CLI Rework tbots.py (#3548)

* init cli added

* cleanup

* [pre-commit.ci lite] apply automatic fixes

Author: Andrewyx

environment_setup/ubuntu22_requirements.txt

@@ -9,3 +9,4 @@ ruff==0.5.5
 pyqt-toast-notification==1.3.2
 md-toc==9.0.0
 grpcio-tools==1.71.0
+typer==0.21.0

environment_setup/ubuntu24_requirements.txt

@@ -0,0 +1,91 @@
+from typer import Option
+from enum import Enum
+from typing import Annotated
+
+from cli.multi_option import MultiOption
+
+
+class ActionArgument(str, Enum):
+    build = "build"
+    test = "test"
+    run = "run"
+
+
+class DebugBinary(str, Enum):
+    sim = "sim"
+    blue = "blue"
+    yellow = "yellow"
+
+
+class Platform(str, Enum):
+    PI = "PI"
+    NANO = "NANO"
+    LIMITED = "LIMITED"
+
+
+PrintCommandOption: type[bool] = Annotated[
+    bool, Option("-p", "--print_command", help="Print the generated Bazel command")
+]
+
+NoOptimizedBuildOption: type[bool] = Annotated[
+    bool,
+    Option(
+        "-no", "--no_optimized_build", help="Compile binaries without -O3 optimizations"
+    ),
+]
+
+DebugBuildOption: type[bool] = Annotated[
+    bool,
+    Option(
+        "-d",
+        "--debug",
+        help="Compile binaries with debug symbols",
+    ),
+]
+
+SelectDebugBinariesOption = Annotated[
+    list[DebugBinary] | None,
+    MultiOption(
+        "-ds",
+        "--select_debug_binaries",
+        help="Select all binaries which are running separately in debug mode",
+    ),
+]
+
+FlashRobotsOption = Annotated[
+    list[int] | None,
+    MultiOption(
+        "-f",
+        "--flash_robots",
+        help="A list of space separated integers representing the robot IDs "
+        "that should be flashed by the deploy_robot_software Ansible playbook",
+    ),
+]
+
+SSHPasswordOption = Annotated[
+    str,
+    Option(
+        "-pwd", "--pwd", help="Password used by Ansible when SSHing into the robots"
+    ),
+]
+
+InteractiveModeOption = Annotated[
+    bool,
+    Option(
+        "-i",
+        "--interactive",
+        help="Enables interactive searching for bazel targets",
+    ),
+]
+
+TracyOption = Annotated[
+    bool, Option("--tracy", help="Run the binary with the TRACY_ENABLE macro defined")
+]
+
+PlatformOption = Annotated[
+    Platform, Option("-pl", "--platform", help="The platform to build Thunderloop for")
+]
+
+EnableThunderscopeOption = Annotated[bool, Option("-t", "--enable_thunderscope")]
+EnableVisualizerOption = Annotated[bool, Option("-v", "--enable_visualizer")]
+StopAIOnStartOption = Annotated[bool, Option("-t", "--stop_ai_on_start")]

src/cli/cli_params.py

@@ -0,0 +1,82 @@
+from typing import Any
+import click
+import typer
+import typer.core
+import typer.main
+from typer.models import OptionInfo
+
+
+# ======= Patch to support nargs functionality in typer =======
+# nargs usage is considered bad practice in typer and many CLIs,
+# but since we likely want to be able to parse many optional args at once, this patch allows us to do so.
+# See https://github.com/fastapi/typer/issues/110
+# ==============================================================
+
+
+class OptionEatAll(typer.core.TyperOption):
+    """Click option that consumes arguments until next option flag."""
+
+    def __init__(self, *args: Any, **kwargs: Any) -> None:
+        kwargs["multiple"] = True
+        kwargs["is_flag"] = False
+        super().__init__(*args, **kwargs)
+        self._previous_parser_process = None
+        self._eat_all_parser = None
+
+    def add_to_parser(self, parser: Any, ctx: click.Context) -> Any:
+        def parser_process(value: str, state: Any) -> None:
+            values = [value]
+            done = False
+            while state.rargs and not done:
+                for prefix in self._eat_all_parser.prefixes:
+                    if state.rargs[0].startswith(prefix):
+                        done = True
+                        break
+                if not done:
+                    values.append(state.rargs.pop(0))
+            for val in values:
+                self._previous_parser_process(val, state)
+
+        retval = super().add_to_parser(parser, ctx)
+        for name in self.opts:
+            our_parser = parser._long_opt.get(name) or parser._short_opt.get(name)
+            if our_parser:
+                self._eat_all_parser = our_parser
+                self._previous_parser_process = our_parser.process
+                our_parser.process = parser_process
+                break
+        return retval
+
+
+class MultiOptionInfo(OptionInfo):
+    """Marker for multi-argument options."""
+
+    is_multi_option: bool = True
+
+    def __init__(self, option_info: OptionInfo) -> None:
+        super().__init__(**option_info.__dict__)
+
+
+def MultiOption(
+    default: Any = ..., *param_decls: str, **kwargs: Any
+) -> MultiOptionInfo:
+    """Create option that accepts multiple values."""
+    return MultiOptionInfo(typer.Option(default, *param_decls, **kwargs))
+
+
+# Monkey-patch to detect MultiOptionInfo and use OptionEatAll
+_original_get_click_param = typer.main.get_click_param
+
+
+def _patched_get_click_param(param: typer.models.ParamMeta):
+    click_param, converter = _original_get_click_param(param)
+    if isinstance(param.default, MultiOptionInfo):
+        option_eat_all = object.__new__(OptionEatAll)
+        option_eat_all.__dict__.update(click_param.__dict__)
+        option_eat_all._previous_parser_process = None
+        option_eat_all._eat_all_parser = None
+        return (option_eat_all, converter)
+    return (click_param, converter)
+
+
+typer.main.get_click_param = _patched_get_click_param

src/cli/multi_option.py

@@ -3,7 +3,7 @@ load("@robot_diagnostics_cli_deps//:requirements.bzl", "requirement")
 load("@rules_pkg//:pkg.bzl", "pkg_tar")
 load("@rules_python//python:defs.bzl", "py_binary")
 load("@rules_python//python:pip.bzl", "compile_pip_requirements")
-load("//:defs.bzl", "pkg_executable")
+load("//:starlark/defs.bzl", "pkg_executable")
 
 package(default_visibility = ["//visibility:public"])
 

src/software/embedded/robot_diagnostics_cli/BUILD

@@ -1,9 +1,11 @@
 load("@rules_pkg//pkg:providers.bzl", "PackageFilegroupInfo", "PackageFilesInfo", "PackageSymlinkInfo")
 
-# No idea how this works, refer to:
-# https://gist.github.com/pauldraper/7bc811ffbef6d3f3d4a4bb01afa9808f
+# ===================================================================
+# Custom Build Rules and Definitions
+# ===================================================================
 
-# For maintaining Bazel runfile tree structure during packaging
+# For maintaining Bazel runfile tree structure during packaging. Used in the onboard python CLI
+# See for reference https://gist.github.com/pauldraper/7bc811ffbef6d3f3d4a4bb01afa9808f
 def _runfile_path(workspace_name, file):
     path = file.short_path
     return path[len("../"):] if path.startswith("../") else "%s/%s" % (workspace_name, path)