lerobot-clone/src/lerobot/configs/parser.py

# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# 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.
import importlib
import inspect
import json
import pkgutil
import sys
import tempfile
from argparse import ArgumentError
from collections.abc import Callable, Iterable, Sequence
from functools import wraps
from pathlib import Path
from pkgutil import ModuleInfo
from types import ModuleType
from typing import Any, TypeVar, cast

import draccus
import yaml  # type: ignore[import-untyped]

from lerobot.utils.utils import has_method

F = TypeVar("F", bound=Callable[..., object])

PATH_KEY = "path"
PLUGIN_DISCOVERY_SUFFIX = "discover_packages_path"

# Storage for path args extracted from YAML/JSON config files, so that
# get_path_arg() can find them even when they weren't passed via CLI.
_config_path_args: dict[str, str] = {}

# Storage for non-path YAML overrides so validate() can pass them to from_pretrained.
_config_yaml_overrides: dict[str, list[str]] = {}


def _flatten_to_cli_args(d: dict, prefix: str = "") -> list[str]:
    """Recursively flatten a nested dict to CLI-style args (e.g. {"lr": 1e-4} -> ["--lr=0.0001"])."""
    args = []
    for key, value in d.items():
        if key in (PATH_KEY, draccus.CHOICE_TYPE_KEY):
            continue
        full_key = f"{prefix}.{key}" if prefix else key
        if isinstance(value, bool):
            value = str(value).lower()
        if isinstance(value, dict):
            args.extend(_flatten_to_cli_args(value, full_key))
        elif value is not None and not isinstance(value, list):
            args.append(f"--{full_key}={value}")
    return args


def get_cli_overrides(field_name: str, args: Sequence[str] | None = None) -> list[str] | None:
    """Parses arguments from cli at a given nested attribute level.

    For example, supposing the main script was called with:
    python myscript.py --arg1=1 --arg2.subarg1=abc --arg2.subarg2=some/path

    If called during execution of myscript.py, get_cli_overrides("arg2") will return:
    ["--subarg1=abc" "--subarg2=some/path"]
    """
    if args is None:
        args = sys.argv[1:]
    attr_level_args = []
    detect_string = f"--{field_name}."
    exclude_strings = (f"--{field_name}.{draccus.CHOICE_TYPE_KEY}=", f"--{field_name}.{PATH_KEY}=")
    for arg in args:
        if arg.startswith(detect_string) and not arg.startswith(exclude_strings):
            denested_arg = f"--{arg.removeprefix(detect_string)}"
            attr_level_args.append(denested_arg)

    return attr_level_args


def parse_arg(arg_name: str, args: Sequence[str] | None = None) -> str | None:
    if args is None:
        args = sys.argv[1:]
    prefix = f"--{arg_name}="
    for arg in args:
        if arg.startswith(prefix):
            return arg[len(prefix) :]
    return None


def parse_plugin_args(plugin_arg_suffix: str, args: Sequence[str]) -> dict[str, str]:
    """Parse plugin-related arguments from command-line arguments.

    This function extracts arguments from command-line arguments that match a specified suffix pattern.
    It processes arguments in the format '--key=value' and returns them as a dictionary.

    Args:
        plugin_arg_suffix (str): The suffix to identify plugin-related arguments.
        cli_args (Sequence[str]): A sequence of command-line arguments to parse.

    Returns:
        dict: A dictionary containing the parsed plugin arguments where:
            - Keys are the argument names (with '--' prefix removed if present)
            - Values are the corresponding argument values

    Example:
        >>> args = ["--env.discover_packages_path=my_package", "--other_arg=value"]
        >>> parse_plugin_args("discover_packages_path", args)
        {'env.discover_packages_path': 'my_package'}
    """
    plugin_args = {}
    for arg in args:
        if "=" in arg and plugin_arg_suffix in arg:
            key, value = arg.split("=", 1)
            # Remove leading '--' if present
            if key.startswith("--"):
                key = key[2:]
            plugin_args[key] = value
    return plugin_args


class PluginLoadError(Exception):
    """Raised when a plugin fails to load."""


def load_plugin(plugin_path: str) -> None:
    """Load and initialize a plugin from a given Python package path.

    This function attempts to load a plugin by importing its package and any submodules.
    Plugin registration is expected to happen during package initialization, i.e. when
    the package is imported the gym environment should be registered and the config classes
    registered with their parents using the `register_subclass` decorator.

    Args:
        plugin_path (str): The Python package path to the plugin (e.g. "mypackage.plugins.myplugin")

    Raises:
        PluginLoadError: If the plugin cannot be loaded due to import errors or if the package path is invalid.

    Examples:
        >>> load_plugin("external_plugin.core")  # Loads plugin from external package

    Notes:
        - The plugin package should handle its own registration during import
        - All submodules in the plugin package will be imported
        - Implementation follows the plugin discovery pattern from Python packaging guidelines

    See Also:
        https://packaging.python.org/en/latest/guides/creating-and-discovering-plugins/
    """
    try:
        package_module = importlib.import_module(plugin_path, __package__)
    except (ImportError, ModuleNotFoundError) as e:
        raise PluginLoadError(
            f"Failed to load plugin '{plugin_path}'. Verify the path and installation: {str(e)}"
        ) from e

    def iter_namespace(ns_pkg: ModuleType) -> Iterable[ModuleInfo]:
        return pkgutil.iter_modules(ns_pkg.__path__, ns_pkg.__name__ + ".")

    try:
        for _finder, pkg_name, _ispkg in iter_namespace(package_module):
            importlib.import_module(pkg_name)
    except ImportError as e:
        raise PluginLoadError(
            f"Failed to load plugin '{plugin_path}'. Verify the path and installation: {str(e)}"
        ) from e


def get_path_arg(field_name: str, args: Sequence[str] | None = None) -> str | None:
    result = parse_arg(f"{field_name}.{PATH_KEY}", args)
    if result is None:
        result = _config_path_args.get(field_name)
    return result


def get_yaml_overrides(field_name: str) -> list[str]:
    return _config_yaml_overrides.get(field_name, [])


def get_type_arg(field_name: str, args: Sequence[str] | None = None) -> str | None:
    return parse_arg(f"{field_name}.{draccus.CHOICE_TYPE_KEY}", args)


def filter_arg(field_to_filter: str, args: Sequence[str] | None = None) -> list[str]:
    if args is None:
        return []
    return [arg for arg in args if not arg.startswith(f"--{field_to_filter}=")]


def filter_path_args(fields_to_filter: str | list[str], args: Sequence[str] | None = None) -> list[str]:
    """
    Filters command-line arguments related to fields with specific path arguments.

    Args:
        fields_to_filter (str | list[str]): A single str or a list of str whose arguments need to be filtered.
        args (Sequence[str] | None): The sequence of command-line arguments to be filtered.
            Defaults to None.

    Returns:
        list[str]: A filtered list of arguments, with arguments related to the specified
        fields removed.

    Raises:
        ArgumentError: If both a path argument (e.g., `--field_name.path`) and a type
            argument (e.g., `--field_name.type`) are specified for the same field.
    """
    if isinstance(fields_to_filter, str):
        fields_to_filter = [fields_to_filter]

    filtered_args = [] if args is None else list(args)

    for field in fields_to_filter:
        if get_path_arg(field, args):
            if get_type_arg(field, args):
                raise ArgumentError(
                    argument=None,
                    message=f"Cannot specify both --{field}.{PATH_KEY} and --{field}.{draccus.CHOICE_TYPE_KEY}",
                )
            filtered_args = [arg for arg in filtered_args if not arg.startswith(f"--{field}.")]

    return filtered_args


def extract_path_fields_from_config(config_path: str, path_fields: list[str]) -> str:
    """Extract `path` fields from a YAML/JSON config before draccus processes it.

    When a user specifies e.g. ``policy.path: lerobot/smolvla_base`` in a YAML config,
    draccus will fail because ``path`` is not a valid field on policy config classes.
    This function extracts those path values, stores them in ``_config_path_args`` for
    later retrieval by ``get_path_arg()``, and returns a cleaned temp config file path.
    """
    config_file = Path(config_path)
    suffix = config_file.suffix.lower()

    if suffix in (".yaml", ".yml"):
        with open(config_file) as f:
            config_data = yaml.safe_load(f)
    elif suffix == ".json":
        with open(config_file) as f:
            config_data = json.load(f)
    else:
        return config_path

    if not isinstance(config_data, dict):
        return config_path

    modified = False
    for field in path_fields:
        if field in config_data and isinstance(config_data[field], dict) and PATH_KEY in config_data[field]:
            _config_path_args[field] = str(config_data[field].pop(PATH_KEY))
            remaining = config_data[field]
            if remaining:
                _config_yaml_overrides[field] = _flatten_to_cli_args(remaining)
            else:
                del config_data[field]
            modified = True

    if not modified:
        return config_path

    # Write cleaned config to a temp file
    with tempfile.NamedTemporaryFile(mode="w", suffix=suffix, delete=False) as tmp:
        if suffix in (".yaml", ".yml"):
            yaml.dump(config_data, tmp, default_flow_style=False)
        else:
            json.dump(config_data, tmp, indent=2)
    return tmp.name


def wrap(config_path: Path | None = None) -> Callable[[F], F]:
    """
    HACK: Similar to draccus.wrap but does three additional things:
        - Will remove '.path' arguments from CLI in order to process them later on.
        - If a 'config_path' is passed and the main config class has a 'from_pretrained' method, will
          initialize it from there to allow to fetch configs from the hub directly
        - Will load plugins specified in the CLI arguments. These plugins will typically register
            their own subclasses of config classes, so that draccus can find the right class to instantiate
            from the CLI '.type' arguments
    """

    def wrapper_outer(fn: F) -> F:
        @wraps(fn)
        def wrapper_inner(*args: Any, **kwargs: Any) -> Any:
            argspec = inspect.getfullargspec(fn)
            argtype = argspec.annotations[argspec.args[0]]
            if len(args) > 0 and type(args[0]) is argtype:
                cfg = args[0]
                args = args[1:]
            else:
                cli_args = sys.argv[1:]
                plugin_args = parse_plugin_args(PLUGIN_DISCOVERY_SUFFIX, cli_args)
                for plugin_cli_arg, plugin_path in plugin_args.items():
                    try:
                        load_plugin(plugin_path)
                    except PluginLoadError as e:
                        # add the relevant CLI arg to the error message
                        raise PluginLoadError(f"{e}\nFailed plugin CLI Arg: {plugin_cli_arg}") from e
                    cli_args = filter_arg(plugin_cli_arg, cli_args)
                config_path_cli = parse_arg("config_path", cli_args)
                if has_method(argtype, "__get_path_fields__"):
                    path_fields = argtype.__get_path_fields__()
                    cli_args = filter_path_args(path_fields, cli_args)
                    # Also extract path fields from the YAML/JSON config file
                    if config_path_cli:
                        config_path_cli = extract_path_fields_from_config(config_path_cli, path_fields)
                if has_method(argtype, "from_pretrained") and config_path_cli:
                    cli_args = filter_arg("config_path", cli_args)
                    cfg = argtype.from_pretrained(config_path_cli, cli_args=cli_args)
                else:
                    cfg = draccus.parse(config_class=argtype, config_path=config_path, args=cli_args)
            response = fn(cfg, *args, **kwargs)
            return response

        return cast(F, wrapper_inner)

    return cast(Callable[[F], F], wrapper_outer)