@rainbow-robotics/muscat-plugin-kit 0.1.2-dev.9 → 1.0.0

package/cli/src/devBack.mjs

@@ -1,79 +1,427 @@
 // muscat-pk dev:back — run the plugin back end during development.
-//   python : create/refresh .venv, then run main.py with watchfiles hot-reload
-//            (uvicorn's reloader). Watches ALL .py files, not just main.py.
-//   ros2   : keep a Jazzy + Python 3.12 container warm, colcon build once with
-//            --symlink-install, run the node, and restart on source changes —
-//            i.e. develop as if inside the container.
+// Every backend runs in a warm Docker container that matches the robot
+// (Ubuntu 24.04), so dev behaves like production.
+//   python : Python 3.12 container, pip install, run main.py with watchfiles
+//            hot-reload. Shares the bridge container's netns (localhost:10000).
+//   cpp    : Ubuntu + cmake container, build cpp/, run the binary, rebuild +
+//            restart on source changes.
+//   ros2   : Jazzy + Python 3.12 container, colcon build, run the node, restart
+//            on source changes (rclcpp rebuilds on change).
 import { spawn, spawnSync } from "node:child_process";
-import { existsSync, readFileSync, watch } from "node:fs";
+import { existsSync, watch } from "node:fs";
 import { resolve } from "node:path";
-import { detectPythonCmd, hasBin, findPluginRoot, log, venvPython } from "./util.mjs";
+import { ensureDocker, ensureIdeVenv, findPluginRoot, log, promptRobotConnection } from "./util.mjs";
+import { ensureRemoteZenohEnv } from "./zenohDev.mjs";
+import { assertManifestPorts, manifestRuntime, readManifest, validateManifest } from "./manifest.mjs";
+import {
+  formatPortRanges,
+  portEnvFlags,
+  startPortContractMonitor,
+} from "./ports.mjs";
+import {
+  PYTHON_DEV_IMAGE,
+  assertDockerReady as pyAssertDockerReady,
+  ensureImage as pyEnsureImage,
+} from "./python.mjs";
 import {
   ROS2_DEV_IMAGE,
   assertDockerReady,
   ensureImage,
   ros2PackageName,
 } from "./ros2.mjs";
+import {
+  CPP_DEV_IMAGE,
+  assertDockerReady as cppAssertDockerReady,
+  ensureImage as cppEnsureImage,
+} from "./cpp.mjs";
+
+const MANAGED_DEV_ENV = "MUSCAT_PK_MANAGED_DEV";
 
-function manifestRuntime(root) {
-  try {
-    const m = JSON.parse(readFileSync(resolve(root, "manifest.json"), "utf8"));
-    return m.runtime?.type ?? "python";
-  } catch {
-    return "python";
+function exitAfterCleanup(code = 0) {
+  if (process.env[MANAGED_DEV_ENV] !== "1") process.exit(code ?? 0);
+}
+
+export function stopDevBackContainers() {
+  for (const container of [
+    `${PYTHON_DEV_IMAGE}-run`,
+    `${ROS2_DEV_IMAGE}-run`,
+    `${CPP_DEV_IMAGE}-run`,
+  ]) {
+    spawnSync("docker", ["rm", "-f", container], { stdio: "ignore" });
   }
 }
 
-// ── python ────────────────────────────────────────────────────────────────────
-function runPython(root) {
-  const venv = resolve(root, ".venv");
-  const py = venvPython(venv);
-
-  if (!existsSync(py)) {
-    log.step("creating .venv…");
-    if (hasBin("uv")) {
-      spawnSync("uv", ["venv", venv, "--python", "3.12", "--seed"], { cwd: root, stdio: "inherit" });
-    } else if (hasBin("conda")) {
-      spawnSync("conda", ["create", "-p", venv, "python=3.12", "-y", "--quiet"], { cwd: root, stdio: "inherit" });
-    } else if (hasBin("python3.12") || hasBin("python3") || hasBin("python")) {
-      const { cmd, is312 } = detectPythonCmd();
-      if (!is312) log.warn("python3.12 not found; using fallback (robot targets 3.12).");
-      spawnSync(cmd[0], [...cmd.slice(1), "-m", "venv", venv], { cwd: root, stdio: "inherit" });
-    } else {
-      throw new Error("Python not found (uv / conda / python3 none available). Install Python 3.12 to run the backend.");
+// ── IDE tooling venv (best-effort, non-blocking) ────────────────────────────
+// `muscat-pk new` already creates this up front (see new.mjs); this just
+// refreshes it on every `dev`/`dev:back` in case requirements.txt changed.
+// Docker remains the actual execution environment — this never affects it.
+// Runs in the background so it never delays `dev:back` starting, and any
+// failure here (no local Python toolchain, offline, ...) is silent.
+function syncIdeVenv(root) {
+  setImmediate(() => {
+    try {
+      if (ensureIdeVenv(root)) {
+        log.info("IDE venv ready → .venv (point your editor's Python interpreter there for pylint/pyright)");
+      }
+    } catch {
+      /* best-effort only */
     }
-  }
+  });
+}
 
-  const reqs = resolve(root, "requirements.txt");
-  if (existsSync(reqs)) {
-    log.step("pip install -r requirements.txt…");
-    spawnSync(py, ["-m", "pip", "install", "-q", "-r", reqs], { cwd: root, stdio: "inherit" });
-  }
+// ── python ────────────────────────────────────────────────────────────────────
+// Runs in a warm Ubuntu 24.04 + Python 3.12 container (matches the robot).
+// Under `muscat-pk dev`, it shares the bridge container's netns, so the SDK
+// reaches the Socket.IO bridge at the default localhost:10000.
+async function runPython(root, portRanges) {
+  // Independent of Docker readiness — must still happen if Docker isn't
+  // installed/running, since that's exactly when local IDE tooling matters most.
+  syncIdeVenv(root);
+  pyAssertDockerReady();
+  await pyEnsureImage();
+
+  const manifest = readManifest(root);
+  const pluginId = manifest.id ?? "";
+  const container = `${PYTHON_DEV_IMAGE}-run`;
+  const robotIp    = process.env.MUSCAT_ROBOT_HOST  ?? "";
+  const robotToken = process.env.MUSCAT_ROBOT_TOKEN ?? "";
+  const zenohAdvertiseHost = process.env.MUSCAT_ZENOH_ADVERTISE_HOST ?? "";
+  const zenohPort = process.env.MUSCAT_ZENOH_PORT ?? "";
+  // See host_agent.py: a Docker Desktop container can't join the robot's
+  // Zenoh mesh, so it speaks a byte protocol to the host-side proxy instead.
+  const proxyEndpoint = process.env.MUSCAT_PROXY_ENDPOINT ?? "";
+  // Share the bridge container's network namespace so localhost:10000 is the
+  // bridge (set by `muscat-pk dev`). Standalone dev:back has no bridge to join.
+  const bridgeContainer = process.env.MUSCAT_PK_BRIDGE_CONTAINER;
+  const netFlags = bridgeContainer ? ["--network", `container:${bridgeContainer}`] : [];
+  // Only the container's OWN reverse-dial path needs to publish a listen port.
+  // With the byte-proxy, the container just connects out to host.docker.internal
+  // — nothing to publish.
+  const standaloneZenohPortFlags =
+    !bridgeContainer && !proxyEndpoint && zenohPort ? ["-p", `${zenohPort}:${zenohPort}`] : [];
+  const hostGatewayFlags = bridgeContainer
+    ? []
+    : ["--add-host", "host.docker.internal:host-gateway"];
+  // Without the bridge's netns, 127.0.0.1 (the SDK's gateway default) is the
+  // container itself, not the host — host.docker.internal reaches the host.
+  const gatewayFlags = bridgeContainer
+    ? []
+    : ["-e", "RB_PLUGIN_GATEWAY_URL=http://host.docker.internal:10000"];
+  const envFlags = [
+    // docker exec below has no -t (no pseudo-TTY), so Python defaults to
+    // block-buffered stdout — print() output wouldn't show up until the
+    // buffer fills or the process exits. Force unbuffered.
+    "-e", "PYTHONUNBUFFERED=1",
+    ...gatewayFlags,
+    ...(pluginId    ? ["-e", `RB_PLUGIN_ID=${pluginId}`]             : []),
+    ...(robotIp     ? ["-e", `MUSCAT_ROBOT_HOST=${robotIp}`]         : []),
+    ...(robotToken  ? ["-e", `MUSCAT_ROBOT_TOKEN=${robotToken}`]     : []),
+    // Byte-proxy mode: the container has no Zenoh session of its own — the
+    // entry script's shim speaks the raw query/put/subscribe protocol to the
+    // host_agent process at this address instead.
+    ...(proxyEndpoint ? ["-e", `MUSCAT_PROXY_ENDPOINT=${proxyEndpoint}`] : []),
+    // Fallback (no proxy): the container reverse-dials the robot itself.
+    ...(!proxyEndpoint && zenohAdvertiseHost ? ["-e", `MUSCAT_ZENOH_ADVERTISE_HOST=${zenohAdvertiseHost}`] : []),
+    ...(!proxyEndpoint && zenohPort ? ["-e", `MUSCAT_ZENOH_PORT=${zenohPort}`] : []),
+    ...portEnvFlags(portRanges),
+  ];
+  const docker = (args, opts = {}) =>
+    spawnSync("docker", args, { cwd: root, stdio: "inherit", ...opts });
+
+  // start a warm, long-lived container with the plugin mounted
+  docker(["rm", "-f", container], { stdio: "ignore" });
+  log.step("starting Python dev container…");
+  const up = docker(
+    ["run", "-d", "--name", container, ...netFlags, ...standaloneZenohPortFlags,
+      // host.docker.internal is automatic on Docker Desktop (macOS/Windows);
+      // this makes it resolve on Linux too, for the no-bridge gateway fallback above.
+      ...hostGatewayFlags,
+      "-e", "PIP_ROOT_USER_ACTION=ignore",
+      "-v", `${root}:/plugin`, "-w", "/plugin", PYTHON_DEV_IMAGE, "sleep", "infinity"],
+    { stdio: "inherit" },
+  );
+  if (up.status !== 0) throw new Error("failed to start dev container.");
+  const stopPortMonitor = startPortContractMonitor({ container, ranges: portRanges, log });
+
+  log.step("pip install requirements + watchfiles (in container)…");
+  docker(["exec", container, "bash", "-lc",
+    "pip install --break-system-packages --ignore-installed -q watchfiles" +
+    " && { [ -f requirements.txt ] && pip install --break-system-packages --ignore-installed -q -r requirements.txt || true; }"]);
+
+  docker(["exec", container, "bash", "-lc", `cat > /tmp/muscat-pk-python-dev-entry.py <<'PY'
+import os
+
+try:
+    proxy_endpoint = os.getenv("MUSCAT_PROXY_ENDPOINT")
+    if proxy_endpoint:
+        # Byte-proxy mode: this container has no Zenoh session of its own.
+        # ZenohClient's C++ core is replaced with a shim that speaks a raw
+        # query/put/subscribe byte protocol to host_agent.py instead.
+        import json
+        import socket
+        import struct
+        import threading
+
+        _proxy_host, _proxy_port_s = proxy_endpoint.rsplit(":", 1)
+        _proxy_port = int(_proxy_port_s)
+
+        def _send_frame(conn, lock, obj):
+            body = json.dumps(obj).encode()
+            with lock:
+                conn.sendall(struct.pack(">I", len(body)) + body)
+
+        def _recv_frame(conn):
+            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())
+
+        class _ProxyRawClient:
+            """Drop-in replacement for ZenohClient's C++ core, backed by the
+            host_agent byte-proxy instead of a local Zenoh session."""
+
+            sender = "RRS"
+            sender_id = ""
+
+            def __init__(self, host, port):
+                self._conn = socket.create_connection((host, port), timeout=10)
+                # create_connection() leaves the connect timeout applied to
+                # the socket permanently; the background read loop below does
+                # a long-lived blocking recv() for async "sample" pushes, so
+                # it must not time out on an idle connection.
+                self._conn.settimeout(None)
+                self._send_lock = threading.Lock()
+                self._req_id = 0
+                self._req_lock = threading.Lock()
+                self._pending = {}
+                self._subs = {}  # sub_id -> callback
+                self._sub_by_keyexpr = {}
+                threading.Thread(target=self._read_loop, daemon=True).start()
+
+            def _next_id(self):
+                with self._req_lock:
+                    self._req_id += 1
+                    return self._req_id
+
+            def _read_loop(self):
+                while True:
+                    frame = _recv_frame(self._conn)
+                    if frame is None:
+                        return
+                    ftype = frame.get("type")
+                    if ftype == "sample":
+                        cb = self._sub_by_keyexpr.get(frame["keyexpr"])
+                        if cb is not None:
+                            try:
+                                cb(frame["key"], bytes.fromhex(frame["payload_hex"]), frame.get("att", ""))
+                            except Exception as exc:
+                                print(f"[muscat-pk] proxy subscriber callback error: {exc}", flush=True)
+                    elif "id" in frame:
+                        ev = self._pending.pop(frame["id"], None)
+                        if ev is not None:
+                            ev[1] = frame
+                            ev[0].set()
+
+            def _request(self, obj, timeout=30):
+                req_id = self._next_id()
+                obj["id"] = req_id
+                ev = threading.Event()
+                slot = [ev, None]
+                self._pending[req_id] = slot
+                _send_frame(self._conn, self._send_lock, obj)
+                if not ev.wait(timeout):
+                    self._pending.pop(req_id, None)
+                    raise TimeoutError(f"proxy request timed out: {obj.get('type')} {obj.get('keyexpr')}")
+                return slot[1]
+
+            def query(self, keyexpr, payload, timeout_ms, target):
+                resp = self._request({
+                    "type": "query", "keyexpr": keyexpr,
+                    "payload_hex": payload.hex() if payload else None,
+                    "timeout_ms": timeout_ms, "target": target,
+                }, timeout=(timeout_ms / 1000) + 5)
+                if not resp.get("ok"):
+                    raise RuntimeError(resp.get("error", "proxy query failed"))
+                return [
+                    (r["key"], bytes.fromhex(r["payload_hex"]), r["att"], r["encoding"], r["is_error"])
+                    for r in resp["replies"]
+                ]
+
+            def query_all(self, keyexpr, payload, timeout_ms, target):
+                return self.query(keyexpr, payload, timeout_ms, target)
+
+            def publish(self, topic, payload, att, congestion_control, priority, express):
+                resp = self._request({
+                    "type": "put", "keyexpr": topic,
+                    "payload_hex": bytes(payload).hex() if payload else None,
+                })
+                if not resp.get("ok"):
+                    raise RuntimeError(resp.get("error", "proxy put failed"))
+
+            def has_subscriber(self, topic):
+                return topic in self._sub_by_keyexpr
+
+            def declare_subscriber(self, topic, callback, opts=None):
+                resp = self._request({"type": "subscribe", "keyexpr": topic})
+                if not resp.get("ok"):
+                    raise RuntimeError(resp.get("error", "proxy subscribe failed"))
+                sub_id = self._next_id()
+                self._subs[sub_id] = topic
+                self._sub_by_keyexpr[topic] = callback
+                return sub_id
+
+            def undeclare_subscriber(self, sub_id):
+                topic = self._subs.pop(sub_id, None)
+                if topic is None:
+                    return
+                self._sub_by_keyexpr.pop(topic, None)
+                self._request({"type": "unsubscribe", "keyexpr": topic})
+
+            def unsubscribe_topic(self, topic):
+                for sub_id, t in list(self._subs.items()):
+                    if t == topic:
+                        self.undeclare_subscriber(sub_id)
+
+            def unsubscribe_all(self):
+                for sub_id in list(self._subs):
+                    self.undeclare_subscriber(sub_id)
+
+            def get_sub_stats(self, sub_id):
+                return {}
+
+            def declare_queryable(self, keyexpr, handler):
+                raise NotImplementedError("byte-proxy mode does not support declare_queryable")
+
+            def undeclare_queryable_by_topic(self, keyexpr):
+                pass
+
+        # ZenohClient is a process-wide singleton whose __init__ eagerly
+        # calls connect() on first construction. rainbow.rb_sdk.base
+        # transitively imports rainbow.rb_log.log, which constructs one at
+        # module level — so this patch must land before RBBaseSDK is
+        # imported, or that eager construction wins with a real session.
+        from rainbow.rb_zenoh.client import ZenohClient
+
+        def _proxy_connect(self, *, config_pairs=None, sender=None, max_attempts=8, initial_delay_s=0.5, max_delay_s=3.0):
+            if self._client is not None:
+                return
+            if sender is not None:
+                self._sender = sender
+            print(f"[muscat-pk] zenoh via host byte-proxy → {proxy_endpoint} (no local Zenoh session)", flush=True)
+            self._client = _ProxyRawClient(_proxy_host, _proxy_port)
+
+        ZenohClient.connect = _proxy_connect
+
+        from rainbow.rb_sdk.base import RBBaseSDK
 
-  // watchfiles = uvicorn's reloader. --filter python watches every *.py in the
-  // project (and ignores .venv/__pycache__/node_modules), so interdependent
-  // modules trigger reloads — not just main.py.
-  log.step("pip install -q watchfiles (dev reloader)…");
-  spawnSync(py, ["-m", "pip", "install", "-q", "watchfiles"], { cwd: root, stdio: "inherit" });
+        async def _sdk_connect_via_proxy(self, *args, **kwargs):
+            # No HTTP registration with common — host_agent already handles
+            # that. Just make sure the (proxy-backed) shared ZenohClient exists.
+            self._ensure_zenoh_client_alive()
+            return None
 
-  log.step("watchfiles → python main.py (reload on any .py change)");
+        async def _sdk_disconnect_via_proxy(self, *args, **kwargs):
+            return None
+
+        RBBaseSDK.connect = _sdk_connect_via_proxy
+        RBBaseSDK.disconnect = _sdk_disconnect_via_proxy
+    else:
+        # Fallback: no host byte-proxy — the container reverse-dials the robot itself.
+        advertise_host = os.getenv("MUSCAT_ZENOH_ADVERTISE_HOST")
+        zenoh_port = os.getenv("MUSCAT_ZENOH_PORT")
+        from rainbow.rb_sdk.base import RBBaseSDK
+        if advertise_host:
+            RBBaseSDK._detect_local_ip = staticmethod(lambda host: advertise_host)
+        if zenoh_port:
+            _orig_connect = RBBaseSDK.connect
+
+            async def _connect_with_dev_port(self, *args, **kwargs):
+                kwargs.setdefault("zenoh_port", int(zenoh_port))
+                return await _orig_connect(self, *args, **kwargs)
+
+            RBBaseSDK.connect = _connect_with_dev_port
+except Exception as exc:
+    print(f"[muscat-pk] SDK dev network patch skipped: {exc}", flush=True)
+
+import runpy
+runpy.run_path("/plugin/py/main.py", run_name="__main__")
+PY`]);
+
+  if (pluginId) log.step(`RB_PLUGIN_ID=${pluginId}`);
+  if (proxyEndpoint) log.step(`Zenoh via host byte-proxy → ${proxyEndpoint}`);
+  else if (zenohAdvertiseHost && zenohPort) log.step(`Zenoh advertise → ${zenohAdvertiseHost}:${zenohPort}`);
+  log.step("watchfiles → py/main.py (reload on any .py change in py/)");
   const child = spawn(
-    py,
-    ["-m", "watchfiles", "--filter", "python", "--target-type", "command", "python main.py", "."],
-    { cwd: root, stdio: "inherit" },
+    "docker",
+    ["exec", ...envFlags, container, "bash", "-lc",
+      "python3 -m watchfiles --filter python --target-type command 'python3 /tmp/muscat-pk-python-dev-entry.py' py"],
+    { cwd: root, stdio: ["inherit", "inherit", "pipe"] },
   );
-  child.on("exit", (code) => process.exit(code ?? 0));
+  // watchfiles prints a KeyboardInterrupt traceback on SIGTERM — suppress it
+  child.stderr.on("data", (buf) => {
+    const text = buf.toString();
+    if (!text.includes("KeyboardInterrupt") && !text.includes("raise_keyboard_interrupt")) {
+      process.stderr.write(buf);
+    }
+  });
+
+  let cleaned = false;
+  const cleanupResources = () => {
+    if (cleaned) return;
+    cleaned = true;
+    stopPortMonitor();
+    if (!child.killed && child.exitCode === null) child.kill();
+    spawnSync("docker", ["rm", "-f", container], { stdio: "ignore" });
+  };
+  const cleanup = () => {
+    cleanupResources();
+    exitAfterCleanup(0);
+  };
+  child.on("exit", (code) => {
+    cleanupResources();
+    exitAfterCleanup(code ?? 0);
+  });
+  process.once("SIGINT", cleanup);
+  process.once("SIGTERM", cleanup);
 }
 
 // ── ros2 ───────────────────────────────────────────────────────────────────────
-function runRos2(root) {
+async function runRos2(root, portRanges) {
+  const manifest = readManifest(root);
+  const isRclcpp = manifest.runtime?.rosClient === "rclcpp";
+  // Independent of Docker readiness — must still happen if Docker isn't
+  // installed/running, since that's exactly when local IDE tooling matters most.
+  if (!isRclcpp) syncIdeVenv(root); // rclpy is plain Python — rclcpp is C++, no venv needed
+
   assertDockerReady();
   const pkg = ros2PackageName(root);
   if (!pkg) throw new Error("no ROS2 package found under ros2_ws/src.");
 
-  ensureImage();
+  await ensureImage();
 
+  const pluginId = manifest.id ?? "";
   const container = `${ROS2_DEV_IMAGE}-run`;
+  const robotIp    = process.env.MUSCAT_ROBOT_HOST  ?? "";
+  const robotToken = process.env.MUSCAT_ROBOT_TOKEN ?? "";
+  const envFlags = [
+    // Same rationale as runPython(): no -t on docker exec below means
+    // rclpy's Python process stdout is block-buffered, not line-buffered.
+    "-e", "PYTHONUNBUFFERED=1",
+    ...(pluginId    ? ["-e", `RB_PLUGIN_ID=${pluginId}`]             : []),
+    ...(robotIp     ? ["-e", `MUSCAT_ROBOT_HOST=${robotIp}`]         : []),
+    ...(robotToken  ? ["-e", `MUSCAT_ROBOT_TOKEN=${robotToken}`]     : []),
+    ...portEnvFlags(portRanges),
+  ];
   const docker = (args, opts = {}) =>
     spawnSync("docker", args, { cwd: root, stdio: "inherit", ...opts });
 
@@ -81,10 +429,11 @@ function runRos2(root) {
   docker(["rm", "-f", container], { stdio: "ignore" });
   log.step("starting ROS2 dev container…");
   const up = docker(
-    ["run", "-d", "--name", container, "-v", `${root}:/plugin`, "-w", "/plugin", ROS2_DEV_IMAGE, "sleep", "infinity"],
+    ["run", "-d", "--name", container, "-e", "PIP_ROOT_USER_ACTION=ignore", "-v", `${root}:/plugin`, "-w", "/plugin", ROS2_DEV_IMAGE, "sleep", "infinity"],
     { stdio: "inherit" },
   );
   if (up.status !== 0) throw new Error("failed to start dev container.");
+  const stopPortMonitor = startPortContractMonitor({ container, ranges: portRanges, log });
 
   // one-time deps + symlink build (edits to .py reflect without rebuilding)
   log.step("pip install + colcon build --symlink-install (once)…");
@@ -97,21 +446,22 @@ function runRos2(root) {
     log.step(`ros2 run ${pkg} ${pkg}_node`);
     child = spawn(
       "docker",
-      ["exec", container, "bash", "-lc",
+      ["exec", ...envFlags, container, "bash", "-lc",
         `cd ros2_ws && source install/setup.bash && ros2 run ${pkg} ${pkg}_node`],
       { cwd: root, stdio: "inherit" },
     );
   };
   startNode();
 
-  // restart node on source change; rebuild only when package metadata changes
+  // restart node on source change. rclpy reflects .py edits live (symlink-install);
+  // rclcpp (C++) and package-metadata changes require a colcon rebuild.
   let timer = null;
   const onChange = (_event, filename) => {
     clearTimeout(timer);
     timer = setTimeout(() => {
       const structural = filename && /(setup\.py|package\.xml|CMakeLists\.txt)$/.test(String(filename));
-      if (structural) {
-        log.info("package metadata changed — colcon rebuild…");
+      if (structural || isRclcpp) {
+        log.info(structural ? "package metadata changed — colcon rebuild…" : "source changed — colcon rebuild…");
         docker(["exec", container, "bash", "-lc", "cd ros2_ws && colcon build --symlink-install"]);
       } else {
         log.info("source changed — restarting node…");
@@ -125,17 +475,115 @@ function runRos2(root) {
   }
 
   const cleanup = () => {
+    stopPortMonitor();
+    if (child) child.kill();
+    spawnSync("docker", ["rm", "-f", container], { stdio: "ignore" });
+    exitAfterCleanup(0);
+  };
+  process.on("SIGINT", cleanup);
+  process.on("SIGTERM", cleanup);
+}
+
+// ── cpp ──────────────────────────────────────────────────────────────────────
+async function runCpp(root, portRanges) {
+  cppAssertDockerReady();
+  const manifest = readManifest(root);
+  const entry = manifest.runtime?.entry;
+  if (!entry) throw new Error("runtime.entry (the built executable name) is required for cpp.");
+
+  await cppEnsureImage();
+
+  const pluginId = manifest.id ?? "";
+  const container = `${CPP_DEV_IMAGE}-run`;
+  const robotIp    = process.env.MUSCAT_ROBOT_HOST  ?? "";
+  const robotToken = process.env.MUSCAT_ROBOT_TOKEN ?? "";
+  const envFlags = [
+    ...(pluginId    ? ["-e", `RB_PLUGIN_ID=${pluginId}`]             : []),
+    ...(robotIp     ? ["-e", `MUSCAT_ROBOT_HOST=${robotIp}`]         : []),
+    ...(robotToken  ? ["-e", `MUSCAT_ROBOT_TOKEN=${robotToken}`]     : []),
+    ...portEnvFlags(portRanges),
+  ];
+  const docker = (args, opts = {}) =>
+    spawnSync("docker", args, { cwd: root, stdio: "inherit", ...opts });
+
+  // start a warm, long-lived container with the plugin mounted
+  docker(["rm", "-f", container], { stdio: "ignore" });
+  log.step("starting C++ dev container…");
+  const up = docker(
+    ["run", "-d", "--name", container, "-v", `${root}:/plugin`, "-w", "/plugin", CPP_DEV_IMAGE, "sleep", "infinity"],
+    { stdio: "inherit" },
+  );
+  if (up.status !== 0) throw new Error("failed to start dev container.");
+  const stopPortMonitor = startPortContractMonitor({ container, ranges: portRanges, log });
+
+  const build = () => {
+    log.step("cmake build…");
+    return docker(["exec", container, "bash", "-lc",
+      "cmake -S cpp -B cpp/build -DCMAKE_BUILD_TYPE=Debug && cmake --build cpp/build -j"]);
+  };
+  build();
+
+  let child = null;
+  const startBin = () => {
+    if (child) child.kill();
+    log.step(`run cpp/build/${entry}`);
+    child = spawn(
+      "docker",
+      ["exec", ...envFlags, container, "bash", "-lc", `./cpp/build/${entry}`],
+      { cwd: root, stdio: "inherit" },
+    );
+  };
+  startBin();
+
+  // rebuild + restart on C++ source changes; ignore the build/ output dir.
+  let timer = null;
+  const onChange = (_event, filename) => {
+    if (filename && String(filename).startsWith("build")) return;
+    clearTimeout(timer);
+    timer = setTimeout(() => {
+      log.info("source changed — rebuilding…");
+      const r = build();
+      if (r.status === 0) startBin();
+      else log.warn("build failed — keeping previous binary");
+    }, 300);
+  };
+  const cppDir = resolve(root, "cpp");
+  if (existsSync(cppDir)) watch(cppDir, { recursive: true }, onChange);
+
+  const cleanup = () => {
+    stopPortMonitor();
     if (child) child.kill();
     spawnSync("docker", ["rm", "-f", container], { stdio: "ignore" });
-    process.exit(0);
+    exitAfterCleanup(0);
   };
   process.on("SIGINT", cleanup);
   process.on("SIGTERM", cleanup);
 }
 
-export async function runDevBack() {
+function warnManifest(root) {
+  const manifest = readManifest(root);
+  if (!manifest || Object.keys(manifest).length === 0) return;
+  const errors = validateManifest(manifest);
+  for (const e of errors) log.warn(`manifest.json: ${e}`);
+}
+
+export async function runDevBack(args = []) {
   const root = findPluginRoot();
+  warnManifest(root);
+  const portRanges = assertManifestPorts(root);
+  if (portRanges.length > 0 && process.env.MUSCAT_PK_PORTS_PRECHECKED !== "1")
+    log.step(`plugin backend ports declared: ${formatPortRanges(portRanges)}`);
+  ensureDocker();
+  const { robotIp, robotToken } = await promptRobotConnection(args);
+  if (robotIp)    process.env.MUSCAT_ROBOT_HOST  = robotIp;
+  if (robotToken) process.env.MUSCAT_ROBOT_TOKEN = robotToken;
+  // Standalone `dev:back` against a remote robot needs the Zenoh reverse-path
+  // advertise host/port too (idempotent — `muscat-pk dev` already set these).
+  // Byte-proxy mode (a host-side host_agent set MUSCAT_PROXY_ENDPOINT) makes
+  // the container speak the proxy protocol instead, so it needs no reverse-dial.
+  if (!process.env.MUSCAT_PROXY_ENDPOINT) await ensureRemoteZenohEnv(robotIp, { log });
   const type = manifestRuntime(root);
-  if (type === "ros2") return runRos2(root);
-  return runPython(root);
+  if (type === "ros2") return await runRos2(root, portRanges);
+  if (type === "cpp") return await runCpp(root, portRanges);
+  return await runPython(root, portRanges);
 }