Fix: move rqt software check

.flake8

@@ -7,6 +7,7 @@ application-package-names =
     march_rqt_gait_selection,
     march_rqt_input_device,
     march_rqt_note_taker,
+    march_rqt_software_check,
     march_shared_classes,
     march_shared_resources
 import-order-style = appnexus

march_rqt_software_check/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(march_rqt_software_check)
+
+find_package(catkin REQUIRED)
+
+catkin_python_setup()
+catkin_package()
+
+install(FILES plugin.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY launch resource
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(PROGRAMS scripts/march_git_branch_check scripts/${PROJECT_NAME}
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

march_rqt_software_check/launch/checks/git_branch.launch

@@ -0,0 +1,5 @@
+<launch>
+    <machine name="march" address="march" user="march" env-loader="/home/march/march_ws/devel/env.sh"/>
+
+    <node name="git_branch_check" pkg="march_rqt_software_check" type="march_git_branch_check" machine="march"/>
+</launch>

march_rqt_software_check/launch/checks/slave_count.launch

@@ -0,0 +1,5 @@
+<launch>
+    <machine name="march" address="march" user="march" env-loader="/home/march/march_ws/devel/env.sh"/>
+
+    <node launch-prefix="ethercat_grant" name="slave_count_check" pkg="march_hardware" type="slave_count_check" machine="march"/>
+</launch>

march_rqt_software_check/launch/march_rqt_software_check.launch

@@ -0,0 +1,3 @@
+<launch>
+    <node name="march_rqt_software_check" pkg="march_rqt_software_check" type="march_rqt_software_check" output="screen"/>
+</launch>

march_rqt_software_check/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="2">
+    <name>march_rqt_software_check</name>
+    <version>0.0.0</version>
+    <description>rqt automated software checks for the March exoskeleton</description>
+
+    <maintainer email="[email protected]">Project March</maintainer>
+
+    <license>TODO</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <exec_depend>python-rospkg</exec_depend>
+    <exec_depend>rospy</exec_depend>
+    <exec_depend>rqt_gui</exec_depend>
+    <exec_depend>rqt_gui_py</exec_depend>
+
+    <export>
+        <rqt_gui plugin="${prefix}/plugin.xml"/>
+    </export>
+</package>

march_rqt_software_check/plugin.xml

@@ -0,0 +1,12 @@
+<library path="src">
+    <class name="SoftwareCheckPlugin" type="march_rqt_software_check.software_check.SoftwareCheckPlugin" base_class_type="rqt_gui_py::Plugin">
+        <description>
+            RQT plugin to perform all software checks.
+        </description>
+        <qtgui>
+            <label>March Software Check</label>
+            <icon>resource/img/march-walking.png</icon>
+            <statustip>March Software Check</statustip>
+        </qtgui>
+    </class>
+</library>

march_rqt_software_check/resource/software_check.ui

@@ -0,0 +1,143 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SoftwareCheck</class>
+ <widget class="QWidget" name="SoftwareCheck">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1109</width>
+    <height>796</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>March Software Check</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QGroupBox {
+    border: 1px solid gray;
+    margin-top: 0.5em;
+}
+
+QGroupBox::title {
+    subcontrol-origin: margin;
+    left: 10px;
+    padding: 0 3px 0 3px;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="1">
+    <widget class="QFrame" name="Settings">
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <widget class="QPlainTextEdit" name="Log">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="autoFillBackground">
+         <bool>false</bool>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">#Log {
+background-color: #F2F1F0
+}</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="0" column="0">
+    <widget class="QFrame" name="Checks">
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QFormLayout" name="formLayout">
+      <item row="0" column="0">
+       <widget class="QGroupBox" name="Static">
+        <property name="title">
+         <string>Local</string>
+        </property>
+        <layout class="QFormLayout" name="formLayout_2">
+         <item row="0" column="0">
+          <widget class="QPushButton" name="GaitFileDirectory">
+           <property name="minimumSize">
+            <size>
+             <width>150</width>
+             <height>150</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>Gait File Location</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QPushButton" name="URDF">
+           <property name="minimumSize">
+            <size>
+             <width>150</width>
+             <height>150</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>March IV
+URDF Check</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QGroupBox" name="groupBox">
+        <property name="title">
+         <string>Exoskeleton</string>
+        </property>
+        <layout class="QFormLayout" name="formLayout_3">
+         <item row="0" column="0">
+          <widget class="QPushButton" name="SlaveCount">
+           <property name="minimumSize">
+            <size>
+             <width>150</width>
+             <height>150</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>Slave Count</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QPushButton" name="GitBranch">
+           <property name="minimumSize">
+            <size>
+             <width>150</width>
+             <height>150</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>Git Branch</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

march_rqt_software_check/scripts/march_git_branch_check

@@ -0,0 +1,22 @@
+#!/usr/bin/env python
+import os
+
+from pygit2 import Repository, GitError
+import rospkg
+import rospy
+
+result = []
+
+march_launch_path = rospkg.RosPack().get_path("march_launch")
+head = os.path.split(march_launch_path)[0]
+source_path = os.path.split(head)[0]
+
+for repository_name in os.listdir(source_path):
+    repository_path = os.path.join(source_path, repository_name)
+    try:
+        branch_name = Repository(repository_path).head.shorthand
+        result.append([repository_name, branch_name])
+    except GitError as e:
+        pass
+
+rospy.set_param("/checks/git_branch", result)

march_rqt_software_check/scripts/march_rqt_software_check

@@ -0,0 +1,9 @@
+#!/usr/bin/env python
+
+import sys
+
+from rqt_gui.main import Main
+
+plugin = 'software_check'
+main = Main(filename=plugin)
+sys.exit(main.main(standalone=plugin))

march_rqt_software_check/setup.py

@@ -0,0 +1,12 @@
+#!/usr/bin/env python
+from distutils.core import setup
+
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['march_rqt_software_check', 'march_rqt_software_check.checks'],
+    package_dir={'': 'src'},
+    scripts=['scripts/march_rqt_software_check'],
+)
+
+setup(**d)

march_rqt_software_check/src/march_rqt_software_check/check_runner.py

@@ -0,0 +1,82 @@
+from python_qt_binding.QtWidgets import QMessageBox
+import rospy
+
+from .checks.gait_file_directory_check import GaitFileDirectoryCheck
+from .checks.git_branch_check import GitBranchCheck
+from .checks.slave_count_check import SlaveCountCheck
+from .checks.urdf_check import URDFCheck
+from .color import Color
+from .software_check_thread import SoftwareCheckThread
+
+
+class CheckRunner:
+    def __init__(self, logger=None):
+        self.checks = [GitBranchCheck(), GaitFileDirectoryCheck(), URDFCheck(), SlaveCountCheck()]
+        for check in self.checks:
+            check.log_signal.connect(lambda msg, color: self.log(msg, color))
+        self.logger = logger
+        self.thread = None
+
+    def run_check_by_name(self, name):
+        check = self.get_check(name)
+        if check is None:
+            self.log('Check with name ' + name + ' does not exist', Color.Error)
+
+        return self.run_check(check)
+
+    def run_check(self, check):
+        self.log('--------------------------------------', Color.Info)
+
+        if self.thread is not None:
+            self.log('Already running another check', Color.Warning)
+
+        if check is None:
+            self.log('Check does not exist', Color.Error)
+            return
+
+        self.log('Starting check ' + str(check.name) + ': ' + str(check.description), Color.Info)
+
+        start = rospy.get_rostime()
+        self.thread = SoftwareCheckThread(check)
+        self.thread.start()
+
+        while not check.done:
+            if rospy.get_rostime() < start + rospy.Duration.from_sec(check.timeout):
+                rospy.sleep(0.1)
+
+            else:
+                self.log('Check ' + str(check.name) + ' timed out after ' + str(check.timeout) + 's', Color.Error)
+                self.thread.exit()
+                self.thread = None
+
+                check.reset()
+                return False
+
+        self.thread.wait()
+        self.thread = None
+        result = check.passed
+        if result and check.manual_confirmation:
+            result = self.validate_manually()
+        check.reset()
+
+        if result:
+            self.log('Check ' + str(check.name) + ' was succesful!', Color.Debug)
+        else:
+            self.log('Check ' + str(check.name) + ' has failed', Color.Error)
+
+        return result
+
+    def get_check(self, name):
+        for check in self.checks:
+            if check.name == name:
+                return check
+        return None
+
+    def log(self, msg, level):
+        if self.logger is not None:
+            self.logger(msg, level)
+
+    @staticmethod
+    def validate_manually():
+        reply = QMessageBox.question(None, 'Message', 'Did the test pass?', QMessageBox.Yes, QMessageBox.No)
+        return reply == QMessageBox.Yes

march_rqt_software_check/src/march_rqt_software_check/checks/gait_file_directory_check.py

@@ -0,0 +1,33 @@
+import rospkg
+import rospy
+
+from march_rqt_software_check.color import Color
+
+from .launch_check import LaunchCheck
+
+
+class GaitFileDirectoryCheck(LaunchCheck):
+
+    def __init__(self):
+        LaunchCheck.__init__(self, 'GaitFileDirectory', 'Gaits are loaded from the following directory',
+                             'march_gait_selection', 'march_gait_selection.launch', manual_confirmation=True)
+
+    def perform(self):
+        self.launch()
+
+        rospy.sleep(rospy.Duration.from_sec(5))
+        self.stop_launch_process()
+        package_name = self.get_key_from_parameter_server('/march/gait_file_package')
+        file_directory = self.get_key_from_parameter_server('/march/gait_file_directory')
+
+        try:
+            rospkg.RosPack().get_path(package_name)
+        except rospkg.common.ResourceNotFound:
+            self.log('Package ' + str(package_name) + ' not found on local machine.', Color.Error)
+            self.fail_check()
+
+        self.log('Package name: ' + str(package_name), Color.Info)
+        self.log('Gait file directory: ' + str(file_directory), Color.Info)
+
+        self.passed = package_name is not None and file_directory is not None
+        self.done = True