Mil preflight v1.0.0

src/mil_common/mil_preflight/CMakeLists.txt

@@ -8,52 +8,41 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(subjugator_msgs REQUIRED)
 find_package(Boost REQUIRED COMPONENTS thread chrono filesystem system)
 find_package(ftxui REQUIRED)
+find_package(pluginlib REQUIRED)
 
-add_executable(${PROJECT_NAME} src/frontend.cpp)
+add_library(${PROJECT_NAME}_lib SHARED src/frontend.cpp)
+add_executable(${PROJECT_NAME} src/mil_preflight.cpp src/tui.cpp)
 include_directories(include ${ftxui_SOURCE_DIR}/include ${Boost_INCLUDE_DIRS})
 
-target_link_libraries(${PROJECT_NAME} Boost::system Boost::filesystem)
+target_link_libraries(
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_lib
+  Boost::system
+  Boost::filesystem
+  ftxui::screen
+  ftxui::dom
+  ftxui::component)
 
 add_executable(mil_preflight_backend src/backend.cpp)
 
-ament_target_dependencies(mil_preflight_backend rclcpp std_msgs Boost)
+ament_target_dependencies(mil_preflight_backend rclcpp Boost pluginlib)
 
 install(TARGETS ${PROJECT_NAME} mil_preflight_backend
         DESTINATION bin # Install to install/bin/
 )
 
-install(FILES cfg/config.json DESTINATION bin)
-
-add_library(ftx_ui SHARED src/uis/ftxui/ui.cpp src/uis/ftxui/widgets.cpp)
-
-target_link_libraries(
-  ftx_ui
-  PRIVATE ftxui::screen
-  PRIVATE ftxui::dom
-  PRIVATE ftxui::component Boost::thread Boost::chrono Boost::filesystem
-          Boost::system)
-
-add_library(topic_plugin SHARED src/plugins/topic_plugin.cpp)
-
-ament_target_dependencies(topic_plugin rclcpp Boost)
-
-add_library(setup_plugin SHARED src/plugins/setup_plugin.cpp)
-
-ament_target_dependencies(setup_plugin rclcpp Boost)
-
-add_library(node_plugin SHARED src/plugins/node_plugin.cpp)
-
-ament_target_dependencies(node_plugin rclcpp Boost)
+install(
+  DIRECTORY cfg/
+  DESTINATION bin
+  FILES_MATCHING
+  PATTERN "*")
 
-add_library(actuator_plugin SHARED src/plugins/actuator_plugin.cpp)
+install(DIRECTORY include/ DESTINATION include)
 
-ament_target_dependencies(actuator_plugin rclcpp subjugator_msgs Boost)
+ament_export_include_directories(include)
 
-install(TARGETS topic_plugin setup_plugin node_plugin actuator_plugin ftx_ui
-        LIBRARY DESTINATION lib)
+install(TARGETS ${PROJECT_NAME}_lib LIBRARY DESTINATION lib)
 
 ament_package()

src/mil_common/mil_preflight/cfg/config.json → src/mil_common/mil_preflight/cfg/subjugator.json

@@ -1,6 +1,6 @@
 {
     "actuators": {
-        "plugin": "actuator_plugin",
+        "plugin": "ActuatorPlugin",
         "actions": {
             "FLH Thruster": [
                 "/thruster_efforts",
@@ -45,7 +45,7 @@
         }
     },
     "setup": {
-        "plugin": "setup_plugin",
+        "plugin": "SetupPlugin",
         "actions": {
             "O-rings": [
                 "Grease O-rings with Molykote 55 every time a pressure vessel is closed."
@@ -56,7 +56,7 @@
         }
     },
     "nodes": {
-        "plugin": "node_plugin",
+        "plugin": "NodePlugin",
         "actions": {
             "/odom_estimator": [
                 "/odom_estimator"
@@ -79,7 +79,7 @@
         }
     },
     "topics": {
-        "plugin": "topic_plugin",
+        "plugin": "TopicPlugin",
         "actions": {
             "/camera/front/right/image_raw": [
                 "/camera/front/right/image_raw"

src/mil_common/mil_preflight/include/mil_preflight/common.h

@@ -1,3 +1,10 @@
+#pragma once
+
+#include <future>
+#include <memory>
+#include <string>
+#include <vector>
+
 namespace mil_preflight
 {
 static constexpr char ETX = 0x03;
@@ -7,4 +14,45 @@ static constexpr char BEL = 0x07;
 static constexpr char NCK = 0x15;
 static constexpr char GS = 0x1D;
 static constexpr char US = 0x1F;
+
+class Action
+{
+  public:
+    Action() {};
+    virtual ~Action() {};
+
+    virtual std::string const& getName() const = 0;
+    virtual std::vector<std::string> const& getParameters() const = 0;
+    virtual void onStart() = 0;
+    virtual void onFinish(bool success, std::string&& summery) = 0;
+    virtual std::shared_future<int> onQuestion(std::string&& question, std::vector<std::string>&& options) = 0;
+
+    std::vector<std::string> stdouts;
+    std::vector<std::string> stderrs;
+
+  private:
+};
+
+class Test
+{
+  public:
+    Test() {};
+    virtual ~Test() {};
+
+    virtual std::string const& getName() const = 0;
+    virtual std::string const& getPlugin() const = 0;
+    virtual std::shared_ptr<Action> nextAction() = 0;
+    virtual void onFinish() = 0;
+};
+
+class Job
+{
+  public:
+    Job() {};
+    ~Job() {};
+
+    virtual std::shared_ptr<Test> nextTest() = 0;
+    virtual void onFinish() = 0;
+};
+
 }  // namespace mil_preflight

src/mil_common/mil_preflight/include/mil_preflight/frontend.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#include <filesystem>
+#include <iostream>
+#include <optional>
+
+#include <boost/asio.hpp>
+#include <boost/dll.hpp>
+#include <boost/process.hpp>
+
+#include "mil_preflight/common.h"
+
+namespace mil_preflight
+{
+
+class Frontend
+{
+  public:
+    Frontend();
+    ~Frontend();
+
+    void runJob(std::shared_ptr<Job> job);
+    void runJobAsync(std::shared_ptr<Job> job);
+
+  private:
+    boost::filesystem::path bin_path_ = boost::process::search_path("mil_preflight_backend");
+
+    boost::asio::io_context work_context_;
+    boost::asio::executor_work_guard<boost::asio::io_context::executor_type> work_guard_;
+    std::thread work_thread_;
+
+    boost::process::ipstream child_out_;
+    boost::process::ipstream child_err_;
+    boost::process::opstream child_in_;
+
+    boost::process::child backend_;
+
+    void runTest(std::shared_ptr<Test> test);
+    void runAction(std::shared_ptr<Action> action);
+};
+
+}  // namespace mil_preflight