@rainbow-robotics/muscat-plugin-kit 1.3.7 → 1.3.8-dev.1

package/cli/templates/ros2-cpp/ros2_ws/src/__PLUGIN_SLUG__/CMakeLists.txt

@@ -8,8 +8,9 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 # Rainbow Robotics C++ SDK (apt: rainbow-rb-sdk-dev, pre-installed in the dev
-# container).
-find_package(rb_sdk REQUIRED)
+# container). The version here is the one the dev container installs; change it
+# with `muscat-pk sdk update <version>`.
+find_package(rb_sdk 0.10.2 EXACT REQUIRED)
 
 add_executable(__PLUGIN_SLUG___node src/node.cpp)
 ament_target_dependencies(__PLUGIN_SLUG___node rclcpp)

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rainbow-robotics/muscat-plugin-kit",
-  "version": "1.3.7",
+  "version": "1.3.8-dev.1",
   "type": "module",
   "engines": {
     "node": ">=20"
@@ -53,10 +53,9 @@
   },
   "dependencies": {
     "@modelcontextprotocol/sdk": "^1.29.0",
-    "@rainbow-robotics/plugin-ui": "1.3.7",
-    "@rainbow-robotics/preview-host": "1.3.7",
+    "@rainbow-robotics/plugin-ui": "1.3.8-dev.1",
+    "@rainbow-robotics/preview-host": "1.3.8-dev.1",
     "postcss": "^8.5.8",
-    "socket.io": "^4.8.1",
     "typescript": "^5.8.0",
     "vite-plugin-css-injected-by-js": "^3.5.2",
     "zod": "^3.25.0"

package/cli/docker/Dockerfile.bridge

@@ -1,17 +0,0 @@
-# Socket.IO bridge container — the frontend (preview-host) and the backend
-# container rendezvous here during `muscat-pk dev`.
-#   - frontend (host)  → published port localhost:10000
-#   - backend container → shares this container's netns (--network container:),
-#                         so it reaches the bridge at localhost:10000 too
-# Build context is the `cli/` dir so it can copy src/socketBridge.mjs.
-FROM node:20-slim
-LABEL com.rainbow-robotics.muscat-pk="true"
-
-WORKDIR /bridge
-COPY docker/bridge-package.json package.json
-RUN npm install --omit=dev --no-audit --no-fund
-
-COPY src/socketBridge.mjs ./socketBridge.mjs
-
-EXPOSE 10000
-CMD ["node", "socketBridge.mjs"]

package/cli/docker/bridge-package.json

@@ -1,8 +0,0 @@
-{
-  "name": "muscat-pk-bridge",
-  "private": true,
-  "type": "module",
-  "dependencies": {
-    "socket.io": "^4.8.1"
-  }
-}

package/cli/src/bridge.mjs

@@ -1,152 +0,0 @@
-// Socket.IO bridge container lifecycle for `muscat-pk dev`.
-// The bridge runs in Docker and publishes port 10000 to the host:
-//   - frontend (preview-host, on the host) connects to localhost:10000
-//   - the backend container joins via `--network container:<bridge>` and reaches
-//     it at localhost:10000 too — no host.docker.internal needed (robust cross-OS).
-import { spawnSync } from "node:child_process";
-import { createServer, connect } from "node:net";
-import { existsSync, mkdirSync, writeFileSync } from "node:fs";
-import { tmpdir } from "node:os";
-import { dirname, resolve } from "node:path";
-import { canSkipImageBuild, hasBin, kitRoot, log, pruneMuskatImages } from "./util.mjs";
-import { MEDIA_PORTS, mediaPortFlags } from "./ports.mjs";
-import { usesHostNetwork } from "./zenohDev.mjs";
-
-export const BRIDGE_IMAGE = "muscat-pk-bridge";
-export const BRIDGE_CONTAINER = "muscat-pk-bridge-run";
-export const BRIDGE_PORT = 10000;
-
-// 컴파일된 바이너리에는 cli/ 트리가 없어 임베드 스냅샷에서 build context 를 tmp 에 복원한다.
-const BRIDGE_CONTEXT_FILES = ["docker/Dockerfile.bridge", "docker/bridge-package.json", "src/socketBridge.mjs"];
-
-async function resolveBridgeContext() {
-  const context = resolve(kitRoot, "cli");
-  const dockerfile = resolve(context, "docker/Dockerfile.bridge");
-  if (existsSync(dockerfile)) return { dockerfile, context };
-
-  const { TEMPLATES } = await import("./templates-embedded.mjs");
-  const dir = resolve(tmpdir(), "muscat-pk-bridge-context");
-  for (const key of BRIDGE_CONTEXT_FILES) {
-    const b64 = TEMPLATES[key];
-    if (!b64) throw new Error(`Embedded file missing: ${key}. Reinstall muscat-plugin-kit.`);
-    const file = resolve(dir, key);
-    mkdirSync(dirname(file), { recursive: true });
-    writeFileSync(file, Buffer.from(b64, "base64"));
-  }
-  return { dockerfile: resolve(dir, "docker/Dockerfile.bridge"), context: dir };
-}
-
-function assertDockerReady() {
-  if (!hasBin("docker")) {
-    throw new Error("Docker not found. `muscat-pk dev` runs the Socket.IO bridge in a container.");
-  }
-}
-
-// Is a host TCP port already bound? (Catches another bridge or a stray process.)
-function isPortInUse(port) {
-  return new Promise((res) => {
-    const srv = createServer();
-    srv.once("error", (err) => res(err.code === "EADDRINUSE"));
-    srv.once("listening", () => srv.close(() => res(false)));
-    srv.listen(port, "0.0.0.0");
-  });
-}
-
-// Wait until the published port accepts a TCP connection (bridge is ready).
-function waitForPort(port, timeoutMs = 15_000) {
-  const start = Date.now();
-  return new Promise((res, rej) => {
-    const tryOnce = () => {
-      const sock = connect(port, "127.0.0.1");
-      sock.once("connect", () => { sock.destroy(); res(); });
-      sock.once("error", () => {
-        sock.destroy();
-        if (Date.now() - start > timeoutMs) rej(new Error("bridge container did not become ready in time"));
-        else setTimeout(tryOnce, 300);
-      });
-    };
-    tryOnce();
-  });
-}
-
-async function ensureImage() {
-  if (canSkipImageBuild(BRIDGE_IMAGE)) {
-    log.step(`${BRIDGE_IMAGE} already built — skipping docker build`);
-    return;
-  }
-  const { dockerfile, context } = await resolveBridgeContext();
-  log.step(`docker build -t ${BRIDGE_IMAGE} (first run is slow, then cached)…`);
-  const r = spawnSync("docker", ["build", "-t", BRIDGE_IMAGE, "-f", dockerfile, context], { stdio: "inherit" });
-  if (r.status !== 0) throw new Error("docker build failed (bridge image).");
-  pruneMuskatImages();
-}
-
-/** A running Muscat container (e.g. muscat-dev) that owns host port 10000, or null. */
-export function localMuscatContainer() {
-  const r = spawnSync("docker", ["ps", "--filter", `publish=${BRIDGE_PORT}`, "--format", "{{.Names}}"], { encoding: "utf8" });
-  return (r.stdout || "").split("\n").map((n) => n.trim()).find((n) => n && n !== BRIDGE_CONTAINER) ?? null;
-}
-
-/**
- * Build the image, preflight the port, and start the bridge container.
- * Returns false if port 10000 was already in use (caller decides), else { media }:
- * whether the MediaMTX ports are free for the backend's own MediaMTX.
- */
-export async function startBridge({ zenohPort = null, pluginPorts = [] } = {}) {
-  assertDockerReady();
-
-  // remove our own stale container first, then check the host port is free
-  spawnSync("docker", ["rm", "-f", BRIDGE_CONTAINER], { stdio: "ignore" });
-  if (await isPortInUse(BRIDGE_PORT)) return false;
-
-  // Publishing a busy port makes `docker run` fail with a raw daemon error —
-  // say which port and keep the bridge up instead.
-  const busy = [];
-  for (const port of pluginPorts) {
-    if (await isPortInUse(port)) busy.push(port);
-  }
-  if (busy.length > 0) {
-    log.warn(
-      `declared plugin port(s) already in use on the host: ${busy.join(", ")} — ` +
-      `not published (the backend still listens inside the container).`,
-    );
-  }
-  const publishable = pluginPorts.filter((port) => !busy.includes(port));
-
-  const mediaBusy = [];
-  for (const port of MEDIA_PORTS) {
-    if (await isPortInUse(port)) mediaBusy.push(port);
-  }
-  const media = mediaBusy.length === 0;
-  if (!media) log.warn(`MediaMTX port(s) already in use: ${mediaBusy.join(", ")} — video streaming disabled in dev.`);
-
-  await ensureImage();
-
-  log.step("starting Socket.IO bridge container…");
-  // The backend joins THIS container's netns (--network container:), and a
-  // netns can only publish ports when its owner starts — so the plugin's
-  // declared ports have to be published here, not on the backend container.
-  const portFlags = [
-    "-p", `127.0.0.1:${BRIDGE_PORT}:${BRIDGE_PORT}`,
-    ...(zenohPort ? ["-p", `${zenohPort}:${zenohPort}`] : []),
-    ...publishable.flatMap((port) => ["-p", `127.0.0.1:${port}:${port}`]),
-    ...(media && !usesHostNetwork() ? mediaPortFlags() : []),
-  ];
-  const up = spawnSync(
-    "docker",
-    ["run", "-d", "--name", BRIDGE_CONTAINER, ...portFlags, BRIDGE_IMAGE],
-    { stdio: "inherit" },
-  );
-  if (up.status !== 0) throw new Error("failed to start bridge container.");
-
-  await waitForPort(BRIDGE_PORT);
-  log.step(`Socket.IO bridge listening on ws://127.0.0.1:${BRIDGE_PORT}`);
-  if (zenohPort) log.step(`Zenoh dev peer port published on :${zenohPort}`);
-  if (publishable.length > 0)
-    log.step(`plugin backend ports published on 127.0.0.1: ${publishable.join(", ")}`);
-  return { media };
-}
-
-export function stopBridge() {
-  spawnSync("docker", ["rm", "-f", BRIDGE_CONTAINER], { stdio: "ignore" });
-}

package/cli/src/socketBridge.mjs

@@ -1,133 +0,0 @@
-import { createServer } from "node:http";
-import { randomUUID } from "node:crypto";
-import { fileURLToPath } from "node:url";
-import { Server } from "socket.io";
-
-// Self-contained logger — this module also runs standalone inside the bridge
-// Docker container, where ./util.mjs is not available.
-const log = {
-  step: (...m) => console.log("›", ...m),
-  warn: (...m) => console.warn("⚠", ...m),
-};
-
-const DEFAULT_ACTION_TIMEOUT_MS = 10_000;
-
-export function startSocketBridge({ port = 10000, host = "0.0.0.0" } = {}) {
-  const httpServer = createServer();
-  const io = new Server(httpServer, { cors: { origin: "*" } });
-
-  // topic → socketId (serve_register로 등록된 queryable)
-  const queryables = new Map();
-  // call_id → { timer, resolve } (action → serve_call → serve_reply 대기)
-  const pending = new Map();
-
-  function cleanupSocket(socket) {
-    for (const [topic, sid] of queryables) {
-      if (sid === socket.id) queryables.delete(topic);
-    }
-    for (const [id, p] of pending) {
-      if (p.sid !== socket.id) continue;
-      clearTimeout(p.timer);
-      p.resolve(undefined);
-      pending.delete(id);
-    }
-  }
-
-  io.on("connection", (socket) => {
-    socket.on("sub", async (data = {}) => {
-      if (!data.topic) return;
-      await socket.join(`t:${data.topic}`);
-    });
-
-    socket.on("unsub", async (data = {}) => {
-      if (!data.topic) return;
-      await socket.leave(`t:${data.topic}`);
-    });
-
-    socket.on("pub", (data = {}) => {
-      const { topic, payload } = data;
-      if (!topic) return;
-      io.to(`t:${topic}`).emit("msg", { topic, payload });
-    });
-
-    socket.on("serve_register", (data = {}) => {
-      if (!data.topic) return;
-      queryables.set(data.topic, socket.id);
-      log.step(`serve registered: ${data.topic}`);
-    });
-
-    socket.on("serve_unregister", (data = {}) => {
-      if (queryables.get(data.topic) === socket.id) queryables.delete(data.topic);
-      if (data.topic) log.step(`serve unregistered: ${data.topic}`);
-    });
-
-    socket.on("serve_reply", (data = {}) => {
-      const p = pending.get(data.id);
-      if (!p) return;
-      clearTimeout(p.timer);
-      p.resolve(data.payload);
-      pending.delete(data.id);
-    });
-
-    socket.on("action", (data = {}, ack) => {
-      const { topic, payload } = data;
-      const targetSid = queryables.get(topic);
-      const target = targetSid && io.sockets.sockets.get(targetSid);
-      if (!target) {
-        log.warn(`action has no handler: ${topic}`);
-        if (typeof ack === "function") ack({ error: `No handler registered for ${topic}` });
-        return;
-      }
-      log.step(`action: ${topic}`);
-      const id = randomUUID();
-      const timer = setTimeout(() => {
-        pending.delete(id);
-        if (typeof ack === "function") ack(undefined);
-      }, DEFAULT_ACTION_TIMEOUT_MS);
-      pending.set(id, {
-        sid: targetSid,
-        timer,
-        resolve: (v) => { if (typeof ack === "function") ack(v); },
-      });
-      target.emit("serve_call", { id, topic, payload });
-    });
-
-    socket.on("disconnect", () => cleanupSocket(socket));
-  });
-
-  return new Promise((resolve) => {
-    httpServer.once("error", (err) => {
-      if (err.code === "EADDRINUSE") {
-        log.warn(`Socket.IO bridge already running on :${port} — skipping`);
-        io.close();
-        httpServer.close();
-        resolve({ close: () => {} });
-      } else {
-        throw err;
-      }
-    });
-
-    httpServer.listen(port, host, () => {
-      log.step(`Socket.IO bridge listening on ws://127.0.0.1:${port}`);
-
-      const close = () => {
-        for (const p of pending.values()) {
-          clearTimeout(p.timer);
-          p.resolve(undefined);
-        }
-        pending.clear();
-        queryables.clear();
-        io.close();
-        httpServer.close();
-      };
-
-      resolve({ close });
-    });
-  });
-}
-
-// When executed directly (inside the bridge Docker container), start the server.
-if (process.argv[1] && process.argv[1] === fileURLToPath(import.meta.url)) {
-  const port = Number(process.env.PORT) || 10000;
-  startSocketBridge({ port });
-}