feat(cli): add initial CLI package

rmfcli/colcon.pkg

@@ -0,0 +1,7 @@
+{
+    "hooks": [
+        "share/rmfcli/environment/rmf-argcomplete.bash",
+        "share/rmfcli/environment/rmf-argcomplete.fish",
+        "share/rmfcli/environment/rmf-argcomplete.zsh"
+    ]
+}

rmfcli/completion/rmf-argcomplete.bash

@@ -0,0 +1,19 @@
+# Copyright 2017-2026 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+if type register-python-argcomplete3 > /dev/null 2>&1; then
+  eval "$(register-python-argcomplete3 rmf)"
+elif type register-python-argcomplete > /dev/null 2>&1; then
+  eval "$(register-python-argcomplete rmf)"
+fi

rmfcli/completion/rmf-argcomplete.fish

@@ -0,0 +1,20 @@
+# Copyright 2017-2026 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Register rmf tab-completion for fish shell via argcomplete.
+if type -q register-python-argcomplete
+    register-python-argcomplete --shell fish rmf | source
+else if type -q register-python-argcomplete3
+    register-python-argcomplete3 --shell fish rmf | source
+end

rmfcli/completion/rmf-argcomplete.zsh

@@ -0,0 +1,25 @@
+# Copyright 2017-2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+if (( ! ${+_comps} )); then
+  autoload -U +X compinit && compinit
+fi
+autoload -U +X bashcompinit && bashcompinit
+
+# Get this scripts directory
+__rmfcli_completion_dir=${0:a:h}
+# Just source the bash version, it works in zsh too
+source "$__rmfcli_completion_dir/rmf-argcomplete.bash"
+# Cleanup
+unset __rmfcli_completion_dir

rmfcli/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rmfcli</name>
+  <version>0.0.0</version>
+  <description>
+    RMF command line tools.
+  </description>
+  <maintainer email="chenbn@a-star.edu.sg">Chen Bainian</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="chenbn@a-star.edu.sg">Chen Bainian</author>
+
+  <exec_depend>python3-argcomplete</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>rmf_prototype_msgs</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_xmllint</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

rmfcli/resource/package.dsv

@@ -0,0 +1,3 @@
+source;share/rmfcli/environment/rmf-argcomplete.bash
+source;share/rmfcli/environment/rmf-argcomplete.fish
+source;share/rmfcli/environment/rmf-argcomplete.zsh

rmfcli/rmfcli/cli.py

@@ -0,0 +1,61 @@
+# Copyright 2026 Chen Bainian
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from argparse import ArgumentParser, RawDescriptionHelpFormatter
+from signal import SIGINT
+from typing import Any, Optional
+
+from .command import extensions as command_extensions
+from .extensions import ExtensionBase
+from .extensions.utils import add_subparsers
+
+
+def main(
+    *, script_name: str = "rmf", argv: Any = None, description: Optional[str] = None
+) -> int | str | None:
+    if description is None:
+        description = f"{script_name} is an extensible command-line tool for RMF"
+
+    # top level parser
+    parser = ArgumentParser(description=description, formatter_class=RawDescriptionHelpFormatter)
+    extension_key = "_command"
+    add_subparsers(
+        parser, script_name, extension_key, command_extensions, required=False, argv=argv
+    )
+
+    # register argcomplete hook if available
+    try:
+        from argcomplete import autocomplete
+    except ImportError:
+        pass
+    else:
+        autocomplete(parser, exclude=["-h", "--help"], always_complete_options=False)
+
+    args = parser.parse_args(args=argv)
+
+    extension: Optional[ExtensionBase] = getattr(args, extension_key, None)
+
+    # handle the case that no command was passed
+    if extension is None:
+        parser.print_help()
+        return 0
+
+    # call the main method of the extension
+    try:
+        rc = extension.main(parser=parser, args=args)
+    except KeyboardInterrupt:
+        rc = SIGINT
+    except RuntimeError as e:
+        rc = str(e)
+    return rc

rmfcli/rmfcli/command/__init__.py

@@ -0,0 +1,22 @@
+# Copyright 2026 Chen Bainian
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from collections import OrderedDict
+
+from rmfcli.extensions import ExtensionBase
+
+from .destination import DestinationCommand
+
+extensions: OrderedDict[str, ExtensionBase] = OrderedDict()
+extensions["destination"] = DestinationCommand()

rmfcli/rmfcli/command/destination.py

@@ -0,0 +1,40 @@
+# Copyright 2026 Chen Bainian
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from argparse import ArgumentParser
+from typing import Any
+
+from rmfcli.extensions import CommandExtension, VerbExtension
+from rmfcli.extensions.utils import add_subparsers
+from rmfcli.verb.destination import extensions as verb_extensions
+
+
+class DestinationCommand(CommandExtension):
+    """Run Destination CLI sub-commands"""
+
+    def add_arguments(self, parser: ArgumentParser, cli_name: str, *, argv: Any = None) -> None:
+        self._subparser = parser
+        add_subparsers(parser, cli_name, "_verb", verb_extensions, required=False)
+
+    def main(self, *, parser: ArgumentParser, args: Any) -> None | int:
+        if not hasattr(args, "_verb"):
+            # in case no verb was passed
+            self._subparser.print_help()
+            return 0
+
+        extension: VerbExtension = args._verb
+
+        # call the verb's main method
+        rc: None | int = extension.main(parser=parser, args=args)
+        return rc

rmfcli/rmfcli/extensions/__init__.py

@@ -0,0 +1,17 @@
+# Copyright 2026 Chen Bainian
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .command_extension import CommandExtension
+from .extension_base import ExtensionBase
+from .verb_extension import VerbExtension

rmfcli/rmfcli/extensions/command_extension.py

@@ -0,0 +1,8 @@
+from .extension_base import ExtensionBase
+
+
+class CommandExtension(ExtensionBase):
+    NAME = None
+
+    def __init__(self) -> None:
+        super(CommandExtension, self).__init__()

rmfcli/rmfcli/extensions/extension_base.py

@@ -0,0 +1,43 @@
+# Copyright 2026 Chen Bainian
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.from argparse import ArgumentParser
+
+from argparse import ArgumentParser
+from typing import Any
+
+
+class ExtensionBase:
+    """
+    The extension point for 'command' extensions.
+
+    The following properties must be defined:
+    * `NAME` (will be set to the entry point name)
+
+    The following methods must be defined:
+    * `main`
+
+    The following methods can be defined:
+    * `add_arguments`
+    """
+
+    NAME = None
+
+    def __init__(self) -> None:
+        super(ExtensionBase, self).__init__()
+
+    def add_arguments(self, parser: ArgumentParser, cli_name: str, *, argv: Any = None) -> None:
+        pass
+
+    def main(self, *, parser: ArgumentParser, args: Any) -> int | None:
+        raise NotImplementedError()
+        pass

rmfcli/rmfcli/extensions/utils.py

@@ -0,0 +1,49 @@
+from argparse import ArgumentParser, RawDescriptionHelpFormatter, _SubParsersAction
+from collections import OrderedDict
+from typing import Any, List
+
+from .extension_base import ExtensionBase
+
+
+def get_first_line_doc(any_type: Any) -> str:
+    if not any_type.__doc__:
+        return ""
+    lines: List[str] = any_type.__doc__.splitlines()
+    if not lines:
+        return ""
+    if lines[0]:
+        line = lines[0]
+    elif len(lines) > 1:
+        line = lines[1]
+    return line.strip().rstrip(".")
+
+
+def add_subparsers(
+    parser: ArgumentParser,
+    cli_name: str,
+    dest: str,
+    extensions: OrderedDict[str, ExtensionBase],
+    required: bool = True,
+    argv: Any = None,
+) -> _SubParsersAction:
+    # Generate description
+    description = ""
+    max_length = max(len(name) for name in extensions.keys())
+    for name, extension in extensions.items():
+        description += "%s  %s\n" % (name.ljust(max_length), get_first_line_doc(extension))
+
+    # Create subparser
+    subparsers = parser.add_subparsers(
+        title="Commands",
+        description=description,
+        metavar=f"Call `{cli_name} <command> -h` for more detailed usage.",
+    )
+
+    subparsers.dest = " " + dest.lstrip("_")
+    subparsers.required = required
+    for name, extension in extensions.items():
+        command_parser = subparsers.add_parser(name, formatter_class=RawDescriptionHelpFormatter)
+        extension.add_arguments(command_parser, name, argv=argv)
+        command_parser.set_defaults(**{dest: extension})
+
+    return subparsers

rmfcli/rmfcli/extensions/verb_extension.py

@@ -0,0 +1,29 @@
+# Copyright 2026 Chen Bainian
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from argparse import ArgumentParser
+from typing import Any
+
+from .extension_base import ExtensionBase
+
+
+class VerbExtension(ExtensionBase):
+    NAME = None
+
+    def __init__(self) -> None:
+        super(VerbExtension, self).__init__()
+
+    def main(self, *, parser: ArgumentParser, args: Any) -> int | None:
+        raise NotImplementedError()
+        pass

rmfcli/rmfcli/verb/destination/__init__.py

@@ -0,0 +1,10 @@
+from typing import OrderedDict
+
+from rmfcli.extensions import ExtensionBase
+
+from .send import SendVerb
+from .dummy import DummyVerb
+
+extensions: OrderedDict[str, ExtensionBase] = OrderedDict()
+extensions["send"] = SendVerb()
+extensions["dummy"] = DummyVerb()