Organized files and added comments

mil_common/utils/mil_tools/scripts/mil-preflight/main.py

@@ -1,69 +1,42 @@
+################################################################################
+#  File name: main.py
+#  Author: Keith Khadar
+#  Description: This file is the entry point to preflight.
+################################################################################
+#                             -----  Imports -----                             #
+# ----- Preflight  -----#
+# ----- Console  -----#
 import subprocess
 import time
 
 import menus
+
+# ----- ROS  -----#
 import rosnode
 import rospy
 import rostopic
+import tests
 from PyInquirer import prompt
 from rich.console import Console
 from rich.progress import Progress, track
+from rich.table import Table
 
-# Custom message imports
-from subjugator_msgs.msg import ThrusterCmd
-
+#                             -----  Variables -----                             #
+# ----- Timeouts  -----#
 node_timout = 5  # seconds
 topic_timout = 5  # seconds
 actuator_timout = 5  # seconds
 
+# ----- Reports  -----#
+report = []
 
-hardwareChecklist = [
-    {
-        "type": "checkbox",
-        "message": "Hardware Checklist:",
-        "name": "HardwareTests: \nPlease check that all of the following are in working order. \nYou cannot continue until everything has been checked.",
-        "choices": [
-            {"name": "check thing 1"},
-            {"name": "check thing 2"},
-            {"name": "check thing 3"},
-            {"name": "check thing 4"},
-            {"name": "check thing 5"},
-        ],
-    },
-]
-
-topics = [
-    # "/camera/front/right/image_raw",
-    # "/camera/down/image_raw",
-    # "/camera/front/left/image_raw",
-    # "/dvl",
-    # "/depth",
-    # "/imu/data_raw",
-    # "/imu/mag",
-]
-
-nodes = ["/odom_estimator"]
-
-actuatorsList = [
-    (
-        "/thrusters/thrust",
-        [
-            ThrusterCmd(name="FLH", thrust=60.0),
-            ThrusterCmd(name="FLV", thrust=60.0),
-            ThrusterCmd(name="FRH", thrust=60.0),
-            ThrusterCmd(name="FRV", thrust=60.0),
-            ThrusterCmd(name="BLH", thrust=60.0),
-            ThrusterCmd(name="BLV", thrust=60.0),
-            ThrusterCmd(name="BRH", thrust=60.0),
-            ThrusterCmd(name="BRV", thrust=60.0),
-        ],
-    ),
-]
+
+#                             -----  Main Routine -----                           #
 
 
 def main():
     # Clear Screen and Display Start menu
-    subprocess.run("clear", shell=True)
+    clear_screen()
 
     # Print Info about Preflight
     Console().print(menus.info_page)
@@ -75,6 +48,8 @@ def main():
     # Select the mode and run it
     if mode == "Run Preflight Full Test":
         fullTest()
+    if mode == "View Report":
+        viewReport()
     if mode == "Exit":
         subprocess.run("clear", shell=True)
         return
@@ -83,55 +58,78 @@ def main():
     main()
 
 
+#                            -----  Subroutines -----                          #
+
+# ----- Modes  -----#
+
+
 def fullTest():
     ### Complete the hardware tests ###
 
-    while True:
-        subprocess.run("clear", shell=True)
-        answers = prompt(hardwareChecklist)
+    # Clear the screen and display the hardware checklist
+    clear_screen()
+    Console().print(menus.hardware_desc)
+    respond = prompt(menus.hardwareChecklist)
 
-        # If everything has been checked off
-        if len(next(iter(answers.values()))) == 5:
-            break
+    # Filter the response and store checklist to the report
+    answers = []
+    for i in range(len(tests.hardware)):
+        if tests.hardware[i] in next(iter(respond.values())):
+            answers.append((tests.hardware[i], True))
         else:
-            menu_ans = prompt(menus.incomplete_continue)
-            if next(iter(menu_ans.values())) is True:
-                # Continue even though everything has not been checked off
-                break
-            else:
-                # Go back to main menu
-                return
+            answers.append((tests.hardware[i], False))
+    createResult(answers, "Hardware Checklist")
+
+    # Check if the list is incomplete. If so prompt user for comfirmation to continue
+    if len(next(iter(respond.values()))) != len(tests.hardware):
+        menu_ans = prompt(menus.incomplete_continue)
+        if next(iter(menu_ans.values())) is False:
+            return
 
     ### Complete Software Tests ###
 
-    subprocess.run("clear", shell=True)
+    # Clear the screen
+    clear_screen()
+
+    # Check that ROS is running!
     try:
         rostopic._check_master()
     except Exception:
         Console().print("[bold] ROS not running! Please try again later[/]")
         menu_ans = prompt(menus.press_anykey)
         return
 
+    # Initialize the ROS node
     rospy.init_node("preflight")
 
+    # Print Node Screen description
+    Console().print(menus.node_desc)
+
     # Check Nodes
     answers = []
-    for node in track(nodes, description="Checking Nodes..."):
+    for node in track(tests.nodes, description="Checking Nodes..."):
         # Try and ping the nodes
         try:
             answers.append((node, rosnode.rosnode_ping(node, node_timout)))
         except Exception:
             answers.append((node, False))
 
-    print_results(answers)
+    # Clear the screen, print and save the response to the report
+    print_results(answers, "Node Liveliness")
+
+    # Prompt the user to continue to next test
     menu_ans = prompt(menus.continue_question)
     if next(iter(menu_ans.values())) is False:
         # Go back to main menu
         return
 
+    # Print Topic screen description
+    clear_screen()
+    Console().print(menus.topic_desc)
+
     # Check Topics
     answers = []
-    for topic in track(topics, description="Checking Topics..."):
+    for topic in track(tests.topics, description="Checking Topics..."):
         # Check for messages on the topics
         try:
             topicType, topicStr, _ = rostopic.get_topic_class(topic)  # get topic class
@@ -140,21 +138,26 @@ def fullTest():
                 topicType,
                 topic_timout,
             )  # try to get a message from that topic
-            answers.append({topic: True})
+            answers.append((topic, True))
         except Exception:
-            answers.append({topic: False})
-    print_results(answers)
+            answers.append((topic, False))
+
+    # Clear the screen, print and save the response to the report
+    print_results(answers, "Topic Liveliness")
 
+    # Prompt the user to continue to next test
     menu_ans = prompt(menus.continue_question)
     if next(iter(menu_ans.values())) is False:
         # Go back to main menu
         return
 
     ### Actuators Test ###
+    # Print Actuators Screen description
     subprocess.run("clear", shell=True)
+    Console().print(menus.node_desc)
 
     answers = []
-    for actuator in actuatorsList:
+    for actuator in tests.actuatorsList:
         try:
             # Confirm that it is safe to run this actuator
             Console().print(menus.safety_check, actuator[0])
@@ -185,18 +188,57 @@ def fullTest():
         except Exception:
             answers.append((actuator[0], False))
 
-    print_results(answers)
-    menu_ans = prompt(menus.press_anykey)
+    # Clear the screen, print and save the response to the report
+    print_results(answers, "Actuator Tests")
+    prompt(menus.press_anykey)
+    return
+
+
+def viewReport():
+    # Clear the screen
+    clear_screen()
+
+    # Check that there is a report
+    if len(report) == 0:
+        Console().print(
+            "[bold]No report![/].\nPlease generate a report by running a full test.",
+        )
+        prompt(menus.press_anykey)
+        return
+    # Generate the report
+    for result in report:
+        Console().print(result)
+    prompt(menus.press_anykey)
     return
 
 
-def print_results(systems):
+# ----- Helper  -----#
+
+
+def createResult(systems, name):
+    # Generates a table to hold information about each system
+    result = Table(title=f"[bold]{name}[/]")
+    result.add_column("System Name", justify="center", style="cyan", no_wrap=True)
+    result.add_column("Status", justify="center", style="magenta", no_wrap=True)
+
+    # Populates the table
+    for system, status in systems:
+        status_text = "[green]✔[/] Working" if status else "[red]❌[/] Not Working"
+        result.add_row(system, status_text)
+    report.append(result)
+
+    return result
+
+
+def print_results(systems, name):
+    clear_screen()
+    result = createResult(systems, name)
+    Console().print(result)
+
+
+def clear_screen():
     subprocess.run("clear", shell=True)
-    for name, status in systems:
-        if status:
-            Console().print(f"{name}: [green]✔[/] Working")
-        else:
-            Console().print(f"{name}: [red]❌[/] Not Working")
+    Console().print(menus.title)
 
 
 if __name__ == "__main__":

mil_common/utils/mil_tools/scripts/mil-preflight/menus.py

@@ -1,18 +1,22 @@
 ################################################################################
 #  File name: menus.py
 #  Author: Keith Khadar
-#  Description: This file is used to store all the menus used by prefligh
+#  Description: This file is used to store all the menus used by preflight
 ################################################################################
-
+# ----- Imports  -----#
+import tests
 
 # -----  Home Page  -----#
-info_page = """
+title = """
 [bold green]Preflight Program - Autonomous Robot Verification[/bold green]
+"""
+info_page = """
 Welcome to the Preflight Program, a tool inspired by the preflight checklists used by pilots before flying a plane. This program is designed to verify the functionality of all software and hardware systems on your autonomous robot. It ensures that everything is in working order, allowing you to safely deploy your robot with confidence.\n
 [italic]Authors:[/italic]
 Keith Khadar
 Anthony Liao
-Joshua Thomas\n
+Joshua Thomas
+Maanas Kotha\n
 """
 
 
@@ -44,6 +48,7 @@
         "type": "confirm",
         "name": "continue",
         "message": "Press any key to continue.",
+        "confirm": False,
     },
 ]
 
@@ -62,9 +67,35 @@
     },
 ]
 
+
+# -----  Software Screen  -----#
+node_desc = """
+Welcome to the [bold]ROS Node Liveliness Test screen[/]. This screen allows you to verify the liveliness of ROS nodes within the system. ROS nodes are essential components responsible for communication and control within the robot\'s architecture. Use this screen to ensure that all necessary nodes are running and responsive for proper system functionality.
+"""
+topic_desc = """
+Welcome to the Topic Monitoring screen. This screen allows you to monitor the topics in the ROS system. In a ROS (Robot Operating System) environment, topics serve as channels through which nodes communicate by publishing and subscribing to messages. Monitoring topics enables you to verify that sensors are actively publishing their data.
+"""
+
+# -----  Hardware Screen  -----#
+hardware_desc = """
+Welcome to the [bold]Hardware Inspection Checklist[/] page of our preflight app! This checklist is designed to ensure that all critical hardware components of your robot are thoroughly inspected before each operation. By completing this checklist, you contribute to the safety and reliability of the robot during its mission. Please carefully examine each item listed below to verify its condition and functionality.
+"""
+hardwareChecklist = [
+    {
+        "type": "checkbox",
+        "message": "Hardware Checklist:",
+        "name": "HardwareTests: \nPlease check that all of the following are in working order.",
+        "choices": [{"name": item} for item in tests.hardware],
+    },
+]
+
 # -----  Actuators Screen  -----#
+actuator_desc = """
+Welcome to the [bold]Actuator Test Screen[/]. This screen allows you to test the functionality of various actuators on the robot. Actuators play a crucial role in the movement and operation of the robot. Use this screen with caution and follow the instructions carefully to avoid any accidents or damage to the robot.
+\n[bold red]Caution:[/bold red] Actuators can be dangerous if mishandled. Please be careful when testing them, as they have the potential to cause harm or injury. For example, thrusters, when spinning, could chop off someone's finger. Always follow safety protocol and guidelines.
+"""
 safety_check = """
-MAKE SURE THAT EVERYONE'S FINGERS ARE CLEAR!! Is it safe to run the following actuator?
+[bold][yellow]Ensure that all fingers are clear of the area![/yellow][/bold] Is it safe to operate the following actuator?
 """
 
 actuator_check = """