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

2026-09-22 15:32:22 +09:00
parent 1d959e2c51
commit 33aac68f16
18 changed files with 633 additions and 61 deletions
@@ -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',
+  ]
+}