Mra/feat launcher

.github/workflows/install-and-launch.yml

@@ -8,12 +8,14 @@
 # - The launch smoke test uses `./launch_lucy.sh --headless <command>`, which runs a
 #   single command inside the container (no control panel, no auto Gazebo/RViz).
 
-name: Install and launch
+name: Install, Launch & Release
 
 on:
   workflow_dispatch:
   push:
     branches: [master, dev]
+    tags:
+      - 'v*' # Run on version tags like v1.0, v2.3.4
   pull_request:
     branches: [master, dev]
 
@@ -70,3 +72,33 @@ jobs:
       # Single command in the container -> bypasses the control-panel / Gazebo / RViz auto-launch.
       - name: Launch smoke test (headless, no TTY)
         run: ./launch_lucy.sh --headless ros2 doctor --report
+
+  build-and-release-windows-exe:
+    name: Build and Release Windows Executable
+    # Only run this job when a new tag is pushed
+    if: startsWith(github.ref, 'refs/tags/')
+    runs-on: windows-latest
+    needs: install-and-launch
+    permissions:
+      contents: write # Required to create a release and upload assets
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Install PyInstaller
+        run: pip install pyinstaller
+
+      - name: Build the executable
+        run: pyinstaller --onefile --name Lucy windows/Lucy.py
+
+      - name: Create Release and Upload Asset
+        uses: softprops/action-gh-release@v2
+        with:
+          files: dist/Lucy.exe
+          # This creates a draft release. Remove `draft: true` to publish it automatically.
+          draft: true

.gitignore

@@ -16,6 +16,7 @@ __pycache__/
 # IDE / OS
 .idea/
 .vscode/
+.vs/
 .DS_Store
 *~
 

Dockerfile.humble

@@ -77,6 +77,10 @@ RUN curl -fsSL https://deb.nodesource.com/setup_22.x | bash - \
  && npm install -g yarn \
  && rm -rf /var/lib/apt/lists/*
 
+# Setup bashrc with alias for the TUI launcher
+RUN echo "alias launcher='python3 /workspace/launcher.py'" >> ~/.bashrc
+RUN echo "alias exit=''" >> ~/.bashrc # Disable 'exit' to force launcher usage
+
 WORKDIR /workspace
 ENTRYPOINT ["/bin/bash"]
 CMD ["-c", "source /opt/ros/humble/setup.bash && exec /bin/bash"]

Lucy.py

@@ -0,0 +1,182 @@
+#!/usr/bin/env python3
+
+import curses
+import os
+import subprocess
+import sys
+
+MIN_TERM_HEIGHT = 15
+MIN_TERM_WIDTH = 65
+
+def get_dev_mode():
+    if not os.path.exists(".env"):
+        return False
+    with open(".env", "r") as f:
+        for line in f:
+            if line.strip().startswith("DEV="):
+                return line.strip().split("=")[1].lower() == "true"
+    return False
+
+def set_dev_mode(is_enabled):
+    lines = []
+    dev_found = False
+    if os.path.exists(".env"):
+        with open(".env", "r") as f:
+            lines = f.readlines()
+
+    with open(".env", "w") as f:
+        for line in lines:
+            if line.strip().startswith("DEV="):
+                f.write(f"DEV={str(is_enabled).lower()}\n")
+                dev_found = True
+            else:
+                f.write(line)
+        if not dev_found:
+            f.write(f"DEV={str(is_enabled).lower()}\n")
+
+def run_command(command, interactive=False):
+    """Runs a command.
+
+    If interactive is True, runs natively in the terminal.
+    """
+    print(f"--- Running: {' '.join(command)} ---")
+    try:
+        if interactive:
+            # Inherit standard IO to maintain terminal size and TTY functionality 
+            return subprocess.run(command).returncode
+        else:
+            # Popen is fine for non-interactive scripts like install/build
+            process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True)
+            while True:
+                output = process.stdout.readline()
+                if output == '' and process.poll() is not None:
+                    break
+                if output:
+                    print(output.strip())
+            return process.poll()
+
+    except FileNotFoundError:
+        print(f"Error: Command '{command[0]}' not found. Make sure it's in your PATH and executable.")
+        return -1
+    except Exception as e:
+        print(f"An error occurred: {e}")
+        return -1
+
+def main_tui(stdscr):
+    """The main curses TUI function. Returns the command to run."""
+    h, w = stdscr.getmaxyx()
+    if h < MIN_TERM_HEIGHT or w < MIN_TERM_WIDTH:
+        return "TerminalTooSmall"
+
+    curses.curs_set(0)
+    stdscr.nodelay(0)
+    stdscr.timeout(-1)
+    curses.start_color()
+    curses.use_default_colors()
+    curses.init_pair(1, curses.COLOR_CYAN, -1)
+
+    is_dev_mode = get_dev_mode()
+    current_idx = 0
+    options = ["Launch", "---", "Install/Update", "Rebuild", "Exit", "---", "Developer Mode"]
+
+    while True:
+        stdscr.clear()
+        h, w = stdscr.getmaxyx()
+        title = "Lucy Workspace Manager"
+        stdscr.addstr(0, max(0, (w - len(title)) // 2), title, curses.A_BOLD)
+
+        for i, option in enumerate(options):
+            if option == "---":
+                stdscr.addstr(2 + i, 4, "----------------------")
+                continue
+
+            prefix = "> " if current_idx == i else "  "
+
+            if option == "Developer Mode":
+                checkbox = "[x]" if is_dev_mode else "[ ]"
+                stdscr.addstr(2 + i, 4, f"{prefix}{checkbox} {option}")
+            else:
+                stdscr.addstr(2 + i, 4, f"{prefix}{option}")
+
+        stdscr.addstr(h - 2, 2, "Enter/Space: Select/Toggle | Up/Down: Navigate", curses.A_DIM)
+        stdscr.refresh()
+
+        key = stdscr.getch()
+
+        if key == curses.KEY_UP:
+            current_idx = (current_idx - 1 + len(options)) % len(options)
+            if options[current_idx] == "---":
+                current_idx = (current_idx - 1 + len(options)) % len(options)
+        elif key == curses.KEY_DOWN:
+            current_idx = (current_idx + 1) % len(options)
+            if options[current_idx] == "---":
+                current_idx = (current_idx + 1) % len(options)
+        elif key in [ord(' '), ord('\n')]:
+            selected_option = options[current_idx]
+
+            if selected_option == "Developer Mode":
+                is_dev_mode = not is_dev_mode
+                set_dev_mode(is_dev_mode)
+            elif selected_option == "Install/Update":
+                return {"cmd": ["./install.sh"], "interactive": False, "name": "Install"}
+            elif selected_option == "Rebuild":
+                return {"cmd": ["./install.sh", "--build-only"], "interactive": False, "name": "Rebuild"}
+            elif selected_option == "Launch":
+                return {"cmd": ["./launch_lucy.sh"], "interactive": True, "name": "Launch"}
+            elif selected_option == "Exit":
+                return None
+
+if __name__ == "__main__":
+    # This initial check is done before curses.wrapper to provide a clean error message
+    # without the screen flicker of initializing and de-initializing curses.
+    def check_initial_size():
+        stdscr = curses.initscr()
+        h, w = stdscr.getmaxyx()
+        curses.endwin()
+        return h >= MIN_TERM_HEIGHT and w >= MIN_TERM_WIDTH
+
+    if not check_initial_size():
+        print("Error: Terminal window is too small.", file=sys.stderr)
+        print(f"Please increase the terminal size to at least {MIN_TERM_WIDTH}x{MIN_TERM_HEIGHT} characters.", file=sys.stderr)
+        sys.exit(1)
+
+    while True:
+        task = None
+        try:
+            task = curses.wrapper(main_tui)
+        except KeyboardInterrupt:
+            print("\nExiting.")
+            sys.exit(0)
+        except curses.error as e:
+            print(f"A terminal error occurred: {e}", file=sys.stderr)
+            print("This might be due to resizing the window. Please restart.", file=sys.stderr)
+            sys.exit(1)
+
+        if isinstance(task, str) and task == "TerminalTooSmall":
+             # This case is handled by the pre-check, but as a fallback.
+            print("Error: Terminal window is too small.", file=sys.stderr)
+            print(f"Please increase the terminal size to at least {MIN_TERM_WIDTH}x{MIN_TERM_HEIGHT} characters.", file=sys.stderr)
+            sys.exit(1)
+
+        if not task:
+            # User selected Exit
+            break
+
+        rc = run_command(task["cmd"], interactive=task.get("interactive", False))
+
+        if task.get("interactive", False):
+            print(f"--- Session finished with exit code {rc} ---")
+            break
+
+        task_name = task.get("name")
+        if task_name in ["Install", "Rebuild"] and rc == 0:
+            print(f"\n--- Task '{task_name}' finished successfully. ---")
+            print("Press Enter to return to the menu.")
+            input()
+        else:
+            print(f"\n--- Task '{task_name}' finished with exit code {rc} ---")
+            print("Press Enter to exit.")
+            input()
+            break
+
+    sys.exit(0)

README.md

@@ -2,26 +2,63 @@
 
 Workspace bringup for the Lucy / InMoov humanoid. Everything (ROS 2 Humble, Gazebo, RViz, the web control panel) runs inside a single Docker container — you only need **Docker**, **Git** and **Python 3** on the host (plus **`xhost`** on Linux for GUI forwarding).
 
+## Requirements
+
+- Python3
+- Docker
+
 ## Install
 
+> For UNIX based system:
 ```bash
 chmod +x install.sh launch_lucy.sh
-./install.sh              # Linux, Intel Mac, Windows WSL, x86_64 VMs
-./install.sh --arm        # Apple Silicon (M1 / M2 / M3) under Docker Desktop
 ```
 
-`install.sh` clones the sub-repositories listed in `config/repos.json` into `src/`, builds the Docker image, and compiles the workspace inside the container.
+The installation is handled by the `Lucy.py` script. Only use the `./install.sh` script as a fallback.
 
-## Launch
+## Launch & Manage
 
-```bash
-./launch_lucy.sh
-```
+We provide a Python-based Text User Interface (TUI) to easily manage the workspace. It handles installing, rebuilding, and launching the environment.
+
+From the repository root, run the manager for your platform:
+
+| OS | Command                                                            |
+| :--- |:-------------------------------------------------------------------|
+| **Linux / macOS** | `python3 Lucy.py`                                                  |
+| **Windows** | `python windows/Lucy.py` (See [Windows README](windows/README.md)) |
+
+> The windows installation require the installation of a 3rd party software, as a Windows X Server is needed.
+
+### Developer mode
+
+The manager includes a **Developer Mode** toggle. When ON: 
+- repositories are pulled using SSH instead of HTTP
+- The core & control panel aren't launch automatically
+
+This setting is stored in a .env file
+
+### Using the Workspace
+
+Selecting **Launch** from the manager starts the workspace, running everything inside a single **tmux** session within the Docker container. 
+
+You will immediately see the **Lucy Control Center** TUI:
+- Use **Up/Down Arrows** to navigate.
+- Press **Space** to toggle a package or tool on/off.
+- Press **Enter** to apply your changes. (New tools open in their own background windows).
+- Press **X** to stop all processes and exit the Docker container entirely.
+
+### Managing Tmux Windows
+
+Because all tools (like the console or the control panel) run in background windows, you need to know a few basic `tmux` commands to navigate between them:
 
-Starts the **control panel** in the background and runs `lucy_bringup` with Gazebo and RViz inside the container (GUI / X11 forwarded automatically when available).
+- **`Ctrl+B` then `W`**: Opens a menu of all running windows. Use the arrows to select one and press Enter to switch to it.
+- **`Ctrl+B` then `N`**: Go to the next window.
+- **`Ctrl+B` then `P`**: Go to the previous window.
+- **`Ctrl+B` then `D`**: Detach from the session (keeps the container running in the background).
 
 Open the control panel at **http://localhost:5000/**.
 
 ## More
 
 - [`docs/developer_lucy_packages.md`](docs/developer_lucy_packages.md) — developer guide: per-repo docs, all `install.sh` / `launch_lucy.sh` flags, dev mode, ports, environment overrides, packages overview.
+- [`docs/launcher_packages.md`](docs/launcher_packages.md) — launcher guide: how to add new packages to the launcher UI and understand the configuration fields.