[parsing] Add support for remote packages

RobotLocomotion · Mar 21, 2023 · c75c4f0 · c75c4f0
1 parent 8ea4342
commit c75c4f0
Show file tree

Hide file tree

Showing 12 changed files with 638 additions and 31 deletions.
diff --git a/bindings/pydrake/multibody/parsing_py.cc b/bindings/pydrake/multibody/parsing_py.cc
@@ -32,12 +32,26 @@ PYBIND11_MODULE(parsing, m) {
     using Class = PackageMap;
     constexpr auto& cls_doc = doc.PackageMap;
     py::class_<Class> cls(m, "PackageMap", cls_doc.doc);
+    {
+      using Nested = PackageMap::RemoteParams;
+      constexpr auto& nested_doc = cls_doc.RemoteParams;
+      py::class_<Nested> nested(cls, "RemoteParams", nested_doc.doc);
+      nested.def(ParamInit<Nested>());
+      nested.def("ToJson", &Nested::ToJson, nested_doc.ToJson.doc);
+      DefAttributesUsingSerialize(&nested, nested_doc);
+      DefReprUsingSerialize(&nested);
+      DefCopyAndDeepCopy(&nested);
+    }
     cls  // BR
         .def(py::init<>(), cls_doc.ctor.doc)
         .def(py::init<const Class&>(), py::arg("other"), "Copy constructor")
         .def("Add", &Class::Add, py::arg("package_name"),
             py::arg("package_path"), cls_doc.Add.doc)
         .def("AddMap", &Class::AddMap, py::arg("other_map"), cls_doc.AddMap.doc)
+        .def("AddPackageXml", &Class::AddPackageXml, py::arg("filename"),
+            cls_doc.AddPackageXml.doc)
+        .def("AddRemote", &Class::AddRemote, py::arg("package_name"),
+            py::arg("params"))
         .def("Contains", &Class::Contains, py::arg("package_name"),
             cls_doc.Contains.doc)
         .def("Remove", &Class::Remove, py::arg("package_name"),
@@ -53,8 +67,6 @@ PYBIND11_MODULE(parsing, m) {
               return self.GetPath(package_name);
             },
             py::arg("package_name"), cls_doc.GetPath.doc)
-        .def("AddPackageXml", &Class::AddPackageXml, py::arg("filename"),
-            cls_doc.AddPackageXml.doc)
         .def("PopulateFromFolder", &Class::PopulateFromFolder, py::arg("path"),
             cls_doc.PopulateFromFolder.doc)
         .def("PopulateFromEnvironment", &Class::PopulateFromEnvironment,

diff --git a/bindings/pydrake/multibody/test/parsing_test.py b/bindings/pydrake/multibody/test/parsing_test.py
@@ -68,6 +68,26 @@ def test_package_map(self):
         dut.PopulateFromEnvironment(environment_variable='TEST_TMPDIR')
         dut.PopulateFromFolder(path=tmpdir)
 
+    def test_package_map_remote_params(self):
+        dut = PackageMap.RemoteParams(
+            urls=["file:///tmp/missing.zip"],
+            sha256="0" * 64,
+            archive_type="zip",
+            strip_prefix="prefix",)
+        self.assertIn("missing.zip", dut.ToJson())
+        copy.copy(dut)
+        copy.deepcopy(dut)
+
+    def test_package_map_add_remote(self):
+        dut = PackageMap.MakeEmpty()
+        package_name = "gibberish"
+        dut.AddRemote(package_name=package_name,
+                      params=PackageMap.RemoteParams(
+                          urls=["file:///tmp/missing.zip"],
+                          sha256="0" * 64))
+        with self.assertRaisesRegex(RuntimeError, "downloader.*error"):
+            dut.GetPath(package_name)
+
     def test_parser_file(self):
         """Calls every combination of arguments for the Parser methods which
         use a file_name (not contents) and inspects their return type.

diff --git a/multibody/parsing/BUILD.bazel b/multibody/parsing/BUILD.bazel
@@ -66,10 +66,14 @@ drake_cc_library(
     visibility = ["//visibility:public"],
     interface_deps = [
         "//common:essential",
+        "//common:name_value",
     ],
     deps = [
+        "//common:find_cache",
         "//common:find_resource",
         "//common:find_runfiles",
+        "//common:scope_exit",
+        "//common/yaml",
         "@tinyxml2_internal//:tinyxml2",
     ],
 )
@@ -622,6 +626,20 @@ drake_cc_googletest(
     ],
 )
 
+drake_cc_googletest(
+    name = "package_map_remote_test",
+    data = [
+        "test/package_map_test_packages/compressed.zip",
+    ],
+    deps = [
+        ":package_map",
+        "//common:find_cache",
+        "//common:find_resource",
+        "//common:scope_exit",
+        "//common/test_utilities:expect_throws_message",
+    ],
+)
+
 drake_cc_googletest(
     name = "drake_manifest_resolution_test",
     data = [

diff --git a/multibody/parsing/package_downloader.py b/multibody/parsing/package_downloader.py
@@ -147,8 +147,13 @@ def _run(*, temp_dir: Path, package_name: str, urls: List[str], sha256: str,
 
 
 def _main(argv):
+    # We expect exactly two command-line arguments to this program:
+    # - The filename containing JSON data with our *actual* arguments.
+    # - A dummy argument that we'll ignore. (It's sometimes used by our caller
+    #    to suppress valgrind when we're called from C++ code).
+    config_json, _ = argv
+
     # Read our config file.
-    config_json, = argv
     with open(config_json, "r") as f:
         kwargs = json.load(f)