90 lines
2.9 KiB
Python
90 lines
2.9 KiB
Python
import argparse
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import sys
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from cobot.commands import delete as cmd_delete
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from cobot.commands import docker_setup as cmd_docker_setup
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from cobot.commands import doc_setup as cmd_doc_setup
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from cobot.commands import local_setup as cmd_local_setup
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from cobot.commands import robot_setup as cmd_robot_setup
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from cobot.commands import run as cmd_run
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from cobot.commands import setup as cmd_setup
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from cobot.commands import update as cmd_update
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# Command groups shown in --help output.
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# Add new commands here when introducing other categories.
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_GROUPS = [
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("Setup", [
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("setup", "first-time setup: docs, build environment, robot config"),
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("local-setup", "install ROS2 Jazzy natively and build the project with colcon"),
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("docker-setup", "build or pull Docker images for KUKA iiwa7"),
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("doc-setup", "deploy or stop the MkDocs documentation server"),
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("robot-setup", "configure cobot-setting.yaml interactively"),
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]),
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("Run", [
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("run", "launch the robot controller or Webots simulator (local or Docker)"),
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]),
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("Management", [
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("update", "pull latest changes from the remote git branch and reinstall cobot"),
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("delete", "remove the project, Docker images, containers, and optionally ROS2"),
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]),
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]
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_DESCRIPTION = "Lightweight Cobot"
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class _GroupedHelpAction(argparse.Action):
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def __init__(self, option_strings, dest, default=None, required=False, help=None):
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super().__init__(
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option_strings=option_strings,
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dest=dest,
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nargs=0,
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default=default,
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required=required,
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help=help,
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)
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def __call__(self, parser, namespace, values, option_string=None):
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print(f"usage: cobot [-h] <command> ...\n")
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print(f"{_DESCRIPTION}\n")
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for group_title, commands in _GROUPS:
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print(f"{group_title} commands:")
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for cmd, help_text in commands:
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print(f" {cmd:<22} {help_text}")
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print()
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print("options:")
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print(" -h, --help show this help message and exit")
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parser.exit()
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def main():
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parser = argparse.ArgumentParser(
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prog="cobot",
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description=_DESCRIPTION,
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add_help=False,
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)
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parser.add_argument(
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"-h", "--help",
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action=_GroupedHelpAction,
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default=argparse.SUPPRESS,
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help="show this help message and exit",
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)
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subparsers = parser.add_subparsers(dest="command", metavar="<command>")
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subparsers.required = True
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_register_commands(subparsers)
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args = parser.parse_args()
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args.func(args)
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def _register_commands(subparsers):
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cmd_setup.register(subparsers)
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cmd_local_setup.register(subparsers)
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cmd_docker_setup.register(subparsers)
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cmd_doc_setup.register(subparsers)
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cmd_robot_setup.register(subparsers)
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cmd_run.register(subparsers)
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cmd_update.register(subparsers)
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cmd_delete.register(subparsers)
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