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

package/cli/src/zenohDev.mjs

@@ -1,81 +1,83 @@
-// Remote-robot Zenoh dev networking helpers, shared by `muscat-pk dev` and
-// standalone `muscat-pk dev:back`.
-//
-// The plugin backend runs in a Docker container. When it connects to a REMOTE
-// robot, rainbow.rb_sdk registers this machine as a Zenoh peer and the robot's
-// `common` service connects BACK to the advertised ip:port to form the mesh.
-// Inside a container, the SDK's own _detect_local_ip() returns the container's
-// internal IP (unreachable from the robot) and lets the OS pick a random listen
-// port (unpublished) — so the reverse connection never lands and SDK calls like
-// call_move_j get no reply. We fix both ends:
-//   - MUSCAT_ZENOH_ADVERTISE_HOST → the host's LAN IP toward the robot, which
-//     devBack's entry script uses to override _detect_local_ip.
-//   - MUSCAT_ZENOH_PORT → a fixed, host-published listen port the robot can reach.
-import { createSocket } from "node:dgram";
-import { createServer } from "node:net";
-import { release } from "node:os";
-
-export const DEFAULT_ZENOH_DEV_PORT = 53917;
-export const LOCAL_HOSTS = new Set(["", "localhost", "127.0.0.1", "::1"]);
-
-// Native Linux (not WSL) has real Docker host networking — dev:back runs with
-// --network host and reaches the robot/bridge directly. macOS/Windows/WSL don't.
-export const isWsl = () => process.platform === "linux" && /microsoft|wsl/i.test(release());
-export const usesHostNetwork = () => process.platform === "linux" && !isWsl();
-
-export const isRemoteRobot = (robotIp) => !!robotIp && !LOCAL_HOSTS.has(robotIp);
-
-/** The local interface IP the OS would use to reach `host` (no packet sent). */
-export function detectRouteAddress(host) {
-  return new Promise((resolve) => {
-    const socket = createSocket("udp4");
-    socket.once("error", () => {
-      socket.close();
-      resolve("");
-    });
-    socket.connect(80, host, () => {
-      const address = socket.address();
-      socket.close();
-      resolve(typeof address === "object" ? address.address : "");
-    });
-  });
-}
-
-/** `preferred` if free, otherwise an OS-assigned free port. */
-export function getFreePort(preferred) {
-  return new Promise((resolve) => {
-    const srv = createServer();
-    srv.once("error", () => {
-      const fallback = createServer();
-      fallback.listen(0, "0.0.0.0", () => {
-        const address = fallback.address();
-        const port = typeof address === "object" && address ? address.port : preferred;
-        fallback.close(() => resolve(port));
-      });
-    });
-    srv.listen(preferred, "0.0.0.0", () => srv.close(() => resolve(preferred)));
-  });
-}
-
-/**
- * Compute and set MUSCAT_ZENOH_ADVERTISE_HOST / MUSCAT_ZENOH_PORT for a remote
- * robot, unless already set by a parent command (idempotent). No-op for a local
- * robot. Returns the resolved { advertiseHost, zenohPort } (or null if local).
- */
-export async function ensureRemoteZenohEnv(robotIp, { log } = {}) {
-  if (!isRemoteRobot(robotIp)) return null;
-  // Already set (e.g. `muscat-pk dev` computed it before starting the bridge).
-  if (process.env.MUSCAT_ZENOH_PORT) {
-    return {
-      advertiseHost: process.env.MUSCAT_ZENOH_ADVERTISE_HOST || "",
-      zenohPort: Number(process.env.MUSCAT_ZENOH_PORT),
-    };
-  }
-  const advertiseHost =
-    process.env.MUSCAT_ZENOH_ADVERTISE_HOST || (await detectRouteAddress(robotIp));
-  const zenohPort = await getFreePort(DEFAULT_ZENOH_DEV_PORT);
-  if (advertiseHost) process.env.MUSCAT_ZENOH_ADVERTISE_HOST = advertiseHost;
-  process.env.MUSCAT_ZENOH_PORT = String(zenohPort);
-  log?.step?.(`remote Zenoh dev peer → ${advertiseHost || "(auto)"}:${zenohPort}`);
-  return { advertiseHost, zenohPort };
-}
+// Remote-robot Zenoh dev networking helpers, shared by `muscat-pk dev` and
+// standalone `muscat-pk dev:back`.
+//
+// The plugin backend runs in a Docker container. When it connects to a REMOTE
+// robot, rainbow.rb_sdk registers this machine as a Zenoh peer and the robot's
+// `common` service connects BACK to the advertised ip:port to form the mesh.
+// Inside a container, the SDK's own _detect_local_ip() returns the container's
+// internal IP (unreachable from the robot) and lets the OS pick a random listen
+// port (unpublished) — so the reverse connection never lands and SDK calls like
+// call_move_j get no reply. We fix both ends:
+//   - MUSCAT_ZENOH_ADVERTISE_HOST → the host's LAN IP toward the robot, which
+//     devBack's entry script uses to override _detect_local_ip.
+//   - MUSCAT_ZENOH_PORT → a fixed, host-published listen port the robot can reach.
+import { createSocket } from "node:dgram";
+import { createServer } from "node:net";
+import { release } from "node:os";
+
+export const DEFAULT_ZENOH_DEV_PORT = 53917;
+export const LOCAL_HOSTS = new Set(["", "localhost", "127.0.0.1", "::1"]);
+
+// Native Linux (not WSL) has real Docker host networking — dev:back runs with
+// --network host and reaches the robot/bridge directly. macOS/Windows/WSL don't.
+export const isWsl = () => process.platform === "linux" && /microsoft|wsl/i.test(release());
+// MUSCAT_PK_HOST_NETWORK=0 (CI): run the Docker Desktop (bridge) path on native Linux too.
+export const usesHostNetwork = () =>
+  process.env.MUSCAT_PK_HOST_NETWORK !== "0" && process.platform === "linux" && !isWsl();
+
+export const isRemoteRobot = (robotIp) => !!robotIp && !LOCAL_HOSTS.has(robotIp);
+
+/** The local interface IP the OS would use to reach `host` (no packet sent). */
+export function detectRouteAddress(host) {
+  return new Promise((resolve) => {
+    const socket = createSocket("udp4");
+    socket.once("error", () => {
+      socket.close();
+      resolve("");
+    });
+    socket.connect(80, host, () => {
+      const address = socket.address();
+      socket.close();
+      resolve(typeof address === "object" ? address.address : "");
+    });
+  });
+}
+
+/** `preferred` if free, otherwise an OS-assigned free port. */
+export function getFreePort(preferred) {
+  return new Promise((resolve) => {
+    const srv = createServer();
+    srv.once("error", () => {
+      const fallback = createServer();
+      fallback.listen(0, "0.0.0.0", () => {
+        const address = fallback.address();
+        const port = typeof address === "object" && address ? address.port : preferred;
+        fallback.close(() => resolve(port));
+      });
+    });
+    srv.listen(preferred, "0.0.0.0", () => srv.close(() => resolve(preferred)));
+  });
+}
+
+/**
+ * Compute and set MUSCAT_ZENOH_ADVERTISE_HOST / MUSCAT_ZENOH_PORT for a remote
+ * robot, unless already set by a parent command (idempotent). No-op for a local
+ * robot. Returns the resolved { advertiseHost, zenohPort } (or null if local).
+ */
+export async function ensureRemoteZenohEnv(robotIp, { log } = {}) {
+  if (!isRemoteRobot(robotIp)) return null;
+  // Already set (e.g. `muscat-pk dev` computed it before starting the bridge).
+  if (process.env.MUSCAT_ZENOH_PORT) {
+    return {
+      advertiseHost: process.env.MUSCAT_ZENOH_ADVERTISE_HOST || "",
+      zenohPort: Number(process.env.MUSCAT_ZENOH_PORT),
+    };
+  }
+  const advertiseHost =
+    process.env.MUSCAT_ZENOH_ADVERTISE_HOST || (await detectRouteAddress(robotIp));
+  const zenohPort = await getFreePort(DEFAULT_ZENOH_DEV_PORT);
+  if (advertiseHost) process.env.MUSCAT_ZENOH_ADVERTISE_HOST = advertiseHost;
+  process.env.MUSCAT_ZENOH_PORT = String(zenohPort);
+  log?.step?.(`remote Zenoh dev peer → ${advertiseHost || "(auto)"}:${zenohPort}`);
+  return { advertiseHost, zenohPort };
+}