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Added more UI
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keithmk authored and keithmk committed Feb 16, 2024
1 parent 51be3b6 commit cdad43f
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247 changes: 112 additions & 135 deletions mil_common/utils/mil_tools/scripts/mil-preflight/main.py
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Original file line number Diff line number Diff line change
@@ -1,59 +1,20 @@
import subprocess
import time

import menus
import rosnode
import rospy
import rostopic
import typer
from PyInquirer import prompt
from rich.console import Console
from rich.progress import track
from rich.progress import Progress, track

# Custom message imports
from subjugator_msgs.msg import ThrusterCmd

app = typer.Typer()


def display_start_menu():
console = Console()

# Title
console.print(
"[bold green]Preflight Program - Autonomous Robot Verification[/bold green]",
)

# Description
console.print(
"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",
)

# Authors section
console.print("\n[italic]Authors:[/italic]")
console.print("Keith Khadar")
console.print("Anthony Liao")
console.print("Joshua Thomas\n")

# Menu options
start_menu = [
{
"type": "list",
"name": "mode selection",
"message": "Menu",
"choices": [
"Run Preflight Full Test",
"View Report",
"Run Specific Test",
"View Documentation",
"Exit",
],
},
]
option = prompt(start_menu)
return next(iter(option.values()))
node_timout = 5 # seconds
topic_timout = 5 # seconds
actuator_timout = 5 # seconds


hardwareChecklist = [
Expand All @@ -72,13 +33,13 @@ def display_start_menu():
]

topics = [
"/camera/front/right/image_raw",
"/camera/down/image_raw",
"/camera/front/left/image_raw",
"/dvl",
"/depth",
"/imu/data_raw",
"/imu/mag",
# "/camera/front/right/image_raw",
# "/camera/down/image_raw",
# "/camera/front/left/image_raw",
# "/dvl",
# "/depth",
# "/imu/data_raw",
# "/imu/mag",
]

nodes = ["/odom_estimator"]
Expand All @@ -100,127 +61,143 @@ def display_start_menu():
]


@app.command("Start")
def main():
# Display Modes/Options
# Clear Screen and Display Start menu
subprocess.run("clear", shell=True)
mode = display_start_menu()

# Print Info about Preflight
Console().print(menus.info_page)

# Print start select menu
option = prompt(menus.start_menu)
mode = next(iter(option.values()))

# Select the mode and run it
if mode == "Run Preflight Full Test":
hardware()
software()
actuators()
fullTest()
if mode == "Exit":
subprocess.run("clear", shell=True)
return

# Return to this screen after running the selected mode
main()


def hardware():
# Complete the hardware tests
subprocess.run("clear", shell=True)
answers = prompt(hardwareChecklist)
while len(next(iter(answers.values()))) != 5:
def fullTest():
### Complete the hardware tests ###

while True:
subprocess.run("clear", shell=True)
answers = prompt(hardwareChecklist)

# If everything has been checked off
if len(next(iter(answers.values()))) == 5:
break
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

### Complete Software Tests ###

def software():
# Complete the software tests
subprocess.run("clear", shell=True)
try:
rostopic._check_master()
except Exception:
Console().print("[bold] ROS not running! Please try again later[/]")
menu_ans = prompt(menus.press_anykey)
return

rospy.init_node("preflight")

# Check Nodes
answers = []
for node in track(nodes, description="Checking Nodes..."):
# Try and ping the nodes
try:
answers.append({node: rosnode.rosnode_ping(node, 5)})
answers.append((node, rosnode.rosnode_ping(node, node_timout)))
except Exception:
answers.append({node: False})
print(answers)
answers.append((node, False))

print_results(answers)
menu_ans = prompt(menus.continue_question)
if next(iter(menu_ans.values())) is False:
# Go back to main menu
return

# Check Topics
answers = []
for topic in track(topics, description="Checking Topics..."):
# Check for messages on the topics
try:
topicType, topicStr, _ = rostopic.get_topic_class(topic) # get topic class
rospy.wait_for_message(
topicStr,
topicType,
5,
topic_timout,
) # try to get a message from that topic
answers.append({topic: True})
except Exception:
answers.append({topic: False})
print(answers)

print(
prompt(
[
{
"type": "confirm",
"name": "continue",
"message": "Continue?",
},
],
),
)


def actuators():
print_results(answers)

menu_ans = prompt(menus.continue_question)
if next(iter(menu_ans.values())) is False:
# Go back to main menu
return

### Actuators Test ###
subprocess.run("clear", shell=True)
print("test")

answers = []
try:
prompt(
[
{
"type": "confirm",
"name": "runActuator",
"message": "Are your sure you want to run "
+ actuatorsList[0][0]
+ "? BE CAREFUL make sure everyone's fingures are secured.",
},
],
)
topicType, topicStr, _ = rostopic.get_topic_class(
actuatorsList[0][0],
) # get topic class
print(topicType)
pub = rospy.Publisher(topicStr, topicType, queue_size=10)
print(actuatorsList[0][1])
t_end = time.time() + 5
while time.time() < t_end:
pub.publish(actuatorsList[0][1])
answers.append(
prompt(
[
{
"type": "confirm",
"name": "worked?",
"message": "Did " + actuatorsList[0][0] + " work as expected?",
},
],
),
)
except Exception as e:
print(e)
answers.append(False)

print(answers)

print(
prompt(
[
{
"type": "confirm",
"name": "continue",
"message": "Continue?",
},
],
),
)
for actuator in actuatorsList:
try:
# Confirm that it is safe to run this actuator
Console().print(menus.safety_check, actuator[0])
menu_ans = prompt(menus.continue_question)
if next(iter(menu_ans.values())) is False:
# Go back to main menu
return

# Create a publisher
topicType, topicStr, _ = rostopic.get_topic_class(actuator[0])
pub = rospy.Publisher(topicStr, topicType, queue_size=10)

# Publish to the topic for the specified timeout
with Progress() as progress:
t_start = time.time()
t_end = t_start + actuator_timout
t_prev = time.time()
task = progress.add_task("Running", total=(t_end - t_start))
while time.time() <= t_end:
pub.publish(actuator[1])
progress.update(task, advance=(time.time() - t_prev))
t_prev = time.time()
progress.update(task, advance=t_end)

# Ask if the actuator worked
Console().print(menus.actuator_check)
answers.append((actuator[0], next(iter(prompt(menus.yes_no).values()))))
except Exception:
answers.append((actuator[0], False))

print_results(answers)
menu_ans = prompt(menus.press_anykey)
return


def print_results(systems):
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")


if __name__ == "__main__":
app()
main()
72 changes: 72 additions & 0 deletions mil_common/utils/mil_tools/scripts/mil-preflight/menus.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,72 @@
################################################################################
# File name: menus.py
# Author: Keith Khadar
# Description: This file is used to store all the menus used by prefligh
################################################################################


# ----- Home Page -----#
info_page = """
[bold green]Preflight Program - Autonomous Robot Verification[/bold green]
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
"""


start_menu = [
{
"type": "list",
"name": "mode selection",
"message": "Menu",
"choices": [
"Run Preflight Full Test",
"View Report",
"Run Specific Test",
"View Documentation",
"Exit",
],
},
]

# ----- Loading Screen -----#
continue_question = [
{
"type": "confirm",
"name": "continue",
"message": "Continue?",
},
]
press_anykey = [
{
"type": "confirm",
"name": "continue",
"message": "Press any key to continue.",
},
]

incomplete_continue = [
{
"type": "confirm",
"name": "incomplete",
"message": "This checklist is incomplete. Do you wish to continue?",
},
]
yes_no = [
{
"type": "confirm",
"name": "yes_no",
"message": "Yes?",
},
]

# ----- Actuators Screen -----#
safety_check = """
MAKE SURE THAT EVERYONE'S FINGERS ARE CLEAR!! Is it safe to run the following actuator?
"""

actuator_check = """
Did the actuator work?
"""
11 changes: 0 additions & 11 deletions mil_common/utils/mil_tools/scripts/mil-preflight/old-code/RunTests.py
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