 이미지를 찾을 수 없습니다." >&2; exit 1; fi',
     '  docker run --rm --user 0:0 -v "$ROOT:/workspace" --entrypoint /bin/sh "$IMAGE" -lc "mkdir -p /workspace/maps && chown -R $(id -u):$(id -g) /workspace/maps"',
     'fi',
     'mkdir -p "$MAPS_DIRECTORY"',
+    'test -w "$MAPS_DIRECTORY" && test -x "$MAPS_DIRECTORY" || { echo "저장된 맵 디렉터리 권한 복구에 실패했습니다: $MAPS_DIRECTORY" >&2; exit 1; }',
     ...downloads.map((artifact) => (
       `curl -fsSL --retry 2 ${quoteShellSingle(artifact.url)} -o ${quoteShellSingle(`${mapsDirectory}/${artifact.fileName}`)}`
     )),
@@ -4573,6 +4596,7 @@ function buildNav2DockerRunScript(): string {
     '  )',
     'else',
     'case "$MODULE_FOLDER" in',
+    ...yahboomModuleCases(),
     '  *lms-nav2-mkmini*) PACKAGE=vehicle_pkg; LAUNCH=vehicle.launch.py ;;',
     '  *lms-nav2-gazebo-simulator*) PACKAGE=nav2_turtlebot_simulator; LAUNCH=simulator.launch.py ;;',
     '  *lms-nav2-gazebo-vehicle*) PACKAGE=vehicle_pkg; LAUNCH=vehicle.launch.py ;;',
@@ -4609,6 +4633,7 @@ function buildNav2DockerRunScript(): string {
     'fi',
     '',
     'test -f "$MODULE_ROOT/$MODULE_FOLDER/install/setup.bash" || { echo "Module is not built: $MODULE_FOLDER" >&2; exit 1; }',
+    ...yahboomDevicePreflight(),
     'docker rm -f "$CONTAINER_NAME" >/dev/null 2>&1 || true',
     '',
     'args=(',
@@ -4625,6 +4650,7 @@ function buildNav2DockerRunScript(): string {
     '  -v "$(dirname "$0"):/runtime/nav2/docker:ro"',
     '  -v /etc/localtime:/etc/localtime:ro',
     ')',
+    'if [ -n "$YAHBOOM_DEVICE" ]; then args+=(--device "$YAHBOOM_DEVICE:$YAHBOOM_DEVICE"); fi',
     'if [[ "$GPU_ENABLED" == "true" || "$GPU_ENABLED" == "1" ]]; then',
     '  args+=(--gpus all -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics)',
     'fi',
@@ -4667,6 +4693,7 @@ function buildNav2DockerBuildScript(): string {
     '  )',
     'else',
     'case "$MODULE_FOLDER" in',
+    ...yahboomModuleCases(true),
     '  *lms-nav2-mkmini*) TARGET=vehicle_pkg ;;',
     '  *lms-nav2-gazebo-simulator*) TARGET=nav2_turtlebot_simulator ;;',
     '  *lms-nav2-gazebo-vehicle*) TARGET=vehicle_pkg ;;',
@@ -4897,7 +4924,7 @@ async function findNav2SimulatorRobotModel(containerName: string): Promise<strin
   // Query Gazebo directly first. The ROS GetModelList service can be slow or
   // unavailable while DDS participants are still discovering each other, even
   // though the simulator itself is already able to accept a pose update.
-  const knownModels = ['mkmini_gazebo', 'turtlebot3_burger_3d_lidar', 'turtlebot3_burger']
+  const knownModels = ['mkmini_gazebo', 'turtlebot3_burger_3d_lidar', 'turtlebot3_burger', 'yahboom_gazebo']
   for (const modelName of knownModels) {
     const pose = await runCommandOutput(
       'docker',
@@ -4923,7 +4950,7 @@ async function findNav2SimulatorRobotModel(containerName: string): Promise<strin
   const modelList = output.match(/model_names=\[([^\]]*)\]/)?.[1] ?? ''
   const modelNames = Array.from(modelList.matchAll(/'([^']+)'/g), (match) => match[1])
   const robotModel = modelNames.find((modelName) => (
-    /turtlebot|burger|mkmini|mk-mini|robot/i.test(modelName) && !/world/i.test(modelName)
+    /turtlebot|burger|mkmini|mk-mini|yahboom|robot/i.test(modelName) && !/world/i.test(modelName)
   ))
   if (!robotModel) throw new Error('Gazebo 로봇 모델을 찾을 수 없습니다.')
   return robotModel
@@ -5017,6 +5044,29 @@ async function clearNav2RuntimeObstacles(): Promise<{ ok: boolean; message: stri
   return { ok: true, message: '장애물을 제거했습니다.' }
 }
 
+async function resolveLocalModuleRuntime(
+  moduleRoot: string,
+  folderName: string,
+  rosParams: string,
+  runtimeImages?: RuntimeImageArtifact[] | null,
+): Promise<{ image: string; artifacts: RuntimeImageArtifact[] | null | undefined }> {
+  if (yahboomSimulation(folderName, rosParams)) {
+    const artifact = runtimeImages?.find((item) =>
+      item.image?.trim() === defaultNav2GazeboRuntimeImage.image && item.url?.trim())
+      ?? defaultNav2GazeboRuntimeImage
+    return { image: 'future-nav2-gazebo:humble', artifacts: [artifact] }
+  }
+  const image = await resolveCustomModuleRuntimeImage(
+    moduleRoot, resolveNav2RuntimeImage(runtimeImages, folderName, rosParams),
+  )
+  return {
+    image,
+    artifacts: yahboomRuntimeImage(folderName)
+      ? yahboomRuntimeArtifacts(folderName, image, runtimeImages)
+      : requiredRuntimeImages(runtimeImages, image),
+  }
+}
+
 async function startWorkspaceModule(
   moduleName: string,
   workspaceRoot?: string | null,
@@ -5044,11 +5094,10 @@ async function startWorkspaceModule(
     const fastDdsConfigPath = await prepareLocalRosNetworkConfig(rosNetwork, rosDomainId)
     const rosParams = typeof rosParamsOverride === 'string' ? rosParamsOverride.trim() : await readModuleRosParams(moduleRoot)
     const scriptPath = resolveNav2DockerRunScript()
-    const runtimeImage = await resolveCustomModuleRuntimeImage(
-      moduleRoot,
-      resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams),
-    )
-    await prepareRuntimeImages(requiredRuntimeImages(runtimeImages, runtimeImage))
+    const runtime = await resolveLocalModuleRuntime(moduleRoot, targetFolderName, rosParams, runtimeImages)
+    const runtimeImage = runtime.image
+    await prepareRuntimeImages(runtime.artifacts)
+    reportModuleProgress("모듈 실행 중...")
     await runCommand(
       'bash',
       [
@@ -5072,6 +5121,7 @@ async function startWorkspaceModule(
   }
 
   await prepareRuntimeImages(runtimeImages)
+  reportModuleProgress("모듈 실행 중...")
   await ensureStudioRuntimeAssets()
   const scriptPath = resolveAutowareDockerRunScript()
   if (!existsSync(scriptPath)) throw new Error(`${scriptPath} 파일을 찾을 수 없습니다.`)
@@ -5129,11 +5179,10 @@ async function buildWorkspaceModule(
   if (isNav2ModuleFolder(targetFolderName)) {
     await ensureNav2RuntimeAssets()
     const rosParams = typeof rosParamsOverride === 'string' ? rosParamsOverride.trim() : await readModuleRosParams(moduleRoot)
-    const runtimeImage = await resolveCustomModuleRuntimeImage(
-      moduleRoot,
-      resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams),
-    )
-    await prepareRuntimeImages(requiredRuntimeImages(runtimeImages, runtimeImage))
+    const runtime = await resolveLocalModuleRuntime(moduleRoot, targetFolderName, rosParams, runtimeImages)
+    const runtimeImage = runtime.image
+    await prepareRuntimeImages(runtime.artifacts)
+    reportModuleProgress("모듈 빌드 중...")
     await runCommand(
       'bash',
       [
@@ -5151,6 +5200,7 @@ async function buildWorkspaceModule(
   }
 
   await prepareRuntimeImages(runtimeImages)
+  reportModuleProgress("모듈 빌드 중...")
   await runCommand(
     'docker',
     [
@@ -5173,6 +5223,7 @@ async function prepareRemoteRuntimeImages(
   target: RemoteWorkspaceTarget,
   runtimeImages?: RuntimeImageArtifact[] | null,
 ): Promise<void> {
+  reportModuleProgress('이미지 준비 대기 중...')
   const artifacts = (runtimeImages ?? [])
     .filter((image) => image?.image?.trim())
     .map((image) => ({
@@ -5208,12 +5259,18 @@ async function prepareRemoteRuntimeImages(
       '    name = item.get("fileName") or os.path.basename(url.split("?", 1)[0]) or "runtime-image.tar"',
       '    path = os.path.join(cache, name)',
       '    if os.path.exists(path): os.unlink(path)',
+      '    print("LMS_MODULE_PROGRESS:이미지 다운로드 중...", flush=True)',
       '    subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
+      '    print("LMS_MODULE_PROGRESS:이미지 파일 확인 중...", flush=True)',
       '    expected = (item.get("checksumSha256") or "").strip().lower()',
       '    if expected:',
       '        import hashlib',
-      '        with open(path, "rb") as fp: actual = hashlib.sha256(fp.read()).hexdigest().lower()',
+      '        digest = hashlib.sha256()',
+      '        with open(path, "rb") as fp:',
+      '            for chunk in iter(lambda: fp.read(1024 * 1024), b""): digest.update(chunk)',
+      '        actual = digest.hexdigest().lower()',
       '        if actual != expected: raise SystemExit(f"runtime image checksum mismatch: {name}")',
+      '    print("LMS_MODULE_PROGRESS:이미지 불러오는 중...", flush=True)',
       '    if path.lower().endswith(".tar.zst") or path.lower().endswith(".tzst"):',
       '        import shlex',
       '        subprocess.run(f"zstd -dc {shlex.quote(path)} | docker load", shell=True, check=True)',
@@ -5255,14 +5312,15 @@ async function startRemoteWorkspaceModule(
     ? await resolveRemoteCustomModuleRuntimeImage(
         target,
         targetFolderName,
-        await resolveRemoteNav2RuntimeImage(runtimeImages),
+        yahboomRuntimeImage(targetFolderName) ?? await resolveRemoteNav2RuntimeImage(runtimeImages),
       )
     : null
   const runtimeRoot = nav2Module
     ? await ensureRemoteNav2RuntimeAssets(target)
     : await ensureRemoteStudioRuntimeAssets(target)
   const fastDdsConfigPath = await prepareRemoteRosNetworkConfig(target, runtimeRoot, rosNetwork, rosDomainId)
-  await prepareRemoteRuntimeImages(target, runtimeImages)
+  await prepareRemoteRuntimeImages(target, yahboomRuntimeArtifacts(targetFolderName, runtimeImage, runtimeImages))
+  reportModuleProgress("모듈 실행 중...")
   const currentStatus = await runSshOutput(target, `timeout 12s docker ps -a --filter ${quoteShellSingle(`name=^/${dockerInfo.containerKey}$`)} --format "{{.Status}}" 2>/dev/null || true`, 20000)
   if (/^Up\b/i.test(currentStatus.trim())) return { ok: true, message: '이미 실행 중입니다.' }
   if (currentStatus.trim()) {
@@ -5352,9 +5410,10 @@ async function buildRemoteWorkspaceModule(
     const runtimeImage = await resolveRemoteCustomModuleRuntimeImage(
       target,
       targetFolderName,
-      await resolveRemoteNav2RuntimeImage(runtimeImages),
+      yahboomRuntimeImage(targetFolderName) ?? await resolveRemoteNav2RuntimeImage(runtimeImages),
     )
-    await prepareRemoteRuntimeImages(target, runtimeImages)
+    await prepareRemoteRuntimeImages(target, yahboomRuntimeArtifacts(targetFolderName, runtimeImage, runtimeImages))
+    reportModuleProgress("모듈 빌드 중...")
     await runSsh(target, [
       'set -e',
       `RUNTIME_ROOT=${quoteShellSingle(runtimeRoot)}`,
@@ -6286,8 +6345,8 @@ function registerLocalWorkspaceHandlers(): void {
     return importCustomWorkspaceModule(workspaceRoot, input)
   })
   ipcMain.handle('local-workspace:modules:delete', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => deleteWorkspaceModule(moduleName, workspaceRoot, folderName))
-  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))
-  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))
+  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))
+  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))
   ipcMain.handle('local-workspace:modules:stop', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => stopWorkspaceModule(moduleName, workspaceRoot, folderName))
   ipcMain.handle('local-workspace:modules:stop-many', (_event, modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string | null) => stopWorkspaceModules(modules, workspaceRoot))
   ipcMain.handle('local-workspace:modules:stop-running', () => stopRunningWorkspaceContainers())
@@ -6349,8 +6408,8 @@ function registerLocalWorkspaceHandlers(): void {
     if (!moduleName?.trim()) throw new Error('전송할 모듈명이 없습니다.')
     return transferLocalWorkspaceModuleToRemote(target, sourceWorkspaceRoot, moduleName, folderName)
   })
-  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))
-  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))
+  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))
+  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))
   ipcMain.handle('remote-workspace:modules:stop', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null) => stopRemoteWorkspaceModule(target, moduleName, folderName))
   ipcMain.handle('remote-workspace:modules:stop-many', (_event, target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => stopRemoteWorkspaceModules(target, modules))
   ipcMain.handle('remote-workspace:modules:reset-session', (_event, target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null; templateRepositoryUrl?: string | null }>) => resetRemoteWorkspaceSession(target, modules))
@@ -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())

src/main/moduleProgress.test.ts

@@ -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'))
+})

src/main/moduleProgress.ts

@@ -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())
+    }
+  }
+}

src/main/yahboomRuntime.test.ts

@@ -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 })
+  }
+})

src/main/yahboomRuntime.ts

@@ -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',
+  ]
+}