cli-design

Create a thin module in python/src/resoio/cli/<action>.py exposing register(subparsers, common) and async _run(args), then add it to _COMMAND_MODULES in cli/__init__.py. Keep heavy imports like gRPC and numpy inside _run so --help stays fast.

Call output.add_format_argument(parser) for top-level commands or attach output.build_format_parent() to nested leaf parsers. In _run, check is_structured(args.format) and pass the dataclass or proto message directly to emit, which writes one JSON document to stdout.

Commands returning only a pid or file path (shutdown, screenshot, record) print a single stdout line instead, and interactive commands (drive, grabber interactive, inventory REPL) stay human-only. If --format json is passed to an unsupported action, reject it with exit code 2 and a stderr message.

betterproto2 enums are IntEnum, so .value yields a meaningless int. The to_jsonable serializer checks enum before int and emits .name instead; keep that dispatch order and never use Message.to_dict(), which produces camelCase and drops default values.

Spin up a real grpclib.server.Server on a real Unix domain socket with an inline fake modality base, then drive _amain with parsed args. For JSON cases capture stdout with capsys, assert a single document via json.loads, and pin argparse usage errors through SystemExit.code.