@rainbow-robotics/muscat-plugin-kit 0.10.1 → 0.10.2-dev.0

package/README.ko.md

@@ -1186,3 +1186,4 @@ args = ["mcp"]
 | `get_variable`이 `None` | 실행 중인 프로그램이 없음 (실행기 상태는 `IS_DEV=true`일 때도 `None`) |
 | 재시작 후 외부 호출 504 | gateway가 이전 소켓을 정리할 때까지 최대 1분 대기 |
 | 다른 버전의 로컬 설치가 실행됨 | 정상 동작 — 프로젝트 로컬 kit이 우선. `muscat-pk update` |
+| 터미널을 닫았는데 `dev` 컨테이너가 남아 있음 | `~/.muscat-pk/dev-trace.log` 확인 — `dev`가 종료 단계(시그널, `docker rm -f` 결과)를 매번 이어 적고, 시작할 때마다 비웁니다 |

package/README.md

@@ -1186,3 +1186,4 @@ Inside the backend container: `RB_PLUGIN_ID` (the plugin / dev id), `RB_PLUGIN_P
 | `get_variable` returns `None` | no program running (or `IS_DEV=true` for executor state) |
 | external call 504 after restart | wait up to a minute for the gateway to drop the old socket |
 | a newer/older local install answers | expected — the project's local kit wins; `muscat-pk update` |
+| `dev` containers are left running after the terminal closes | read `~/.muscat-pk/dev-trace.log` — `dev` appends each stop step (signal, `docker rm -f` result) and resets it on every start |

package/cli/bin/muscat-pk.mjs

@@ -5,7 +5,7 @@ import { readFileSync, realpathSync } from "node:fs";
 import { resolve } from "node:path";
 import { fileURLToPath } from "node:url";
 import { spawnSync } from "node:child_process";
-import { color, compareKitVersions, kitVersion, log, resolveLocalCliBin } from "../src/util.mjs";
+import { color, compareKitVersions, kitVersion, log, resolveLocalCliBin, trace } from "../src/util.mjs";
 import { runNew } from "../src/new.mjs";
 import { runBuild } from "../src/build.mjs";
 import { runDevUi } from "../src/devUi.mjs";
@@ -63,6 +63,7 @@ if (isBinaryMode && !process.env.MUSCAT_PK_VERSION) {
     // Bun 바이너리의 execPath는 스크립트 인자를 실행하지 않으니 PATH의 node로 넘긴다.
     const runtime = isBinaryMode ? "node" : process.execPath;
     const r = spawnSync(runtime, [localBin, ...process.argv.slice(2)], { stdio: "inherit" });
+    if (process.argv[2]?.startsWith("dev")) trace(`local install exited: status ${r.status}, signal ${r.signal}`);
     if (r.error) {
       log.warn(`Failed to run local install via ${runtime} (${r.error.code}); continuing with this binary.`);
       return;

package/cli/src/dev.mjs

@@ -1,6 +1,6 @@
 // muscat-pk dev — run the local Muscat runtime (gateway, MediaMTX, common), robot simulators (--sim),
 // dev:ui, and dev:back together.
-import { spawn, spawnSync } from "node:child_process";
+import { spawn } from "node:child_process";
 import { existsSync } from "node:fs";
 import { connect as netConnect } from "node:net";
 import { resolve } from "node:path";
@@ -13,6 +13,7 @@ import { resolveSim, startSim, stopSims } from "./sim.mjs";
 import { assertManifestPorts, assertManifestVariables, readManifest } from "./manifest.mjs";
 import { devPluginId } from "./devId.mjs";
 import {
+  dockerRm,
   ensureDocker,
   ensureIdeVenv,
   findPluginRoot,
@@ -20,6 +21,8 @@ import {
   parseArgs,
   prompt,
   promptRobotConnection,
+  startTrace,
+  trace,
   venvPython,
 } from "./util.mjs";
 import { ensureRemoteZenohEnv, isRemoteRobot, isWsl } from "./zenohDev.mjs";
@@ -114,6 +117,7 @@ async function maybeStartHostAgent(root, { robotIp, robotToken }) {
 }
 
 export async function runDev(args = []) {
+  startTrace();
   const root = findPluginRoot();
   await claimDevSession(root, "dev");
   assertManifestVariables(root);
@@ -137,14 +141,17 @@ export async function runDev(args = []) {
   const cleanup = () => {
     if (cleaned) return;
     cleaned = true;
+    trace(`cleanup (host_agent ${hostAgent?.pid ?? "-"}, dev:back ${backend?.pid ?? "-"})`);
     if (hostAgent && hostAgent.exitCode === null) hostAgent.kill();
     if (backend && backend.exitCode === null) backend.kill();
     stopDevBackContainers();
     stopSims();
-    spawnSync("docker", ["rm", "-f", MUSCAT_CONTAINER], { stdio: "ignore" });
+    dockerRm(MUSCAT_CONTAINER);
+    trace("cleanup done");
   };
   for (const signal of ["SIGINT", "SIGTERM", "SIGHUP"]) // SIGHUP: terminal closed (VS Code re-running Dev disposes it)
     process.once(signal, () => {
+      trace(signal);
       cleanup();
       // Once dev:ui is up its own handler stops the UI and exits.
       if (!process.listenerCount(signal)) process.exit(130);

package/cli/src/devBack.mjs

@@ -11,7 +11,7 @@ import { spawn, spawnSync } from "node:child_process";
 import { existsSync, readFileSync, watch, writeFileSync } from "node:fs";
 import { isIP } from "node:net";
 import { resolve } from "node:path";
-import { dockerUserFlags, ensureDevDir, ensureDocker, ensureIdeVenv, findPluginRoot, log, promptRobotConnection, realtimeFlags } from "./util.mjs";
+import { dockerRm, dockerUserFlags, ensureDevDir, ensureDocker, ensureIdeVenv, findPluginRoot, log, promptRobotConnection, realtimeFlags, trace } from "./util.mjs";
 import { ensureRemoteZenohEnv, getFreePort, isRemoteRobot, usesHostNetwork } from "./zenohDev.mjs";
 import { claimDevSession, DEV_CONTAINER, stopDevBackContainers } from "./devSession.mjs";
 import { GATEWAY_PORT, localMuscatContainer, robotHasMuscat } from "./muscatLocal.mjs";
@@ -489,9 +489,10 @@ PY`]);
   const cleanupResources = () => {
     if (cleaned) return;
     cleaned = true;
+    trace("dev:back cleanup");
     stopPortMonitor();
     if (!child.killed && child.exitCode === null) child.kill();
-    spawnSync("docker", ["rm", "-f", container], { stdio: "ignore" });
+    dockerRm(container);
   };
   const cleanup = () => {
     cleanupResources();
@@ -596,9 +597,10 @@ async function runRos2(root, portRanges, robotGateway) {
   }
 
   const cleanup = () => {
+    trace("dev:back cleanup");
     stopPortMonitor();
     if (child) child.kill();
-    spawnSync("docker", ["rm", "-f", container], { stdio: "ignore" });
+    dockerRm(container);
     process.exit(0);
   };
   process.on("SIGINT", cleanup);
@@ -672,9 +674,10 @@ async function runCpp(root, portRanges, robotGateway) {
   if (existsSync(cppDir)) watch(cppDir, { recursive: true }, onChange);
 
   const cleanup = () => {
+    trace("dev:back cleanup");
     stopPortMonitor();
     if (child) child.kill();
-    spawnSync("docker", ["rm", "-f", container], { stdio: "ignore" });
+    dockerRm(container);
     process.exit(0);
   };
   process.on("SIGINT", cleanup);
@@ -740,6 +743,7 @@ export async function runDevBack(args = []) {
   // cleanup is not registered yet, so remove the container here. Once it is, it handles the signal.
   for (const signal of ["SIGINT", "SIGTERM", "SIGHUP"])
     process.once(signal, () => {
+      trace(`dev:back ${signal}`);
       if (process.listenerCount(signal)) return;
       stopDevBackContainers();
       process.exit(130);

package/cli/src/devSession.mjs

@@ -5,7 +5,7 @@ import { spawnSync } from "node:child_process";
 import { mkdirSync, readFileSync, rmSync, writeFileSync } from "node:fs";
 import { homedir } from "node:os";
 import { dirname, resolve } from "node:path";
-import { log, prompt } from "./util.mjs";
+import { dockerRm, log, prompt, trace } from "./util.mjs";
 
 export const DEV_CONTAINER = "muscat-pk-dev-run";
 // Per-runtime names from older kits.
@@ -13,7 +13,7 @@ const OLD_CONTAINERS = ["muscat-pk-python-dev-run", "muscat-pk-ros2-dev-run", "m
 const LOCK = resolve(homedir(), ".muscat-pk", "dev-session.json");
 
 export function stopDevBackContainers() {
-  for (const c of [DEV_CONTAINER, ...OLD_CONTAINERS]) spawnSync("docker", ["rm", "-f", c], { stdio: "ignore" });
+  dockerRm(DEV_CONTAINER, ...OLD_CONTAINERS);
 }
 
 const alive = (pid) => {
@@ -35,6 +35,7 @@ function runningSession() {
 }
 
 async function stopSession(pid) {
+  trace(`stopping the running dev session ${pid}`);
   // SIGINT runs its own cleanup (UI, host_agent, containers). Windows has no signals — kill the tree.
   if (process.platform === "win32") spawnSync("taskkill", ["/pid", String(pid), "/T", "/F"], { stdio: "ignore" });
   else process.kill(pid, "SIGINT");

package/cli/src/devUi.mjs

@@ -6,7 +6,7 @@ import { cpSync, existsSync, mkdirSync, readFileSync, rmSync, watch, writeFileSy
 import { homedir } from "node:os";
 import { dirname, resolve } from "node:path";
 import { fileURLToPath } from "node:url";
-import { checkKitUpdate, ensureDevDir, findPluginRoot, hasBin, kitRoot, log, openBrowser, parseArgs, prompt } from "./util.mjs";
+import { checkKitUpdate, ensureDevDir, findPluginRoot, hasBin, kitRoot, log, openBrowser, parseArgs, prompt, trace } from "./util.mjs";
 import { devPluginId } from "./devId.mjs";
 import { readManifest } from "./manifest.mjs";
 import { ensureLocalMuscat, GATEWAY_PORT, localFullMuscat, robotHasMuscat } from "./muscatLocal.mjs";
@@ -204,6 +204,7 @@ export async function runDevUi(args = []) {
   };
   for (const signal of ["SIGINT", "SIGTERM", "SIGHUP"])
     process.once(signal, () => {
+      trace(`dev:ui ${signal}`);
       stopProcs();
       process.exit(130);
     });

package/cli/src/sim.mjs

@@ -2,7 +2,7 @@
 // Cobot: coreSW (rainbowroboticsofficial/cobot-sim) per component, joined to common's Zenoh.
 // RB-Y1: rby1-sim + Xvfb built locally (it needs a GLFW window; there is no headless mode yet).
 import { spawnSync } from "node:child_process";
-import { canSkipImageBuild, log } from "./util.mjs";
+import { canSkipImageBuild, dockerRm, log, trace } from "./util.mjs";
 import { MUSCAT_NETWORK } from "./muscatLocal.mjs";
 
 const COBOT_IMAGE = "rainbowroboticsofficial/cobot-sim";
@@ -170,8 +170,9 @@ async function startContainers(sim) {
 
 export function stopSims() {
   const ids = (spawnSync("docker", ["ps", "-aq", "--filter", `label=${SIM_LABEL}=true`], { encoding: "utf8" }).stdout ?? "").split("\n").filter(Boolean);
+  trace(`sims: ${ids.length}`);
   if (!ids.length) return;
   // The cobot coreSWs share these under --ipc host; drop them so the next run starts from a fresh segment.
   spawnSync("docker", ["exec", ids[0], "sh", "-c", "rm -f /dev/shm/RB_COBOT_SHM /dev/shm/RB_MESSAGE_SHM"], { stdio: "ignore" });
-  spawnSync("docker", ["rm", "-f", ...ids], { stdio: "ignore" });
+  dockerRm(...ids);
 }

package/cli/src/util.mjs

@@ -1,9 +1,9 @@
 // Shared helpers for muscat-pk.
 import { execSync, spawn, spawnSync } from "node:child_process";
 import { createHash } from "node:crypto";
-import { existsSync, mkdirSync, readdirSync, readFileSync, realpathSync, writeFileSync } from "node:fs";
+import { appendFileSync, existsSync, mkdirSync, readdirSync, readFileSync, realpathSync, writeFileSync } from "node:fs";
 import { dirname, relative, resolve, sep } from "node:path";
-import { tmpdir } from "node:os";
+import { homedir, tmpdir } from "node:os";
 import { fileURLToPath } from "node:url";
 import { createInterface } from "node:readline/promises";
 
@@ -126,6 +126,36 @@ export function parseArgs(args, { booleans = [] } = {}) {
 }
 
 /** Prompt user for input. Returns trimmed answer or fallback (non-TTY or empty). */
+// How `dev` stops: each step is appended as it runs, so a process killed mid-cleanup (Windows ends a
+// console's processes a few seconds after it closes) still shows how far it got.
+export const TRACE_FILE = resolve(homedir(), ".muscat-pk", "dev-trace.log");
+let traceHooked = false;
+export function trace(msg) {
+  try {
+    appendFileSync(TRACE_FILE, `${new Date().toISOString()} ${process.pid} ${process.argv[2] ?? ""} ${msg}\n`);
+  } catch {
+    return;
+  }
+  if (!traceHooked) {
+    traceHooked = true;
+    process.on("exit", (code) => trace(`exit ${code}`));
+  }
+}
+export function startTrace() {
+  try {
+    mkdirSync(dirname(TRACE_FILE), { recursive: true });
+    writeFileSync(TRACE_FILE, "");
+  } catch {
+    /* tracing is best-effort */
+  }
+  trace(`start ${process.platform} kit ${kitVersion()} ${process.argv.slice(2).join(" ")}`);
+}
+export function dockerRm(...names) {
+  const r = spawnSync("docker", ["rm", "-f", ...names], { encoding: "utf8" });
+  trace(`docker rm -f ${names.join(" ")} → ${r.status ?? r.error?.code} ${(r.stderr ?? "").trim().replace(/\s*\n\s*/g, " | ")}`);
+  return r;
+}
+
 export async function prompt(question, fallback = "") {
   if (!process.stdin.isTTY) return fallback;
   const rl = createInterface({ input: process.stdin, output: process.stdout });

package/cli/storybook-dist/assets/{Color-YHDXOIA2-pCKrjUal.js → Color-YHDXOIA2-HQqhLemJ.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-CkB0GfaI.js";import{r as p,R as m}from"./index-Dmy2JGbm.js";import"./iframe-B-BmTsxV.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 c=me(),h={};for(let e of Object.keys(c))h[c[e]]=e;var i={rgb:{channels:3,labels:"rgb"},hsl:{channels:3,labels:"hsl"},hsv:{channels:3,labels:"hsv"},hwb:{channels:3,labels:"hwb"},cmyk:{channels:4,labels:"cmyk"},xyz:{channels:3,labels:"xyz"},lab:{channels:3,labels:"lab"},lch:{channels:3,labels:"lch"},hex:{channels:1,labels:["hex"]},keyword:{channels:1,labels:["keyword"]},ansi16:{channels:1,labels:["ansi16"]},ansi256:{channels:1,labels:["ansi256"]},hcg:{channels:3,labels:["h","c","g"]},apple:{channels:3,labels:["r16","g16","b16"]},gray:{channels:1,labels:["gray"]}};o.exports=i;for(let e of Object.keys(i)){if(!("channels"in i[e]))throw new Error("missing channels property: "+e);if(!("labels"in i[e]))throw new Error("missing channel labels property: "+e);if(i[e].labels.length!==i[e].channels)throw new Error("channel and label counts mismatch: "+e);let{channels:t,labels:r}=i[e];delete i[e].channels,delete 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package/cli/storybook-dist/assets/{Docs-B_QaTtz8.js → Docs-B5rPlqEd.js}

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package/cli/storybook-dist/assets/{Docs-CryDGmfh.js → Docs-BEJVv1c1.js}

@@ -1,4 +1,4 @@
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