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(fix) module list status bug..

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This commit is contained in:
chyoo
2026-09-07 14:16:17 +09:00
parent 01017f03fe
commit bfb3cbaf9b
4 changed files with 165 additions and 22 deletions
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package.json
+1 -1
View File
@@ -1,6 +1,6 @@
{
"name": "lms",
"version": "1.1.20",
"version": "1.1.21",
"description": "Autonomy Studio LMS Electron app",
"main": "./out/main/index.js",
"author": {
src/main/index.ts
+131 -14
View File
@@ -22,6 +22,7 @@ const terminalStopTimers = new Map<string, NodeJS.Timeout>()
const intentionalTerminalStops = new Set<string>()
const nav2RuntimeObstacleNames = new Set<string>()
const remoteSshQueues = new Map<string, Promise<void>>()
const remoteDockerStatsRetryAfter = new Map<string, number>()
const remoteGitModuleRoots = new Map<string, string>()
const remoteSshControlDirectory = resolve(homedir(), '.autonomy-studio', 'ssh', 'control')
const moduleCacheRoot = resolve(homedir(), '.caches')
@@ -1377,12 +1378,15 @@ async function collectRemoteAvailableModules(
}
})
.sort((a, b) => a.sortOrder - b.sortOrder)
const output = await runSshOutput(targetInput ?? target, buildRemoteModuleProbeScript(target.workspaceRoot, moduleInputs), 30_000)
const [output, statsOutput] = await Promise.all([
runSshOutput(targetInput ?? target, buildRemoteModuleProbeScript(target.workspaceRoot, moduleInputs), 30_000),
readRemoteDockerStatsOutput(target),
])
const dockerStatuses = new Map<string, { running: boolean; exists: boolean; status: string }>()
const dockerStats = new Map<string, { cpu: number; memory: number }>()
const installedModules = new Map<string, { path: string; parameters: string[] }>()
for (const line of output.split('\n')) {
for (const line of `${output}\n${statsOutput}`.split('\n')) {
if (!line.trim()) continue
const [kind, first = '', second = '', third = ''] = line.split('\t')
if (kind === 'DOCKER' && first) {
@@ -1501,8 +1505,10 @@ function remoteRepositoryUrl(repositoryUrl: string): string {
async function runCommandOutput(command: string, args: string[], cwd?: string, env?: NodeJS.ProcessEnv, timeoutMs = 120_000): Promise<string> {
return new Promise<string>((resolvePromise, rejectPromise) => {
let output = ''
let terminated = false
const child = spawn(command, args, {
cwd,
detached: process.platform !== 'win32',
stdio: ['ignore', 'pipe', 'pipe'],
env: {
...process.env,
@@ -1511,7 +1517,18 @@ async function runCommandOutput(command: string, args: string[], cwd?: string, e
}
})
const timeout = setTimeout(() => {
if (!child.killed) child.kill('SIGTERM')
terminated = true
if (process.platform !== 'win32' && child.pid) {
const processId = child.pid
// SSH/SCP spawn a child process. Kill the whole group so a timed-out
// transfer cannot leave an SSH child alive in the background.
try { process.kill(-processId, 'SIGTERM') } catch { /* already exited */ }
setTimeout(() => {
try { process.kill(-processId, 'SIGKILL') } catch { /* already exited */ }
}, 1_000).unref()
} else if (!child.killed) {
child.kill('SIGTERM')
}
rejectPromise(new Error(`${command} ${args.join(' ')} timed out`))
}, timeoutMs)
@@ -1527,6 +1544,7 @@ async function runCommandOutput(command: string, args: string[], cwd?: string, e
})
child.on('close', (code) => {
clearTimeout(timeout)
if (terminated) return
if (code === 0) resolvePromise(output)
else rejectPromise(new Error(output.trim() || `${command} ${args.join(' ')} failed with exit code ${code ?? 'unknown'}`))
})
@@ -1890,10 +1908,106 @@ async function runSshOutput(target: RemoteWorkspaceTarget, command: string, time
))
}
async function runUnqueuedSshOutput(target: RemoteWorkspaceTarget, command: string, timeoutMs: number): Promise<string> {
const normalized = normalizeRemoteTarget(target)
return runCommandOutput(
'ssh',
[
'-p',
String(normalized.port),
'-o',
'BatchMode=yes',
'-o',
'StrictHostKeyChecking=accept-new',
'-o',
'ConnectTimeout=5',
'-o',
'PreferredAuthentications=publickey',
'-o',
'PasswordAuthentication=no',
'-o',
'KbdInteractiveAuthentication=no',
'-o',
'ControlMaster=no',
'-i',
normalized.identityFile,
`${normalized.user}@${normalized.host}`,
command,
],
undefined,
undefined,
timeoutMs,
)
}
async function readRemoteDockerStatsOutput(target: RemoteWorkspaceTarget): Promise<string> {
const normalized = normalizeRemoteTarget(target)
const key = `${normalized.user}@${normalized.host}:${normalized.port}`
if ((remoteDockerStatsRetryAfter.get(key) ?? 0) > Date.now()) return ''
try {
const output = await runUnqueuedSshOutput(
normalized,
'timeout -k 1s 2s docker stats --no-stream --format "STATS\\t{{.Name}}\\t{{.CPUPerc}}\\t{{.MemPerc}}" 2>/dev/null || true',
4_000,
)
remoteDockerStatsRetryAfter.delete(key)
return output
} catch {
// Do not spawn another blocked Docker client on every ten-second module
// refresh when the Jetson Docker daemon is under load.
remoteDockerStatsRetryAfter.set(key, Date.now() + 60_000)
return ''
}
}
async function runSsh(target: RemoteWorkspaceTarget, command: string, timeoutMs?: number): Promise<void> {
await runSshOutput(target, command, timeoutMs)
}
async function copyRemoteFileToLocal(
target: RemoteWorkspaceTarget,
remotePath: string,
localPath: string,
timeoutMs = 900_000,
): Promise<void> {
const normalized = normalizeRemoteTarget(target)
const host = normalized.host.includes(':') ? `[${normalized.host}]` : normalized.host
// A large 3D map database can take several minutes over a relayed Tailscale
// link. Keep that file transfer outside the serialized command queue so it
// cannot prevent module state, stop, or control requests from reaching the
// platform in the meantime.
await runCommand(
'scp',
[
'-q',
'-P',
String(normalized.port),
'-o',
'BatchMode=yes',
'-o',
'StrictHostKeyChecking=accept-new',
'-o',
'ConnectTimeout=5',
'-o',
'PreferredAuthentications=publickey',
'-o',
'PasswordAuthentication=no',
'-o',
'KbdInteractiveAuthentication=no',
'-o',
'ControlMaster=no',
'-i',
normalized.identityFile,
`${normalized.user}@${host}:${remotePath}`,
localPath,
],
undefined,
undefined,
timeoutMs,
)
}
async function readRemoteSavedMapArtifacts(
targetInput: RemoteWorkspaceTarget,
artifacts: SavedMapArtifactPath[],
@@ -1929,25 +2043,31 @@ async function copyRemoteActiveRtabmapDatabaseToLocal(
'destination_db.close()',
'source_db.close()',
].join('; ')
const remoteCommand = [
const createSnapshotCommand = [
'set -e',
`SOURCE=${quoteShellSingle(sourcePath)}`,
'test -f "$SOURCE" || { echo "3D SLAM DB를 찾을 수 없습니다: $SOURCE" >&2; exit 1; }',
'SNAPSHOT=$(mktemp)',
'SNAPSHOT=$(mktemp --suffix=.db)',
`python3 -c ${quoteShellSingle(snapshotScript)} "$SOURCE" "$SNAPSHOT"`,
'base64 -w0 "$SNAPSHOT"',
'rm -f "$SNAPSHOT"',
'printf "%s" "$SNAPSHOT"',
].join('\n')
const base64 = (await runSshOutput(target, remoteCommand, 120_000)).trim()
if (!base64) throw new Error('3D SLAM DB 스냅샷을 읽지 못했습니다.')
await syncWorkspaceSavedMapArtifacts(localWorkspaceRoot, [])
const root = expandUserPath(localWorkspaceRoot)
if (!root) throw new Error('로컬 워크스페이스 경로가 설정되어 있지 않습니다.')
const mapsDirectory = resolve(root, 'maps')
const destination = resolve(mapsDirectory, destinationFileName)
if (!destination.startsWith(`${mapsDirectory}/`)) throw new Error('저장된 3D 맵 경로가 올바르지 않습니다.')
await writeFile(destination, Buffer.from(base64, 'base64'))
const snapshotPath = (await runSshOutput(target, createSnapshotCommand, 120_000)).trim()
if (!snapshotPath.startsWith('/tmp/')) throw new Error('3D SLAM DB 스냅샷을 만들지 못했습니다.')
const temporaryDestination = `${destination}.download-${process.pid}-${Date.now()}`
try {
await copyRemoteFileToLocal(target, snapshotPath, temporaryDestination)
await rename(temporaryDestination, destination)
} finally {
await rm(temporaryDestination, { force: true }).catch(() => undefined)
await runSsh(target, `rm -f ${quoteShellSingle(snapshotPath)}`, 15_000).catch(() => undefined)
}
return { databasePath: `/workspace/maps/${destinationFileName}` }
}
@@ -2149,9 +2269,6 @@ function buildRemoteModuleProbeScript(workspaceRoot: string, modules: CourseModu
`ROOT=${quoteShellSingle(workspaceRoot)}`,
...expandRemotePathVar('ROOT'),
'timeout 5s docker ps -a --format "DOCKER\\t{{.Names}}\\t{{.Status}}" 2>/dev/null || true',
// docker stats can stall on a remote Jetson. Module state must not wait
// behind a long statistics sample.
'timeout 2s docker stats --no-stream --format "STATS\\t{{.Name}}\\t{{.CPUPerc}}\\t{{.MemPerc}}" 2>/dev/null || true',
...moduleFolders.map((folderName) => {
const modulePath = remotePathJoin('$ROOT', folderName)
return [
src/renderer/src/features/workspace/ModuleListView.tsx
+3 -3
View File
@@ -462,7 +462,7 @@ const moduleGuidePages = [
imageAlt: '로컬 환경 모듈 가이드',
imageSrc: './assets/images/module-guide-local.png',
slamModules: ['NAV2-Gazebo', 'NAV2-TurtleBot3Burger', 'NAV2-Perception', 'NAV2-SLAM'],
navigationModules: ['NAV2-Gazebo', 'NAV2-TurtleBot3Burger', 'NAV2-Perception', 'NAV2-Localization', 'NAV2-Planning', 'NAV2-Control'],
navigationModules: ['NAV2-Gazebo', 'NAV2-TurtleBot3Burger', 'NAV2-Perception', 'NAV2-Map', 'NAV2-Localization', 'NAV2-Planning', 'NAV2-Control'],
parameters: [
['기본', 'sim_mode:=true, platform:=turtlebot3, robot:=turtlebot3, level:=2d'],
['Perception', 'sim_mode:=true'],
@@ -474,7 +474,7 @@ const moduleGuidePages = [
imageAlt: '원격 플랫폼 환경 모듈 가이드',
imageSrc: './assets/images/module-guide-remote-platform.png',
slamModules: ['NAV2-MKMini', 'NAV2-Perception', 'NAV2-SLAM'],
navigationModules: ['NAV2-MKMini', 'NAV2-Perception', 'NAV2-Localization', 'NAV2-Planning', 'NAV2-Control'],
navigationModules: ['NAV2-MKMini', 'NAV2-Perception', 'NAV2-Map', 'NAV2-Localization', 'NAV2-Planning', 'NAV2-Control'],
parameters: [
['기본', 'sim_mode:=false, platform:=mkmini, robot:=mkmini, level:=2d'],
['Perception', 'sim_mode:=false'],
@@ -486,7 +486,7 @@ const moduleGuidePages = [
imageAlt: '원격 3D SLAM 환경 모듈 가이드',
imageSrc: './assets/images/module-guide-remote-3d.png',
slamModules: ['NAV2-MKMini', 'NAV2-Perception3D', 'NAV2-SLAM3D'],
navigationModules: ['NAV2-MKMini', 'NAV2-Perception3D', 'NAV2-Localization', 'NAV2-Planning', 'NAV2-Control'],
navigationModules: ['NAV2-MKMini', 'NAV2-Perception3D', 'NAV2-Map', 'NAV2-Localization', 'NAV2-Planning', 'NAV2-Control'],
parameters: [
['기본', 'sim_mode:=false, platform:=mkmini, robot:=mkmini, level:=3d']
]
src/renderer/src/features/workspace/useWorkspaceModuleList.ts
+30 -4
View File
@@ -59,6 +59,26 @@ function parseRemoteWorkspaceTarget(targetKey: string): RemoteWorkspaceTarget |
}
}
function retainRunningModuleStats(modules: ModuleRow[], previousModules: ModuleRow[]): ModuleRow[] {
const previousByKey = new Map(
previousModules
.filter((module) => module.state === 'running')
.map((module) => [module.folderName ?? module.name, module]),
)
return modules.map((module) => {
if (module.state !== 'running') return module
const previous = previousByKey.get(module.folderName ?? module.name)
if (!previous) return module
return {
...module,
cpu: module.cpu ?? previous.cpu,
memory: module.memory ?? previous.memory,
}
})
}
export function useWorkspaceModuleList({
clonePathPreview,
curriculumModules,
@@ -164,8 +184,11 @@ export function useWorkspaceModuleList({
if (requestSequence !== loadSequenceRef.current) return
setModuleListError(null)
const modules = applyPendingModuleStates(applyOverrides(result.modules).sort(compareModulePriority))
setAvailableModules(modules)
storeRemoteModuleCache(moduleCacheKey, modules)
setAvailableModules((current) => {
const nextModules = retainRunningModuleStats(modules, current)
storeRemoteModuleCache(moduleCacheKey, nextModules)
return nextModules
})
return
}
@@ -173,8 +196,11 @@ export function useWorkspaceModuleList({
if (requestSequence !== loadSequenceRef.current) return
setModuleListError(null)
const modules = applyPendingModuleStates(applyOverrides(result.modules).sort(compareModulePriority))
setAvailableModules(modules)
storeRemoteModuleCache(moduleCacheKey, modules)
setAvailableModules((current) => {
const nextModules = retainRunningModuleStats(modules, current)
storeRemoteModuleCache(moduleCacheKey, nextModules)
return nextModules
})
} catch (error) {
if (requestSequence !== loadSequenceRef.current) return
console.error('[modules] list failed', error)