feat: add weekly curriculum cover image upload and display

package.json

@@ -1,6 +1,6 @@
 {
   "name": "lms",
-  "version": "1.1.32",
+  "version": "1.2.1",
   "description": "Autonomy Studio LMS Electron app",
   "main": "./out/main/index.js",
   "author": {

src/main/cameraRuntime.ts

@@ -0,0 +1,11 @@
+const image = 'future-nav2-camera-test:humble-jetson_orin'
+
+export function cameraRuntimeArtifacts<T extends { image?: string | null }>(
+  folder: string,
+  configured: T[] | null | undefined,
+): T[] | null | undefined {
+  if (!configured) return configured
+  const camera = folder.includes('lms-nav2-camera-test')
+  // The optional camera image must not be downloaded for other Nav2 modules.
+  return configured.filter((item) => (item.image?.trim() === image) === camera)
+}

src/main/index.ts

@@ -1,5 +1,7 @@
 import { app, BrowserWindow, dialog, Menu, globalShortcut, ipcMain, screen, shell } from 'electron'
 import { checkDockerStatus } from './dockerStatus'
+import { cameraRuntimeArtifacts } from './cameraRuntime'
+import { remoteModuleFilesScript } from './remoteModuleFiles'
 import { resolveContainerTerminal } from './containerTerminal'
 import { yahboomDevicePreflight, yahboomModuleCases, yahboomRuntimeImage, yahboomRuntimeArtifacts, yahboomSimulation } from './yahboomRuntime'
 import { visualizationProgress, reportVisualizationProgress } from './visualizationProgress'
@@ -142,6 +144,7 @@ function getBundledZstdPath(): string | null {
 }
 
 type CachedModuleFiles = {
+  filePaths?: string[]
   root: string | null
   absoluteRoot: string | null
   files: Record<string, string>
@@ -4598,6 +4601,7 @@ function buildNav2DockerRunScript(): string {
     'else',
     'case "$MODULE_FOLDER" in',
     ...yahboomModuleCases(),
+    '  *lms-nav2-camera-test*) PACKAGE=camera_test_pkg; LAUNCH=camera.launch.py ;;',
     '  *lms-nav2-mkmini*) PACKAGE=vehicle_pkg; LAUNCH=vehicle.launch.py ;;',
     '  *lms-nav2-gazebo-simulator*) PACKAGE=nav2_turtlebot_simulator; LAUNCH=simulator.launch.py ;;',
     '  *lms-nav2-gazebo-vehicle*) PACKAGE=vehicle_pkg; LAUNCH=vehicle.launch.py ;;',
@@ -4635,6 +4639,12 @@ function buildNav2DockerRunScript(): string {
     '',
     'test -f "$MODULE_ROOT/$MODULE_FOLDER/install/setup.bash" || { echo "Module is not built: $MODULE_FOLDER" >&2; exit 1; }',
     ...yahboomDevicePreflight(),
+    'CAMERA_DEVICE=""',
+    'if [[ "$MODULE_FOLDER" == *lms-nav2-camera-test* ]]; then',
+    '  CAMERA_DEVICE=/dev/video0',
+    '  for arg in "$@"; do case "$arg" in video_device:=*) CAMERA_DEVICE=${arg#video_device:=} ;; esac; done',
+    '  [[ "$CAMERA_DEVICE" =~ ^/dev/video[0-9]+$ ]] && [ -c "$CAMERA_DEVICE" ] || { echo "Camera device not found: $CAMERA_DEVICE" >&2; exit 1; }',
+    'fi',
     'docker rm -f "$CONTAINER_NAME" >/dev/null 2>&1 || true',
     '',
     'args=(',
@@ -4652,6 +4662,12 @@ function buildNav2DockerRunScript(): string {
     '  -v /etc/localtime:/etc/localtime:ro',
     ')',
     'if [ -n "$YAHBOOM_DEVICE" ]; then args+=(--device "$YAHBOOM_DEVICE:$YAHBOOM_DEVICE"); fi',
+    'if [ -n "$CAMERA_DEVICE" ]; then',
+    '  args+=(--device "$CAMERA_DEVICE:$CAMERA_DEVICE")',
+    '  for capture_device in /dev/capture-vi-channel*; do',
+    '    if [ -c "$capture_device" ]; then args+=(--device "$capture_device:$capture_device"); fi',
+    '  done',
+    'fi',
     'if [[ "$GPU_ENABLED" == "true" || "$GPU_ENABLED" == "1" ]]; then',
     '  args+=(--gpus all -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics)',
     'fi',
@@ -4695,6 +4711,7 @@ function buildNav2DockerBuildScript(): string {
     'else',
     'case "$MODULE_FOLDER" in',
     ...yahboomModuleCases(true),
+    '  *lms-nav2-camera-test*) TARGET=camera_test_pkg ;;',
     '  *lms-nav2-mkmini*) TARGET=vehicle_pkg ;;',
     '  *lms-nav2-gazebo-simulator*) TARGET=nav2_turtlebot_simulator ;;',
     '  *lms-nav2-gazebo-vehicle*) TARGET=vehicle_pkg ;;',
@@ -5051,6 +5068,7 @@ async function resolveLocalModuleRuntime(
   rosParams: string,
   runtimeImages?: RuntimeImageArtifact[] | null,
 ): Promise<{ image: string; artifacts: RuntimeImageArtifact[] | null | undefined }> {
+  runtimeImages = cameraRuntimeArtifacts(folderName, runtimeImages)
   if (yahboomSimulation(folderName, rosParams)) {
     const artifact = runtimeImages?.find((item) =>
       item.image?.trim() === defaultNav2GazeboRuntimeImage.image && item.url?.trim())
@@ -5062,7 +5080,9 @@ async function resolveLocalModuleRuntime(
   )
   return {
     image,
-    artifacts: yahboomRuntimeImage(folderName)
+    artifacts: folderName.includes('lms-nav2-camera-test')
+      ? (runtimeImages ?? []).filter((item) => item.image?.trim() === image)
+      : yahboomRuntimeImage(folderName)
       ? yahboomRuntimeArtifacts(folderName, image, runtimeImages)
       : requiredRuntimeImages(runtimeImages, image),
   }
@@ -5309,6 +5329,7 @@ async function startRemoteWorkspaceModule(
   if (existsOutput.trim() !== 'yes') throw new Error('설치된 모듈을 찾을 수 없습니다.')
 
   const nav2Module = isNav2ModuleFolder(targetFolderName)
+  runtimeImages = cameraRuntimeArtifacts(targetFolderName, runtimeImages)
   const runtimeImage = nav2Module
     ? await resolveRemoteCustomModuleRuntimeImage(
         target,
@@ -5320,7 +5341,9 @@ async function startRemoteWorkspaceModule(
     ? await ensureRemoteNav2RuntimeAssets(target)
     : await ensureRemoteStudioRuntimeAssets(target)
   const fastDdsConfigPath = await prepareRemoteRosNetworkConfig(target, runtimeRoot, rosNetwork, rosDomainId)
-  await prepareRemoteRuntimeImages(target, yahboomRuntimeArtifacts(targetFolderName, runtimeImage, runtimeImages))
+  await prepareRemoteRuntimeImages(target, targetFolderName.includes('lms-nav2-camera-test')
+    ? (runtimeImages ?? []).filter((item) => item.image?.trim() === runtimeImage)
+    : 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.' }
@@ -5403,6 +5426,7 @@ async function buildRemoteWorkspaceModule(
 ): Promise<{ ok: boolean; message: string }> {
   const target = normalizeRemoteTarget(targetInput)
   const targetFolderName = folderName?.trim() || moduleName
+  runtimeImages = cameraRuntimeArtifacts(targetFolderName, runtimeImages)
   const dockerInfo = parseModuleDockerInfo(targetFolderName)
   if (!dockerInfo || !isAllowedContainerName(dockerInfo.containerKey)) throw new Error('모듈 폴더명 형식이 올바르지 않습니다.')
 
@@ -5413,7 +5437,9 @@ async function buildRemoteWorkspaceModule(
       targetFolderName,
       yahboomRuntimeImage(targetFolderName) ?? await resolveRemoteNav2RuntimeImage(runtimeImages),
     )
-    await prepareRemoteRuntimeImages(target, yahboomRuntimeArtifacts(targetFolderName, runtimeImage, runtimeImages))
+    await prepareRemoteRuntimeImages(target, targetFolderName.includes('lms-nav2-camera-test')
+      ? (runtimeImages ?? []).filter((item) => item.image?.trim() === runtimeImage)
+      : yahboomRuntimeArtifacts(targetFolderName, runtimeImage, runtimeImages))
     reportModuleProgress("모듈 빌드 중...")
     await runSsh(target, [
       'set -e',
@@ -5723,44 +5749,11 @@ async function collectModuleFiles(moduleName: string, workspaceRoot?: string | n
 
 async function collectRemoteModuleFiles(targetInput: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null): Promise<CachedModuleFiles> {
   const { target, moduleRoot } = await resolveRemoteGitModuleRoot(targetInput, moduleName, folderName)
-  const skippedNames = Array.from(skippedCacheDirs).map(quoteShellSingle).join(' ')
+  const output = await runUnqueuedSshOutput(target, remoteModuleFilesScript(moduleRoot, { action: 'list' }), 30000)
-  const script = [
+  const listing = JSON.parse(output) as { filePaths: string[]; folders: string[] }
-    'set +e',
+  const prefix = (path: string): string => `modules/${moduleName}/${path}`
-    `ROOT=${quoteShellSingle(moduleRoot)}`,
+  return { root: moduleRoot.split('/').pop() ?? moduleName, absoluteRoot: moduleRoot,
-    `SKIPPED="${skippedNames}"`,
+    files: {}, filePaths: listing.filePaths.map(prefix), folders: listing.folders.map(prefix) }
-    'find "$ROOT" -mindepth 1 -maxdepth 10 \\( -name .git -o -name build -o -name install -o -name log -o -name node_modules -o -name docker \\) -prune -o -type d -printf "D\\t%P\\n" -o -type f -printf "F\\t%P\\t%s\\n" | while IFS="$(printf \'\\t\')" read -r KIND REL SIZE; do',
-    '  [ -z "$REL" ] && continue',
-    '  NAME="${REL##*/}"',
-    '  case "$KIND" in',
-    '    D) printf "D\\t%s\\n" "$(printf %s "$REL" | base64 -w0)" ;;',
-    '    F)',
-    '      CONTENT="QmluYXJ5IG9yIGxhcmdlIGZpbGUgcHJldmlldyBpcyBub3QgYXZhaWxhYmxlLg=="',
-    '      if [ "${SIZE:-0}" -le 1048576 ]; then',
-    '        case "$NAME" in',
-    '          *.c|*.cc|*.cpp|*.cxx|*.h|*.hpp|*.hh|*.py|*.xml|*.urdf|*.xacro|*.yaml|*.yml|*.json|*.txt|*.md|*.cmake|*.launch|*.sh|*.bash|*.toml|*.ini|*.cfg|*.rviz) CONTENT="$(base64 -w0 "$ROOT/$REL" 2>/dev/null)" ;;',
-    '        esac',
-    '      fi',
-    '      printf "F\\t%s\\t%s\\n" "$(printf %s "$REL" | base64 -w0)" "$CONTENT"',
-    '      ;;',
-    '  esac',
-    'done'
-  ].join('\n')
-  // Source transfers must not hold up module start/stop on the control queue.
-  const output = await runUnqueuedSshOutput(target, script, 30000)
-  const files: Record<string, string> = {}
-  const folders: string[] = []
-
-  for (const line of output.split('\n')) {
-    if (!line.trim()) continue
-    const [kind, encodedPath = '', encodedContent = ''] = line.split('\t')
-    const relativePath = decodeRemoteField(encodedPath)
-    if (!relativePath) continue
-    const rendererPath = `modules/${moduleName}/${relativePath}`
-    if (kind === 'D') folders.push(rendererPath)
-    if (kind === 'F') files[rendererPath] = decodeRemoteField(encodedContent)
-  }
-
-  return { root: moduleRoot.split('/').pop() ?? moduleName, absoluteRoot: moduleRoot, files, folders }
 }
 
 async function collectRootFiles(rootPath: string, rendererRoot: string): Promise<CachedModuleFiles> {
@@ -6447,6 +6440,15 @@ function registerLocalWorkspaceHandlers(): void {
   ipcMain.handle('remote-workspace:git:submissions', (_event, target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => readRemoteWorkspaceGitSubmissions(target, modules))
   ipcMain.handle('remote-workspace:git:commit-diff', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, commitHash?: string | null) => readRemoteWorkspaceGitCommitDiff(target, moduleName, folderName, commitHash))
   ipcMain.handle('remote-workspace:module-files:read', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null) => collectRemoteModuleFiles(target, moduleName, folderName))
+  ipcMain.handle('remote-workspace:module-files:content', async (_event, target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string | null) => {
+    const resolved = await resolveRemoteRendererModulePath(target, moduleName, path, folderName)
+    return JSON.parse(await runUnqueuedSshOutput(resolved.target, remoteModuleFilesScript(resolved.moduleRoot, { action: 'content', path: resolved.relativePath }), 30000))
+  })
+  ipcMain.handle('remote-workspace:module-files:search', async (_event, target: RemoteWorkspaceTarget, moduleName: string, query: string, folderName?: string | null) => {
+    const resolved = await resolveRemoteGitModuleRoot(target, moduleName, folderName)
+    const results = JSON.parse(await runUnqueuedSshOutput(resolved.target, remoteModuleFilesScript(resolved.moduleRoot, { action: 'search', query }), 30000)) as Array<{ file: string; lineNumber: number; lineText: string }>
+    return results.map((result) => ({ ...result, file: `modules/${moduleName}/${result.file}` }))
+  })
   ipcMain.handle('remote-workspace:module-files:image', (_event, target: RemoteWorkspaceTarget, moduleName: string, rendererPath: string, folderName?: string | null) => readRemoteWorkspaceModuleImage(target, moduleName, rendererPath, folderName))
   ipcMain.handle('remote-workspace:module-files:create', async (_event, target: RemoteWorkspaceTarget, moduleName: string, rendererPath: string, kind: 'file' | 'folder', folderName?: string | null) => {
     const resolved = await resolveRemoteRendererModulePath(target, moduleName, rendererPath, folderName)

src/main/remoteModuleFiles.ts

@@ -0,0 +1,69 @@
+type Request = { action: 'list' } | { action: 'content'; path: string } | { action: 'search'; query: string }
+
+export function remoteModuleFilesScript(root: string, request: Request): string {
+  const input = Buffer.from(JSON.stringify({ root, ...request })).toString('base64')
+  return `python3 - '${input}' <<'PY'
+import base64, json, os, stat, sys
+args = json.loads(base64.b64decode(sys.argv[1]))
+root = os.path.realpath(args['root'])
+skip = {'.git', 'build', 'install', 'log', 'node_modules', 'docker'}
+extensions = {'.c', '.cc', '.cpp', '.cxx', '.h', '.hpp', '.hh', '.py', '.xml', '.urdf', '.xacro', '.yaml', '.yml', '.json', '.txt', '.md', '.cmake', '.launch', '.sh', '.bash', '.toml', '.ini', '.cfg', '.rviz'}
+placeholder = 'Binary or large file preview is not available.'
+def content(relative):
+    if os.path.isabs(relative) or '..' in relative.split('/'):
+        raise ValueError('Invalid module path')
+    path = os.path.realpath(os.path.join(root, relative))
+    if os.path.commonpath([root, path]) != root:
+        raise ValueError('Invalid module path')
+    info = os.stat(path)
+    if not stat.S_ISREG(info.st_mode):
+        raise ValueError('Not a regular file')
+    if os.path.splitext(path)[1].lower() not in extensions or info.st_size > 1048576:
+        return placeholder
+    with open(path, 'rb') as fp:
+        data = fp.read(1048577)
+    if len(data) > 1048576 or b'\\x00' in data:
+        return placeholder
+    return data.decode('utf-8', errors='replace')
+def entries():
+    def fail(error):
+        raise error
+    for current, dirs, files in os.walk(root, onerror=fail, followlinks=False):
+        depth = len(os.path.relpath(current, root).split('/')) if current != root else 0
+        dirs[:] = sorted(d for d in dirs if d not in skip and not os.path.islink(os.path.join(current, d)))
+        if depth >= 10:
+            dirs[:] = []
+            continue
+        for name in dirs:
+            yield 'D', os.path.relpath(os.path.join(current, name), root)
+        for name in sorted(files):
+            path = os.path.join(current, name)
+            if not os.path.islink(path) and os.path.isfile(path):
+                yield 'F', os.path.relpath(path, root)
+if args['action'] == 'content':
+    print(json.dumps({'content': content(args['path'])}))
+elif args['action'] == 'list':
+    paths, folders = [], []
+    for kind, path in entries():
+        (folders if kind == 'D' else paths).append(path)
+    print(json.dumps({'filePaths': paths, 'folders': folders}))
+else:
+    query = args['query'].strip().lower()
+    results = []
+    if len(query) >= 2:
+        for kind, path in entries():
+            if kind != 'F':
+                continue
+            text = content(path)
+            if text == placeholder:
+                continue
+            for number, line in enumerate(text.split('\\n'), 1):
+                if query in line.lower():
+                    results.append({'file': path, 'lineNumber': number, 'lineText': (line.strip() or line)[:2000]})
+                    if len(results) >= 200:
+                        break
+            if len(results) >= 200:
+                break
+    print(json.dumps(results))
+PY`
+}

src/preload/index.ts

@@ -289,6 +289,8 @@ contextBridge.exposeInMainWorld('localWorkspace', {
 contextBridge.exposeInMainWorld('remoteWorkspace', {
   moduleFiles: {
     read: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:read', target, moduleName, folderName),
+    content: (target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:content', target, moduleName, path, folderName),
+    search: (target: RemoteWorkspaceTarget, moduleName: string, query: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:search', target, moduleName, query, folderName),
     image: (target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:image', target, moduleName, path, folderName),
     create: (target: RemoteWorkspaceTarget, moduleName: string, path: string, kind: 'file' | 'folder', folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:create', target, moduleName, path, kind, folderName),
     write: (target: RemoteWorkspaceTarget, moduleName: string, path: string, content: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:write', target, moduleName, path, content, folderName),

src/renderer/public/slam-viewer/index.html

@@ -49,7 +49,7 @@
     #cameraPreviewWrap {
       position:absolute;
       left:16px;
-      top:48px;
+      top:16px;
       z-index:10;
       display:none;
       width:min(260px, calc(100vw - 32px));
@@ -69,7 +69,7 @@
     #cameraPreviewWrap.is-collapsed #cameraPreview { display:none; }
     #cameraPreviewToggle {
       position:absolute;
-      right:0;
+      left:0;
       top:100%;
       display:grid;
       width:30px;
@@ -110,6 +110,8 @@
 	      bottom:16px;
 	      z-index:10;
 	      padding:7px 9px;
+          max-width:calc(100% - 32px);
+          box-sizing:border-box;
 	      border:1px solid rgba(255,255,255,.24);
 	      background:rgba(17,24,39,.34);
 	      color:rgba(255,255,255,.82);
@@ -369,8 +371,8 @@
     .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-teleop:not(.editor-mode) #keyGuide { display:block; }
-    .real-yahboom-teleop #rosTopicStatusWrap { bottom:72px; }
+    .real-teleop #rosTopicStatusWrap { bottom:50px; }
   </style>
 </head>
 <body>
@@ -444,7 +446,8 @@ 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 REAL_MKMINI_TELEOP = REAL_RUNTIME && USE_MKMINI_MODEL;
+const REAL_TELEOP = REAL_RUNTIME && (USE_YAHBOOM_MODEL || USE_MKMINI_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;
@@ -495,8 +498,11 @@ 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) {
+  if (REAL_TELEOP && !EDITOR_MODE) {
-    document.body.classList.add('real-yahboom-teleop');
+    document.body.classList.add('real-teleop');
+    if (REAL_MKMINI_TELEOP) {
+      document.querySelector('#keyGuide div').textContent = 'i 전진 · , 후진 · j/l 주행 중 조향 · k 정지';
+    }
   }
 	if (EDITOR_MODE) responseWaitOverlay?.classList.add('is-hidden');
 
@@ -895,6 +901,7 @@ let savedMapPointCloudLoaded = false;
 let sensorPointCloudRequestInFlight = false;
 let sensorPointCloudRefreshTimer = null;
 let cameraFrameRequestInFlight = false;
+let cameraFrameRetryAt = 0;
 let cameraFrameRefreshTimer = null;
 let cameraFrameObjectUrl = null;
 let pathVisible = false;
@@ -2051,28 +2058,47 @@ function setCameraPreviewAvailable(available) {
   if (cameraPreview) cameraPreview.removeAttribute('src');
 }
 
+function hasLiveCameraState() {
+  return latestSlamState?.topic_status?.camera_image?.available === true
+    && Date.now() - latestSlamStateReceivedAt < 3000;
+}
+
 async function refreshCameraFrame() {
   if (!ENABLE_CAMERA_PREVIEW || cameraFrameRequestInFlight || document.hidden) return;
+  // Reuse websocket topic status instead of probing an absent camera with HTTP.
+  if (!hasLiveCameraState()) {
+    setCameraPreviewAvailable(false);
+    return;
+  }
+  if (Date.now() < cameraFrameRetryAt) return;
   cameraFrameRequestInFlight = true;
   try {
     const response = await fetch(`${BACKEND_URL}/camera-frame`, { cache: 'no-store', signal: AbortSignal.timeout(2000) });
     if (!response.ok) {
+      cameraFrameRetryAt = Date.now() + 5000;
       setCameraPreviewAvailable(false);
       return;
     }
-    const nextUrl = URL.createObjectURL(await response.blob());
+    const frame = await response.blob();
+    if (!hasLiveCameraState() || document.hidden) {
+      setCameraPreviewAvailable(false);
+      return;
+    }
+    cameraFrameRetryAt = 0;
+    const nextUrl = URL.createObjectURL(frame);
     const previousUrl = cameraFrameObjectUrl;
     cameraFrameObjectUrl = nextUrl;
     if (cameraPreview) cameraPreview.src = nextUrl;
     if (previousUrl) URL.revokeObjectURL(previousUrl);
   } catch (_) {
+    cameraFrameRetryAt = Date.now() + 5000;
     setCameraPreviewAvailable(false);
   } finally {
     cameraFrameRequestInFlight = false;
   }
 }
 
-cameraPreview?.addEventListener('load', () => setCameraPreviewAvailable(true));
+cameraPreview?.addEventListener('load', () => setCameraPreviewAvailable(hasLiveCameraState()));
 cameraPreview?.addEventListener('error', () => setCameraPreviewAvailable(false));
 
 function drawMiniMap(state) {
@@ -3217,7 +3243,7 @@ function connectControlSocket() {
   if (!CONTROL_WS) return;
   controlSocket = new WebSocket(CONTROL_WS);
   controlSocket.addEventListener('close', () => {
-    if (REAL_YAHBOOM_TELEOP) {
+    if (REAL_TELEOP) {
       activeMoveKey = null;
       stopRobot();
     }
@@ -3228,8 +3254,16 @@ function connectControlSocket() {
   });
 }
 
-let maxLinear = REAL_YAHBOOM_TELEOP ? 0.1 : 0.22;
+let maxLinear = REAL_TELEOP ? 0.1 : 0.22;
-let maxAngular = REAL_YAHBOOM_TELEOP ? 0.5 : 2.84;
+let maxAngular = REAL_TELEOP ? 0.5 : 2.84;
+const mkMiniHeldKeys = new Set();
+const MKMINI_REAL_ANGULAR_SPEED = 0.08;
+function teleopKey(event) {
+  const key = event.key.toLowerCase();
+  return REAL_MKMINI_TELEOP
+    ? ({ arrowup: 'i', arrowdown: ',', arrowleft: 'j', arrowright: 'l', ' ': 'k' }[key] ?? key)
+    : key;
+}
 let activeMoveKey = null;
 let teleopInterval = null;
 let singleMoveStopTimer = null;
@@ -3253,7 +3287,7 @@ const speedBindings = {
 };
 
 function canUseTeleop(event) {
-  if (REAL_RUNTIME && (!REAL_YAHBOOM_TELEOP || !realTeleopReady())) return false;
+  if (EDITOR_MODE || (REAL_RUNTIME && (!REAL_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();
@@ -3292,7 +3326,7 @@ function flushQueuedCmdVel() {
 
 function sendCmdVel(linear, angular) {
   const payload = { type:'cmd_vel', linear, angular };
-  if (REAL_YAHBOOM_TELEOP) {
+  if (REAL_TELEOP) {
     // Never queue physical motion for replay after a connection recovers.
     if (!controlSocket || controlSocket.readyState !== WebSocket.OPEN) return;
     if ((linear || angular) && !realTeleopReady()) return;
@@ -3346,6 +3380,7 @@ function setSimulatorMkMiniSteering(angle) {
 }
 
 function stopRobot() {
+  mkMiniHeldKeys.clear();
   if (teleopInterval) {
     window.clearInterval(teleopInterval);
     teleopInterval = null;
@@ -3359,13 +3394,25 @@ function stopRobot() {
 
 function sendActiveMoveCommand() {
   if (!activeMoveKey) return;
-  if (REAL_YAHBOOM_TELEOP && (!realTeleopReady() || document.hidden || !document.hasFocus())) {
+  if (REAL_TELEOP && (!realTeleopReady() || document.hidden || !document.hasFocus())) {
     activeMoveKey = null;
     stopRobot();
     return;
   }
   const [linearSign, angularSign] = moveBindings[activeMoveKey];
   if (linearSign === 0 && angularSign === 0) return;
+  if (REAL_MKMINI_TELEOP) {
+    let drive = 0;
+    let steering = 0;
+    for (const key of mkMiniHeldKeys) {
+      drive += moveBindings[key][0];
+      steering += moveBindings[key][1];
+    }
+    // The TOD adapter uses abs(linear) for steering: keep wheel direction
+    // consistent in reverse, and never turn a steering-only key into motion.
+    sendCmdVel(Math.sign(drive) * maxLinear, drive ? Math.sign(steering) * MKMINI_REAL_ANGULAR_SPEED : 0);
+    return;
+  }
 
   if (USE_MKMINI_MODEL && !REAL_RUNTIME) {
     if (activeMoveKey === 'j' || activeMoveKey === 'l') {
@@ -3389,6 +3436,7 @@ function sendActiveMoveCommand() {
 
 function startActiveMoveCommand() {
   sendActiveMoveCommand();
+  if (!activeMoveKey) return;
   if (teleopInterval) return;
   teleopInterval = window.setInterval(sendActiveMoveCommand, TELEOP_COMMAND_INTERVAL_MS);
 }
@@ -3406,7 +3454,7 @@ function sendSingleMoveCommand(key) {
 
 window.addEventListener('keydown', (event) => {
   if (!canUseTeleop(event)) return;
-  const key = event.key.toLowerCase();
+  const key = teleopKey(event);
 
   if (event.repeat) {
     if (moveBindings[key]) event.preventDefault();
@@ -3415,7 +3463,7 @@ window.addEventListener('keydown', (event) => {
 
   if (speedBindings[key]) {
     event.preventDefault();
-    if (REAL_YAHBOOM_TELEOP) return;
+    if (REAL_TELEOP) return;
     const [linearScale, angularScale] = speedBindings[key];
     maxLinear = Math.max(0.01, maxLinear * linearScale);
     maxAngular = Math.max(0.1, maxAngular * angularScale);
@@ -3431,7 +3479,8 @@ window.addEventListener('keydown', (event) => {
     stopRobot();
     return;
   }
-  if (REAL_YAHBOOM_TELEOP) {
+  if (REAL_TELEOP) {
+    if (REAL_MKMINI_TELEOP) mkMiniHeldKeys.add(key);
     activeMoveKey = key;
     startActiveMoveCommand();
     return;
@@ -3451,7 +3500,7 @@ window.addEventListener('keydown', (event) => {
 });
 
 window.addEventListener('keyup', (event) => {
-  if (REAL_YAHBOOM_TELEOP && event.key.toLowerCase() === activeMoveKey) {
+  if (REAL_TELEOP && (teleopKey(event) === activeMoveKey || (REAL_MKMINI_TELEOP && mkMiniHeldKeys.has(teleopKey(event))))) {
     activeMoveKey = null;
     stopRobot();
     return;
@@ -3468,7 +3517,7 @@ window.addEventListener('blur', () => {
 });
 
 function releaseRealTeleop() {
-  if (!REAL_YAHBOOM_TELEOP || !activeMoveKey) return;
+  if (!REAL_TELEOP || !activeMoveKey) return;
   activeMoveKey = null;
   stopRobot();
 }

src/renderer/src/App.tsx

@@ -82,6 +82,7 @@ import WorkspaceModuleTabs from './features/workspace/WorkspaceModuleTabs'
 import WorkspaceNav, { type WorkspaceActivity } from './features/workspace/WorkspaceNav'
 import WorkspaceTopBar from './features/workspace/WorkspaceTopBar'
 import WorkspaceCameraPanel from './features/workspace/WorkspaceCameraPanel'
+import { useRemoteEditorFile } from './features/workspace/useRemoteEditorFile'
 import WorkspaceVisualizationPanel from './features/workspace/WorkspaceVisualizationPanel'
 import { GitFileContextMenu, PowerActionModal, SourceSettingsSaveConfirmModal, SubmitConfirmModal, TreeTargetDialog, UnsavedEditorCloseModal } from './features/workspace/WorkspaceModals'
 
@@ -1679,6 +1680,7 @@ function LocalPcWorkspaceMockup({
     setOpenExampleEditorTabs,
     loadedModuleFolders,
     setLoadedModuleFolders,
+    loadedModuleFilePaths,
     setLoadedModuleFilePaths,
     setModuleFileLoadingByName,
     loadedModuleRoots,
@@ -1712,7 +1714,7 @@ function LocalPcWorkspaceMockup({
         return nextDirtyFiles
       })
       setSelectedGitTarget(null)
-      if (module) await loadModuleFiles(module)
+      if (module) await loadModuleFiles(module, true)
       await refreshGitStatuses(null)
       onTitlebarNotice('변경사항을 되돌렸습니다', 'info')
     } catch (error) {
@@ -1786,7 +1788,7 @@ function LocalPcWorkspaceMockup({
           : await window.localWorkspace.git.teamPull(module.name, clonePathPreview, module.folderName)
         if (!result.ok) throw new Error(`[${module.name}] ${result.message}`)
       }
-      await Promise.all(installedGitModules.map((module) => loadModuleFiles(module)))
+      await Promise.all(installedGitModules.map((module) => loadModuleFiles(module, true)))
       await refreshGitStatuses(null)
       onTitlebarNotice('팀 변경사항을 받았습니다', 'info')
     } catch (error) {
@@ -2321,6 +2323,17 @@ function LocalPcWorkspaceMockup({
   const editorLanguage = currentActiveEditorFile ? getEditorLanguage(currentActiveEditorFile) : 'plaintext'
   const activeFileIsImage = currentActiveEditorFile ? /\.(png|jpe?g|webp|gif|svg)$/i.test(currentActiveEditorFile) : false
   const activeImagePreviewSource = currentActiveEditorFile ? imagePreviewSources[currentActiveEditorFile] : undefined
+  const remoteEditorFile = useRemoteEditorFile({
+    enabled: remoteWorkspace,
+    targetKey: remoteWorkspaceTargetKey,
+    getTarget: getRemoteWorkspaceTarget,
+    module: selectedModule,
+    path: currentActiveEditorFile,
+    files: editorFiles,
+    dirty: dirtyEditorFiles,
+    setFiles: setEditorFiles,
+    setSaved: setSavedEditorFiles
+  })
   useEffect(() => {
     if (!currentActiveEditorFile || !activeFileIsImage || currentActiveEditorFile.startsWith('examples/example-code/') || !selectedModule) return
     if (imagePreviewSources[currentActiveEditorFile]) return
@@ -3043,9 +3056,11 @@ function LocalPcWorkspaceMockup({
     onClose()
   }
   const revealSearchMatch = (lineNumber: number, query: string): boolean => {
+    if (remoteEditorFile.loading || remoteEditorFile.error) return false
     if (!editorRef.current) return false
     const editor = editorRef.current
     const model = editor.getModel()
+    if (!model || model.isDisposed()) return false
     const lineText = model?.getLineContent(lineNumber) ?? ''
     const matchIndex = query ? lineText.toLowerCase().indexOf(query.toLowerCase()) : -1
     const startColumn = matchIndex >= 0 ? matchIndex + 1 : 1
@@ -3227,9 +3242,14 @@ function LocalPcWorkspaceMockup({
     setModuleSearchQuery,
     activeModuleSearchQuery,
     moduleSearchRunning,
+    moduleSearchError,
     moduleSearchResults,
     openSearchResult
   } = useWorkspaceSearch({
+    remoteScopeKey: remoteWorkspace ? remoteWorkspaceTargetKey : undefined,
+    remoteSearch: remoteWorkspace && selectedModule
+      ? (query) => window.remoteWorkspace.moduleFiles.search(getRemoteWorkspaceTarget(), selectedModule.name, query, selectedModule.folderName)
+      : undefined,
     searchActive,
     selectedModule,
     editorFiles,
@@ -3420,10 +3440,11 @@ function LocalPcWorkspaceMockup({
   const controlRemainingSeconds = controlRemainingMs === null ? null : Math.ceil(controlRemainingMs / 1000)
   const showControlCountdown = canReleaseControl && controlRemainingSeconds !== null
   const controlCountdownDanger = showControlCountdown && controlRemainingSeconds < 5 * 60
+  const cameraAvailable = Boolean(curriculumWeek.detail.camera?.url?.trim())
 
   return (
     <div ref={workspaceRootRef} className={['relative h-full min-h-0 overflow-hidden', surface].join(' ')}>
-      {cameraOpen && workspaceVisible && <WorkspaceCameraPanel
+      {cameraAvailable && cameraOpen && workspaceVisible && <WorkspaceCameraPanel
         key={`${courseKey}:${weekNumber}`}
         containerRef={visualizationContainerRef}
         camera={curriculumWeek.detail.camera}
@@ -3431,6 +3452,7 @@ function LocalPcWorkspaceMockup({
         onClose={() => setCameraOpen(false)}
       />}
       <WorkspaceTopBar
+        cameraAvailable={cameraAvailable}
         cameraOpen={cameraOpen}
         onToggleCamera={() => setCameraOpen((open) => !open)}
         dark={dark}
@@ -3675,6 +3697,7 @@ function LocalPcWorkspaceMockup({
             moduleSearchQuery={moduleSearchQuery}
             activeModuleSearchQuery={activeModuleSearchQuery}
             moduleSearchRunning={moduleSearchRunning}
+            moduleSearchError={moduleSearchError}
             moduleSearchResults={moduleSearchResults}
             onStartCreateFile={startCreateFile}
             onRefreshModuleFiles={refreshModuleFiles}
@@ -3917,6 +3940,9 @@ function LocalPcWorkspaceMockup({
           />
 
           <WorkspaceEditorPane
+            fileLoading={remoteEditorFile.loading}
+            fileError={remoteEditorFile.error}
+            onRetryFile={remoteEditorFile.retry}
             dark={dark}
             textDim={textDim}
             editorPaneRef={editorPaneRef}

src/renderer/src/env.d.ts

@@ -81,6 +81,7 @@ interface Window {
       root: string | null
       absoluteRoot: string | null
       files: Record<string, string>
+      filePaths?: string[]
       folders: string[]
     }>
     image: (moduleName: string, path: string, workspaceRoot?: string, folderName?: string) => Promise<{ dataUrl: string }>
@@ -298,6 +299,8 @@ interface Window {
   remoteWorkspace: {
     moduleFiles: {
       read: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ReturnType<Window['moduleFiles']['read']>
+      content: (target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string) => Promise<{ content: string }>
+      search: (target: RemoteWorkspaceTarget, moduleName: string, query: string, folderName?: string) => Promise<Array<{ file: string; lineNumber: number; lineText: string }>>
       image: (target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string) => ReturnType<Window['moduleFiles']['image']>
       create: (target: RemoteWorkspaceTarget, moduleName: string, path: string, kind: 'file' | 'folder', folderName?: string) => ReturnType<Window['moduleFiles']['create']>
       write: (target: RemoteWorkspaceTarget, moduleName: string, path: string, content: string, folderName?: string) => ReturnType<Window['moduleFiles']['write']>

src/renderer/src/features/curriculum/CurriculumDetailPanel.tsx

@@ -1,11 +1,13 @@
 import { CheckCircle2, FileText } from 'lucide-react'
 import type React from 'react'
+import { useState } from 'react'
 
 type CurriculumDetailWeek = {
   week: number
   title: string
   topics: string[]
   detail: {
+    coverImage?: { downloadUrl: string } | null
     overview: string
     topicDetails: string[]
     practiceContents?: Array<{
@@ -31,16 +33,34 @@ export default function CurriculumDetailPanel({
   allowLearningStepSelection = false,
   onSelectLearningStep
 }: CurriculumDetailPanelProps): React.JSX.Element {
+  const [failedImageUrl, setFailedImageUrl] = useState<string | null>(null)
+  const imageUrl = week.detail.coverImage?.downloadUrl
+  const hasCover = Boolean(imageUrl && failedImageUrl !== imageUrl)
   return (
     <div data-help="curriculum-detail" className="min-w-0 px-7 pb-7 pt-5">
       <h2 className="text-[18px] font-bold leading-tight">상세정보</h2>
       <div className="mt-5 min-h-[548px] pb-6">
         {selected ? (
           <>
-            <section className="rounded-lg border border-[#dde2ec] bg-[#fbfcff] p-5 shadow-[0_10px_24px_rgba(20,27,44,0.05)]">
+            <section className={`relative overflow-hidden rounded-lg border border-[#dde2ec] shadow-[0_10px_24px_rgba(20,27,44,0.05)] ${hasCover ? 'bg-white' : 'bg-[#fbfcff] p-5'}`}>
+              <div>
+                <div className={hasCover ? 'px-5 pb-3 pt-5' : undefined}>
                   <h3 className="text-[13px] font-semibold text-[#5f6878]">{week.week}주차 개요</h3>
                   <h3 className="mt-1 text-[22px] font-bold leading-tight text-[#111520]">{week.title}</h3>
+                </div>
+                {hasCover && (
+                  <div className="relative h-[240px] overflow-hidden">
+                    <img key={imageUrl} src={imageUrl} alt={`${week.week}주차 대표이미지`}
+                      className="block h-full w-full object-cover object-center"
+                      onError={() => setFailedImageUrl(imageUrl ?? null)} />
+                    <div aria-hidden="true" className="pointer-events-none absolute inset-0"
+                      style={{ background: 'linear-gradient(to bottom, #fff 0%, transparent 24px, transparent calc(100% - 24px), #fff 100%)' }} />
+                  </div>
+                )}
+                <div className={hasCover ? 'px-5 pb-5 pt-3' : undefined}>
                   <p className="mt-1 text-[14px] font-medium leading-[1.5] text-[#4f596b]">{week.detail.overview}</p>
+                </div>
+              </div>
             </section>
 
             <div className="mt-4 grid gap-3">

src/renderer/src/features/curriculum/types.ts

@@ -41,6 +41,7 @@ export type CurriculumWeek = {
   duration: string
   github: string
   detail: {
+    coverImage?: DownloadResource | null
     camera?: { url: string } | null
     overview: string
     learningSteps?: LearningStep[]

src/renderer/src/features/workspace/ModuleListView.tsx

@@ -752,6 +752,7 @@ function ModuleAddDialog({
               <option value="">선택</option>
               <option value="Vehicle">Vehicle</option>
               <option value="Sensing">Sensing</option>
+              <option value="Camera">Camera</option>
               <option value="Map">Map</option>
               <option value="Perception">Perception</option>
               <option value="Localization">Localization</option>
@@ -933,6 +934,7 @@ function ModuleImportDialog({
               <option value="">선택</option>
               <option value="Vehicle">Vehicle</option>
               <option value="Sensing">Sensing</option>
+              <option value="Camera">Camera</option>
               <option value="Map">Map</option>
               <option value="Perception">Perception</option>
               <option value="Localization">Localization</option>

src/renderer/src/features/workspace/WorkspaceEditorPane.tsx

@@ -1,7 +1,10 @@
 import Editor, { type BeforeMount, type OnMount } from '@monaco-editor/react'
-import { FileText } from 'lucide-react'
+import { FileText, Loader2, RotateCw } from 'lucide-react'
 
 type Props = {
+  fileLoading?: boolean
+  fileError?: string
+  onRetryFile?: () => void
   dark: boolean
   textDim: string
   editorPaneRef: React.RefObject<HTMLDivElement | null>
@@ -21,6 +24,9 @@ type Props = {
 }
 
 function WorkspaceEditorPane({
+  fileLoading,
+  fileError,
+  onRetryFile,
   dark,
   textDim,
   editorPaneRef,
@@ -70,6 +76,13 @@ function WorkspaceEditorPane({
             )}
           </div>
         </div>
+      ) : fileLoading || fileError ? (
+        <div className={['flex h-full min-w-0 flex-col items-center justify-center gap-3 p-5 text-[13px]', textDim].join(' ')}>
+          {fileError ? <>
+            <p role="alert" className="max-w-full break-all">파일을 불러오지 못했습니다.</p>
+            <button type="button" title="다시 불러오기" aria-label="다시 불러오기" onClick={onRetryFile} className="cursor-pointer p-2"><RotateCw size={18} /></button>
+          </> : <><Loader2 size={18} className="animate-spin" /><span role="status">파일 불러오는 중...</span></>}
+        </div>
       ) : (
         <Editor
           height="100%"
@@ -92,7 +105,7 @@ function WorkspaceEditorPane({
             scrollBeyondLastLine: false,
             tabSize,
             wordWrap: wordWrap ? 'on' : 'off',
-            readOnly: exampleActive
+            readOnly: exampleActive || editorValue === 'Binary or large file preview is not available.'
           }}
         />
       )}

src/renderer/src/features/workspace/WorkspaceFilePanel.tsx

@@ -57,6 +57,7 @@ type WorkspaceFilePanelProps = {
   moduleSearchQuery: string
   activeModuleSearchQuery: string
   moduleSearchRunning: boolean
+  moduleSearchError?: string | null
   moduleSearchResults: SearchResult[]
   onStartCreateFile: (kind: 'file' | 'folder') => void
   onRefreshModuleFiles: () => void
@@ -171,6 +172,7 @@ export default function WorkspaceFilePanel({
   moduleSearchQuery,
   activeModuleSearchQuery,
   moduleSearchRunning,
+  moduleSearchError,
   moduleSearchResults,
   onStartCreateFile,
   onRefreshModuleFiles,
@@ -232,6 +234,7 @@ export default function WorkspaceFilePanel({
           moduleSearchQuery={moduleSearchQuery}
           activeModuleSearchQuery={activeModuleSearchQuery}
           moduleSearchRunning={moduleSearchRunning}
+          moduleSearchError={moduleSearchError}
           moduleSearchResults={moduleSearchResults}
           onSearchChange={onSearchChange}
           onOpenSearchResult={onOpenSearchResult}
@@ -284,12 +287,13 @@ function SearchPanel({
   moduleSearchQuery,
   activeModuleSearchQuery,
   moduleSearchRunning,
+  moduleSearchError,
   moduleSearchResults,
   onSearchChange,
   onOpenSearchResult
 }: Pick<WorkspaceFilePanelProps,
   'dark' | 'textMid' | 'textDim' | 'selectedModuleName' | 'moduleSearchInputRef' | 'moduleSearchQuery' |
-  'activeModuleSearchQuery' | 'moduleSearchRunning' | 'moduleSearchResults' | 'onSearchChange' | 'onOpenSearchResult'
+  'activeModuleSearchQuery' | 'moduleSearchRunning' | 'moduleSearchError' | 'moduleSearchResults' | 'onSearchChange' | 'onOpenSearchResult'
 >): React.JSX.Element {
   return (
     <div className={['flex min-h-0 flex-1 flex-col px-2 py-2 text-[13px] font-medium', textMid].join(' ')}>
@@ -318,6 +322,8 @@ function SearchPanel({
             <p className={['px-1 text-[12px] font-medium', textDim].join(' ')}>검색 중...</p>
           ) : moduleSearchRunning ? (
             <p className={['px-1 text-[12px] font-medium', textDim].join(' ')}>검색 중...</p>
+          ) : moduleSearchError ? (
+            <p role="alert" className="px-3 py-2 text-[12px] text-red-500">{moduleSearchError}</p>
           ) : moduleSearchResults.length === 0 ? (
             <p className={['px-1 text-[12px] font-medium', textDim].join(' ')}>검색 결과가 없습니다.</p>
           ) : (

src/renderer/src/features/workspace/WorkspaceTopBar.tsx

@@ -3,6 +3,7 @@ import type React from 'react'
 import Tooltip from '../../components/Tooltip'
 
 type WorkspaceTopBarProps = {
+  cameraAvailable: boolean
   cameraOpen: boolean
   onToggleCamera: () => void
   dark: boolean
@@ -36,6 +37,7 @@ type WorkspaceTopBarProps = {
 }
 
 export default function WorkspaceTopBar({
+  cameraAvailable,
   cameraOpen,
   onToggleCamera,
   dark,
@@ -97,9 +99,11 @@ export default function WorkspaceTopBar({
           <PanelLeft size={14} />
           시각화
         </button>
+        {cameraAvailable && (
           <button type="button" onClick={onToggleCamera} className={topToggleButtonClass(cameraOpen)}>
             <Camera size={14} />오버뷰
           </button>
+        )}
         {showControlCountdown && (
           <>
             <span className={['ml-2 h-4 w-px', dark ? 'bg-white/20' : 'bg-[#cfd6e4]'].join(' ')} />

src/renderer/src/features/workspace/useRemoteEditorFile.ts

@@ -0,0 +1,49 @@
+import { useEffect, useRef, useState, type Dispatch, type SetStateAction } from 'react'
+import type { ModuleRow } from './types'
+
+export function useRemoteEditorFile(options: {
+  enabled: boolean
+  targetKey: string
+  getTarget: () => RemoteWorkspaceTarget
+  module: ModuleRow | null
+  path: string | null
+  files: Record<string, string>
+  dirty: Record<string, boolean>
+  setFiles: Dispatch<SetStateAction<Record<string, string>>>
+  setSaved: Dispatch<SetStateAction<Record<string, string>>>
+}) {
+  const latest = useRef(options)
+  latest.current = options
+  const pending = useRef(new Map<string, Promise<{ content: string }>>())
+  const [failure, setFailure] = useState<{ key: string; message: string } | null>(null)
+  const [attempt, setAttempt] = useState(0)
+  const { enabled, path, module, targetKey, files } = options
+  const eligible = enabled && !!path && !!module && path.startsWith(`modules/${module.name}/`) && !/\.(png|jpe?g|webp|gif|svg)$/i.test(path)
+  const key = JSON.stringify([targetKey, module?.name, module?.folderName, path])
+  const cached = path ? files[path] : undefined
+  useEffect(() => {
+    if (!eligible || !path || !module || cached !== undefined) return
+    let cancelled = false
+    setFailure(null)
+    let request = pending.current.get(key)
+    if (!request) {
+      request = window.remoteWorkspace.moduleFiles.content(latest.current.getTarget(), module.name, path, module.folderName)
+      pending.current.set(key, request)
+      const cleanup = (): void => { pending.current.delete(key) }
+      void request.then(cleanup, cleanup)
+    }
+    void request.then(({ content }) => {
+      if (cancelled || latest.current.dirty[path] || latest.current.files[path] !== undefined) return
+      latest.current.setFiles((current) => current[path] === undefined ? { ...current, [path]: content } : current)
+      latest.current.setSaved((current) => ({ ...current, [path]: content }))
+    }).catch((error) => {
+      if (!cancelled) setFailure({ key, message: error instanceof Error ? error.message : String(error) })
+    })
+    return () => { cancelled = true }
+  }, [eligible, key, cached, attempt])
+  return {
+    loading: eligible && cached === undefined && failure?.key !== key,
+    error: eligible && cached === undefined && failure?.key === key ? failure.message : undefined,
+    retry: () => { setFailure(null); setAttempt((value) => value + 1) }
+  }
+}

src/renderer/src/features/workspace/useWorkspaceFileActions.ts

@@ -27,6 +27,7 @@ type UseWorkspaceFileActionsOptions = {
   setActiveExampleEditorFile: Dispatch<SetStateAction<EditorFilePath | null>>
   setOpenExampleEditorTabs: Dispatch<SetStateAction<EditorFilePath[]>>
   loadedModuleFolders: Record<string, string[]>
+  loadedModuleFilePaths: Record<string, string[]>
   setLoadedModuleFolders: Dispatch<SetStateAction<Record<string, string[]>>>
   setLoadedModuleFilePaths: Dispatch<SetStateAction<Record<string, string[]>>>
   setModuleFileLoadingByName: Dispatch<SetStateAction<Record<string, boolean>>>
@@ -52,7 +53,7 @@ type UseWorkspaceFileActionsOptions = {
 }
 
 type UseWorkspaceFileActionsResult = {
-  loadModuleFiles: (module: ModuleRow) => Promise<void>
+  loadModuleFiles: (module: ModuleRow, refreshContents?: boolean) => Promise<void>
   startCreateFile: (kind: 'file' | 'folder') => void
   commitCreateFile: () => Promise<void>
   getTreeDisplayPath: (path: string) => string
@@ -95,6 +96,7 @@ export function useWorkspaceFileActions({
   setActiveExampleEditorFile,
   setOpenExampleEditorTabs,
   loadedModuleFolders,
+  loadedModuleFilePaths,
   setLoadedModuleFolders,
   setLoadedModuleFilePaths,
   setModuleFileLoadingByName,
@@ -115,14 +117,16 @@ export function useWorkspaceFileActions({
   refreshGitStatuses
 }: UseWorkspaceFileActionsOptions): UseWorkspaceFileActionsResult {
   const pendingFileReads = useRef(new Map<string, Promise<void>>())
+  const dirtyFilesRef = useRef(dirtyEditorFiles)
+  dirtyFilesRef.current = dirtyEditorFiles
 
-  const loadModuleFiles = async (module: ModuleRow): Promise<void> => {
+  const loadModuleFiles = async (module: ModuleRow, refreshContents = false): Promise<void> => {
     const target = remoteWorkspace ? getRemoteWorkspaceTarget() : null
-    const key = JSON.stringify([target, clonePathPreview, module.name, module.folderName])
+    const key = JSON.stringify([target, clonePathPreview, module.name, module.folderName, refreshContents])
     const pending = pendingFileReads.current.get(key)
     if (pending) return pending
 
-    const request = readModuleFiles(module, target)
+    const request = readModuleFiles(module, target, refreshContents)
     pendingFileReads.current.set(key, request)
     try {
       await request
@@ -131,7 +135,7 @@ export function useWorkspaceFileActions({
     }
   }
 
-  const readModuleFiles = async (module: ModuleRow, target: RemoteWorkspaceTarget | null): Promise<void> => {
+  const readModuleFiles = async (module: ModuleRow, target: RemoteWorkspaceTarget | null, refreshContents: boolean): Promise<void> => {
     setModuleFileLoadingByName((loading) => ({ ...loading, [module.name]: true }))
     try {
       const result = target
@@ -141,14 +145,20 @@ export function useWorkspaceFileActions({
       const nextFolders = result.folders.length ? result.folders : []
 
       setEditorFiles((files) => {
+        if (target && result.filePaths && !refreshContents) return files
         const merged = { ...files }
+        if (target && result.filePaths) {
+          Object.keys(merged).forEach((path) => {
+            if (path.startsWith(`modules/${module.name}/`) && !dirtyFilesRef.current[path]) delete merged[path]
+          })
+        }
         Object.entries(nextFiles).forEach(([path, content]) => {
-          if (!dirtyEditorFiles[path]) merged[path] = content
+          if (!dirtyFilesRef.current[path]) merged[path] = content
         })
         return merged
       })
       setSavedEditorFiles((files) => ({ ...files, ...nextFiles }))
-      setLoadedModuleFilePaths((paths) => ({ ...paths, [module.name]: Object.keys(nextFiles) }))
+      setLoadedModuleFilePaths((paths) => ({ ...paths, [module.name]: result.filePaths ?? Object.keys(nextFiles) }))
       setLoadedModuleFolders((folders) => ({ ...folders, [module.name]: nextFolders }))
       setLoadedModuleRoots((roots) => ({ ...roots, [module.name]: result.absoluteRoot }))
     } catch (error) {
@@ -165,7 +175,7 @@ export function useWorkspaceFileActions({
     if (!selectedModule) return
     const rootPath = `modules/${selectedModule.name}`
     const selectedPathInModule = selectedTreePath?.startsWith(`${rootPath}/`) || selectedTreePath === rootPath ? selectedTreePath : null
-    const selectedIsFile = selectedPathInModule ? editorFiles[selectedPathInModule] !== undefined : false
+    const selectedIsFile = selectedPathInModule ? editorFiles[selectedPathInModule] !== undefined || (loadedModuleFilePaths[selectedModule.name] ?? []).includes(selectedPathInModule) : false
     const parent = selectedPathInModule
       ? selectedIsFile
         ? selectedPathInModule.split('/').slice(0, -1).join('/')
@@ -244,6 +254,7 @@ export function useWorkspaceFileActions({
 
   const saveEditorFile = async (file: EditorFilePath): Promise<void> => {
     if (!selectedModule || file.startsWith('examples/example-code/')) return
+    if (editorFiles[file] === undefined) throw new Error('파일 내용을 먼저 불러와야 합니다.')
     if (remoteWorkspace) {
       await window.remoteWorkspace.moduleFiles.write(getRemoteWorkspaceTarget(), selectedModule.name, file, editorFiles[file] ?? '', selectedModule.folderName)
     } else {
@@ -403,7 +414,8 @@ export function useWorkspaceFileActions({
     if (pasteParent === sourcePath || pasteParent.startsWith(`${sourcePath}/`)) return
     const rootPath = `modules/${selectedModule.name}`
     const allFolders = Array.from(new Set([...(loadedModuleFolders[selectedModule.name] ?? []), ...createdModuleFolders.filter((folder) => folder.startsWith(rootPath))]))
-    const targetBasePath = makeUniquePath(`${pasteParent}/${getPathName(sourcePath)}`, editorFiles, allFolders)
+    const knownFiles = Object.fromEntries((loadedModuleFilePaths[selectedModule.name] ?? []).map((path) => [path, '']))
+    const targetBasePath = makeUniquePath(`${pasteParent}/${getPathName(sourcePath)}`, { ...knownFiles, ...editorFiles }, allFolders)
     try {
       if (remoteWorkspace) {
         await window.remoteWorkspace.moduleFiles.copy(getRemoteWorkspaceTarget(), selectedModule.name, sourcePath, targetBasePath, treeClipboard.mode, selectedModule.folderName)
@@ -447,7 +459,7 @@ export function useWorkspaceFileActions({
   const refreshModuleFiles = (): void => {
     if (!selectedModule) return
     setNewFileDraft(null)
-    void loadModuleFiles(selectedModule)
+    void loadModuleFiles(selectedModule, true)
   }
 
   return {

src/renderer/src/features/workspace/useWorkspaceSearch.ts

@@ -14,6 +14,8 @@ type PendingReveal = {
 }
 
 type UseWorkspaceSearchOptions = {
+  remoteSearch?: (query: string) => Promise<ModuleSearchResult[]>
+  remoteScopeKey?: string
   searchActive: boolean
   selectedModule: ModuleRow | null
   editorFiles: Record<string, string>
@@ -24,6 +26,7 @@ type UseWorkspaceSearchOptions = {
 }
 
 type UseWorkspaceSearchResult = {
+  moduleSearchError: string | null
   moduleSearchInputRef: React.RefObject<HTMLInputElement | null>
   moduleSearchQuery: string
   setModuleSearchQuery: React.Dispatch<React.SetStateAction<string>>
@@ -35,6 +38,8 @@ type UseWorkspaceSearchResult = {
 }
 
 export function useWorkspaceSearch({
+  remoteSearch,
+  remoteScopeKey,
   searchActive,
   selectedModule,
   editorFiles,
@@ -47,6 +52,9 @@ export function useWorkspaceSearch({
   const [debouncedModuleSearchQuery, setDebouncedModuleSearchQuery] = useState('')
   const [moduleSearchResults, setModuleSearchResults] = useState<ModuleSearchResult[]>([])
   const [moduleSearchRunning, setModuleSearchRunning] = useState(false)
+  const [moduleSearchError, setModuleSearchError] = useState<string | null>(null)
+  const remoteSearchRef = useRef(remoteSearch)
+  remoteSearchRef.current = remoteSearch
   const [pendingReveal, setPendingReveal] = useState<PendingReveal | null>(null)
   const moduleSearchInputRef = useRef<HTMLInputElement>(null)
   const searchRunIdRef = useRef(0)
@@ -64,8 +72,14 @@ export function useWorkspaceSearch({
 
   useEffect(() => {
     if (!pendingReveal) return
+    const reveal = (): boolean => {
       const revealed = onRevealSearchMatch(pendingReveal.lineNumber, pendingReveal.query)
       if (revealed) setPendingReveal(null)
+      return revealed
+    }
+    if (reveal()) return
+    const timer = window.setInterval(() => { if (reveal()) window.clearInterval(timer) }, 100)
+    return () => window.clearInterval(timer)
   }, [activeEditorFile, onRevealSearchMatch, pendingReveal])
 
   useEffect(() => {
@@ -84,6 +98,7 @@ export function useWorkspaceSearch({
 
   useEffect(() => {
     const query = debouncedModuleSearchQuery.trim()
+    setModuleSearchError(null)
     if (!searchActive || !selectedModule || query.length < 2) {
       setModuleSearchResults([])
       setModuleSearchRunning(false)
@@ -102,7 +117,7 @@ export function useWorkspaceSearch({
       if (cancelled || searchRunIdRef.current !== searchRunId) return
       const chunkEnd = Math.min(moduleFilePaths.length, fileIndex + 12)
 
-      for (; fileIndex < chunkEnd; fileIndex += 1) {
+      for (; fileIndex < chunkEnd && nextResults.length < 200; fileIndex += 1) {
         const file = moduleFilePaths[fileIndex]
         const content = editorFiles[file] ?? ''
         const lines = content.split('\n')
@@ -127,14 +142,29 @@ export function useWorkspaceSearch({
       }
     }
 
-    const timer = window.setTimeout(searchChunk, 0)
+    const searchRemote = remoteSearchRef.current
+    const timer = window.setTimeout(() => {
+      if (!searchRemote) { searchChunk(); return }
+      void searchRemote(query).then((results) => {
+        if (cancelled) return
+        nextResults.push(...results.filter((result) => editorFiles[result.file] === undefined))
+        searchChunk()
+      }).catch((error) => {
+        if (cancelled) return
+        console.error('[module-files] search failed', error)
+        setModuleSearchResults([])
+        setModuleSearchError('검색하지 못했습니다. 다시 시도해주세요.')
+        setModuleSearchRunning(false)
+      })
+    }, 0)
     return () => {
       cancelled = true
       window.clearTimeout(timer)
     }
-  }, [debouncedModuleSearchQuery, editorFiles, moduleFilePathKey, searchActive, selectedModule])
+  }, [debouncedModuleSearchQuery, editorFiles, moduleFilePathKey, searchActive, selectedModule, remoteScopeKey])
 
   return {
+    moduleSearchError,
     moduleSearchInputRef,
     moduleSearchQuery,
     setModuleSearchQuery,

tests/camera-module-runtime.cjs

@@ -0,0 +1,55 @@
+const assert = require('node:assert/strict');
+const fs = require('node:fs');
+const path = require('node:path');
+const os = require('node:os');
+const vm = require('node:vm');
+const { spawnSync } = require('node:child_process');
+const ts = require('typescript');
+const root = path.join(__dirname, '..');
+const source = fs.readFileSync(path.join(root, 'src/main/index.ts'), 'utf8');
+const ast = ts.createSourceFile('index.ts', source, ts.ScriptTarget.Latest, true);
+const ctx = { exports: {} };
+vm.runInNewContext(ts.transpileModule(fs.readFileSync(path.join(root, 'src/main/yahboomRuntime.ts'), 'utf8'), {
+  compilerOptions: { module: ts.ModuleKind.CommonJS },
+}).outputText, ctx);
+Object.assign(ctx, ctx.exports);
+vm.runInNewContext(ts.transpileModule(fs.readFileSync(path.join(root, 'src/main/cameraRuntime.ts'), 'utf8'), {
+  compilerOptions: { module: ts.ModuleKind.CommonJS },
+}).outputText, ctx);
+const images = [{ image: 'future-nav2-camera-test:humble-jetson_orin' },
+  { image: 'future-nav2:humble-jetson_orin' }, { image: 'slam-ros-bridge:jetson_orin' }];
+assert.deepEqual(ctx.exports.cameraRuntimeArtifacts('[lms-nav2-camera-test]nav2-camera-test_v1.0.0_ws', images), images.slice(0, 1));
+assert.deepEqual(ctx.exports.cameraRuntimeArtifacts('[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', images), images.slice(1));
+assert.equal(ctx.exports.cameraRuntimeArtifacts('anything', undefined), undefined);
+const names = ['buildNav2DockerRunScript', 'buildNav2DockerBuildScript'];
+for (const node of ast.statements) {
+  if (ts.isFunctionDeclaration(node) && names.includes(node.name?.text)) {
+    vm.runInNewContext(ts.transpileModule(node.getText(ast), {}).outputText, ctx);
+  }
+}
+const run = ctx.buildNav2DockerRunScript();
+const build = ctx.buildNav2DockerBuildScript();
+for (const script of [run, build]) {
+  const syntax = spawnSync('bash', ['-n'], { input: script, encoding: 'utf8' });
+  assert.equal(syntax.status, 0, syntax.stderr);
+}
+assert.match(run, /lms-nav2-camera-test\*\) PACKAGE=camera_test_pkg; LAUNCH=camera.launch.py/);
+assert.match(build, /lms-nav2-camera-test\*\) TARGET=camera_test_pkg/);
+assert.match(run, /--device "\$CAMERA_DEVICE:\$CAMERA_DEVICE"/);
+assert.match(run, /for capture_device in \/dev\/capture-vi-channel\*/);
+assert.match(run, /--device "\$capture_device:\$capture_device"/);
+assert.match(run, /FASTDDS_DEFAULT_PROFILES_FILE/);
+assert.match(run, /ROS_LOCALHOST_ONLY=\$ROS_LOCALHOST_ONLY_VALUE/);
+const dir = fs.mkdtempSync(path.join(os.tmpdir(), 'camera-runtime-'));
+const folder = '[lms-nav2-camera-test]nav2-camera-test_v1.0.0_ws';
+try {
+  fs.mkdirSync(path.join(dir, folder, 'install'), { recursive: true });
+  fs.writeFileSync(path.join(dir, folder, 'install/setup.bash'), '');
+  for (const device of ['/dev/null', '/dev/video999999', '/tmp/video0']) {
+    const result = spawnSync('bash', ['-s', '--', 'camera-test', dir, folder, 'camera-image', '77', 'false', `video_device:=${device}`],
+      { input: run, encoding: 'utf8' });
+    assert.notEqual(result.status, 0);
+    assert.match(result.stderr, /Camera device not found/);
+  }
+} finally { fs.rmSync(dir, { recursive: true, force: true }); }
+console.log('Camera module routing, shell syntax, DDS settings and device validation passed.');

tests/camera-preview-polling.cjs

@@ -0,0 +1,70 @@
+const assert = require('node:assert/strict');
+const fs = require('node:fs');
+const path = require('node:path');
+const vm = require('node:vm');
+
+const html = fs.readFileSync(path.join(__dirname, '../src/renderer/public/slam-viewer/index.html'), 'utf8');
+const source = html.slice(html.indexOf('function hasLiveCameraState()'), html.indexOf("cameraPreview?.addEventListener('load'"));
+let now = 10000;
+let requests = 0;
+let ok = true;
+let visible = false;
+let afterBlob = () => {};
+const context = vm.createContext({
+  ENABLE_CAMERA_PREVIEW: true,
+  cameraFrameRequestInFlight: false,
+  cameraFrameRetryAt: 0,
+  cameraFrameObjectUrl: null,
+  cameraPreview: {},
+  latestSlamState: null,
+  latestSlamStateReceivedAt: now,
+  document: { hidden: false },
+  Date: { now: () => now },
+  BACKEND_URL: 'http://localhost:8765',
+  AbortSignal,
+  URL: { createObjectURL: () => 'blob:frame', revokeObjectURL() {} },
+  setCameraPreviewAvailable(value) { visible = value; },
+  async fetch() {
+    requests++;
+    return { ok, async blob() { afterBlob(); return {}; } };
+  },
+});
+vm.runInContext(source, context);
+const refresh = () => context.refreshCameraFrame();
+const available = (value) => {
+  context.latestSlamState = { topic_status: { camera_image: { available: value } } };
+  context.latestSlamStateReceivedAt = now;
+};
+
+(async () => {
+  await refresh();
+  available(false);
+  await refresh();
+  assert.equal(requests, 0, 'Absent camera must not fetch frames');
+  available(true);
+  await refresh();
+  assert.equal(requests, 1);
+  assert.equal(context.cameraPreview.src, 'blob:frame');
+  now += 3001;
+  await refresh();
+  assert.equal(requests, 1, 'Stale websocket state must stop polling');
+  assert.equal(visible, false);
+  available(true);
+  ok = false;
+  await refresh();
+  await refresh();
+  assert.equal(requests, 2, 'HTTP errors must back off');
+  now += 5000;
+  available(true);
+  ok = true;
+  afterBlob = () => available(false);
+  context.cameraPreview.src = '';
+  await refresh();
+  assert.equal(context.cameraPreview.src, '', 'Late responses must not revive a disconnected camera');
+  assert.equal(context.cameraFrameRequestInFlight, false);
+  afterBlob = () => {};
+  available(true);
+  await refresh();
+  assert.equal(context.cameraPreview.src, 'blob:frame', 'Camera reconnect must resume frames');
+  console.log('camera preview polling tests passed');
+})().catch((error) => { console.error(error); process.exitCode = 1; });

tests/module-file-refresh.cjs

@@ -0,0 +1,51 @@
+const assert = require('node:assert/strict');
+const fs = require('node:fs');
+const path = require('node:path');
+const vm = require('node:vm');
+const ts = require('typescript');
+
+const moduleRow = { name: 'Test', folderName: 'test' };
+const clean = 'modules/Test/clean.py';
+const dirty = 'modules/Test/dirty.py';
+let reads = 0;
+const context = {
+  exports: {}, console,
+  require: name => name === 'react' ? { useRef: value => ({ current: value }) } : {},
+  window: { remoteWorkspace: { moduleFiles: { read: async () => {
+    reads++;
+    return { files: {}, filePaths: [clean, dirty], folders: [], absoluteRoot: '/module' };
+  } } } }
+};
+const source = fs.readFileSync(path.join(__dirname, '../src/renderer/src/features/workspace/useWorkspaceFileActions.ts'), 'utf8');
+vm.runInNewContext(ts.transpileModule(source, { compilerOptions: { module: ts.ModuleKind.CommonJS } }).outputText, context);
+let files = { [clean]: 'cached', [dirty]: 'unsaved' };
+const options = {
+  selectedModule: moduleRow, remoteWorkspace: true, getRemoteWorkspaceTarget: () => ({ host: 'test' }),
+  clonePathPreview: '/workspace', dirtyEditorFiles: { [dirty]: true },
+  setEditorFiles: fn => { files = fn(files); },
+  setNewFileDraft: () => {}
+};
+for (const name of ['setModuleFileLoadingByName', 'setSavedEditorFiles', 'setLoadedModuleFilePaths', 'setLoadedModuleFolders', 'setLoadedModuleRoots']) {
+  options[name] = fn => fn({});
+}
+(async () => {
+  const actions = context.exports.useWorkspaceFileActions(options);
+  const cached = files;
+  await actions.loadModuleFiles(moduleRow);
+  await actions.loadModuleFiles(moduleRow);
+  assert.equal(reads, 2);
+  assert.equal(files, cached, 'Automatic listing refresh must retain the content cache');
+  await actions.loadModuleFiles(moduleRow, true);
+  assert.equal(files[clean], undefined, 'Explicit refresh invalidates clean content');
+  assert.equal(files[dirty], 'unsaved', 'Explicit refresh preserves unsaved edits');
+  files = { [clean]: 'reloaded', [dirty]: 'unsaved' };
+  actions.refreshModuleFiles();
+  await new Promise(resolve => setImmediate(resolve));
+  assert.equal(files[clean], undefined, 'Refresh button must explicitly invalidate content');
+  assert.equal(files[dirty], 'unsaved');
+  options.remoteWorkspace = false;
+  context.window.localWorkspace = { moduleFiles: { read: async () => ({ files: { [clean]: 'local disk' }, folders: [], absoluteRoot: '/module' }) } };
+  await context.exports.useWorkspaceFileActions(options).loadModuleFiles(moduleRow);
+  assert.equal(files[clean], 'local disk', 'Local workspace retains its existing eager loading');
+  console.log('Automatic cache retention, explicit refresh, dirty protection and local loading tests passed.');
+})().catch(error => { console.error(error); process.exitCode = 1; });

tests/remote-editor-file.cjs

@@ -0,0 +1,67 @@
+const assert = require('node:assert/strict');
+const fs = require('node:fs');
+const path = require('node:path');
+const vm = require('node:vm');
+const ts = require('typescript');
+
+// Exercise effect cleanup and asynchronous IPC responses without starting Electron.
+const slots = [];
+let cursor = 0;
+let effects = [];
+const react = {
+  useRef(value) { const i = cursor++; return slots[i] ??= { current: value }; },
+  useState(value) {
+    const i = cursor++;
+    if (!(i in slots)) slots[i] = value;
+    return [slots[i], next => { slots[i] = typeof next === 'function' ? next(slots[i]) : next; }];
+  },
+  useEffect(fn, deps) {
+    const i = cursor++;
+    const previous = slots[i];
+    if (previous && deps.every((dep, index) => Object.is(dep, previous.deps[index]))) return;
+    effects.push(() => { previous?.cleanup?.(); slots[i] = { deps, cleanup: fn() }; });
+  }
+};
+const requests = [];
+const context = { exports: {}, require: name => { assert.equal(name, 'react'); return react; }, window: {
+  remoteWorkspace: { moduleFiles: { content: (...args) => new Promise((resolve, reject) => requests.push({ args, resolve, reject })) } }
+} };
+const source = fs.readFileSync(path.join(__dirname, '../src/renderer/src/features/workspace/useRemoteEditorFile.ts'), 'utf8');
+vm.runInNewContext(ts.transpileModule(source, { compilerOptions: { module: ts.ModuleKind.CommonJS } }).outputText, context);
+const options = {
+  enabled: true, targetKey: 'platform', getTarget: () => ({}), module: { name: 'Test', folderName: 'test' },
+  path: null, files: {}, dirty: {},
+  setFiles(fn) { options.files = fn(options.files); },
+  setSaved(fn) { options.saved = fn(options.saved ?? {}); }
+};
+function render() {
+  cursor = 0;
+  const result = context.exports.useRemoteEditorFile(options);
+  const pending = effects; effects = []; pending.forEach(fn => fn());
+  return result;
+}
+const tick = () => new Promise(resolve => setImmediate(resolve));
+(async () => {
+  render(); assert.equal(requests.length, 0);
+  options.path = 'modules/Test/first.py';
+  assert.equal(render().loading, true); assert.equal(requests.length, 1);
+  render(); assert.equal(requests.length, 1);
+  options.path = 'modules/Test/second.py'; render();
+  requests[0].resolve({ content: 'old response' }); await tick();
+  assert.equal(options.files['modules/Test/first.py'], undefined);
+  requests[1].resolve({ content: 'second' }); await tick();
+  assert.equal(render().loading, false);
+  assert.equal(options.files[options.path], 'second');
+  options.path = null; render(); options.path = 'modules/Test/second.py'; render();
+  assert.equal(requests.length, 2);
+  options.path = 'modules/Test/fail.py'; render();
+  requests[2].reject(new Error('offline')); await tick();
+  assert.ok(render().error);
+  render().retry(); render(); assert.equal(requests.length, 4);
+  options.dirty[options.path] = true; options.files[options.path] = 'unsaved'; render();
+  requests[3].resolve({ content: 'server copy' }); await tick();
+  assert.equal(options.files[options.path], 'unsaved');
+  options.path = 'modules/Test/image.png'; render(); assert.equal(requests.length, 4);
+  options.enabled = false; options.path = 'modules/Test/local.py'; render(); assert.equal(requests.length, 4);
+  console.log('Remote editor click loading, caching, cancellation, retry and dirty-file protection tests passed.');
+})().catch(error => { console.error(error); process.exitCode = 1; });

tests/remote-module-files.cjs

@@ -0,0 +1,44 @@
+const assert = require('node:assert/strict');
+const fs = require('node:fs');
+const os = require('node:os');
+const path = require('node:path');
+const vm = require('node:vm');
+const { spawnSync } = require('node:child_process');
+const ts = require('typescript');
+const source = fs.readFileSync(path.join(__dirname, '../src/main/remoteModuleFiles.ts'), 'utf8');
+const context = { exports: {}, Buffer };
+vm.runInNewContext(ts.transpileModule(source, { compilerOptions: { module: ts.ModuleKind.CommonJS } }).outputText, context);
+const script = context.exports.remoteModuleFilesScript;
+const root = fs.mkdtempSync(path.join(os.tmpdir(), 'module-files-'));
+function run(request) {
+  return spawnSync('bash', ['-s'], { input: script(root, request), encoding: 'utf8' });
+}
+function read(request) {
+  const result = run(request);
+  assert.equal(result.status, 0, result.stderr);
+  return JSON.parse(result.stdout);
+}
+try {
+  fs.mkdirSync(path.join(root, 'src'));
+  fs.mkdirSync(path.join(root, 'build'));
+  fs.writeFileSync(path.join(root, 'src', 'hello.py'), 'first\nHello world\n');
+  fs.writeFileSync(path.join(root, 'build', 'hidden.py'), 'Hello');
+  fs.writeFileSync(path.join(root, 'large.txt'), 'x'.repeat(1048577));
+  fs.writeFileSync(path.join(root, 'binary.txt'), Buffer.from([0, 1]));
+  fs.symlinkSync('/etc/passwd', path.join(root, 'outside.txt'));
+  const listing = read({ action: 'list' });
+  assert.deepEqual(listing, { filePaths: ['binary.txt', 'large.txt', 'src/hello.py'], folders: ['src'] });
+  assert.equal(read({ action: 'content', path: 'src/hello.py' }).content, 'first\nHello world\n');
+  for (const file of ['large.txt', 'binary.txt']) {
+    assert.equal(read({ action: 'content', path: file }).content, 'Binary or large file preview is not available.');
+  }
+  for (const file of ['../outside.txt', '/etc/passwd', 'outside.txt', 'missing.py']) {
+    assert.notEqual(run({ action: 'content', path: file }).status, 0);
+  }
+  assert.deepEqual(read({ action: 'search', query: 'HELLO' }), [{ file: 'src/hello.py', lineNumber: 2, lineText: 'Hello world' }]);
+  fs.writeFileSync(path.join(root, 'src', 'many.txt'), 'hello\n'.repeat(300));
+  assert.equal(read({ action: 'search', query: 'hello' }).length, 200);
+  console.log('Remote module listing, on-demand content, path validation and search tests passed.');
+} finally {
+  fs.rmSync(root, { recursive: true, force: true });
+}

tests/yahboom-teleop.cjs

@@ -4,12 +4,13 @@ const vm = require('node:vm');
 const path = require('node:path');
 const html = fs.readFileSync(path.join(__dirname, '../src/renderer/public/slam-viewer/index.html'), 'utf8');
 const code = html.slice(html.indexOf('let maxLinear ='), html.indexOf('// A static Gazebo model'));
-function create(real = true, yahboom = true) {
+function create(real = true, yahboom = true, mkmini = !yahboom) {
   const handlers = {}, messages = [], intervals = new Map();
   let id = 0;
   const context = vm.createContext({
-    REAL_RUNTIME: real, USE_YAHBOOM_MODEL: yahboom, REAL_YAHBOOM_TELEOP: real && yahboom,
+    REAL_RUNTIME: real, USE_YAHBOOM_MODEL: yahboom, REAL_TELEOP: real && (yahboom || mkmini),
-    USE_MKMINI_MODEL: !yahboom, DIRECT_BRIDGE: true,
+    REAL_MKMINI_TELEOP: real && mkmini, EDITOR_MODE: false,
+    USE_MKMINI_MODEL: mkmini, DIRECT_BRIDGE: true,
     latestSlamState: {teleop_deadman: true}, latestSlamStateReceivedAt: Date.now(),
     controlSocket: {readyState: 1, bufferedAmount: 0, send: data => messages.push(JSON.parse(data)), close() {this.readyState = 3;}},
     WebSocket: {OPEN: 1}, document: {hidden: false, hasFocus: () => true, addEventListener: (name, fn) => handlers[name] = fn},
@@ -45,8 +46,49 @@ assert.equal(t.messages.at(-1).linear, 0);
 assert.equal(t.intervals.size, 0);
 t = create(); t.context.latestSlamState.teleop_deadman = false; t.key('keydown', 'i');
 assert.equal(t.messages.length, 0);
-t = create(true, false); t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
+t = create(true, false, false); t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
+for (const [forward, left, reverse] of [['i', 'j', ','], ['ArrowUp', 'ArrowLeft', 'ArrowDown']]) {
+  t = create(true, false);
+  t.key('keydown', left);
+  assert.equal(t.messages.at(-1).linear, 0);
+  assert.equal(t.messages.at(-1).angular, 0);
+  t.key('keydown', forward);
+  assert.equal(t.messages.at(-1).linear, 0.1);
+  assert.equal(t.messages.at(-1).angular, 0.08);
+  assert.equal(t.messages.at(-1).deadman, true);
+  t.key('keyup', left, {target: {tagName: 'INPUT'}});
+  assert.equal(t.messages.at(-1).linear, 0);
+  assert.equal(t.intervals.size, 0);
+  t.key('keydown', reverse);
+  t.key('keydown', 'l');
+  assert.equal(t.messages.at(-1).linear, -0.1);
+  assert.equal(t.messages.at(-1).angular, -0.08);
+  t.key('keydown', ' ');
+  assert.equal(t.messages.at(-1).linear, 0);
+  assert.equal(t.messages.at(-1).angular, 0);
+}
+for (const event of ['blur', 'pagehide', 'visibilitychange']) {
+  t = create(true, false);
+  t.key('keydown', 'i');
+  if (event === 'visibilitychange') t.context.document.hidden = true;
+  t.handlers[event]();
+  assert.equal(t.messages.at(-1).linear, 0);
+  assert.equal(t.intervals.size, 0);
+}
+t = create(true, false);
+t.key('keydown', 'q'); t.key('keydown', 'i');
+assert.equal(t.messages.at(-1).linear, 0.1);
+t.context.latestSlamStateReceivedAt = 0;
+for (const tick of t.intervals.values()) tick();
+assert.equal(t.messages.at(-1).linear, 0);
+t = create(true, false); t.context.latestSlamState.teleop_deadman = false;
+t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
+t = create(true, false); t.context.controlSocket.bufferedAmount = 1;
+t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
+assert.equal(t.context.controlSocket.readyState, 3);
+t = create(true, false); t.context.EDITOR_MODE = true;
+t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
 t = create(false); t.key('keydown', 'i'); t.key('keyup', 'i');
 assert.equal(t.messages.at(-1).linear, 0.22);
 assert.equal(t.intervals.size, 1);
-console.log('PASS: deadman release, focus/visibility/stale-state stops, legacy bridge and other real vehicles blocked, simulation unchanged');
+console.log('PASS: Yahboom/MK-mini deadman, combined steering, arrows/reverse, release/focus/stale-state stops, speed cap, legacy/read-only blocking, simulation unchanged');