feat: add preflight message and service types

robin-farmx · robin-farmx · commit e7a41923c02a · 2026-05-29T14:46:51.000-07:00
- PreflightCheckResult/PreflightStatus msgs for per-check and overall results
- PreflightRun.srv — am_preflight's check runner interface
- MissionPreflight.srv — Mission Executor's preflight gate interface
diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt
@@ -117,6 +117,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 	msg/MaxMinAve.msg
 	msg/MissionIdArray.msg
 	msg/MissionStatus.msg
+	msg/PreflightCheckResult.msg
+	msg/PreflightStatus.msg
 	msg/NodeStatus.msg
 	msg/NormalsStamped.msg
 	msg/NormalWithPoint.msg
@@ -212,6 +214,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 	srv/SegmentSearch.srv
 	srv/VelocityControl.srv
 	srv/GetMissionStatus.srv
+	srv/MissionPreflight.srv
+	srv/PreflightRun.srv
 	srv/LoadFlightPlan.srv
 	srv/ValidateFlightPlan.srv
 	srv/VxFlightPlan.srv
diff --git a/brain_box_msgs/msg/PreflightCheckResult.msg b/brain_box_msgs/msg/PreflightCheckResult.msg
@@ -0,0 +1,3 @@
+string check_name
+bool passed
+string reason
diff --git a/brain_box_msgs/msg/PreflightStatus.msg b/brain_box_msgs/msg/PreflightStatus.msg
@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+bool overall_pass
+brain_box_msgs/PreflightCheckResult[] checks
diff --git a/brain_box_msgs/srv/MissionPreflight.srv b/brain_box_msgs/srv/MissionPreflight.srv
@@ -0,0 +1,5 @@
+---
+bool success
+string reason
+brain_box_msgs/PreflightStatus preflight_status
+brain_box_msgs/MissionStatus mission_status
diff --git a/brain_box_msgs/srv/PreflightRun.srv b/brain_box_msgs/srv/PreflightRun.srv
@@ -0,0 +1,3 @@
+string[] checks_to_skip
+---
+brain_box_msgs/PreflightStatus result

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+string check_name`
	`2`	`+bool passed`
	`3`	`+string reason`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+builtin_interfaces/Time stamp`
	`2`	`+bool overall_pass`
	`3`	`+brain_box_msgs/PreflightCheckResult[] checks`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+string[] checks_to_skip`
	`2`	`+---`
	`3`	`+brain_box_msgs/PreflightStatus result`