version up!

2026-08-04 13:12:35 +09:00
parent c7de438d57
commit 9cbf4ac7e9
15 changed files with 662 additions and 39 deletions
@@ -121,6 +121,7 @@ type CachedModuleFiles = {
 }

 type CachedModuleInfo = {
+  id?: string
  state: 'running' | 'stopped' | 'uninstalled'
  sortOrder: number
  category: string
@@ -131,6 +132,9 @@ type CachedModuleInfo = {
  templateRepositoryUrl?: string | null
  sourceType?: string | null
  prebuiltArtifacts?: ModulePrebuiltArtifact[] | null
+  dockerImage?: string | null
+  packageName?: string | null
+  launchFile?: string | null
  parameters: string[]
  cpu: number | null
  memory: number | null
@@ -138,6 +142,7 @@ type CachedModuleInfo = {
 }

 type CourseModuleInput = {
+  id?: string
  sortOrder?: number | null
  category: string
  name: string
@@ -145,6 +150,18 @@ type CourseModuleInput = {
  templateRepositoryUrl?: string | null
  sourceType?: string | null
  prebuiltArtifacts?: ModulePrebuiltArtifact[] | null
+  dockerImage?: string | null
+  packageName?: string | null
+  launchFile?: string | null
+}
+
+type CustomModuleScaffoldInput = {
+  name: string
+  category: string
+  folderName: string
+  dockerImage?: string | null
+  packageName: string
+  launchFile: string
 }

 type ModulePrebuiltArtifact = {
@@ -364,6 +381,173 @@ function isGazeboNav2ModuleFolder(folderName?: string | null): boolean {
  return /^\[lms-nav2-gazebo-[^\]]+\].+_v[^/]+_ws$/.test(folderName?.trim() ?? '')
 }

+function isCustomNav2ModuleFolder(folderName?: string | null): boolean {
+  return /^\[lms-nav2-custom\][a-z][a-z0-9_]*_v[^/]+_ws$/.test(folderName?.trim() ?? '')
+}
+
+function validateCustomModuleScaffold(input: CustomModuleScaffoldInput): CustomModuleScaffoldInput {
+  const name = input.name?.trim()
+  const category = input.category?.trim()
+  const folderName = input.folderName?.trim()
+  const packageName = input.packageName?.trim()
+  const launchFile = input.launchFile?.trim()
+  const dockerImage = input.dockerImage?.trim() || null
+  if (!name || !category || !folderName || !packageName || !launchFile) throw new Error('커스텀 모듈 정보가 올바르지 않습니다.')
+  if (!isCustomNav2ModuleFolder(folderName) || !/^[a-z][a-z0-9_]*$/.test(packageName) || !/^[a-zA-Z0-9_.-]+\.launch\.py$/.test(launchFile)) {
+    throw new Error('커스텀 모듈의 패키지명 또는 Launch 파일명이 올바르지 않습니다.')
+  }
+  if (dockerImage && (!/^[a-zA-Z0-9_./:@-]+$/.test(dockerImage) || dockerImage.length > 180)) {
+    throw new Error('실행 이미지명이 올바르지 않습니다.')
+  }
+  return { name, category, folderName, packageName, launchFile, dockerImage }
+}
+
+function buildCustomModuleFiles(input: CustomModuleScaffoldInput): Record<string, string> {
+  const module = validateCustomModuleScaffold(input)
+  const executable = `${module.packageName}_node`
+  const nodePath = `${module.packageName}/node.py`
+  return {
+    '.autonomy-studio-module.json': `${JSON.stringify({
+      sourceType: 'CUSTOM',
+      name: module.name,
+      category: module.category,
+      dockerImage: module.dockerImage,
+      packageName: module.packageName,
+      launchFile: module.launchFile,
+    }, null, 2)}\n`,
+    '.gitignore': 'build/\ninstall/\nlog/\n__pycache__/\n*.py[cod]\n',
+    'package.xml': [
+      '<?xml version="1.0"?>',
+      '<package format="3">',
+      `  <name>${module.packageName}</name>`,
+      '  <version>0.0.1</version>',
+      `  <description>${module.name}</description>`,
+      '  <maintainer email="student@autonomy-studio.local">Autonomy Studio Student</maintainer>',
+      '  <license>Apache-2.0</license>',
+      '  <buildtool_depend>ament_python</buildtool_depend>',
+      '  <exec_depend>rclpy</exec_depend>',
+      '  <exec_depend>launch</exec_depend>',
+      '  <exec_depend>launch_ros</exec_depend>',
+      '  <export><build_type>ament_python</build_type></export>',
+      '</package>',
+      '',
+    ].join('\n'),
+    'setup.cfg': `[develop]\nscript_dir=$base/lib/${module.packageName}\n[install]\ninstall_scripts=$base/lib/${module.packageName}\n`,
+    'setup.py': [
+      'from setuptools import setup',
+      '',
+      `package_name = '${module.packageName}'`,
+      '',
+      'setup(',
+      '    name=package_name,',
+      "    version='0.0.1',",
+      `    packages=['${module.packageName}'],`,
+      `    data_files=[('share/ament_index/resource_index/packages', ['resource/${module.packageName}']), ('share/${module.packageName}/launch', ['launch/${module.launchFile}']), ('share/${module.packageName}', ['package.xml'])],`,
+      "    install_requires=['setuptools'],",
+      '    zip_safe=True,',
+      "    maintainer='Autonomy Studio Student',",
+      "    maintainer_email='student@autonomy-studio.local',",
+      `    description='${module.name}',`,
+      "    license='Apache-2.0',",
+      `    entry_points={{'console_scripts': ['${executable} = ${module.packageName}.node:main']}},`,
+      ')',
+      '',
+    ].join('\n'),
+    [`resource/${module.packageName}`]: '',
+    [`${module.packageName}/__init__.py`]: '',
+    [nodePath]: [
+      'import rclpy',
+      'from rclpy.node import Node',
+      '',
+      'class CustomModuleNode(Node):',
+      '    def __init__(self):',
+      `        super().__init__('${module.packageName}')`,
+      `        self.get_logger().info('${module.name} started')`,
+      '',
+      'def main(args=None):',
+      '    rclpy.init(args=args)',
+      '    node = CustomModuleNode()',
+      '    try:',
+      '        rclpy.spin(node)',
+      '    finally:',
+      '        node.destroy_node()',
+      '        rclpy.shutdown()',
+      '',
+      "if __name__ == '__main__':",
+      '    main()',
+      '',
+    ].join('\n'),
+    [`launch/${module.launchFile}`]: [
+      'from launch import LaunchDescription',
+      'from launch_ros.actions import Node',
+      '',
+      'def generate_launch_description():',
+      '    return LaunchDescription([',
+      `        Node(package='${module.packageName}', executable='${executable}', name='${module.packageName}', output='screen'),`,
+      '    ])',
+      '',
+    ].join('\n'),
+  }
+}
+
+async function createCustomWorkspaceModule(
+  workspaceRoot: string | null | undefined,
+  input: CustomModuleScaffoldInput,
+): Promise<{ ok: boolean; workspacePath: string }> {
+  const module = validateCustomModuleScaffold(input)
+  const resolvedWorkspaceRoot = expandUserPath(workspaceRoot)
+  if (!resolvedWorkspaceRoot) throw new Error('워크스페이스 경로가 설정되어 있지 않습니다.')
+  const moduleRoot = resolve(resolvedWorkspaceRoot, module.folderName)
+  const files = buildCustomModuleFiles(module)
+  await mkdir(moduleRoot, { recursive: true })
+  for (const [relativePath, content] of Object.entries(files)) {
+    const targetPath = resolve(moduleRoot, relativePath)
+    if (targetPath !== moduleRoot && !targetPath.startsWith(`${moduleRoot}/`)) throw new Error('허용되지 않은 모듈 파일 경로입니다.')
+    await mkdir(dirname(targetPath), { recursive: true })
+    await writeFile(targetPath, content, { encoding: 'utf8', flag: 'wx' }).catch((error: NodeJS.ErrnoException) => {
+      if (error.code !== 'EEXIST') throw error
+    })
+  }
+  await runCommand('git', ['init', '--initial-branch=main'], moduleRoot, undefined, 15_000).catch(() => undefined)
+  return { ok: true, workspacePath: moduleRoot }
+}
+
+async function createRemoteCustomWorkspaceModule(
+  targetInput: RemoteWorkspaceTarget,
+  input: CustomModuleScaffoldInput,
+): Promise<{ ok: boolean; workspacePath: string }> {
+  const target = normalizeRemoteTarget(targetInput)
+  const module = validateCustomModuleScaffold(input)
+  const files = buildCustomModuleFiles(module)
+  const payload = encodeBase64(JSON.stringify({ folderName: module.folderName, files }))
+  const output = await runSshOutput(target, [
+    'set -e',
+    `ROOT=${quoteShellSingle(target.workspaceRoot)}`,
+    ...expandRemotePathVar('ROOT'),
+    `PAYLOAD=$(printf %s ${quoteShellSingle(payload)} | base64 -d)`,
+    'python3 - "$ROOT" "$PAYLOAD" <<\'PY\'',
+    'import json, os, sys',
+    'root = os.path.abspath(os.path.expanduser(sys.argv[1]))',
+    'payload = json.loads(sys.argv[2])',
+    'folder = payload["folderName"]',
+    'target = os.path.abspath(os.path.join(root, folder))',
+    'if target == root or not target.startswith(root + os.sep): raise SystemExit("invalid module path")',
+    'os.makedirs(target, exist_ok=True)',
+    'for relative, content in payload["files"].items():',
+    '    path = os.path.abspath(os.path.join(target, relative))',
+    '    if not path.startswith(target + os.sep): raise SystemExit("invalid module file path")',
+    '    os.makedirs(os.path.dirname(path), exist_ok=True)',
+    '    try:',
+    '        with open(path, "x", encoding="utf-8") as fp: fp.write(content)',
+    '    except FileExistsError:',
+    '        pass',
+    'print(target)',
+    'PY',
+    `git -C "$ROOT/${module.folderName}" rev-parse --is-inside-work-tree >/dev/null 2>&1 || git -C "$ROOT/${module.folderName}" init -b main >/dev/null`,
+  ].join('\n'), 30_000)
+  return { ok: true, workspacePath: output.trim().split('\n')[0] || remotePathJoin(target.workspaceRoot, module.folderName) }
+}
+
 function resolveNav2RuntimeImage(runtimeImages?: RuntimeImageArtifact[] | null, folderName?: string | null): string {
  const gazeboModule = isGazeboNav2ModuleFolder(folderName)
  const gazeboImage = runtimeImages
@@ -384,6 +568,16 @@ function resolveNav2RuntimeImage(runtimeImages?: RuntimeImageArtifact[] | null,
  return nav2Image || nav2DockerImage
 }

+async function resolveCustomModuleRuntimeImage(moduleRoot: string, fallbackImage: string): Promise<string> {
+  try {
+    const config = JSON.parse(await readFile(resolve(moduleRoot, '.autonomy-studio-module.json'), 'utf8')) as { dockerImage?: unknown }
+    const image = typeof config.dockerImage === 'string' ? config.dockerImage.trim() : ''
+    return image && /^[a-zA-Z0-9_./:@-]+$/.test(image) ? image : fallbackImage
+  } catch {
+    return fallbackImage
+  }
+}
+
 async function resolveRemoteNav2RuntimeImage(
  runtimeImages?: RuntimeImageArtifact[] | null,
 ): Promise<string> {
@@ -398,6 +592,25 @@ async function resolveRemoteNav2RuntimeImage(
  throw new Error('원격 플랫폼 NAV2 런타임 이미지가 설정되지 않았습니다.')
 }

+async function resolveRemoteCustomModuleRuntimeImage(
+  target: RemoteWorkspaceTarget,
+  folderName: string,
+  fallbackImage: string,
+): Promise<string> {
+  const output = await runSshOutput(target, [
+    `ROOT=${quoteShellSingle(target.workspaceRoot)}`,
+    ...expandRemotePathVar('ROOT'),
+    `CONFIG="$ROOT/${folderName}/.autonomy-studio-module.json"`,
+    'if [ -f "$CONFIG" ]; then python3 - "$CONFIG" <<\'PY\'',
+    'import json, re, sys',
+    'image = json.load(open(sys.argv[1], encoding="utf-8")).get("dockerImage")',
+    'print(image.strip() if isinstance(image, str) and re.fullmatch(r"[A-Za-z0-9_./:@-]+", image.strip()) else "")',
+    'PY',
+    'fi',
+  ].join('\n'), 8_000).catch(() => '')
+  return output.trim() || fallbackImage
+}
+
 function isAllowedContainerName(containerKey: string): boolean {
  return /^[A-Za-z0-9_.-]+-[A-Za-z0-9_.-]+_v[A-Za-z0-9_.-]+$/.test(containerKey)
 }
@@ -492,6 +705,7 @@ async function collectAvailableModules(
      const rosParams = installed && workspacePath ? await readModuleRosParams(workspacePath) : ''

      return {
+        id: module.id,
        state: installed ? (dockerStatus?.running ? 'running' : 'stopped') : 'uninstalled',
        sortOrder: module.sortOrder,
        category,
@@ -500,8 +714,11 @@ async function collectAvailableModules(
        sourcePath,
        workspacePath,
        templateRepositoryUrl: module.templateRepositoryUrl ?? null,
-        sourceType: module.sourceType ?? null,
-        prebuiltArtifacts: module.prebuiltArtifacts ?? null,
+      sourceType: module.sourceType ?? null,
+      prebuiltArtifacts: module.prebuiltArtifacts ?? null,
+      dockerImage: module.dockerImage ?? null,
+      packageName: module.packageName ?? null,
+      launchFile: module.launchFile ?? null,
        parameters: splitRosParams(rosParams),
        cpu: dockerStatus?.running ? dockerStat?.cpu ?? null : null,
        memory: dockerStatus?.running ? dockerStat?.memory ?? null : null,
@@ -567,6 +784,7 @@ async function collectRemoteAvailableModules(
    const dockerStat = dockerInfo ? dockerStats.get(dockerInfo.containerKey) : null

    return {
+      id: module.id,
      state: installed ? (dockerStatus?.running ? 'running' : 'stopped') : 'uninstalled',
      sortOrder: module.sortOrder,
      category: module.category || parsed.category,
@@ -575,6 +793,11 @@ async function collectRemoteAvailableModules(
      sourcePath: module.templateRepositoryUrl ?? '',
      workspacePath: installed?.path ?? null,
      templateRepositoryUrl: module.templateRepositoryUrl ?? null,
+      sourceType: module.sourceType ?? null,
+      prebuiltArtifacts: module.prebuiltArtifacts ?? null,
+      dockerImage: module.dockerImage ?? null,
+      packageName: module.packageName ?? null,
+      launchFile: module.launchFile ?? null,
      parameters: installed?.parameters ?? [],
      cpu: dockerStatus?.running ? dockerStat?.cpu ?? null : null,
      memory: dockerStatus?.running ? dockerStat?.memory ?? null : null,
@@ -2667,6 +2890,16 @@ function buildNav2DockerRunScript(): string {
    'done',
    'set -- "${filtered_args[@]}"',
    '',
+    'if [[ "$MODULE_FOLDER" == *lms-nav2-custom* ]]; then',
+    '  MODULE_CONFIG="$MODULE_ROOT/$MODULE_FOLDER/.autonomy-studio-module.json"',
+    '  test -f "$MODULE_CONFIG" || { echo "Custom module configuration is missing: $MODULE_FOLDER" >&2; exit 64; }',
+    '  read -r PACKAGE LAUNCH < <(python3 - "$MODULE_CONFIG" <<\'PY\'',
+    'import json, sys',
+    'config = json.load(open(sys.argv[1], encoding="utf-8"))',
+    'print(config["packageName"], config["launchFile"])',
+    'PY',
+    '  )',
+    'else',
    'case "$MODULE_FOLDER" in',
    '  *lms-nav2-mkmini*) PACKAGE=vehicle_pkg; LAUNCH=vehicle.launch.py ;;',
    '  *lms-nav2-gazebo-simulator*) PACKAGE=nav2_turtlebot_simulator; LAUNCH=simulator.launch.py ;;',
@@ -2689,6 +2922,7 @@ function buildNav2DockerRunScript(): string {
    '  *nav2-system*) PACKAGE=nav2_turtlebot_system; LAUNCH=system.launch.py ;;',
    '  *) echo "Unknown Nav2 module: $MODULE_FOLDER" >&2; exit 64 ;;',
    'esac',
+    'fi',
    '',
    'if [[ "$MODULE_FOLDER" == *lms-nav2-gazebo-slam3d* ]]; then',
    '  mkdir -p "$MODULE_ROOT/maps"',
@@ -2742,6 +2976,15 @@ function buildNav2DockerBuildScript(): string {
    'IMAGE=$3',
    'ROS_DOMAIN_ID_VALUE=${4:-0}',
    '',
+    'if [[ "$MODULE_FOLDER" == *lms-nav2-custom* ]]; then',
+    '  MODULE_CONFIG="$MODULE_ROOT/$MODULE_FOLDER/.autonomy-studio-module.json"',
+    '  test -f "$MODULE_CONFIG" || { echo "Custom module configuration is missing: $MODULE_FOLDER" >&2; exit 64; }',
+    '  TARGET=$(python3 - "$MODULE_CONFIG" <<\'PY\'',
+    'import json, sys',
+    'print(json.load(open(sys.argv[1], encoding="utf-8"))["packageName"])',
+    'PY',
+    '  )',
+    'else',
    'case "$MODULE_FOLDER" in',
    '  *lms-nav2-mkmini*) TARGET=vehicle_pkg ;;',
    '  *lms-nav2-gazebo-simulator*) TARGET=nav2_turtlebot_simulator ;;',
@@ -2764,6 +3007,7 @@ function buildNav2DockerBuildScript(): string {
    '  *nav2-system*) TARGET=nav2_turtlebot_system ;;',
    '  *) echo "Unknown Nav2 module: $MODULE_FOLDER" >&2; exit 64 ;;',
    'esac',
+    'fi',
    '',
    'MODULE_PATH="$MODULE_ROOT/$MODULE_FOLDER"',
    'test -d "$MODULE_PATH/src" || { echo "Module source is missing: $MODULE_FOLDER" >&2; exit 1; }',
@@ -3075,6 +3319,10 @@ async function startWorkspaceModule(
    await ensureNav2RuntimeAssets()
    const rosParams = typeof rosParamsOverride === 'string' ? rosParamsOverride.trim() : await readModuleRosParams(moduleRoot)
    const scriptPath = resolveNav2DockerRunScript()
+    const runtimeImage = await resolveCustomModuleRuntimeImage(
+      moduleRoot,
+      resolveNav2RuntimeImage(runtimeImages, targetFolderName),
+    )
    await runCommand(
      'bash',
      [
@@ -3082,7 +3330,7 @@ async function startWorkspaceModule(
        dockerInfo.containerKey,
        resolvedWorkspaceRoot,
        targetFolderName,
-        resolveNav2RuntimeImage(runtimeImages, targetFolderName),
+        runtimeImage,
        String(rosDomainId ?? process.env.ROS_DOMAIN_ID ?? '0').trim() || '0',
        ...splitRosParams(rosParams)
      ],
@@ -3149,13 +3397,17 @@ async function buildWorkspaceModule(
  await prepareRuntimeImages(runtimeImages)
  if (isNav2ModuleFolder(targetFolderName)) {
    await ensureNav2RuntimeAssets()
+    const runtimeImage = await resolveCustomModuleRuntimeImage(
+      moduleRoot,
+      resolveNav2RuntimeImage(runtimeImages, targetFolderName),
+    )
    await runCommand(
      'bash',
      [
        resolveNav2DockerBuildScript(),
        resolvedWorkspaceRoot,
        targetFolderName,
-        resolveNav2RuntimeImage(runtimeImages, targetFolderName),
+        runtimeImage,
        String(rosDomainId ?? process.env.ROS_DOMAIN_ID ?? '0').trim() || '0'
      ],
      undefined,
@@ -3220,7 +3472,11 @@ async function startRemoteWorkspaceModule(

  const nav2Module = isNav2ModuleFolder(targetFolderName)
  const runtimeImage = nav2Module
-    ? await resolveRemoteNav2RuntimeImage(runtimeImages)
+    ? await resolveRemoteCustomModuleRuntimeImage(
+        target,
+        targetFolderName,
+        await resolveRemoteNav2RuntimeImage(runtimeImages),
+      )
    : null
  const runtimeRoot = nav2Module
    ? await ensureRemoteNav2RuntimeAssets(target)
@@ -3343,7 +3599,11 @@ async function buildRemoteWorkspaceModule(

  if (isNav2ModuleFolder(targetFolderName)) {
    const runtimeRoot = await ensureRemoteNav2RuntimeAssets(target)
-    const runtimeImage = await resolveRemoteNav2RuntimeImage(runtimeImages)
+    const runtimeImage = await resolveRemoteCustomModuleRuntimeImage(
+      target,
+      targetFolderName,
+      await resolveRemoteNav2RuntimeImage(runtimeImages),
+    )
    await runSsh(target, [
      'set -e',
      `RUNTIME_ROOT=${quoteShellSingle(runtimeRoot)}`,
@@ -4231,6 +4491,10 @@ function registerLocalWorkspaceHandlers(): void {
  })
  ipcMain.handle('local-workspace:modules:list', (_event, workspaceRoot?: string | null, courseModules?: CourseModuleInput[] | null) => collectAvailableModules(workspaceRoot, courseModules))
  ipcMain.handle('local-workspace:modules:install', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => installModuleFromCache(moduleName, workspaceRoot, folderName, templateRepositoryUrl, studentRepositoryUrl, options))
+  ipcMain.handle('local-workspace:modules:create-custom', (_event, workspaceRoot?: string | null, input?: CustomModuleScaffoldInput | null) => {
+    if (!input) throw new Error('커스텀 모듈 정보가 없습니다.')
+    return createCustomWorkspaceModule(workspaceRoot, input)
+  })
  ipcMain.handle('local-workspace:modules:delete', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => deleteWorkspaceModule(moduleName, workspaceRoot, folderName))
  ipcMain.handle('local-workspace:modules:start', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null) => startWorkspaceModule(moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages))
  ipcMain.handle('local-workspace:modules:build', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null) => buildWorkspaceModule(moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages))
@@ -4262,6 +4526,10 @@ function registerLocalWorkspaceHandlers(): void {
  })
  ipcMain.handle('remote-workspace:modules:list', (_event, target: RemoteWorkspaceTarget, modules?: CourseModuleInput[] | null) => collectRemoteAvailableModules(target, modules))
  ipcMain.handle('remote-workspace:modules:install', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => installRemoteWorkspaceModule(target, moduleName, folderName, templateRepositoryUrl, studentRepositoryUrl, options))
+  ipcMain.handle('remote-workspace:modules:create-custom', (_event, target: RemoteWorkspaceTarget, input?: CustomModuleScaffoldInput | null) => {
+    if (!input) throw new Error('커스텀 모듈 정보가 없습니다.')
+    return createRemoteCustomWorkspaceModule(target, input)
+  })
  ipcMain.handle('remote-workspace:modules:start', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null) => startRemoteWorkspaceModule(target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages))
  ipcMain.handle('remote-workspace:modules:build', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null) => buildRemoteWorkspaceModule(target, moduleName, folderName, gpuEnabled, rosDomainId, runtimeImages))
  ipcMain.handle('remote-workspace:modules:stop', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null) => stopRemoteWorkspaceModule(target, moduleName, folderName))