@rainbow-robotics/muscat-plugin-kit 1.10.1-dev.1 → 1.10.1

package/cli/src/python.mjs

@@ -1,112 +1,112 @@
-// Shared Python Docker helpers (Ubuntu 24.04 + Python 3.12 — matches the robot).
-// Used by dev:back (hot-reload) and build (lock + wheel vendor).
-import { spawnSync } from "node:child_process";
-import { existsSync, readFileSync } from "node:fs";
-import { dirname, resolve } from "node:path";
-import { canSkipImageBuild, imageKey, imageKeyLabel, dockerUserFlags, hasBin, log, pruneMuskatImages, resolveDockerfile, buildCacheFlags } from "./util.mjs";
-
-export const PYTHON_DEV_IMAGE = "muscat-pk-python-dev";
-
-export function assertDockerReady() {
-  if (!hasBin("docker")) {
-    throw new Error("Docker not found. The Python backend runs in a container (Ubuntu 24.04 + Python 3.12).");
-  }
-}
-
-/** Build the dev image from the kit's bundled Dockerfile (Docker layer-caches). */
-export async function ensureImage(image = PYTHON_DEV_IMAGE, { platform = null } = {}) {
-  const dockerfile = await resolveDockerfile("Dockerfile.python");
-  const key = imageKey(dockerfile);
-  if (canSkipImageBuild(image, key)) {
-    return;
-  }
-  log.step(`docker build -t ${image}${platform ? ` (${platform})` : ""} (first run is slow, then cached)…`);
-  const platformFlags = platform ? ["--platform", platform] : [];
-  const r = spawnSync(
-    "docker",
-    ["build", ...buildCacheFlags(), ...platformFlags, ...imageKeyLabel(key), "-t", image, "-f", dockerfile, dirname(dockerfile)],
-    { stdio: "inherit" },
-  );
-  if (r.status !== 0) throw new Error("docker build failed.");
-  pruneMuskatImages();
-}
-
-// pip --platform does NOT auto-expand manylinux tags (unlike sys_tags()) — exact match only.
-// Specifying all common glibc milestones ensures packages built for any Ubuntu era are found.
-const PIP_PLATFORM = {
-  amd64: [
-    "manylinux_2_5_x86_64",
-    "manylinux_2_17_x86_64",
-    "manylinux_2_27_x86_64",
-    "manylinux_2_28_x86_64",
-    "manylinux_2_34_x86_64",
-    "manylinux_2_35_x86_64",
-    "manylinux_2_39_x86_64",
-    "linux_x86_64",
-  ],
-  arm64: [
-    "manylinux_2_17_aarch64",
-    "manylinux_2_27_aarch64",
-    "manylinux_2_28_aarch64",
-    "manylinux_2_34_aarch64",
-    "manylinux_2_35_aarch64",
-    "manylinux_2_39_aarch64",
-    "linux_aarch64",
-  ],
-};
-
-export async function lockAndVendor(pluginRoot, archs = ["amd64", "arm64"]) {
-  // ponytail: pip --platform used intentionally (not QEMU) — downloads wheels without running target arch code.
-  const reqTxt = resolve(pluginRoot, "requirements.txt");
-  if (!existsSync(reqTxt)) {
-    log.warn("requirements.txt not found — lock/vendor skipped");
-    return;
-  }
-
-  await ensureImage();
-
-  // A pinned pre-release (e.g. rainbow-rb-sdk==0.1.4.dev1) pins its sibling rainbow-rb-*
-  // pre-releases too; uv rejects those transitive pre-releases unless allowed.
-  const reqText = readFileSync(resolve(pluginRoot, "requirements.txt"), "utf8");
-  const prerelease = /==\s*\S*\d(a|b|rc|\.dev)\d*\s*$/im.test(reqText) ? " --prerelease=allow" : "";
-  log.step(`generating lock (uv pip compile${prerelease})…`);
-  const lockResult = spawnSync(
-    "docker",
-    [
-      "run", "--rm",
-      ...dockerUserFlags(),
-      "-v", `${pluginRoot}:/plugin`,
-      PYTHON_DEV_IMAGE,
-      "bash", "-c",
-      "set -e && cd /plugin && mkdir -p dist && uv pip compile requirements.txt --python-version 3.12 -o dist/requirements.lock" + prerelease,
-    ],
-    { stdio: "inherit" },
-  );
-  if (lockResult.status !== 0) throw new Error("lock generation failed (uv pip compile)");
-  log.ok("dist/requirements.lock ready");
-
-  for (const arch of archs) {
-    const pipPlatforms = PIP_PLATFORM[arch];
-    if (!pipPlatforms) throw new Error(`unknown arch '${arch}'`);
-    log.step(`vendoring wheels for ${arch}…`);
-    const r = spawnSync(
-      "docker",
-      [
-        "run", "--rm",
-        ...dockerUserFlags(),
-        "-e", "PIP_ROOT_USER_ACTION=ignore",
-        "-v", `${pluginRoot}:/plugin`,
-        "-w", "/plugin",
-        PYTHON_DEV_IMAGE,
-        "bash", "-c",
-        "mkdir -p dist/wheels && pip3 download -r dist/requirements.lock --no-deps --only-binary=:all: -d dist/wheels -q " +
-          "--python-version 312 --implementation cp --abi cp312 " +
-          pipPlatforms.map((p) => `--platform ${p}`).join(" "),
-      ],
-      { stdio: "inherit" },
-    );
-    // A ZIP missing wheels fails to import on the robot — stop instead.
-    if (r.status !== 0) throw new Error(`wheel download failed for ${arch} (see pip output above)`);
-    log.ok(`dist/wheels/ ready (${arch})`);
-  }
-}
+// Shared Python Docker helpers (Ubuntu 24.04 + Python 3.12 — matches the robot).
+// Used by dev:back (hot-reload) and build (lock + wheel vendor).
+import { spawnSync } from "node:child_process";
+import { existsSync, readFileSync } from "node:fs";
+import { dirname, resolve } from "node:path";
+import { canSkipImageBuild, imageKey, imageKeyLabel, dockerUserFlags, hasBin, log, pruneMuskatImages, resolveDockerfile, buildCacheFlags } from "./util.mjs";
+
+export const PYTHON_DEV_IMAGE = "muscat-pk-python-dev";
+
+export function assertDockerReady() {
+  if (!hasBin("docker")) {
+    throw new Error("Docker not found. The Python backend runs in a container (Ubuntu 24.04 + Python 3.12).");
+  }
+}
+
+/** Build the dev image from the kit's bundled Dockerfile (Docker layer-caches). */
+export async function ensureImage(image = PYTHON_DEV_IMAGE, { platform = null } = {}) {
+  const dockerfile = await resolveDockerfile("Dockerfile.python");
+  const key = imageKey(dockerfile);
+  if (canSkipImageBuild(image, key)) {
+    return;
+  }
+  log.step(`docker build -t ${image}${platform ? ` (${platform})` : ""} (first run is slow, then cached)…`);
+  const platformFlags = platform ? ["--platform", platform] : [];
+  const r = spawnSync(
+    "docker",
+    ["build", ...buildCacheFlags(), ...platformFlags, ...imageKeyLabel(key), "-t", image, "-f", dockerfile, dirname(dockerfile)],
+    { stdio: "inherit" },
+  );
+  if (r.status !== 0) throw new Error("docker build failed.");
+  pruneMuskatImages();
+}
+
+// pip --platform does NOT auto-expand manylinux tags (unlike sys_tags()) — exact match only.
+// Specifying all common glibc milestones ensures packages built for any Ubuntu era are found.
+const PIP_PLATFORM = {
+  amd64: [
+    "manylinux_2_5_x86_64",
+    "manylinux_2_17_x86_64",
+    "manylinux_2_27_x86_64",
+    "manylinux_2_28_x86_64",
+    "manylinux_2_34_x86_64",
+    "manylinux_2_35_x86_64",
+    "manylinux_2_39_x86_64",
+    "linux_x86_64",
+  ],
+  arm64: [
+    "manylinux_2_17_aarch64",
+    "manylinux_2_27_aarch64",
+    "manylinux_2_28_aarch64",
+    "manylinux_2_34_aarch64",
+    "manylinux_2_35_aarch64",
+    "manylinux_2_39_aarch64",
+    "linux_aarch64",
+  ],
+};
+
+export async function lockAndVendor(pluginRoot, archs = ["amd64", "arm64"]) {
+  // ponytail: pip --platform used intentionally (not QEMU) — downloads wheels without running target arch code.
+  const reqTxt = resolve(pluginRoot, "requirements.txt");
+  if (!existsSync(reqTxt)) {
+    log.warn("requirements.txt not found — lock/vendor skipped");
+    return;
+  }
+
+  await ensureImage();
+
+  // A pinned pre-release (e.g. rainbow-rb-sdk==0.1.4.dev1) pins its sibling rainbow-rb-*
+  // pre-releases too; uv rejects those transitive pre-releases unless allowed.
+  const reqText = readFileSync(resolve(pluginRoot, "requirements.txt"), "utf8");
+  const prerelease = /==\s*\S*\d(a|b|rc|\.dev)\d*\s*$/im.test(reqText) ? " --prerelease=allow" : "";
+  log.step(`generating lock (uv pip compile${prerelease})…`);
+  const lockResult = spawnSync(
+    "docker",
+    [
+      "run", "--rm",
+      ...dockerUserFlags(),
+      "-v", `${pluginRoot}:/plugin`,
+      PYTHON_DEV_IMAGE,
+      "bash", "-c",
+      "set -e && cd /plugin && mkdir -p dist && uv pip compile requirements.txt --python-version 3.12 -o dist/requirements.lock" + prerelease,
+    ],
+    { stdio: "inherit" },
+  );
+  if (lockResult.status !== 0) throw new Error("lock generation failed (uv pip compile)");
+  log.ok("dist/requirements.lock ready");
+
+  for (const arch of archs) {
+    const pipPlatforms = PIP_PLATFORM[arch];
+    if (!pipPlatforms) throw new Error(`unknown arch '${arch}'`);
+    log.step(`vendoring wheels for ${arch}…`);
+    const r = spawnSync(
+      "docker",
+      [
+        "run", "--rm",
+        ...dockerUserFlags(),
+        "-e", "PIP_ROOT_USER_ACTION=ignore",
+        "-v", `${pluginRoot}:/plugin`,
+        "-w", "/plugin",
+        PYTHON_DEV_IMAGE,
+        "bash", "-c",
+        "mkdir -p dist/wheels && pip3 download -r dist/requirements.lock --no-deps --only-binary=:all: -d dist/wheels -q " +
+          "--python-version 312 --implementation cp --abi cp312 " +
+          pipPlatforms.map((p) => `--platform ${p}`).join(" "),
+      ],
+      { stdio: "inherit" },
+    );
+    // A ZIP missing wheels fails to import on the robot — stop instead.
+    if (r.status !== 0) throw new Error(`wheel download failed for ${arch} (see pip output above)`);
+    log.ok(`dist/wheels/ ready (${arch})`);
+  }
+}

package/cli/src/ros2.mjs

@@ -1,109 +1,109 @@
-// Shared ROS2 Docker helpers (Jazzy + Python 3.12 — matches the robot backend).
-// Used by dev:back (interactive dev loop) and build (export install/ into the ZIP).
-import { spawnSync } from "node:child_process";
-import { existsSync, readdirSync } from "node:fs";
-import { dirname, resolve } from "node:path";
-import { canSkipImageBuild, cppSdkVersion, pluginRootOrNull, imageKey, imageKeyLabel, dockerUserFlags, hasBin, log, pruneMuskatImages, resolveDockerfile, buildCacheFlags } from "./util.mjs";
-import { syncCppIde } from "./cppIde.mjs";
-
-export const ROS2_DEV_IMAGE = "muscat-pk-ros2-dev";
-
-/** First package directory under ros2_ws/src (the colcon package name). */
-export function ros2PackageName(root) {
-  const srcDir = resolve(root, "ros2_ws/src");
-  if (!existsSync(srcDir)) return null;
-  const dirs = readdirSync(srcDir, { withFileTypes: true })
-    .filter((d) => d.isDirectory())
-    .map((d) => d.name);
-  return dirs[0] ?? null;
-}
-
-export function assertDockerReady() {
-  if (!hasBin("docker")) {
-    throw new Error("Docker not found. ROS2 needs Docker (Jazzy + Python 3.12 container).");
-  }
-}
-
-export const ARCH_DOCKER_PLATFORM = {
-  amd64: "linux/amd64",
-  arm64: "linux/arm64",
-};
-
-/** Build the dev image from the kit's bundled Dockerfile (Docker layer-caches). */
-export async function ensureImage(image = ROS2_DEV_IMAGE, { platform = null, root = pluginRootOrNull() } = {}) {
-  await buildImage(image, platform, root);
-  // Dev images feed the editor's SDK headers: the native one (dev) or the host-arch one (build).
-  const hostArch = process.arch === "arm64" ? "arm64" : "amd64";
-  if (root && (image === ROS2_DEV_IMAGE || image === `${ROS2_DEV_IMAGE}-${hostArch}`)) syncCppIde(root, image);
-}
-
-async function buildImage(image, platform, root) {
-  const dockerfile = await resolveDockerfile("Dockerfile.dev");
-  const sdkVer = cppSdkVersion(root);
-  const key = imageKey(dockerfile, sdkVer ?? "");
-  if (canSkipImageBuild(image, key)) {
-    return;
-  }
-  log.step(`docker build -t ${image}${platform ? ` (${platform})` : ""} (first run is slow, then cached)…`);
-  const platformFlags = platform ? ["--platform", platform] : [];
-  const buildArgs = [...(sdkVer ? ["--build-arg", `RB_SDK_VERSION=${sdkVer}`] : []), ...imageKeyLabel(key)];
-  const r = spawnSync(
-    "docker",
-    ["build", ...buildCacheFlags(), ...platformFlags, ...buildArgs, "-t", image, "-f", dockerfile, dirname(dockerfile)],
-    { stdio: "inherit" },
-  );
-  if (r.status !== 0) throw new Error("docker build failed.");
-  pruneMuskatImages();
-}
-
-/**
- * Run `colcon build` inside the container, producing ros2_ws/install on the host
- * (the workspace is mounted). symlink=true for dev (fast, edit-in-place);
- * symlink=false for export builds that ship in the ZIP (real copies, relocatable).
- */
-/**
- * arch=null → dev mode, builds to ros2_ws/install/ (native)
- * arch="amd64"|"arm64" → export mode, builds to ros2_ws/install-{arch}/ using arch-specific image
- */
-/**
- * symlink=true (dev): ros2_ws/install/ — local dev workspace, not for ZIP
- * symlink=false, arch=null (rclpy export): dist/ros2_ws/install/
- * symlink=false, arch="amd64"|"arm64" (rclcpp export): dist/ros2_ws/install-{arch}/
- */
-export function colconBuild(root, { image = ROS2_DEV_IMAGE, symlink = false, arch = null } = {}) {
-  // paths are relative to ros2_ws/ inside the container
-  let installBase;
-  if (symlink) {
-    installBase = "install";
-  } else if (arch) {
-    installBase = `../dist/ros2_ws/install-${arch}`;
-  } else {
-    installBase = "../dist/ros2_ws/install";
-  }
-  const flag = symlink ? "--symlink-install" : "";
-  const buildBase = symlink ? "build" : arch ? `build-${arch}` : "build-dist";
-  const script = [
-    "pip install -r requirements.txt --break-system-packages --ignore-installed -q || true",
-    "cd ros2_ws",
-    // Export builds use their own build cache: sharing build/ with dev's --symlink-install
-    // (or another arch) breaks the next colcon build.
-    // rclcpp export: ship librb_sdk.so in <pkg>/lib/ (robot has no SDK) when the node links it.
-    `colcon build ${flag} --build-base ${buildBase} --install-base ${installBase}`.replace("  ", " ") +
-      (arch ? ` --cmake-args '-DCMAKE_INSTALL_RPATH=$ORIGIN/..'` : ""),
-    ...(arch ? [`for d in ${installBase}/*/lib; do if readelf -d $(find "$d" -mindepth 2 -type f -executable) 2>/dev/null | grep -q librb_sdk; then cp -a $(dpkg -L rainbow-rb-sdk | grep -E '/librb_sdk[.]so[.][0-9]') "$d"/; fi; done`] : []),
-  ].join(" && ");
-  const label = arch
-    ? `colcon build (${arch}) → dist/ros2_ws/install-${arch}/…`
-    : `colcon build${symlink ? " --symlink-install" : ""} (in container)…`;
-  log.step(label);
-  const actualImage = arch ? `${ROS2_DEV_IMAGE}-${arch}` : image;
-  const dockerPlatform = arch ? ARCH_DOCKER_PLATFORM[arch] : null;
-  const platformFlags = dockerPlatform ? ["--platform", dockerPlatform] : [];
-  const r = spawnSync(
-    "docker",
-    // python/cpp 와 같이 호스트 uid 로 돌린다 — root 소유 산출물이 남으면 사용자가 지우지 못한다.
-    ["run", "--rm", ...platformFlags, ...dockerUserFlags(), "-e", "PIP_ROOT_USER_ACTION=ignore", "-v", `${root}:/plugin`, "-w", "/plugin", actualImage, "bash", "-lc", script],
-    { cwd: root, stdio: "inherit" },
-  );
-  if (r.status !== 0) throw new Error(`colcon build failed${arch ? ` (${arch})` : ""}.`);
-}
+// Shared ROS2 Docker helpers (Jazzy + Python 3.12 — matches the robot backend).
+// Used by dev:back (interactive dev loop) and build (export install/ into the ZIP).
+import { spawnSync } from "node:child_process";
+import { existsSync, readdirSync } from "node:fs";
+import { dirname, resolve } from "node:path";
+import { canSkipImageBuild, cppSdkVersion, pluginRootOrNull, imageKey, imageKeyLabel, dockerUserFlags, hasBin, log, pruneMuskatImages, resolveDockerfile, buildCacheFlags } from "./util.mjs";
+import { syncCppIde } from "./cppIde.mjs";
+
+export const ROS2_DEV_IMAGE = "muscat-pk-ros2-dev";
+
+/** First package directory under ros2_ws/src (the colcon package name). */
+export function ros2PackageName(root) {
+  const srcDir = resolve(root, "ros2_ws/src");
+  if (!existsSync(srcDir)) return null;
+  const dirs = readdirSync(srcDir, { withFileTypes: true })
+    .filter((d) => d.isDirectory())
+    .map((d) => d.name);
+  return dirs[0] ?? null;
+}
+
+export function assertDockerReady() {
+  if (!hasBin("docker")) {
+    throw new Error("Docker not found. ROS2 needs Docker (Jazzy + Python 3.12 container).");
+  }
+}
+
+export const ARCH_DOCKER_PLATFORM = {
+  amd64: "linux/amd64",
+  arm64: "linux/arm64",
+};
+
+/** Build the dev image from the kit's bundled Dockerfile (Docker layer-caches). */
+export async function ensureImage(image = ROS2_DEV_IMAGE, { platform = null, root = pluginRootOrNull() } = {}) {
+  await buildImage(image, platform, root);
+  // Dev images feed the editor's SDK headers: the native one (dev) or the host-arch one (build).
+  const hostArch = process.arch === "arm64" ? "arm64" : "amd64";
+  if (root && (image === ROS2_DEV_IMAGE || image === `${ROS2_DEV_IMAGE}-${hostArch}`)) syncCppIde(root, image);
+}
+
+async function buildImage(image, platform, root) {
+  const dockerfile = await resolveDockerfile("Dockerfile.dev");
+  const sdkVer = cppSdkVersion(root);
+  const key = imageKey(dockerfile, sdkVer ?? "");
+  if (canSkipImageBuild(image, key)) {
+    return;
+  }
+  log.step(`docker build -t ${image}${platform ? ` (${platform})` : ""} (first run is slow, then cached)…`);
+  const platformFlags = platform ? ["--platform", platform] : [];
+  const buildArgs = [...(sdkVer ? ["--build-arg", `RB_SDK_VERSION=${sdkVer}`] : []), ...imageKeyLabel(key)];
+  const r = spawnSync(
+    "docker",
+    ["build", ...buildCacheFlags(), ...platformFlags, ...buildArgs, "-t", image, "-f", dockerfile, dirname(dockerfile)],
+    { stdio: "inherit" },
+  );
+  if (r.status !== 0) throw new Error("docker build failed.");
+  pruneMuskatImages();
+}
+
+/**
+ * Run `colcon build` inside the container, producing ros2_ws/install on the host
+ * (the workspace is mounted). symlink=true for dev (fast, edit-in-place);
+ * symlink=false for export builds that ship in the ZIP (real copies, relocatable).
+ */
+/**
+ * arch=null → dev mode, builds to ros2_ws/install/ (native)
+ * arch="amd64"|"arm64" → export mode, builds to ros2_ws/install-{arch}/ using arch-specific image
+ */
+/**
+ * symlink=true (dev): ros2_ws/install/ — local dev workspace, not for ZIP
+ * symlink=false, arch=null (rclpy export): dist/ros2_ws/install/
+ * symlink=false, arch="amd64"|"arm64" (rclcpp export): dist/ros2_ws/install-{arch}/
+ */
+export function colconBuild(root, { image = ROS2_DEV_IMAGE, symlink = false, arch = null } = {}) {
+  // paths are relative to ros2_ws/ inside the container
+  let installBase;
+  if (symlink) {
+    installBase = "install";
+  } else if (arch) {
+    installBase = `../dist/ros2_ws/install-${arch}`;
+  } else {
+    installBase = "../dist/ros2_ws/install";
+  }
+  const flag = symlink ? "--symlink-install" : "";
+  const buildBase = symlink ? "build" : arch ? `build-${arch}` : "build-dist";
+  const script = [
+    "pip install -r requirements.txt --break-system-packages --ignore-installed -q || true",
+    "cd ros2_ws",
+    // Export builds use their own build cache: sharing build/ with dev's --symlink-install
+    // (or another arch) breaks the next colcon build.
+    // rclcpp export: ship librb_sdk.so in <pkg>/lib/ (robot has no SDK) when the node links it.
+    `colcon build ${flag} --build-base ${buildBase} --install-base ${installBase}`.replace("  ", " ") +
+      (arch ? ` --cmake-args '-DCMAKE_INSTALL_RPATH=$ORIGIN/..'` : ""),
+    ...(arch ? [`for d in ${installBase}/*/lib; do if readelf -d $(find "$d" -mindepth 2 -type f -executable) 2>/dev/null | grep -q librb_sdk; then cp -a $(dpkg -L rainbow-rb-sdk | grep -E '/librb_sdk[.]so[.][0-9]') "$d"/; fi; done`] : []),
+  ].join(" && ");
+  const label = arch
+    ? `colcon build (${arch}) → dist/ros2_ws/install-${arch}/…`
+    : `colcon build${symlink ? " --symlink-install" : ""} (in container)…`;
+  log.step(label);
+  const actualImage = arch ? `${ROS2_DEV_IMAGE}-${arch}` : image;
+  const dockerPlatform = arch ? ARCH_DOCKER_PLATFORM[arch] : null;
+  const platformFlags = dockerPlatform ? ["--platform", dockerPlatform] : [];
+  const r = spawnSync(
+    "docker",
+    // python/cpp 와 같이 호스트 uid 로 돌린다 — root 소유 산출물이 남으면 사용자가 지우지 못한다.
+    ["run", "--rm", ...platformFlags, ...dockerUserFlags(), "-e", "PIP_ROOT_USER_ACTION=ignore", "-v", `${root}:/plugin`, "-w", "/plugin", actualImage, "bash", "-lc", script],
+    { cwd: root, stdio: "inherit" },
+  );
+  if (r.status !== 0) throw new Error(`colcon build failed${arch ? ` (${arch})` : ""}.`);
+}