converted to typer, for a more cli solution

mil_common/utils/mil_tools/scripts/preflight/Tests/RunTests.py

@@ -0,0 +1,11 @@
+import importlib
+
+
+def getHardWareCheckist(robotName):
+    robotName += ".hardware"
+    module = importlib.import_module(robotName)
+
+    if hasattr(module, "hardwareTests"):
+        return module.hardwareTests
+    else:
+        return []

mil_common/utils/mil_tools/scripts/preflight/Tests/TestLib.py

@@ -0,0 +1,93 @@
+import rospy
+import rosservice
+import rostopic
+
+
+class Test:
+    # Constructor
+    def __init__(self, name, description, communicationType, address):
+        self.name = name
+        self.description = description
+        self.communicationType = communicationType
+        self.address = address
+        self.needsHumanAuthorization = False
+
+    # Check if the communication interface is up and running
+    def isActive(self):
+        # Check if the topic is up
+        if self.communicationType == "Topic":
+            topicType, topicStr, _ = rostopic.get_topic_class(
+                self.address,
+            )  # get topic class
+            try:
+                rospy.wait_for_message(
+                    topicStr,
+                    topicType,
+                )  # try to get a message from that topic
+                return True
+            except Exception:
+                return False
+
+        # Check if the service is up
+        if self.communicationType == "Service":
+            return rosservice.waitForService(
+                self.address,
+            )  # Wait for the service to be up
+
+        # Check if the action server is up
+        if self.communicationType == "Action":
+            # action client
+            topicType, topicStr, _ = rostopic.get_topic_class(
+                self.address + "/feedback",
+            )
+            try:
+                # Wait for a message from the topic
+                rospy.wait_for_message(topicStr, topicType)
+                return True
+            except Exception:
+                return False
+
+    # Send data over the communication interface and pass in the return values into the check function
+    def VerifyData(self, args, checkFunction):
+        result = ""
+
+        if self.communicationType == "Topic":
+            # Get the class of the topic
+            topicType, topicStr, _ = rostopic.get_topic_class(self.address)
+            try:
+                # Get a message from the topic
+                result = rospy.wait_for_message(topicStr, topicType)
+            except Exception:
+                return False
+
+        if self.communicationType == "Service":
+            try:
+                # Get a message form the service
+                result = rosservice.call_service(self.address, args)
+            except Exception:
+                return False
+
+        if self.communicationType == "Action":
+            # Get the class of the topic, remember an action will publish its results to a topic with /goal at the end
+            topicType, topicStr, _ = rostopic.get_topic_class(
+                self.address + "/feedback",
+            )
+            try:
+                # Wait for a message from the topic
+                result = rospy.wait_for_message(topicStr, topicType)
+            except Exception:
+                return False
+
+        return checkFunction(args, result)
+
+    def runCommand(self, args):
+        # use a dictionary
+        if self.communicationType == "Topic":
+            topicType, topicStr, _ = rostopic.get_topic_class(self.address)
+        if self.communicationType == "Service":
+            # Do something
+            self
+        if self.communicationType == "Action":
+            # Do something
+            self
+        return False

scripts/SubChecklist.txt

@@ -0,0 +1,2 @@
+dvl
+odom

services.txt

@@ -0,0 +1,165 @@
+/adaptive_controller/get_loggers
+/adaptive_controller/set_logger_level
+/adaptive_controller/set_parameters
+/alarm/get
+/alarm/set
+/alarm_sever/get_loggers
+/alarm_sever/set_logger_level
+/b_matrix
+/c3_trajectory_generator/get_loggers
+/c3_trajectory_generator/set_logger_level
+/camera/down/down_image_proc/get_loggers
+/camera/down/down_image_proc/set_logger_level
+/camera/down/down_image_proc_debayer/set_parameters
+/camera/down/down_image_proc_rectify_color/set_parameters
+/camera/down/down_image_proc_rectify_mono/set_parameters
+/camera/down/image_color/compressed/set_parameters
+/camera/down/image_color/compressedDepth/set_parameters
+/camera/down/image_color/theora/set_parameters
+/camera/down/image_mono/compressed/set_parameters
+/camera/down/image_mono/compressedDepth/set_parameters
+/camera/down/image_mono/theora/set_parameters
+/camera/down/image_raw/compressed/set_parameters
+/camera/down/image_raw/compressedDepth/set_parameters
+/camera/down/image_raw/theora/set_parameters
+/camera/down/image_rect/compressed/set_parameters
+/camera/down/image_rect/compressedDepth/set_parameters
+/camera/down/image_rect/theora/set_parameters
+/camera/down/image_rect_color/compressed/set_parameters
+/camera/down/image_rect_color/compressedDepth/set_parameters
+/camera/down/image_rect_color/theora/set_parameters
+/camera/down/set_camera_info
+/camera/down/set_parameters
+/camera/front/camera_nodelet_manager/get_loggers
+/camera/front/camera_nodelet_manager/list
+/camera/front/camera_nodelet_manager/load_nodelet
+/camera/front/camera_nodelet_manager/set_logger_level
+/camera/front/camera_nodelet_manager/unload_nodelet
+/camera/front/left/image_color/compressed/set_parameters
+/camera/front/left/image_color/compressedDepth/set_parameters
+/camera/front/left/image_color/theora/set_parameters
+/camera/front/left/image_mono/compressed/set_parameters
+/camera/front/left/image_mono/compressedDepth/set_parameters
+/camera/front/left/image_mono/theora/set_parameters
+/camera/front/left/image_raw/compressed/set_parameters
+/camera/front/left/image_raw/compressedDepth/set_parameters
+/camera/front/left/image_raw/theora/set_parameters
+/camera/front/left/image_rect/compressed/set_parameters
+/camera/front/left/image_rect/compressedDepth/set_parameters
+/camera/front/left/image_rect/theora/set_parameters
+/camera/front/left/image_rect_color/compressed/set_parameters
+/camera/front/left/image_rect_color/compressedDepth/set_parameters
+/camera/front/left/image_rect_color/theora/set_parameters
+/camera/front/left/seecam_image_proc/get_loggers
+/camera/front/left/seecam_image_proc/set_logger_level
+/camera/front/left/seecam_image_proc_debayer/set_parameters
+/camera/front/left/seecam_image_proc_rectify_color/set_parameters
+/camera/front/left/seecam_image_proc_rectify_mono/set_parameters
+/camera/front/left/set_camera_info
+/camera/front/left/set_parameters
+/camera/front/right/image_color/compressed/set_parameters
+/camera/front/right/image_color/compressedDepth/set_parameters
+/camera/front/right/image_color/theora/set_parameters
+/camera/front/right/image_mono/compressed/set_parameters
+/camera/front/right/image_mono/compressedDepth/set_parameters
+/camera/front/right/image_mono/theora/set_parameters
+/camera/front/right/image_raw/compressed/set_parameters
+/camera/front/right/image_raw/compressedDepth/set_parameters
+/camera/front/right/image_raw/theora/set_parameters
+/camera/front/right/image_rect/compressed/set_parameters
+/camera/front/right/image_rect/compressedDepth/set_parameters
+/camera/front/right/image_rect/theora/set_parameters
+/camera/front/right/image_rect_color/compressed/set_parameters
+/camera/front/right/image_rect_color/compressedDepth/set_parameters
+/camera/front/right/image_rect_color/theora/set_parameters
+/camera/front/right/set_camera_info
+/camera/front/right/set_parameters
+/camera/front/right_image_proc_debayer/get_loggers
+/camera/front/right_image_proc_debayer/set_logger_level
+/camera/front/right_image_proc_debayer/set_parameters
+/camera/front/right_image_proc_rect/get_loggers
+/camera/front/right_image_proc_rect/set_logger_level
+/camera/front/right_image_proc_rect/set_parameters
+/camera/front/right_image_proc_rect_color/get_loggers
+/camera/front/right_image_proc_rect_color/set_logger_level
+/camera/front/right_image_proc_rect_color/set_parameters
+/gazebo/apply_body_wrench
+/gazebo/apply_joint_effort
+/gazebo/clear_body_wrenches
+/gazebo/clear_joint_forces
+/gazebo/delete_light
+/gazebo/delete_model
+/gazebo/get_joint_properties
+/gazebo/get_light_properties
+/gazebo/get_link_properties
+/gazebo/get_link_state
+/gazebo/get_loggers
+/gazebo/get_model_properties
+/gazebo/get_model_state
+/gazebo/get_physics_properties
+/gazebo/get_world_properties
+/gazebo/pause_physics
+/gazebo/reset_simulation
+/gazebo/reset_world
+/gazebo/set_joint_properties
+/gazebo/set_light_properties
+/gazebo/set_link_properties
+/gazebo/set_link_state
+/gazebo/set_logger_level
+/gazebo/set_model_configuration
+/gazebo/set_model_state
+/gazebo/set_parameters
+/gazebo/set_physics_properties
+/gazebo/spawn_sdf_model
+/gazebo/spawn_urdf_model
+/gazebo/unpause_physics
+/hydrophones/hydrophones_visualization/get_loggers
+/hydrophones/hydrophones_visualization/set_logger_level
+/hydrophones/ping_locator/cross_correlation_debug_enable
+/hydrophones/ping_locator/enable
+/hydrophones/ping_locator/get_loggers
+/hydrophones/ping_locator/samples_debug_enable
+/hydrophones/ping_locator/set_logger_level
+/hydrophones/triggering/enable
+/hydrophones/triggering/filter_debug_enable
+/hydrophones/triggering/filter_debug_trigger
+/hydrophones/triggering/get_loggers
+/hydrophones/triggering/reset
+/hydrophones/triggering/sample_at_trigger_debug_enable
+/hydrophones/triggering/set_logger_level
+/hydrophones/triggering/trigger_debug_enable
+/magnetometer_vis/get_loggers
+/magnetometer_vis/set_logger_level
+/mission_runner/get_loggers
+/mission_runner/refresh_missions
+/mission_runner/set_logger_level
+/odom_estimator/get_loggers
+/odom_estimator/set_ignore_magnetometer
+/odom_estimator/set_logger_level
+/odometry_to_tf/get_loggers
+/odometry_to_tf/set_logger_level
+/poi_server/add
+/poi_server/delete
+/poi_server/get_loggers
+/poi_server/move
+/poi_server/save_to_param
+/poi_server/set_logger_level
+/poi_server/tf2_frames
+/robot_state_publisher/get_loggers
+/robot_state_publisher/set_logger_level
+/rosout/get_loggers
+/rosout/set_logger_level
+/set_mobo_kill
+/set_valve
+/simulate_go
+/simulate_hard_kill
+/simulate_soft_kill
+/tf_republisher/get_loggers
+/tf_republisher/set_logger_level
+/thruster_mapper/get_loggers
+/thruster_mapper/set_logger_level
+/transform_odometry/get_loggers
+/transform_odometry/set_logger_level
+/update_thruster_layout
+/usb_to_can_driver/get_loggers
+/usb_to_can_driver/set_logger_level