@rainbow-robotics/muscat-plugin-kit 1.10.3 → 1.10.4-dev.1

package/README.ko.md

@@ -169,7 +169,7 @@ muscat-pk dev:back   [--robot-ip <ip>] [--robot-token <token>] [--keep-id]
 
 | 명령 | 실행되는 것 |
 |---|---|
-| `dev` | 로봇이 없거나 로봇에 Muscat이 없으면 로컬 Muscat 런타임, 그리고 `dev:ui` + `dev:back` |
+| `dev` | 먼저 dev 이미지와 백엔드를 빌드하고(빌드 실패는 경고만), 로봇이 없거나 로봇에 Muscat이 없으면 로컬 Muscat 런타임, 그리고 `dev:ui` + `dev:back` |
 | `dev:ui` | 플러그인 Vite 개발 서버 + preview-host `http://localhost:4180` (사용 중이면 다음 빈 포트). 브라우저로 엶 |
 | `dev:back` | 로봇 환경과 같은 Docker 컨테이너에서 백엔드 실행. Python은 `py/**/*.py`가 바뀌면 재시작 (watchfiles) |
 
@@ -201,12 +201,12 @@ muscat-pk dev --sim rby1-m_v1.2
 
 | `--sim` | 함께 뜨는 Muscat 서비스 | 시뮬레이터 |
 |---|---|---|
-| `500880`, `500920` | common, log, manipulate | `rainbowroboticsofficial/cobot-sim` 1개 |
+| `500920` | common, log, manipulate | `rainbowroboticsofficial/cobot-sim` 1개 |
 | `RBY2` | common, log, manipulate | cobot-sim 3개 (C500880, C501880, C502880) |
 | `rby1-a`, `rby1-m`, `rby1-ub` (`rby1-m_v1.2`처럼 버전 지정 가능) | common, log, rby1 | `rainbowroboticsofficial/rby1-sim` + Xvfb (로컬 빌드) |
 
-- 시뮬레이터 기종이 로컬 Muscat의 로봇 모델로 등록됩니다(`500880`은 C500880, `500920`은 C500920, `rby1-m`은 m). UI는 mock 프리뷰가 아니라 실제 Muscat 화면(대시보드, 컴포넌트, Move, Log, Settings)으로 뜹니다.
-- 시뮬레이터는 `--sim`을 줄 때만 뜹니다. 그 밖의 값이면 `--sim takes one of: 500880, 500920, RBY2, rby1-a, rby1-m, rby1-ub (rby1 also takes rby1-m_v1.2)` 오류가 납니다. manifest의 `targetModels`에 없는 기종이면 경고만 합니다.
+- 시뮬레이터 기종이 로컬 Muscat의 로봇 모델로 등록됩니다(`500920`은 C500920, `rby1-m`은 m). UI는 mock 프리뷰가 아니라 실제 Muscat 화면(대시보드, 컴포넌트, Move, Log, Settings)으로 뜹니다.
+- 시뮬레이터는 `--sim`을 줄 때만 뜹니다. 그 밖의 값이면 `--sim takes one of: 500920, RBY2, rby1-a, rby1-m, rby1-ub (rby1 also takes rby1-m_v1.2)` 오류가 납니다. manifest의 `targetModels`에 없는 기종이면 경고만 합니다.
 - 시뮬레이터 이미지는 Docker Hub의 최신 태그를 씁니다 (rby1에 버전을 주면 그 버전 태그). 오프라인이면 이미 받아 둔 이미지를 씁니다.
 - rby1-sim은 화면을 계속 렌더링하므로 CPU를 1코어 정도 씁니다. 상한은 `MUSCAT_PK_RBY1_CPUS`(기본 1.5)입니다.
 - `muscat-dev` 같은 다른 Muscat이 떠 있으면 시뮬레이터를 붙이지 않습니다.
@@ -577,7 +577,6 @@ if (await rb.confirm({ title: "실행", message: "백엔드 동작을 시작할
 | `rb.program.getSteps(scope?)` | Program 페이지에 열린 프로그램의 메인 스텝 트리 |
 | `rb.program.setSteps(steps, scope?)` | 메인 스텝 트리 교체. 저장되지 않은 편집으로 들어가고 사용자가 저장 |
 | `rb.program.getCatalog(scope?)` | 로드된 로봇의 명령 카탈로그 (이름, 기본 인자, 중첩 규칙) |
-| `rb.program.getCommandDefaults?(command, scope?)` | 기본값이 실제 로봇 상태를 읽는 명령(카탈로그 `rules.hasFactoryDataFn`)의 기본 step. 선택적이며 호스트에 따라 없을 수 있음 |
 
 ```ts
 type PluginProgramStep = {
@@ -1029,7 +1028,7 @@ sudo apt update && sudo apt install rainbow-rb-sdk-dev
 
 - 이미 `:10000`을 노출하는 컨테이너(`muscat`, `muscat-dev` 등)가 있으면 재사용합니다. kit이 띄우지 않은 컨테이너는 플러그인 포트를 노출하지 않습니다.
 - 컨테이너 없이 그 포트를 이미 쓰는 Muscat(로봇 PC, host networking)이 있으면 그대로 씁니다.
-- 없으면 `muscat-pk-muscat`을 띄웁니다 — `common`(+ `--sim`에 필요한 서비스)과 MediaMTX(`8554`, `8889`, `8189`)를 돌리는 S3 런타임 이미지(`muscat-pk-runtime:<version>`, `version.json` 기준)이며 `~/.muscat-pk/muscat/`에 캐시됩니다. 노출할 플러그인 포트나 서비스가 바뀌면 다시 만들고, Muscat 새 버전이 나오면 이전 이미지를 교체합니다.
+- 없으면 `muscat-pk-muscat`을 띄웁니다 — `common`(+ `--sim`에 필요한 서비스)과 MediaMTX(`8554`, `8889`, `8189`)를 돌리는 S3 런타임 이미지(`muscat-pk-runtime:<version>`, `version.json` 기준)이며 `~/.muscat-pk/muscat/`에 캐시됩니다. 노출할 플러그인 포트나 서비스가 바뀌면 다시 만들고, Muscat 새 버전이 나오면 이전 이미지를 교체합니다. 데이터(DB, 로그, 프로그램)는 컨테이너 안에만 있어서 컨테이너를 새로 만들면 비어 있습니다.
 - `dev`는 종료할 때 자신이 띄운 `muscat-pk-muscat`을 지웁니다. `dev:ui` 단독으로 띄운 것은 계속 떠 있습니다.
 - 백엔드는 로컬 Muscat의 network namespace에 붙으므로 `execute`와 SDK가 로봇에서처럼 닿습니다.
 

package/README.md

@@ -169,7 +169,7 @@ muscat-pk dev:back   [--robot-ip <ip>] [--robot-token <token>] [--keep-id]
 
 | Command | What runs |
 |---|---|
-| `dev` | a local Muscat runtime when no robot is given (or the robot runs no Muscat), then `dev:ui` and `dev:back` |
+| `dev` | builds the dev image and backend first (a failed build only warns), then a local Muscat runtime when no robot is given (or the robot runs no Muscat), then `dev:ui` and `dev:back` |
 | `dev:ui` | the plugin's Vite dev server + preview-host at `http://localhost:4180` (next free port), opened in the browser |
 | `dev:back` | the backend in a Docker container matching the robot. Python restarts on `py/**/*.py` changes (watchfiles) |
 
@@ -201,12 +201,12 @@ muscat-pk dev --sim rby1-m_v1.2
 
 | `--sim` | Muscat services | Simulator |
 |---|---|---|
-| `500880`, `500920` | common, log, manipulate | one `rainbowroboticsofficial/cobot-sim` |
+| `500920` | common, log, manipulate | one `rainbowroboticsofficial/cobot-sim` |
 | `RBY2` | common, log, manipulate | three cobot-sim (C500880, C501880, C502880) |
 | `rby1-a`, `rby1-m`, `rby1-ub` (or a version, e.g. `rby1-m_v1.2`) | common, log, rby1 | `rainbowroboticsofficial/rby1-sim` + Xvfb, built locally |
 
-- The simulated model is registered as the local Muscat's robot model (`500880` → C500880, `500920` → C500920, `rby1-m` → m). The UI is then the real Muscat UI (dashboard, components, Move, Log, Settings) instead of the mock preview.
-- A simulator runs only with `--sim`. Any other value fails with `--sim takes one of: 500880, 500920, RBY2, rby1-a, rby1-m, rby1-ub (rby1 also takes rby1-m_v1.2)`. A model missing from the manifest's `targetModels` only gets a warning.
+- The simulated model is registered as the local Muscat's robot model (`500920` → C500920, `rby1-m` → m). The UI is then the real Muscat UI (dashboard, components, Move, Log, Settings) instead of the mock preview.
+- A simulator runs only with `--sim`. Any other value fails with `--sim takes one of: 500920, RBY2, rby1-a, rby1-m, rby1-ub (rby1 also takes rby1-m_v1.2)`. A model missing from the manifest's `targetModels` only gets a warning.
 - Simulator images use the latest Docker Hub tag (an rby1 version picks the matching tag). Offline, an already pulled image is used.
 - rby1-sim keeps rendering, so it uses about one CPU core. The cap is `MUSCAT_PK_RBY1_CPUS` (default 1.5).
 - No simulator is attached while another Muscat such as `muscat-dev` is running.
@@ -577,7 +577,6 @@ if (await rb.confirm({ title: "Run", message: "Start the backend action?" })) {
 | `rb.program.getSteps(scope?)` | main step tree of the program open on the Program page |
 | `rb.program.setSteps(steps, scope?)` | replace it — an unsaved edit the user then saves |
 | `rb.program.getCatalog(scope?)` | the loaded robot's command catalog (names, default args, nesting rules) |
-| `rb.program.getCommandDefaults?(command, scope?)` | default step of a command whose defaults read the live robot (catalog `rules.hasFactoryDataFn`); optional, host-dependent |
 
 ```ts
 type PluginProgramStep = {
@@ -1029,7 +1028,7 @@ Without a robot IP (or against a robot that runs no Muscat), `dev` / `dev:ui` ne
 
 - reuses any container already publishing `:10000` (`muscat`, `muscat-dev`, …). A container not started by the kit does not publish the plugin's ports;
 - uses a Muscat already listening on those ports without a container (robot PC, host networking);
-- otherwise starts `muscat-pk-muscat` — the S3 runtime image (`muscat-pk-runtime:<version>`, from `version.json`) running `common` (plus the services `--sim` needs) and MediaMTX (`8554`, `8889`, `8189`), cached in `~/.muscat-pk/muscat/`. It is recreated when the published plugin ports or services change, and a new Muscat version replaces the old image.
+- otherwise starts `muscat-pk-muscat` — the S3 runtime image (`muscat-pk-runtime:<version>`, from `version.json`) running `common` (plus the services `--sim` needs) and MediaMTX (`8554`, `8889`, `8189`), cached in `~/.muscat-pk/muscat/`. It is recreated when the published plugin ports or services change, and a new Muscat version replaces the old image. Its data (DB, logs, programs) lives in the container only, so a new container starts empty.
 - `dev` removes its own `muscat-pk-muscat` on exit; started by `dev:ui` alone it keeps running.
 - The backend joins the local Muscat's network namespace, so `execute` and the SDK reach it like on the robot.
 

package/cli/bin/muscat-pk.mjs

@@ -88,7 +88,7 @@ function formatHelp() {
     commandRow("new [dir]", `Scaffold a new plugin project ${color.dim("(prompts: author, email, description, type, front-package-manager)")}`),
     commandRow("type change", `Switch backend type ${color.dim("(python | cpp | ros2-python | ros2-cpp)")}`),
     commandRow("build", `Build + lock deps + vendor wheels + zip ${color.dim(`(${option("--arch")} amd64|arm64|both)`)}`),
-    commandRow("dev", `Run a local Muscat runtime, dev:ui, and dev:back together ${color.dim(`(${option("--sim")} 500880|500920|RBY2|rby1-a|rby1-m|rby1-ub)`)}`),
+    commandRow("dev", `Run a local Muscat runtime, dev:ui, and dev:back together ${color.dim(`(${option("--sim")} 500920|RBY2|rby1-a|rby1-m|rby1-ub)`)}`),
     commandRow("dev:ui", `Preview the plugin in a mini-Muscat ${color.dim("(preview-host)")}`),
     commandRow("dev:back", `Run the plugin back end ${color.dim("(python: watchfiles reload / ros2: Docker)")}`),
     commandRow("storybook", `Browse the bundled rb-components Storybook ${color.dim(`(${option("--port")} <n>, ${option("--rebuild")})`)}`),

package/cli/src/dev.mjs

@@ -6,6 +6,7 @@ import { connect as netConnect } from "node:net";
 import { resolve } from "node:path";
 import { fileURLToPath } from "node:url";
 import { runDevUi } from "./devUi.mjs";
+import { prebuildBackend } from "./devBack.mjs";
 import { claimDevSession, stopDevBackContainers } from "./devSession.mjs";
 import { ensureLocalMuscat, GATEWAY_PORT, isPortInUse, MUSCAT_CONTAINER, robotHasMuscat } from "./muscatLocal.mjs";
 import { resolveSim, startSim, stopSims } from "./sim.mjs";
@@ -126,6 +127,7 @@ export async function runDev(args = []) {
   const remoteRobot = isRemoteRobot(robotIp);
   // Before dev:back is spawned: it inherits the id through the environment.
   devPluginId(readManifest(root).id, { robotIp, args });
+  await prebuildBackend(root);
   const hostAgent = await maybeStartHostAgent(root, { robotIp, robotToken });
   const proxyEndpoint = process.env.MUSCAT_PROXY_ENDPOINT || "";
   // No proxy (Linux, disabled, ...): fall back to the container reverse-dialing

package/cli/src/devBack.mjs

@@ -30,12 +30,14 @@ import {
 import {
   ROS2_DEV_IMAGE,
   assertDockerReady,
+  colconBuild,
   ensureImage,
   ros2PackageName,
 } from "./ros2.mjs";
 import {
   CPP_DEV_IMAGE,
   assertDockerReady as cppAssertDockerReady,
+  cmakeBuild,
   ensureImage as cppEnsureImage,
 } from "./cpp.mjs";
 
@@ -683,6 +685,28 @@ async function runCpp(root, portRanges, robotGateway) {
   process.on("SIGHUP", cleanup);
 }
 
+// `dev` builds the image and the backend first so the runtime and UI come up with it ready;
+// dev:back's own build is then incremental. A failed build is left to dev:back's watcher.
+export async function prebuildBackend(root) {
+  try {
+    const type = manifestRuntime(root);
+    if (type === "cpp") {
+      cppAssertDockerReady();
+      await cppEnsureImage();
+      cmakeBuild(root);
+    } else if (type === "ros2") {
+      assertDockerReady();
+      await ensureImage();
+      colconBuild(root, { symlink: true });
+    } else {
+      pyAssertDockerReady();
+      await pyEnsureImage();
+    }
+  } catch (e) {
+    log.warn(`backend build: ${e.message}`);
+  }
+}
+
 function warnManifest(root) {
   const manifest = readManifest(root);
   if (!manifest || Object.keys(manifest).length === 0) return;

package/cli/src/muscatLocal.mjs

@@ -140,11 +140,13 @@ function ensureNetwork() {
 // listen-endpoints file opens both to the network. Sims reach common as muscat-pk-muscat:7447, and
 // gossip has them dial each service back — on loopback only the sim that happened to connect first
 // answers manipulate's receive_one.
-function writeZenohListen(open) {
-  const file = resolve(CACHE, "data", "zenoh_listen_endpoints.json5");
-  if (!open) return rmSync(file, { force: true });
+// Mounted as the only file of /app/data; the rest of the runtime's data stays in the container.
+function zenohListenMount(open) {
+  if (!open) return [];
+  const file = resolve(CACHE, "zenoh_listen_endpoints.json5");
   mkdirSync(dirname(file), { recursive: true });
   writeFileSync(file, `{\n  common: ["tcp/0.0.0.0:7447"],\n  service: ["tcp/0.0.0.0:0"],\n}\n`);
+  return ["-v", `${file}:/app/data/zenoh_listen_endpoints.json5:ro`];
 }
 
 async function waitForApi(timeoutMs = 180_000) {
@@ -249,7 +251,8 @@ export async function ensureLocalMuscat({ pluginPorts = [], zenohPort = null, se
   const svcMounts = [];
   for (const s of svcs) svcMounts.push("-v", `${await ensureServiceBinary(s, versions.services[s].version)}:/app/services/${s}`);
   ensureNetwork();
-  writeZenohListen(services.length > 0);
+  // Earlier kits kept DB, logs and programs here across runs.
+  rmSync(resolve(CACHE, "data"), { recursive: true, force: true });
 
   let media = true;
   for (const port of MEDIA_PORTS) if (await isPortInUse(port)) media = false;
@@ -270,7 +273,7 @@ export async function ensureLocalMuscat({ pluginPorts = [], zenohPort = null, se
     "-e", "RB_RUNTIME_ENABLE_ZENOH_BRIDGE=0",
     ...envFlags,
     ...svcMounts,
-    "-v", `${resolve(CACHE, "data")}:/app/data`,
+    ...zenohListenMount(services.length > 0),
     "-p", `127.0.0.1:${API_PORT}:${API_PORT}`,
     "-p", `127.0.0.1:${GATEWAY_PORT}:${GATEWAY_PORT}`,
     ...(media ? mediaPortFlags() : []),

package/cli/src/sim.mjs

@@ -14,7 +14,6 @@ const SIM_LABEL = "com.rainbow-robotics.muscat-pk.sim";
 // ponytail: model table in code; move to S3 version.json when sims are versioned with Muscat (amr: no sim yet)
 // sim name → coreSW RB_MODEL per component, and the Muscat robot model it registers as.
 const COBOT_MODELS = {
-  "500880": { robotModel: "C500880", models: ["500880"] },
   "500920": { robotModel: "C500920", models: ["500920"] },
   RBY2: { robotModel: "RBY2", models: ["C500880", "C501880", "C502880"] },
 };
@@ -38,7 +37,7 @@ export function runSimList() {
   for (const t of RBY1_TYPES) console.log(`rby1-${t}\tRB-Y1 ${t.toUpperCase()}`);
 }
 
-/** "500880" | "RBY2" | "rby1-m" | "rby1-m_v1.2" → { services, env, ... } or null. */
+/** "500920" | "RBY2" | "rby1-m" | "rby1-m_v1.2" → { services, env, ... } or null. */
 export function parseSim(name) {
   if (COBOT_MODELS[name]) return { name, kind: "cobot", services: ["log", "manipulate"], env: {}, ...COBOT_MODELS[name] };
   const m = /^rby1-(a|m|ub)(?:_(v[\d.]+))?$/.exec(name ?? "");

package/cli/storybook-dist/project.json

@@ -1 +1 @@
-{"generatedAt":1793162376536,"userSince":1750932757926,"hasCustomBabel":false,"hasCustomWebpack":false,"hasStaticDirs":false,"hasStorybookEslint":true,"refCount":0,"testPackages":{"@vitest/browser":"3.2.4","@vitest/coverage-v8":"3.2.4","playwright":"1.59.1","vitest":"3.2.4"},"hasRouterPackage":false,"monorepo":"Turborepo","packageManager":{"type":"yarn","version":"berry","agent":"yarn@berry"},"preview":{"usesGlobals":false},"framework":{"name":"@storybook/react-vite","options":{}},"builder":"@storybook/builder-vite","renderer":"@storybook/react","portableStoriesFileCount":0,"applicationFileCount":0,"storybookVersion":"8.6.18","storybookVersionSpecifier":"^8.6.4","language":"typescript","storybookPackages":{"@chromatic-com/storybook":{"version":"3.2.7"},"@storybook/addon-essentials":{"version":"8.6.18"},"@storybook/addon-links":{"version":"8.6.18"},"@storybook/addon-onboarding":{"version":"8.6.18"},"@storybook/addon-themes":{"version":"8.6.18"},"@storybook/blocks":{"version":"8.6.18"},"@storybook/experimental-addon-test":{"version":"8.6.18"},"@storybook/react":{"version":"8.6.18"},"@storybook/react-vite":{"version":"8.6.18"},"@storybook/test":{"version":"8.6.18"},"@storybook/theming":{"version":"8.6.18"},"eslint-plugin-storybook":{"version":"0.11.6"},"storybook":{"version":"8.6.18"},"storybook-addon-react-docgen":{"version":"1.2.44"}},"addons":{"$SNIP/node_modules/@storybook/addon-links":{"version":null},"$SNIP/node_modules/@storybook/addon-essentials":{"version":null},"$SNIP/node_modules/@chromatic-com/storybook":{"version":null},"$SNIP/node_modules/@storybook/addon-themes":{"version":null},"$SNIP/node_modules/@storybook/experimental-addon-test":{"version":null}}}
+{"generatedAt":1793173800402,"userSince":1750932757926,"hasCustomBabel":false,"hasCustomWebpack":false,"hasStaticDirs":false,"hasStorybookEslint":true,"refCount":0,"testPackages":{"@vitest/browser":"3.2.4","@vitest/coverage-v8":"3.2.4","playwright":"1.59.1","vitest":"3.2.4"},"hasRouterPackage":false,"monorepo":"Turborepo","packageManager":{"type":"yarn","version":"berry","agent":"yarn@berry"},"preview":{"usesGlobals":false},"framework":{"name":"@storybook/react-vite","options":{}},"builder":"@storybook/builder-vite","renderer":"@storybook/react","portableStoriesFileCount":0,"applicationFileCount":0,"storybookVersion":"8.6.18","storybookVersionSpecifier":"^8.6.4","language":"typescript","storybookPackages":{"@chromatic-com/storybook":{"version":"3.2.7"},"@storybook/addon-essentials":{"version":"8.6.18"},"@storybook/addon-links":{"version":"8.6.18"},"@storybook/addon-onboarding":{"version":"8.6.18"},"@storybook/addon-themes":{"version":"8.6.18"},"@storybook/blocks":{"version":"8.6.18"},"@storybook/experimental-addon-test":{"version":"8.6.18"},"@storybook/react":{"version":"8.6.18"},"@storybook/react-vite":{"version":"8.6.18"},"@storybook/test":{"version":"8.6.18"},"@storybook/theming":{"version":"8.6.18"},"eslint-plugin-storybook":{"version":"0.11.6"},"storybook":{"version":"8.6.18"},"storybook-addon-react-docgen":{"version":"1.2.44"}},"addons":{"$SNIP/node_modules/@storybook/addon-links":{"version":null},"$SNIP/node_modules/@storybook/addon-essentials":{"version":null},"$SNIP/node_modules/@chromatic-com/storybook":{"version":null},"$SNIP/node_modules/@storybook/addon-themes":{"version":null},"$SNIP/node_modules/@storybook/experimental-addon-test":{"version":null}}}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rainbow-robotics/muscat-plugin-kit",
-  "version": "1.10.3",
+  "version": "1.10.4-dev.1",
   "type": "module",
   "engines": {
     "node": ">=20"
@@ -53,8 +53,8 @@
   },
   "dependencies": {
     "@modelcontextprotocol/sdk": "^1.29.0",
-    "@rainbow-robotics/plugin-ui": "1.10.3",
-    "@rainbow-robotics/preview-host": "1.10.3",
+    "@rainbow-robotics/plugin-ui": "1.10.4-dev.1",
+    "@rainbow-robotics/preview-host": "1.10.4-dev.1",
     "@types/react": "^19.0.10",
     "postcss": "^8.5.8",
     "typescript": "^5.8.0",