mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-05-23 03:19:55 +00:00
env installation fix
This commit is contained in:
Xuwznln
@@ -10,29 +10,170 @@ import shutil
|
||||
import sys
|
||||
|
||||
|
||||
_PATCH_MARKER = "# UniLabOS DLL Patch"
|
||||
_PATCH_END_MARKER = "# End UniLabOS DLL Patch"
|
||||
|
||||
# 75 = EX_TEMPFAIL: 临时失败、重试即可，避免与业务退出码冲突
|
||||
_RESTART_EXIT_CODE = 75
|
||||
|
||||
|
||||
def _build_dll_patch(lib_bin: str, preload_pyd: str = "") -> str:
|
||||
"""生成一段加在目标文件顶部的 DLL 加载补丁源码。
|
||||
|
||||
- 始终把 ``lib_bin`` 加入 DLL 搜索路径，并把 handle 挂在模块属性上，
|
||||
防止 GC 清掉搜索路径（``os.add_dll_directory`` 的句柄被回收时
|
||||
目录会被移除）。
|
||||
- 可选地用 ``ctypes.CDLL`` 预加载一个 .pyd，把它的依赖 DLL 提前装入
|
||||
进程内存，作为 ``rclpy._rclpy_pybind11`` 这类首次加载点的兜底。
|
||||
"""
|
||||
# 用 repr() 序列化路径：Python 解析 repr 的结果会还原成原始字符串，
|
||||
# 不需要也不能再叠加 raw-string 前缀（叠了反而会让 \\ 变成两个反斜杠）。
|
||||
lines = [
|
||||
_PATCH_MARKER,
|
||||
"import os as _ulab_os",
|
||||
f"_ulab_p = {lib_bin!r}",
|
||||
'if hasattr(_ulab_os, "add_dll_directory") and _ulab_os.path.isdir(_ulab_p):',
|
||||
" try: _UNILAB_DLL_HANDLE = _ulab_os.add_dll_directory(_ulab_p)",
|
||||
" except Exception: _UNILAB_DLL_HANDLE = None",
|
||||
]
|
||||
if preload_pyd:
|
||||
lines.extend(
|
||||
[
|
||||
"import ctypes as _ulab_ctypes",
|
||||
f"try: _ulab_ctypes.CDLL({preload_pyd!r})",
|
||||
"except Exception: pass",
|
||||
]
|
||||
)
|
||||
lines.append(_PATCH_END_MARKER)
|
||||
return "\n".join(lines) + "\n"
|
||||
|
||||
|
||||
def _apply_dll_patch(file_path: str, lib_bin: str, preload_pyd: str = "") -> bool:
|
||||
"""把 DLL 补丁前置到 ``file_path``。文件不存在或已打过补丁则返回 False。"""
|
||||
if not os.path.isfile(file_path):
|
||||
return False
|
||||
with open(file_path, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
if _PATCH_MARKER in content:
|
||||
return False
|
||||
shutil.copy2(file_path, file_path + ".bak")
|
||||
with open(file_path, "w", encoding="utf-8") as f:
|
||||
f.write(_build_dll_patch(lib_bin, preload_pyd) + content)
|
||||
return True
|
||||
|
||||
|
||||
def _print_restart_banner(patched_files):
|
||||
"""打印重启提示并以 EX_TEMPFAIL 退出。
|
||||
|
||||
- 不使用 ANSI 颜色码：Windows 旧版 cmd / PowerShell 5 默认不开 VT 处理，
|
||||
会把 ``\\033[1;33m`` 当做字面字符显示，反而让用户看不到正文。
|
||||
- 同时写入 stderr 与 stdout：某些上层 launcher / supervisor 只重定向
|
||||
其中一路，写两遍能保证用户至少看到一份。
|
||||
- 写入前防御性把流切到 UTF-8 with replace：``main.py`` 里已经做过一次，
|
||||
但本模块也可能被绕过 ``main.py`` 的代码路径直接 import；reconfigure
|
||||
失败也只是退回 errors=replace，不影响整体流程。
|
||||
"""
|
||||
if sys.platform == "win32":
|
||||
for _stream in (sys.stdout, sys.stderr):
|
||||
try:
|
||||
_stream.reconfigure(encoding="utf-8", errors="replace") # type: ignore[attr-defined]
|
||||
except (AttributeError, OSError):
|
||||
pass
|
||||
|
||||
bar = "#" * 78
|
||||
files_lines = [f"[UniLabOS] - {p}" for p in patched_files]
|
||||
body = "\n".join(
|
||||
[
|
||||
"",
|
||||
bar,
|
||||
bar,
|
||||
"##",
|
||||
"## [UniLabOS] Windows + conda 下检测到 DLL 加载失败，已自动打补丁。",
|
||||
"## [UniLabOS] DLL load failure detected on Windows + conda;",
|
||||
"## [UniLabOS] the following files have been auto-patched:",
|
||||
"##",
|
||||
*[f"## {line}" for line in files_lines],
|
||||
"##",
|
||||
"## [UniLabOS] 当前进程的 rclpy 状态已损坏，补丁需要在新进程才生效。",
|
||||
"## [UniLabOS] The current process is unusable; the patch only takes",
|
||||
"## [UniLabOS] effect on a fresh process.",
|
||||
"##",
|
||||
"## >>> 请重新运行刚才的命令 / Please re-run the same command. <<<",
|
||||
"##",
|
||||
bar,
|
||||
bar,
|
||||
"",
|
||||
]
|
||||
)
|
||||
|
||||
for stream in (sys.stderr, sys.stdout):
|
||||
try:
|
||||
stream.write(body)
|
||||
stream.flush()
|
||||
except Exception:
|
||||
try:
|
||||
print(body, file=stream)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
sys.exit(_RESTART_EXIT_CODE)
|
||||
|
||||
|
||||
def patch_rclpy_dll_windows():
|
||||
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
|
||||
"""在 Windows + conda 环境下修复 rclpy / rosidl typesupport 的 DLL 加载。
|
||||
|
||||
背景：conda 安装的 ros 系列包，其原生扩展依赖 ``$CONDA_PREFIX/Library/bin``
|
||||
下的 DLL；只有 conda 环境被正确激活、且 PATH 中含 ``Library/bin`` 时，
|
||||
``os.add_dll_directory`` 才能找到它们。当从快捷方式 / IDE / 子进程 /
|
||||
没激活的 shell 启动 ``unilab`` 时，会出现 ``DLL load failed``。
|
||||
|
||||
本函数会:
|
||||
1) 修补 ``rclpy/impl/implementation_singleton.py`` —— rclpy 自身的 C 扩展入口；
|
||||
2) 修补 ``rpyutils/add_dll_directories.py`` —— 所有 ``*_s__rosidl_typesupport_c.pyd``
|
||||
（``geometry_msgs`` / ``std_msgs`` / ``sensor_msgs`` 等）的统一加载入口。
|
||||
|
||||
打完补丁后**必须重启进程**才能生效（当前进程的 rclpy 已经发生过
|
||||
``ImportError``，子模块仍处于损坏状态）。因此函数会主动退出，并在
|
||||
stdout/stderr 同时打印明显的重启提示，避免用户被后续报错淹没。
|
||||
"""
|
||||
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
||||
return
|
||||
|
||||
try:
|
||||
import rclpy
|
||||
import rclpy # noqa: F401
|
||||
|
||||
return
|
||||
except ImportError as e:
|
||||
if not str(e).startswith("DLL load failed"):
|
||||
return
|
||||
|
||||
cp = os.environ["CONDA_PREFIX"]
|
||||
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
|
||||
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
|
||||
if not os.path.exists(impl) or not pyd:
|
||||
lib_bin = os.path.join(cp, "Library", "bin")
|
||||
site_packages = os.path.join(cp, "Lib", "site-packages")
|
||||
if not os.path.isdir(lib_bin):
|
||||
return
|
||||
with open(impl, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
|
||||
patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
|
||||
shutil.copy2(impl, impl + ".bak")
|
||||
with open(impl, "w", encoding="utf-8") as f:
|
||||
f.write(patch + content)
|
||||
|
||||
patched = []
|
||||
|
||||
# 1) rclpy 自身的入口
|
||||
rclpy_impl = os.path.join(site_packages, "rclpy", "impl", "implementation_singleton.py")
|
||||
rclpy_pyd_matches = glob.glob(os.path.join(site_packages, "rclpy", "_rclpy_pybind11*.pyd"))
|
||||
rclpy_pyd = rclpy_pyd_matches[0] if rclpy_pyd_matches else ""
|
||||
if rclpy_pyd and _apply_dll_patch(rclpy_impl, lib_bin, preload_pyd=rclpy_pyd):
|
||||
patched.append(rclpy_impl)
|
||||
|
||||
# 2) rpyutils —— 所有 rosidl typesupport pyd 的加载点；放在 rclpy 之后
|
||||
# 例：geometry_msgs/geometry_msgs_s__rosidl_typesupport_c.pyd
|
||||
rpyutils_dll = os.path.join(site_packages, "rpyutils", "add_dll_directories.py")
|
||||
if _apply_dll_patch(rpyutils_dll, lib_bin):
|
||||
patched.append(rpyutils_dll)
|
||||
|
||||
if not patched:
|
||||
# 已经打过补丁但 rclpy 仍然加载失败：原因不是缺 DLL 搜索路径，
|
||||
# 不要再次打补丁污染文件，让上层看到真实的 ImportError。
|
||||
return
|
||||
|
||||
_print_restart_banner(patched)
|
||||
|
||||
|
||||
patch_rclpy_dll_windows()
|
||||
|
||||
@@ -47,7 +47,10 @@ def _has_uv() -> bool:
|
||||
|
||||
def _install_command(installer: str, package: str, upgrade: bool, is_chinese: bool) -> List[str]:
|
||||
if installer == "uv":
|
||||
cmd = ["uv", "pip", "install"]
|
||||
# uv >= 0.5 默认要求虚拟环境，对 conda env 会报 "No virtual environment found"。
|
||||
# 显式 --python sys.executable 让 uv 把当前解释器（conda/venv/system 都行）
|
||||
# 视为目标环境，绕开 venv 检测。
|
||||
cmd = ["uv", "pip", "install", "--python", sys.executable]
|
||||
if upgrade:
|
||||
cmd.append("--upgrade")
|
||||
cmd.append(package)
|
||||
@@ -89,7 +92,11 @@ def _print_manual_git_install_hint(requirement: str) -> None:
|
||||
return
|
||||
|
||||
repo_dir = _repo_dir_name(git_url)
|
||||
install_cmd = "uv pip install -e ." if _has_uv() else f"{sys.executable} -m pip install -e ."
|
||||
install_cmd = (
|
||||
f'uv pip install --python "{sys.executable}" -e .'
|
||||
if _has_uv()
|
||||
else f"{sys.executable} -m pip install -e ."
|
||||
)
|
||||
if _is_chinese_locale() and not _has_uv():
|
||||
install_cmd += " -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
||||
|
||||
|
||||
Reference in New Issue
Block a user