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())
|
||||
|
||||
Reference in New Issue
Block a user