feat: download ROS bridge images from R2 and show startup progress

src/main/bridgeArtifacts.test.ts

@@ -0,0 +1,22 @@
+import { strict as assert } from 'node:assert'
+import { test } from 'node:test'
+import { bridgeArtifact, jetsonBridgeImage, localBridgeImage } from './bridgeArtifacts'
+
+test('PC and Jetson bridges have separate pinned downloads', () => {
+  const pc = bridgeArtifact(localBridgeImage)!
+  const jetson = bridgeArtifact(jetsonBridgeImage)!
+  assert.equal(pc.architecture, 'amd64')
+  assert.equal(jetson.architecture, 'arm64')
+  assert.notEqual(pc.url, jetson.url)
+  assert.notEqual(pc.fileName, jetson.fileName)
+  for (const artifact of [pc, jetson]) {
+    assert.match(artifact.checksumSha256, /^[a-f0-9]{64}$/)
+    assert.equal(new URL(artifact.url).protocol, 'https:')
+    assert.ok(artifact.url.includes(artifact.checksumSha256.slice(0, 12)))
+    assert.equal(artifact.required, true)
+  }
+})
+
+test('custom images do not resolve to an unrelated built-in artifact', () => {
+  assert.equal(bridgeArtifact('custom-bridge:test'), undefined)
+})

src/main/bridgeArtifacts.ts

@@ -0,0 +1,27 @@
+const root = 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/slam-ros-bridge'
+
+export const localBridgeImage = 'slam-ros-bridge:20260813-3d-map-v2'
+export const jetsonBridgeImage = 'slam-ros-bridge:jetson_orin'
+
+const artifacts = [
+  {
+    image: localBridgeImage,
+    architecture: 'amd64',
+    url: `${root}/amd64/20260915-489a3e8b370c/slam-ros-bridge-amd64.tar.zst`,
+    fileName: 'slam-ros-bridge-amd64-489a3e8b370c.tar.zst',
+    checksumSha256: '489a3e8b370c19903043a39e92935f2e32e4b4423c28210f130df1acab1a9889',
+    required: true,
+  },
+  {
+    image: jetsonBridgeImage,
+    architecture: 'arm64',
+    url: `${root}/arm64/20260819-0659d4cf5578/slam-ros-bridge-jetson-orin.tar.zst`,
+    fileName: 'slam-ros-bridge-jetson-orin-0659d4cf5578.tar.zst',
+    checksumSha256: '0659d4cf5578c43bc9c25e4a4fc5d226ccd5b7bec43becfdff83b5390717114e',
+    required: true,
+  },
+]
+
+export function bridgeArtifact(image: string) {
+  return artifacts.find((artifact) => artifact.image === image)
+}

src/main/index.ts

@@ -1,10 +1,12 @@
 import { app, BrowserWindow, dialog, Menu, globalShortcut, ipcMain, screen, shell } from 'electron'
 import { checkDockerStatus } from './dockerStatus'
+import { visualizationProgress, reportVisualizationProgress } from './visualizationProgress'
+import { bridgeArtifact, jetsonBridgeImage, localBridgeImage } from './bridgeArtifacts'
 import type { WebContents } from 'electron'
 import { spawn } from 'child_process'
 import * as pty from 'node-pty'
 import type { IPty } from 'node-pty'
-import { appendFileSync, createWriteStream, existsSync, mkdirSync } from 'fs'
+import { appendFileSync, createReadStream, createWriteStream, existsSync, mkdirSync } from 'fs'
 import { cp, mkdir, readdir, readFile, rename, rm, stat, writeFile } from 'fs/promises'
 import { homedir } from 'os'
 import { basename, dirname, join, relative, resolve } from 'path'
@@ -12,6 +14,7 @@ import { is } from '@electron-toolkit/utils'
 import { createHash } from 'crypto'
 import http from 'http'
 import https from 'https'
+import { pipeline } from 'node:stream/promises'
 
 let mainWindow: BrowserWindow | null = null
 let splashWindow: BrowserWindow | null = null
@@ -35,7 +38,7 @@ const autowareRosBridgeImage = 'autoware-ros-bridge'
 // Keep the bundled bridge image revisioned. Reusing `latest` leaves an old
 // Docker image in place after an LMS update, even when bridge dependencies or
 // protocol code changed.
-const slamRosBridgeImage = 'slam-ros-bridge:20260813-3d-map-v2'
+const slamRosBridgeImage = localBridgeImage
 const slamSimulationRuntimeImage = 'future-nav2-gazebo:humble'
 const slamSimulationRuntimeContainerName = 'nav2-slam'
 const rosBridgePort = 8765
@@ -658,7 +661,7 @@ async function ensureSlamRosBridgeImage(): Promise<void> {
   const exists = await runCommand('docker', ['image', 'inspect', slamRosBridgeImage], undefined, undefined, 10_000)
     .then(() => true)
     .catch(() => false)
-  if (!exists) await ensureBridgeImage(slamRosBridgeImage, 'resources/slam-ros-bridge')
+  if (!exists) await ensureBridgeImage(slamRosBridgeImage)
 }
 
 async function exportWorkspaceMapPointCloud(workspaceRoot: string, databaseFileName: string): Promise<Buffer> {
@@ -1906,14 +1909,19 @@ async function downloadArtifact(url: string, targetPath: string, redirects = 0):
       }
 
       const file = createWriteStream(targetPath)
-      response.pipe(file)
-      file.on('finish', () => file.close(() => resolvePromise()))
-      file.on('error', rejectPromise)
+      void pipeline(response, file).then(resolvePromise, rejectPromise)
     })
+    request.setTimeout(60000, () => request.destroy(new Error('artifact download timed out')))
     request.on('error', rejectPromise)
   })
 }
 
+async function artifactSha256(filePath: string): Promise<string> {
+  const hash = createHash('sha256')
+  for await (const chunk of createReadStream(filePath)) hash.update(chunk)
+  return hash.digest('hex')
+}
+
 async function ensureArtifactFile(url?: string | null, fileName?: string | null, checksumSha256?: string | null): Promise<string | null> {
   const artifactUrl = url?.trim()
   if (!artifactUrl) return null
@@ -1924,14 +1932,18 @@ async function ensureArtifactFile(url?: string | null, fileName?: string | null,
   // Do not reuse a same-named local file, or a source update can run with an
   // older install tree even though R2 already contains the current artifact.
   await rm(targetPath, { force: true })
+  reportVisualizationProgress('다운로드 중...')
   await downloadArtifact(artifactUrl, targetPath)
   if (expected) {
-    let actual = createHash('sha256').update(await readFile(targetPath)).digest('hex').toLowerCase()
+    reportVisualizationProgress('다운로드 파일 확인 중...')
+    let actual = await artifactSha256(targetPath)
     if (actual !== expected) {
       // Artifact URLs are stable, so an existing filename can be an older cached release.
       await rm(targetPath, { force: true })
+      reportVisualizationProgress('다운로드 중...')
       await downloadArtifact(artifactUrl, targetPath)
-      actual = createHash('sha256').update(await readFile(targetPath)).digest('hex').toLowerCase()
+      reportVisualizationProgress('다운로드 파일 확인 중...')
+      actual = await artifactSha256(targetPath)
       if (actual !== expected) {
         await rm(targetPath, { force: true }).catch(() => undefined)
         throw new Error(`artifact checksum mismatch: ${safeArtifactFileName(artifactUrl, fileName)}`)
@@ -2000,12 +2012,14 @@ async function prepareRuntimeImages(images?: RuntimeImageArtifact[] | null): Pro
       if (image.required) throw new Error(`runtime image artifact url is missing: ${imageName}`)
       continue
     }
+    reportVisualizationProgress('이미지 불러오는 중...')
     if (filePath.toLowerCase().endsWith('.tar.zst') || filePath.toLowerCase().endsWith('.tzst')) {
       const zstdPath = getBundledZstdPath() ?? 'zstd'
-      await runCommand('bash', ['-lc', '"$1" -dc "$2" | docker load', 'autonomy-studio-runtime-image', zstdPath, filePath], undefined, undefined, 900000)
+      await runCommand('bash', ['-o', 'pipefail', '-lc', '"$1" -dc "$2" | docker load', 'autonomy-studio-runtime-image', zstdPath, filePath], undefined, undefined, 900000)
     } else {
       await runCommand('docker', ['load', '-i', filePath], undefined, undefined, 900000)
     }
+    reportVisualizationProgress('시각화 시작 중...')
   }
 }
 
@@ -2378,11 +2392,16 @@ async function startRemoteVisualizationBridge(
     ))
     ?.image
     ?.trim()
-  if (stack !== 'autoware' && image === slamRosBridgeImage && remoteJetsonBridgeImage) {
-    image = remoteJetsonBridgeImage
+  if (stack !== 'autoware' && image === slamRosBridgeImage) {
+    image = remoteJetsonBridgeImage || jetsonBridgeImage
   }
-  const imageArtifact = environmentProfile?.runtimeImages?.find((artifact) => artifact?.image?.trim() === image)
-  if (imageArtifact?.url?.trim()) {
+  const imageArtifact = bridgeArtifact(image)
+    ?? environmentProfile?.runtimeImages?.find((artifact) => artifact?.image?.trim() === image)
+  const remoteImageExists = imageArtifact?.url?.trim()
+    ? (await runSshOutput(target, `docker image inspect ${quoteShellSingle(image)} >/dev/null 2>&1 && printf present || true`, 10000)).trim() === 'present'
+    : false
+  if (imageArtifact?.url?.trim() && !remoteImageExists) {
+    reportVisualizationProgress('다운로드 및 이미지 준비 중...')
     await runSsh(target, [
       'set -e',
       `IMAGE=${quoteShellSingle(image)}`,
@@ -2396,13 +2415,18 @@ async function startRemoteVisualizationBridge(
       'if [ -f "$ARCHIVE" ] && [ -n "$EXPECTED_SHA256" ]; then',
       '  [ "$(sha256sum "$ARCHIVE" | awk \'{print $1}\')" = "$EXPECTED_SHA256" ] || rm -f "$ARCHIVE"',
       'fi',
-      'if [ ! -f "$ARCHIVE" ]; then curl -fL "$URL" -o "$ARCHIVE"; fi',
+      'if [ ! -f "$ARCHIVE" ]; then',
+      '  PART=$(mktemp "$ARCHIVE.XXXXXX")',
+      '  trap \'rm -f "$PART"\' EXIT',
+      '  curl -fL --connect-timeout 15 --max-time 750 "$URL" -o "$PART"',
+      '  mv "$PART" "$ARCHIVE"',
+      'fi',
       'if [ -n "$EXPECTED_SHA256" ] && [ "$(sha256sum "$ARCHIVE" | awk \'{print $1}\')" != "$EXPECTED_SHA256" ]; then',
       '  echo "시각화 이미지 체크섬이 일치하지 않습니다: $FILE_NAME" >&2',
       '  exit 1',
       'fi',
       'case "$ARCHIVE" in',
-      '  *.tar.zst|*.tzst) zstd -dc "$ARCHIVE" | docker load ;;',
+      '  *.tar.zst|*.tzst) bash -o pipefail -c \'zstd -dc "$1" | docker load\' _ "$ARCHIVE" ;;',
       '  *) docker load -i "$ARCHIVE" ;;',
       'esac',
       'docker image inspect "$IMAGE" >/dev/null 2>&1 || { echo "시각화 이미지 로드에 실패했습니다: $IMAGE" >&2; exit 1; }',
@@ -2410,6 +2434,8 @@ async function startRemoteVisualizationBridge(
   }
   const command = bridgeContainerCommand(stack)
 
+  reportVisualizationProgress('시각화 시작 중...')
+
   await runSsh(target, [
     'set -e',
     `ROOT=${quoteShellSingle(root)}`,
@@ -3513,11 +3539,15 @@ async function resolveDockerResourceContextPath(contextPath = 'resources/slam-ro
   return targetPath
 }
 
-async function ensureBridgeImage(image: string, buildContext?: string | null): Promise<void> {
-  if (!buildContext) return
-  const contextPath = await resolveDockerResourceContextPath(buildContext)
-  if (!contextPath) throw new Error(`브릿지 Docker context를 찾을 수 없습니다: ${buildContext}`)
-  await runCommand('docker', ['build', '-t', image, contextPath], undefined, undefined, 120000)
+async function ensureBridgeImage(image: string): Promise<void> {
+  const artifact = bridgeArtifact(image)
+  if (!artifact) throw new Error(`브리지 이미지의 다운로드 설정이 없습니다: ${image}`)
+  const architecture = process.arch === 'x64' ? 'amd64' : process.arch
+  if (architecture !== artifact.architecture) {
+    throw new Error(`브리지 이미지 아키텍처가 PC와 다릅니다: ${artifact.architecture} / ${architecture}`)
+  }
+  await prepareRuntimeImages([artifact])
+  await runCommand('docker', ['image', 'inspect', image], undefined, undefined, 10000)
 }
 
 function expandDockerVolume(volume: string): string {
@@ -3823,7 +3853,7 @@ async function startVisualizationBridge(
       .then(() => true)
       .catch(() => false)
     if (!bridgeImageExists && stack !== 'autoware' && stack !== 'slam') {
-      await ensureBridgeImage(bridgeImage, visualizationBridgeResourceContext(stack, bridge))
+      await ensureBridgeImage(bridgeImage)
     }
 
     const args = [
@@ -6327,7 +6357,7 @@ function registerLocalWorkspaceHandlers(): void {
   ipcMain.handle('remote-workspace:modules:restart', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => restartRemoteWorkspaceModule(target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
   ipcMain.handle('remote-workspace:modules:logs', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null) => readRemoteWorkspaceModuleLogs(target, moduleName, folderName))
   ipcMain.handle('remote-workspace:visualization:status', (_event, target: RemoteWorkspaceTarget) => readRemoteVisualizationBridgeStatus(target))
-  ipcMain.handle('remote-workspace:visualization:start', (_event, target: RemoteWorkspaceTarget, stack?: string | null, rosDomainId?: string | null, environmentProfile?: EnvironmentProfileConfig | null, rosNetwork?: RosNetworkConfig | null) => startRemoteVisualizationBridge(target, stack, rosDomainId, environmentProfile, rosNetwork))
+  ipcMain.handle('remote-workspace:visualization:start', (_event, target: RemoteWorkspaceTarget, stack?: string | null, rosDomainId?: string | null, environmentProfile?: EnvironmentProfileConfig | null, rosNetwork?: RosNetworkConfig | null, requestId?: string) => visualizationProgress.run((message) => { if (!_event.sender.isDestroyed()) _event.sender.send('visualization:progress', requestId, message) }, () => startRemoteVisualizationBridge(target, stack, rosDomainId, environmentProfile, rosNetwork)))
   ipcMain.handle('remote-workspace:visualization:stop', (_event, target: RemoteWorkspaceTarget) => stopRemoteVisualizationBridge(target))
   ipcMain.handle('remote-workspace:git:status', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, selectedFilePath?: string | null) => readRemoteWorkspaceGitStatus(target, moduleName, folderName, selectedFilePath))
   ipcMain.handle('remote-workspace:git:submit', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, message?: string | null, authorName?: string | null, authorEmail?: string | null, submissionId?: string | null, repositoryUrl?: string | null) => submitRemoteWorkspaceGitChanges(target, moduleName, folderName, message, authorName, authorEmail, submissionId, repositoryUrl))
@@ -6370,7 +6400,7 @@ function registerLocalWorkspaceHandlers(): void {
     return { ok: true }
   })
   ipcMain.handle('local-workspace:visualization:status', () => readVisualizationBridgeStatus())
-  ipcMain.handle('local-workspace:visualization:start', (_event, stack?: string | null, workspaceRoot?: string | null, rosDomainId?: string | null, environmentProfile?: EnvironmentProfileConfig | null, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null, savedMapWorldLayoutPath?: string | null) => startVisualizationBridge(stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork, savedMapDatabasePath, savedMapWorldLayoutPath))
+  ipcMain.handle('local-workspace:visualization:start', (_event, stack?: string | null, workspaceRoot?: string | null, rosDomainId?: string | null, environmentProfile?: EnvironmentProfileConfig | null, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null, savedMapWorldLayoutPath?: string | null, requestId?: string) => visualizationProgress.run((message) => { if (!_event.sender.isDestroyed()) _event.sender.send('visualization:progress', requestId, message) }, () => startVisualizationBridge(stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork, savedMapDatabasePath, savedMapWorldLayoutPath)))
   ipcMain.handle('local-workspace:visualization:stop', (_event, environmentProfile?: EnvironmentProfileConfig | null) => stopVisualizationBridge(environmentProfile))
   ipcMain.handle('local-workspace:git:status', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, selectedFilePath?: string | null) => readWorkspaceGitStatus(moduleName, workspaceRoot, folderName, selectedFilePath))
   ipcMain.handle('local-workspace:git:submit', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, message?: string | null, authorName?: string | null, authorEmail?: string | null, submissionId?: string | null, repositoryUrl?: string | null) => submitWorkspaceGitChanges(moduleName, workspaceRoot, folderName, message, authorName, authorEmail, submissionId, repositoryUrl))

src/main/visualizationProgress.ts

@@ -0,0 +1,7 @@
+import { AsyncLocalStorage } from 'node:async_hooks'
+
+export const visualizationProgress = new AsyncLocalStorage<(message: string) => void>()
+
+export function reportVisualizationProgress(message: string): void {
+  visualizationProgress.getStore()?.(message)
+}