@rainbow-robotics/muscat-plugin-kit 0.1.2-dev.52 → 0.1.2-dev.54

package/cli/src/host_agent.py

@@ -0,0 +1,162 @@
+"""Host-side raw Zenoh byte-proxy.
+
+Runs on the host as a normal Zenoh peer (reverse-dials the robot, same as the
+SDK's own connect()) and serves a tiny domain-agnostic byte protocol over TCP
+— {query, put, subscribe} by keyexpr + bytes only — so a Docker Desktop
+container, which cannot join the robot's Zenoh mesh itself, can talk to a
+process that can.
+
+Env: MUSCAT_ROBOT_HOST, MUSCAT_ROBOT_TOKEN, MUSCAT_ZENOH_ADVERTISE_HOST,
+MUSCAT_ZENOH_PORT (robot-facing), MUSCAT_PROXY_PORT (container-facing).
+"""
+
+from __future__ import annotations
+
+import asyncio
+import contextlib
+import json
+import os
+import socket
+import struct
+import threading
+
+
+def _send_frame(conn: socket.socket, lock: threading.Lock, obj: dict) -> None:
+    body = json.dumps(obj).encode()
+    with lock:
+        conn.sendall(struct.pack(">I", len(body)) + body)
+
+
+def _recv_frame(conn: socket.socket) -> dict | None:
+    hdr = b""
+    while len(hdr) < 4:
+        chunk = conn.recv(4 - len(hdr))
+        if not chunk:
+            return None
+        hdr += chunk
+    n = struct.unpack(">I", hdr)[0]
+    buf = b""
+    while len(buf) < n:
+        chunk = conn.recv(n - len(buf))
+        if not chunk:
+            return None
+        buf += chunk
+    return json.loads(buf.decode())
+
+
+def _handle_conn(conn: socket.socket, zenoh_client) -> None:
+    send_lock = threading.Lock()
+    sub_ids: dict[str, int] = {}
+    try:
+        while True:
+            req = _recv_frame(conn)
+            if req is None:
+                return
+            op = req.get("type")
+
+            if op == "query":
+                payload = bytes.fromhex(req["payload_hex"]) if req.get("payload_hex") else None
+                try:
+                    replies = zenoh_client._client.query(
+                        req["keyexpr"], payload, req.get("timeout_ms", 2000), req.get("target", 0)
+                    )
+                    out = {
+                        "type": "query_resp", "id": req["id"], "ok": True,
+                        "replies": [
+                            {"key": k, "payload_hex": bytes(p).hex(), "att": a, "encoding": e, "is_error": ie}
+                            for (k, p, a, e, ie) in replies
+                        ],
+                    }
+                except Exception as exc:
+                    out = {"type": "query_resp", "id": req["id"], "ok": False, "error": f"{type(exc).__name__}: {exc}"}
+                _send_frame(conn, send_lock, out)
+
+            elif op == "put":
+                payload = bytes.fromhex(req["payload_hex"]) if req.get("payload_hex") else b""
+                try:
+                    zenoh_client._client.publish(req["keyexpr"], payload, "", 0, 5, False)
+                    out = {"type": "put_resp", "id": req["id"], "ok": True}
+                except Exception as exc:
+                    out = {"type": "put_resp", "id": req["id"], "ok": False, "error": f"{type(exc).__name__}: {exc}"}
+                _send_frame(conn, send_lock, out)
+
+            elif op == "subscribe":
+                keyexpr = req["keyexpr"]
+
+                def on_sample(topic: str, payload_bytes: bytes, att: str, _ke: str = keyexpr) -> None:
+                    _send_frame(conn, send_lock, {
+                        "type": "sample", "keyexpr": _ke, "key": topic,
+                        "payload_hex": bytes(payload_bytes).hex(), "att": att,
+                    })
+
+                try:
+                    sub_id = zenoh_client._client.declare_subscriber(keyexpr, on_sample)
+                    sub_ids[keyexpr] = sub_id
+                    out = {"type": "subscribe_resp", "id": req["id"], "ok": True}
+                except Exception as exc:
+                    out = {"type": "subscribe_resp", "id": req["id"], "ok": False, "error": f"{type(exc).__name__}: {exc}"}
+                _send_frame(conn, send_lock, out)
+
+            elif op == "unsubscribe":
+                keyexpr = req["keyexpr"]
+                sub_id = sub_ids.pop(keyexpr, None)
+                if sub_id is not None:
+                    try:
+                        zenoh_client._client.undeclare_subscriber(sub_id)
+                    except Exception:
+                        pass
+                _send_frame(conn, send_lock, {"type": "unsubscribe_resp", "id": req["id"], "ok": True})
+
+            else:
+                _send_frame(conn, send_lock, {"type": "error", "error": f"unknown op {op!r}"})
+    except (ConnectionResetError, BrokenPipeError, OSError):
+        pass
+    finally:
+        for sub_id in sub_ids.values():
+            try:
+                zenoh_client._client.undeclare_subscriber(sub_id)
+            except Exception:
+                pass
+        conn.close()
+
+
+def main() -> None:
+    from rainbow.rb_sdk.base import RBBaseSDK
+
+    host = os.environ["MUSCAT_ROBOT_HOST"]
+    token = os.environ.get("MUSCAT_ROBOT_TOKEN", "")
+    advertise = os.environ["MUSCAT_ZENOH_ADVERTISE_HOST"]
+    zenoh_port = int(os.environ["MUSCAT_ZENOH_PORT"])
+    proxy_port = int(os.environ["MUSCAT_PROXY_PORT"])
+
+    # The robot reverse-dials the advertised host:port; force it to the host's
+    # real LAN IP (matches what dev.mjs computed via ensureRemoteZenohEnv).
+    RBBaseSDK._detect_local_ip = staticmethod(lambda _host: advertise)
+
+    peer = RBBaseSDK()
+    connect_kwargs = {"host": host, "zenoh_port": zenoh_port, "mesh_timeout": 15.0}
+    if token:
+        connect_kwargs["token"] = token
+
+    asyncio.run(peer.connect(**connect_kwargs))
+    print(f"[host-agent] zenoh peer joined robot mesh (listening :{zenoh_port})", flush=True)
+
+    srv = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    srv.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    srv.bind(("0.0.0.0", proxy_port))
+    srv.listen(32)
+    print(f"[host-agent] byte-proxy listening :{proxy_port} (container connects via host.docker.internal)", flush=True)
+
+    try:
+        while True:
+            conn, _addr = srv.accept()
+            threading.Thread(target=_handle_conn, args=(conn, peer.zenoh_client), daemon=True).start()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        with contextlib.suppress(Exception):
+            asyncio.run(peer.disconnect())
+
+
+if __name__ == "__main__":
+    main()

package/cli/src/new.mjs

@@ -12,7 +12,7 @@ import {
   writeFileSync,
 } from "node:fs";
 import { basename, dirname, resolve } from "node:path";
-import { ensureIdeVenv, hasBin, kitVersion, parseArgs, prompt, templatesDir, log } from "./util.mjs";
+import { color, ensureIdeVenv, hasBin, kitVersion, parseArgs, prompt, templatesDir, log } from "./util.mjs";
 
 // Like cpSync(src, dst, {recursive:true}) but reads from the embedded snapshot
 // when the templates dir doesn't exist on disk (compiled binary mode).
@@ -40,6 +40,33 @@ export const TYPE_CHOICES = {
 const TYPES = Object.keys(TYPE_CHOICES);
 const PMS = ["npm", "yarn", "pnpm", "bun"];
 
+function printNewSuccess({ targetName, type, pm }) {
+  const mark = [
+    "             /\\",
+    "            /  \\_",
+    "       ____||__",
+    "      /  \\__/  \\",
+    "   __/\\__/  \\__/\\",
+    "  /  \\__/\\__/\\__/\\",
+    "  \\__/  \\__/  \\__/",
+    "     \\__/  \\__/",
+    "        \\__/",
+  ].map((line) => color.green(line)).join("\n");
+
+  log.info("");
+  log.info(mark);
+  log.info(color.bold(color.green("Welcome to Muscat Plugin Kit!")));
+  log.info(color.dim("A fresh plugin workspace is ready."));
+  log.info("");
+  log.ok(`created ${color.bold(targetName)} ${color.dim(`(type: ${type}, pm: ${pm})`)}`);
+  log.info("");
+  log.info(color.bold("Next steps"));
+  log.info(`  ${color.cyan("cd")} ${targetName}`);
+  log.info(`  ${color.cyan("muscat-pk dev")}      ${color.dim("# preview in mini-Muscat + back end")}`);
+  log.info(`  ${color.cyan("muscat-pk build")}    ${color.dim("# build + distributable ZIP")}`);
+  log.info("");
+}
+
 // Build the manifest runtime object for a given type choice + plugin slug.
 export function runtimeForChoice(choice, slug) {
   switch (choice.type) {
@@ -130,7 +157,7 @@ export async function runNew(args) {
 
   const dirArg = opts._[0];
   const targetName =
-    dirArg || (await prompt("Plugin directory name: ", "my-plugin"));
+    dirArg || (await prompt(color.cyan("Plugin directory name: "), "my-plugin"));
   const target = resolve(process.cwd(), targetName);
   if (existsSync(target) && readdirSync(target).length > 0) {
     throw new Error(`directory not empty: ${target}`);
@@ -141,19 +168,19 @@ export async function runNew(args) {
   let descriptionArg = opts.description;
 
   if (!opts.yes) {
-    if (!authorArg) authorArg = await prompt("Author name: ", "");
-    if (!emailArg) emailArg = await prompt("Email (required): ", "");
-    if (!descriptionArg) descriptionArg = await prompt("Description (English): ", "");
+    if (!authorArg) authorArg = await prompt(color.cyan("Author name: "), "");
+    if (!emailArg) emailArg = await prompt(`${color.cyan("Email")} ${color.yellow("(required)")}: `, "");
+    if (!descriptionArg) descriptionArg = await prompt(color.cyan("Description (English): "), "");
   }
 
   let type = opts.type;
   if (!type && !opts.yes) {
-    console.log("\nSelect the plugin type:");
-    console.log("  1) Python");
-    console.log("  2) C++");
-    console.log("  3) ROS2 (rclpy / Python)");
-    console.log("  4) ROS2 (rclcpp / C++)");
-    const choice = await prompt("\n선택 [1/2/3/4, default: 1]: ", "1");
+    console.log(`\n${color.bold(color.cyan("Select the plugin type:"))}`);
+    console.log(`  ${color.green("1)") } ${color.bold("Python")}`);
+    console.log(`  ${color.green("2)") } ${color.bold("C++")}`);
+    console.log(`  ${color.green("3)") } ${color.bold("ROS2")} ${color.dim("(rclpy / Python)")}`);
+    console.log(`  ${color.green("4)") } ${color.bold("ROS2")} ${color.dim("(rclcpp / C++)")}`);
+    const choice = await prompt(`\n${color.cyan("선택")} ${color.dim("[1/2/3/4, default: 1]")}: `, "1");
     type = { "2": "cpp", "3": "ros2", "4": "ros2-cpp" }[choice] ?? "python";
   }
   type = TYPES.includes(type) ? type : "python";
@@ -173,7 +200,10 @@ export async function runNew(args) {
   let pm = opts.pm;
   if (!pm && !opts.yes) {
     const defaultPm = isInsideYarnWorkspace(process.cwd()) ? "yarn" : "npm";
-    pm = await prompt(`Front-end package manager (${PMS.join("/")}) [${defaultPm}]: `, defaultPm);
+    pm = await prompt(
+      `${color.cyan("Front-end package manager")} ${color.dim(`(${PMS.join("/")})`)} ${color.dim(`[${defaultPm}]`)}: `,
+      defaultPm,
+    );
   }
   pm = PMS.includes(pm) ? pm : "npm";
 
@@ -244,15 +274,29 @@ export async function runNew(args) {
     }
   }
 
+  // git init (best-effort, matches create-react-app/vite scaffolds). Skipped
+  // if git isn't installed or the target is already inside a repo (nested
+  // packages in a monorepo shouldn't get their own .git).
+  if (hasBin("git")) {
+    try {
+      execSync("git rev-parse --is-inside-work-tree", { cwd: target, stdio: "ignore" });
+    } catch {
+      try {
+        execSync("git init", { cwd: target, stdio: "ignore" });
+        execSync("git add -A", { cwd: target, stdio: "ignore" });
+        execSync('git commit -m "Initial commit from muscat-pk new" --no-verify', { cwd: target, stdio: "ignore" });
+      } catch {
+        log.warn("git init failed — run it manually if you want version control here.");
+      }
+    }
+  }
+
   // The back end (python / cpp / ros2) runs in a Docker container that matches
   // the robot — no local Python/toolchain setup needed. Only `none` skips it.
   const needsDocker = runtimeChoice.type !== "none";
   const noDocker = needsDocker && !hasBin("docker");
 
-  log.ok(`created ${targetName} (type: ${type}, pm: ${pm})`);
-  log.info(`\n  cd ${targetName}`);
-  log.info(`  muscat-pk dev      # preview in mini-Muscat + back end`);
-  log.info(`  muscat-pk build    # build + distributable ZIP\n`);
+  printNewSuccess({ targetName, type, pm });
 
   // ── post-scaffold environment warnings ───────────────────────────────────
   const noNode = !hasBin("node");

package/cli/src/util.mjs

@@ -141,16 +141,26 @@ export function findPluginRoot(start = process.cwd()) {
   );
 }
 
-const RED    = "\x1b[31m";
-const ORANGE = "\x1b[33m";
-const RESET  = "\x1b[0m";
+const useColor = process.env.NO_COLOR !== "1" && (process.stdout.isTTY || process.env.FORCE_COLOR);
+const ansi = (code) => (s) => useColor ? `\x1b[${code}m${s}\x1b[0m` : String(s);
+
+export const color = {
+  bold: ansi("1"),
+  dim: ansi("2"),
+  red: ansi("31"),
+  green: ansi("32"),
+  yellow: ansi("33"),
+  blue: ansi("34"),
+  magenta: ansi("35"),
+  cyan: ansi("36"),
+};
 
 export const log = {
   info:  (...m) => console.log(...m),
-  step:  (...m) => console.log("›", ...m),
-  ok:    (...m) => console.log("✓", ...m),
-  warn:  (...m) => console.warn(`${ORANGE}⚠${RESET}`, ...m.map(s => `${ORANGE}${s}${RESET}`)),
-  error: (...m) => console.error(`${RED}✖${RESET}`, ...m.map(s => `${RED}${s}${RESET}`)),
+  step:  (...m) => console.log(color.cyan("›"), ...m),
+  ok:    (...m) => console.log(color.green("✓"), ...m),
+  warn:  (...m) => console.warn(color.yellow("⚠"), ...m.map(s => color.yellow(s))),
+  error: (...m) => console.error(color.red("✖"), ...m.map(s => color.red(s))),
 };
 
 // dev / dev:back / build run the plugin back end, the dev bridge, and cpp/ros2

package/cli/storybook-dist/assets/{Color-YHDXOIA2-BjuzF3Je.js → Color-YHDXOIA2-D7vQYxkG.js}

@@ -1 +1 @@
-import{d as ce,Z as Y,g as he,v as M,s as fe,Q as de,M as ge,_ as be,a as q}from"./index-Cwr2bQOB.js";import{r as p,R as m}from"./index-Dmy2JGbm.js";import"./iframe-DNru2eN7.js";import"./jsx-runtime-BTJTZTIL.js";import"./index-ChsGqxH_.js";import"./index-CT3U1fyk.js";import"./index-BRq5TIsn.js";import"./index-DgH-xKnr.js";import"./index-DrFu-skq.js";var me=q({"../../node_modules/color-name/index.js"(n,o){o.exports={aliceblue:[240,248,255],antiquewhite:[250,235,215],aqua:[0,255,255],aquamarine:[127,255,212],azure:[240,255,255],beige:[245,245,220],bisque:[255,228,196],black:[0,0,0],blanchedalmond:[255,235,205],blue:[0,0,255],blueviolet:[138,43,226],brown:[165,42,42],burlywood:[222,184,135],cadetblue:[95,158,160],chartreuse:[127,255,0],chocolate:[210,105,30],coral:[255,127,80],cornflowerblue:[100,149,237],cornsilk:[255,248,220],crimson:[220,20,60],cyan:[0,255,255],darkblue:[0,0,139],darkcyan:[0,139,139],darkgoldenrod:[184,134,11],darkgray:[169,169,169],darkgreen:[0,100,0],darkgrey:[169,169,169],darkkhaki:[189,183,107],darkmagenta:[139,0,139],darkolivegreen:[85,107,47],darkorange:[255,140,0],darkorchid:[153,50,204],darkred:[139,0,0],darksalmon:[233,150,122],darkseagreen:[143,188,143],darkslateblue:[72,61,139],darkslategray:[47,79,79],darkslategrey:[47,79,79],darkturquoise:[0,206,209],darkviolet:[148,0,211],deeppink:[255,20,147],deepskyblue:[0,191,255],dimgray:[105,105,105],dimgrey:[105,105,105],dodgerblue:[30,144,255],firebrick:[178,34,34],floralwhite:[255,250,240],forestgreen:[34,139,34],fuchsia:[255,0,255],gainsboro:[220,220,220],ghostwhite:[248,248,255],gold:[255,215,0],goldenrod:[218,165,32],gray:[128,128,128],green:[0,128,0],greenyellow:[173,255,47],grey:[128,128,128],honeydew:[240,255,240],hotpink:[255,105,180],indianred:[205,92,92],indigo:[75,0,130],ivory:[255,255,240],khaki:[240,230,140],lavender:[230,230,250],lavenderblush:[255,240,245],lawngreen:[124,252,0],lemonchiffon:[255,250,205],lightblue:[173,216,230],lightcoral:[240,128,128],lightcyan:[224,255,255],lightgoldenrodyellow:[250,250,210],lightgray:[211,211,211],lightgreen:[144,238,144],lightgrey:[211,211,211],lightpink:[255,182,193],lightsalmon:[255,160,122],lightseagreen:[32,178,170],lightskyblue:[135,206,250],lightslategray:[119,136,153],lightslategrey:[119,136,153],lightsteelblue:[176,196,222],lightyellow:[255,255,224],lime:[0,255,0],limegreen:[50,205,50],linen:[250,240,230],magenta:[255,0,255],maroon:[128,0,0],mediumaquamarine:[102,205,170],mediumblue:[0,0,205],mediumorchid:[186,85,211],mediumpurple:[147,112,219],mediumseagreen:[60,179,113],mediumslateblue:[123,104,238],mediumspringgreen:[0,250,154],mediumturquoise:[72,209,204],mediumvioletred:[199,21,133],midnightblue:[25,25,112],mintcream:[245,255,250],mistyrose:[255,228,225],moccasin:[255,228,181],navajowhite:[255,222,173],navy:[0,0,128],oldlace:[253,245,230],olive:[128,128,0],olivedrab:[107,142,35],orange:[255,165,0],orangered:[255,69,0],orchid:[218,112,214],palegoldenrod:[238,232,170],palegreen:[152,251,152],paleturquoise:[175,238,238],palevioletred:[219,112,147],papayawhip:[255,239,213],peachpuff:[255,218,185],peru:[205,133,63],pink:[255,192,203],plum:[221,160,221],powderblue:[176,224,230],purple:[128,0,128],rebeccapurple:[102,51,153],red:[255,0,0],rosybrown:[188,143,143],royalblue:[65,105,225],saddlebrown:[139,69,19],salmon:[250,128,114],sandybrown:[244,164,96],seagreen:[46,139,87],seashell:[255,245,238],sienna:[160,82,45],silver:[192,192,192],skyblue:[135,206,235],slateblue:[106,90,205],slategray:[112,128,144],slategrey:[112,128,144],snow:[255,250,250],springgreen:[0,255,127],steelblue:[70,130,180],tan:[210,180,140],teal:[0,128,128],thistle:[216,191,216],tomato:[255,99,71],turquoise:[64,224,208],violet:[238,130,238],wheat:[245,222,179],white:[255,255,255],whitesmoke:[245,245,245],yellow:[255,255,0],yellowgreen:[154,205,50]}}}),Z=q({"../../node_modules/color-convert/conversions.js"(n,o){var 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