make cli more async

kscale/store/cli.py

@@ -1,12 +1,13 @@
 """Defines the top-level KOL CLI."""
 
 import argparse
+import asyncio
 from typing import Sequence
 
 from kscale.store import pybullet, urdf
 
 
-def main(args: Sequence[str] | None = None) -> None:
+async def main(args: Sequence[str] | None = None) -> None:
     parser = argparse.ArgumentParser(description="K-Scale OnShape Library", add_help=False)
     parser.add_argument(
         "subcommand",
@@ -20,11 +21,15 @@ def main(args: Sequence[str] | None = None) -> None:
 
     match parsed_args.subcommand:
         case "urdf":
-            urdf.main(remaining_args)
+            await urdf.main(remaining_args)
         case "pybullet":
-            pybullet.main(remaining_args)
+            await pybullet.main(remaining_args)
+
+
+def sync_main(args: Sequence[str] | None = None) -> None:
+    asyncio.run(main(args))
 
 
 if __name__ == "__main__":
     # python3 -m kscale.store.cli
-    main()
+    sync_main()

kscale/store/pybullet.py

@@ -1,19 +1,22 @@
 """Simple script to interact with a URDF in PyBullet."""
 
 import argparse
+import asyncio
 import itertools
 import logging
 import math
 import time
 from pathlib import Path
 from typing import Sequence
 
+from kscale.store.urdf import download_urdf
+
 logger = logging.getLogger(__name__)
 
 
-def main(args: Sequence[str] | None = None) -> None:
+async def main(args: Sequence[str] | None = None) -> None:
     parser = argparse.ArgumentParser(description="Show a URDF in PyBullet")
-    parser.add_argument("urdf", nargs="?", help="Path to the URDF file")
+    parser.add_argument("listing_id", help="Listing ID for the URDF")
     parser.add_argument("--dt", type=float, default=0.01, help="Time step")
     parser.add_argument("-n", "--hide-gui", action="store_true", help="Hide the GUI")
     parser.add_argument("--no-merge", action="store_true", help="Do not merge fixed links")
@@ -23,6 +26,11 @@ def main(args: Sequence[str] | None = None) -> None:
     parser.add_argument("--show-collision", action="store_true", help="Show collision meshes")
     parsed_args = parser.parse_args(args)
 
+    # Gets the URDF path.
+    urdf_path = await download_urdf(parsed_args.listing_id)
+
+    breakpoint()
+
     try:
         import pybullet as p  # type: ignore[import-not-found]
     except ImportError:
@@ -46,13 +54,6 @@ def main(args: Sequence[str] | None = None) -> None:
     # Loads the floor plane.
     floor = p.loadURDF(str((Path(__file__).parent / "bullet" / "plane.urdf").resolve()))
 
-    urdf_path = Path("robot" if parsed_args.urdf is None else parsed_args.urdf)
-    if urdf_path.is_dir():
-        try:
-            urdf_path = next(urdf_path.glob("*.urdf"))
-        except StopIteration:
-            raise FileNotFoundError(f"No URDF files found in {urdf_path}")
-
     # Load the robot URDF.
     start_position = [0.0, 0.0, 1.0]
     start_orientation = p.getQuaternionFromEuler([0.0, 0.0, 0.0])
@@ -175,4 +176,4 @@ def draw_box(pt: list[list[float]], color: tuple[float, float, float], obj_id: i
 
 if __name__ == "__main__":
     # python -m kscale.store.pybullet
-    main()
+    asyncio.run(main())

kscale/store/urdf.py

@@ -4,10 +4,11 @@
 import asyncio
 import logging
 import os
+import shutil
 import sys
 import tarfile
 from pathlib import Path
-from typing import Literal, Sequence
+from typing import Literal, Sequence, get_args
 
 import httpx
 import requests
@@ -34,6 +35,11 @@ def get_cache_dir() -> Path:
     return Path(Settings.load().store.cache_dir).expanduser().resolve()
 
 
+def get_listing_dir(listing_id: str) -> Path:
+    (cache_dir := get_cache_dir() / listing_id).mkdir(parents=True, exist_ok=True)
+    return cache_dir
+
+
 def fetch_urdf_info(listing_id: str) -> UrdfResponse:
     url = f"https://api.kscale.store/urdf/info/{listing_id}"
     headers = {
@@ -44,34 +50,33 @@ def fetch_urdf_info(listing_id: str) -> UrdfResponse:
     return UrdfResponse(**response.json())
 
 
-async def download_artifact(artifact_url: str, cache_dir: Path) -> str:
+async def download_artifact(artifact_url: str, cache_dir: Path) -> Path:
     filename = os.path.join(cache_dir, artifact_url.split("/")[-1])
     headers = {
         "Authorization": f"Bearer {get_api_key()}",
     }
 
     if not os.path.exists(filename):
-        logger.info("Downloading artifact from %s" % artifact_url)
+        logger.info("Downloading artifact from %s", artifact_url)
 
         async with httpx.AsyncClient() as client:
             response = await client.get(artifact_url, headers=headers)
             response.raise_for_status()
             with open(filename, "wb") as f:
                 for chunk in response.iter_bytes(chunk_size=8192):
                     f.write(chunk)
-            logger.info("Artifact downloaded to %s" % filename)
+            logger.info("Artifact downloaded to %s", filename)
     else:
-        logger.info("Artifact already cached at %s" % filename)
+        logger.info("Artifact already cached at %s", filename)
 
     # Extract the .tgz file
-    extract_dir = os.path.join(cache_dir, os.path.splitext(os.path.basename(filename))[0])
-    if not os.path.exists(extract_dir):
-        logger.info(f"Extracting {filename} to {extract_dir}")
+    extract_dir = cache_dir / os.path.splitext(os.path.basename(filename))[0]
+    if not extract_dir.exists():
+        logger.info("Extracting %s to %s", filename, extract_dir)
         with tarfile.open(filename, "r:gz") as tar:
             tar.extractall(path=extract_dir)
-        logger.info("Extraction complete")
     else:
-        logger.info("Artifact already extracted at %s" % extract_dir)
+        logger.info("Artifact already extracted at %s", extract_dir)
 
     return extract_dir
 
@@ -84,8 +89,8 @@ def create_tarball(folder_path: str | Path, output_filename: str, cache_dir: Pat
                 file_path = os.path.join(root, file)
                 arcname = os.path.relpath(file_path, start=folder_path)
                 tar.add(file_path, arcname=arcname)
-                logger.info("Added %s as %s" % (file_path, arcname))
-    logger.info("Created tarball %s" % tarball_path)
+                logger.info("Added %s as %s", file_path, arcname)
+    logger.info("Created tarball %s", tarball_path)
     return tarball_path
 
 
@@ -102,73 +107,107 @@ async def upload_artifact(tarball_path: str, listing_id: str) -> None:
 
             response.raise_for_status()
 
-    logger.info("Uploaded artifact to %s" % url)
+    logger.info("Uploaded artifact to %s", url)
+
+
+async def download_urdf(listing_id: str) -> Path:
+    try:
+        urdf_info = fetch_urdf_info(listing_id)
+
+        if urdf_info.urdf is None:
+            breakpoint()
+            raise ValueError(f"No URDF found for listing {listing_id}")
+
+        artifact_url = urdf_info.urdf.url
+        return await download_artifact(artifact_url, get_listing_dir(listing_id))
+
+    except requests.RequestException:
+        logger.exception("Failed to fetch URDF info")
+        raise
+
+
+async def show_urdf_info(listing_id: str) -> None:
+    try:
+        urdf_info = fetch_urdf_info(listing_id)
+
+        if urdf_info.urdf:
+            logger.info("URDF Artifact ID: %s", urdf_info.urdf.artifact_id)
+            logger.info("URDF URL: %s", urdf_info.urdf.url)
+        else:
+            logger.info("No URDF found for listing %s", listing_id)
+    except requests.RequestException:
+        logger.exception("Failed to fetch URDF info")
+        raise
+
 
+async def upload_urdf(listing_id: str, args: Sequence[str] | None = None) -> None:
+    parser = argparse.ArgumentParser(description="Upload a URDF artifact to the K-Scale store")
+    parser.add_argument("folder_path", help="The path to the folder containing the URDF files")
+    parsed_args = parser.parse_args(args)
+    folder_path = Path(parsed_args.folder_path).expanduser().resolve()
 
-def main(args: Sequence[str] | None = None) -> None:
+    output_filename = f"{listing_id}.tgz"
+    tarball_path = create_tarball(folder_path, output_filename, get_listing_dir(listing_id))
+
+    try:
+        fetch_urdf_info(listing_id)
+        await upload_artifact(tarball_path, listing_id)
+    except requests.RequestException:
+        logger.exception("Failed to upload artifact")
+        raise
+
+
+async def remove_local_urdf(listing_id: str) -> None:
+    try:
+        if listing_id.lower() == "all":
+            cache_dir = get_cache_dir()
+            if cache_dir.exists():
+                logger.info("Removing all local caches at %s", cache_dir)
+                shutil.rmtree(cache_dir)
+            else:
+                logger.error("No local caches found")
+        else:
+            listing_dir = get_listing_dir(listing_id)
+            if listing_dir.exists():
+                logger.info("Removing local cache at %s", listing_dir)
+                shutil.rmtree(listing_dir)
+            else:
+                logger.error("No local cache found for listing %s", listing_id)
+
+    except Exception:
+        logger.error("Failed to remove local cache")
+        raise
+
+
+Command = Literal["download", "info", "upload", "remove-local"]
+
+
+async def main(args: Sequence[str] | None = None) -> None:
     parser = argparse.ArgumentParser(description="K-Scale URDF Store", add_help=False)
-    parser.add_argument(
-        "command",
-        choices=["get", "info", "upload"],
-        help="The command to run",
-    )
+    parser.add_argument("command", choices=get_args(Command), help="The command to run")
     parser.add_argument("listing_id", help="The listing ID to operate on")
     parsed_args, remaining_args = parser.parse_known_args(args)
 
-    command: Literal["get", "info", "upload"] = parsed_args.command
+    command: Command = parsed_args.command
     listing_id: str = parsed_args.listing_id
 
-    def get_listing_dir() -> Path:
-        (cache_dir := get_cache_dir() / listing_id).mkdir(parents=True, exist_ok=True)
-        return cache_dir
-
     match command:
-        case "get":
-            try:
-                urdf_info = fetch_urdf_info(listing_id)
-
-                if urdf_info.urdf:
-                    artifact_url = urdf_info.urdf.url
-                    asyncio.run(download_artifact(artifact_url, get_listing_dir()))
-                else:
-                    logger.info("No URDF found for listing %s" % listing_id)
-            except requests.RequestException as e:
-                logger.error("Failed to fetch URDF info: %s" % e)
-                sys.exit(1)
+        case "download":
+            await download_urdf(listing_id)
 
         case "info":
-            try:
-                urdf_info = fetch_urdf_info(listing_id)
-
-                if urdf_info.urdf:
-                    logger.info("URDF Artifact ID: %s" % urdf_info.urdf.artifact_id)
-                    logger.info("URDF URL: %s" % urdf_info.urdf.url)
-                else:
-                    logger.info("No URDF found for listing %s" % listing_id)
-            except requests.RequestException as e:
-                logger.error("Failed to fetch URDF info: %s" % e)
-                sys.exit(1)
+            await show_urdf_info(listing_id)
 
         case "upload":
-            parser = argparse.ArgumentParser(description="Upload a URDF artifact to the K-Scale store")
-            parser.add_argument("folder_path", help="The path to the folder containing the URDF files")
-            parsed_args = parser.parse_args(remaining_args)
-            folder_path = Path(parsed_args.folder_path).expanduser().resolve()
-
-            output_filename = f"{listing_id}.tgz"
-            tarball_path = create_tarball(folder_path, output_filename, get_listing_dir())
+            await upload_urdf(listing_id, remaining_args)
 
-            try:
-                urdf_info = fetch_urdf_info(listing_id)
-                asyncio.run(upload_artifact(tarball_path, listing_id))
-            except requests.RequestException as e:
-                logger.error("Failed to upload artifact: %s" % e)
-                sys.exit(1)
+        case "remove-local":
+            await remove_local_urdf(listing_id)
 
         case _:
             logger.error("Invalid command")
             sys.exit(1)
 
 
 if __name__ == "__main__":
-    main()
+    asyncio.run(main())

setup.cfg

@@ -10,4 +10,4 @@ exclude =
 [options.entry_points]
 
 console_scripts =
-    kscale = kscale.store.cli:main
+    kscale = kscale.store.cli:sync_main