@rainbow-robotics/muscat-plugin-kit 1.3.2 → 1.3.3

package/cli/src/ros2.mjs

@@ -3,7 +3,7 @@
 import { spawnSync } from "node:child_process";
 import { existsSync, readdirSync } from "node:fs";
 import { dirname, resolve } from "node:path";
-import { canSkipImageBuild, hasBin, log, pruneMuskatImages, resolveDockerfile } from "./util.mjs";
+import { canSkipImageBuild, imageKey, imageKeyLabel, hasBin, log, pruneMuskatImages, resolveDockerfile } from "./util.mjs";
 
 export const ROS2_DEV_IMAGE = "muscat-pk-ros2-dev";
 
@@ -30,15 +30,16 @@ export const ARCH_DOCKER_PLATFORM = {
 
 /** Build the dev image from the kit's bundled Dockerfile (Docker layer-caches). */
 export async function ensureImage(image = ROS2_DEV_IMAGE, { platform = null } = {}) {
-  if (canSkipImageBuild(image)) {
+  const dockerfile = await resolveDockerfile("Dockerfile.dev");
+  const sdkVer = process.env.MUSCAT_PK_RB_SDK_VERSION;
+  const key = imageKey(dockerfile, sdkVer ?? "");
+  if (canSkipImageBuild(image, key)) {
     log.step(`${image} already built — skipping docker build`);
     return;
   }
-  const dockerfile = await resolveDockerfile("Dockerfile.dev");
   log.step(`docker build -t ${image}${platform ? ` (${platform})` : ""} (first run is slow, then cached)…`);
   const platformFlags = platform ? ["--platform", platform] : [];
-  const sdkVer = process.env.MUSCAT_PK_RB_SDK_VERSION;
-  const buildArgs = sdkVer ? ["--build-arg", `RB_SDK_VERSION=${sdkVer}`] : [];
+  const buildArgs = [...(sdkVer ? ["--build-arg", `RB_SDK_VERSION=${sdkVer}`] : []), ...imageKeyLabel(key)];
   const r = spawnSync(
     "docker",
     ["build", ...platformFlags, ...buildArgs, "-t", image, "-f", dockerfile, dirname(dockerfile)],
@@ -73,12 +74,16 @@ export function colconBuild(root, { image = ROS2_DEV_IMAGE, symlink = false, arc
     installBase = "../dist/ros2_ws/install";
   }
   const flag = symlink ? "--symlink-install" : "";
+  const buildBase = symlink ? "build" : arch ? `build-${arch}` : "build-dist";
   const script = [
     "pip install -r requirements.txt --break-system-packages --ignore-installed -q || true",
     "cd ros2_ws",
-    // ponytail: rm only on cross-arch; same-arch dev rebuilds keep the cache
-    ...(arch ? ["rm -rf build"] : []),
-    `colcon build ${flag} --install-base ${installBase}`.trim(),
+    // 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}/…`

package/cli/src/sdk.mjs

@@ -6,24 +6,24 @@
 // the new version immediately; this is best-effort only.
 import { existsSync, readFileSync, writeFileSync } from "node:fs";
 import { resolve } from "node:path";
-import { spawnSync } from "node:child_process";
-import { findPluginRoot, log, venvPython } from "./util.mjs";
+import { ensureIdeVenv, findPluginRoot, log, venvPython } from "./util.mjs";
 
 const PKG = "rainbow-rb-sdk";
 
-async function fetchVersions() {
+async function fetchPypi() {
   try {
     const res = await fetch(`https://pypi.org/pypi/${PKG}/json`);
-    if (!res.ok) return [];
-    const data = await res.json();
-    return Object.keys(data.releases || {}).sort((a, b) =>
-      b.localeCompare(a, undefined, { numeric: true }),
-    );
+    return res.ok ? await res.json() : null;
   } catch {
-    return [];
+    return null;
   }
 }
 
+async function fetchVersions() {
+  const data = await fetchPypi();
+  return Object.keys(data?.releases || {}).sort((a, b) => b.localeCompare(a, undefined, { numeric: true }));
+}
+
 export async function runSdk(args = []) {
   const sub = args[0];
   const root = findPluginRoot();
@@ -42,23 +42,25 @@ export async function runSdk(args = []) {
   if (sub === "update") {
     let version = args[1];
     if (!version) {
-      const versions = await fetchVersions();
-      version = versions[0] || "latest";
+      // info.version = latest stable
+      version = (await fetchPypi())?.info?.version;
+      if (!version) throw new Error("could not fetch the latest version (offline?). Pass one: muscat-pk sdk update <version>");
     }
+    // rainbow-rb-* pin each other exactly — bump them together.
     let content = existsSync(reqs) ? readFileSync(reqs, "utf8") : "";
-    const line = `${PKG}==${version}`;
-    if (new RegExp(`^${PKG}==`, "m").test(content)) {
-      content = content.replace(new RegExp(`^${PKG}==.*$`, "m"), line);
-    } else {
-      content = (content ? content.trimEnd() + "\n" : "") + line + "\n";
+    const pinned = /^(rainbow-rb-[\w-]+)\s*==.*$/gim;
+    const bumped = [...content.matchAll(pinned)].map((m) => m[1]);
+    content = content.replace(pinned, (_m, name) => `${name}==${version}`);
+    if (!bumped.some((n) => n.toLowerCase() === PKG)) {
+      content = (content ? content.trimEnd() + "\n" : "") + `${PKG}==${version}\n`;
+      bumped.push(PKG);
     }
     writeFileSync(reqs, content);
-    log.ok(`requirements.txt → ${line}`);
+    log.ok(`requirements.txt → ${bumped.map((n) => `${n}==${version}`).join(", ")}`);
 
-    const py = venvPython(resolve(root, ".venv"));
-    if (existsSync(py)) {
-      log.step("pip install -r requirements.txt (.venv, for your editor)…");
-      spawnSync(py, ["-m", "pip", "install", "-q", "-r", reqs], { cwd: root, stdio: "inherit" });
+    if (existsSync(venvPython(resolve(root, ".venv")))) {
+      log.step("refreshing .venv (for your editor)…");
+      if (!ensureIdeVenv(root)) log.warn(".venv refresh failed — the Docker dev container is unaffected.");
     } else {
       log.info("Installed automatically on the next `muscat-pk dev` / `dev:back` (Docker container).");
     }