roswtf: #1527 check for invalid stack dependencies. This required beefing up roslib stack libraries

core/roslib/src/roslib/scriptutil.py

@@ -58,13 +58,18 @@ PRODUCT = 'ros'
 ## caller ID for master calls where caller ID is not vital
 _GLOBAL_CALLER_ID = '/script'
 
-## Name resolver for scripts. Supports ROS_NAMESPACE.  Does not
-## support remapping arguments.
-## @param name str: name to resolve
-## @param script_name str: name of script. script_name must not
-## contain a namespace.
-## @return str: resolved name
 def script_resolve_name(script_name, name):
+    """
+    Name resolver for scripts. Supports ROS_NAMESPACE.  Does not
+    support remapping arguments.
+    @param name: name to resolve
+    @type  name: str
+    @param script_name: name of script. script_name must not
+    contain a namespace.
+    @type  script_name: str
+    @return: resolved name
+    @rtype: str
+    """
     if not name: #empty string resolves to namespace
         return roslib.names.get_ros_namespace()
     #Check for global name: /foo/name resolves to /foo/name
@@ -75,49 +80,110 @@ def script_resolve_name(script_name, name):
         return ns_join(roslib.names.make_caller_id(script_name), name[1:])
     return roslib.names.get_ros_namespace() + name
 
-## @return str: result of executing command (via subprocess). string will be strip()ed.
 def rospackexec(args):
+    """
+    @return: result of executing rospack command (via subprocess). string will be strip()ed.
+    @rtype: str
+    @raise roslib.exceptions.ROSLibException: if rospack command fails
+    """
+
     val = (subprocess.Popen(['rospack'] + args, stdout=subprocess.PIPE).communicate()[0] or '').strip()
     if val.startswith('rospack:'): #rospack error message
-        raise Exception(val)
+        raise roslib.exceptions.ROSLibException(val)
     return val
 
-## @return list: A list of the names of the packages which depend directly on pkg
 def rospack_depends_on_1(pkg):
+    """
+    @param pkg: package name
+    @type  pkg: str
+    @return list: A list of the names of the packages which depend directly on pkg
+    """
     return rospackexec(['depends-on1', pkg]).split()
 
-## @return list: A list of the names of the packages which depend on pkg
 def rospack_depends_on(pkg):
+    """
+    @param pkg: package name
+    @type  pkg: str
+    @return list: A list of the names of the packages which depend on pkg
+    """
     return rospackexec(['depends-on', pkg]).split()
 
-## @return list: A list of the names of the packages which pkg directly depends on
 def rospack_depends_1(pkg):
+    """
+    @param pkg: package name
+    @type  pkg: str
+    @return list: A list of the names of the packages which pkg directly depends on
+    """
     return rospackexec(['deps1', pkg]).split()
 
-## @return list: A list of the names of the packages which pkg depends on
 def rospack_depends(pkg):
+    """
+    @param pkg: package name
+    @type  pkg: str
+    @return list: A list of the names of the packages which pkg depends on
+    """
     return rospackexec(['deps', pkg]).split()
 
-## @return list: A list of the names of the packages which provide a plugin for pkg
 def rospack_plugins(pkg):
+    """
+    @param pkg: package name
+    @type  pkg: str
+    @return list: A list of the names of the packages which provide a plugin for pkg
+    """
     val = rospackexec(['plugins', '--attrib=plugin', pkg])
     if val:
       return [tuple(x.split(' ')) for x in val.split('\n')]
     else:
       return []
 
-
-## @return str: result of executing command (via subprocess). string will be strip()ed.
 def rosstackexec(args):
+    """
+    @return: result of executing rosstack command (via subprocess). string will be strip()ed.
+    @rtype:  str
+    @raise roslib.exceptions.ROSLibException: if rosstack command fails
+    """
     val = (subprocess.Popen(['rosstack'] + args, stdout=subprocess.PIPE).communicate()[0] or '').strip()
     if val.startswith('rosstack:'): #rospack error message
         raise Exception(val)
     return val
 
-## @return list: A list of the names of the packages which depend directly on pkg
+def rosstack_depends_on(s):
+    """
+    @param s: stack name
+    @type  s: str
+    @return: A list of the names of the stacks which depend on s
+    @rtype: list
+    """
+    return rosstackexec(['depends-on', s]).split()
+
 def rosstack_depends_on_1(s):
+    """
+    @param s: stack name
+    @type  s: str
+    @return: A list of the names of the stacks which depend directly on s
+    @rtype: list
+    """
     return rosstackexec(['depends-on1', s]).split()
 
+def rosstack_depends(s):
+    """
+    @param s: stack name
+    @type  s: str
+    @return: A list of the names of the stacks which s depends on 
+    @rtype: list
+    """
+    return rosstackexec(['depends', s]).split()
+
+def rosstack_depends_1(s):
+    """
+    @param s: stack name
+    @type  s: str
+    @return: A list of the names of the stacks which s depends on directly
+    @rtype: list
+    """
+    print "rossstack", s
+    return rosstackexec(['depends1', s]).split()
+
 ## @return ServerProxy XML-RPC proxy to ROS master
 def get_master():
     import xmlrpclib

core/roslib/src/roslib/stack_manifest.py

@@ -58,11 +58,10 @@ class StackManifest(roslib.manifestlib._Manifest):
         super(StackManifest, self).__init__('stack')
         
 ## @param stack_dir str: path to stack directory
-## @param environ dict: environment dictionary
 ## @param required bool: require that the directory exist
 ## @return str: path to manifest file of stack
 ## @throws InvalidROSPkgException if required is True and manifest file cannot be located
-def _stack_file_by_dir(stack_dir, required=True, environ=os.environ):
+def _stack_file_by_dir(stack_dir, required=True):
     try:
         p = os.path.join(stack_dir, STACK_FILE)
         if not required and not os.path.exists(p):
@@ -77,16 +76,12 @@ Stack '%(stack_dir)s' is improperly configured: no manifest file is present.
             raise
 
 ## @param stack str: stack name
-## @param environ dict: environment dictionary
 ## @param required bool: require that the directory exist
 ## @return str: path to manifest file of stack
 ## @throws InvalidROSPkgException if required is True and manifest file cannot be located
-def stack_file(stack, required=True, environ=os.environ):
+def stack_file(stack, required=True):
-    # ros_root needs to be determined from the environment or else
+    d = roslib.stacks.get_stack_dir(stack)
-    # everything breaks when trying to launch nodes via ssh where the
+    return _stack_file_by_dir(d, required)
-    # path isn't setup correctly.
-    d = roslib.stacks.get_stack_dir(stack, required, ros_root=environ[roslib.rosenv.ROS_ROOT]) 
-    return _stack_file_by_dir(d, required, environ)
         
 ## @internal
 ## Parse stack.xml file

core/roslib/src/roslib/stacks.py

@@ -134,6 +134,10 @@ def list_stacks(env=os.environ):
         
     pkg_dirs = roslib.packages.get_package_paths(environ=env)
     stacks = []
+    # ros is assumed to be at ROS_ROOT
+    if os.path.exists(os.path.join(ros_root, 'stack.xml')):
+        stacks.append('ros')
+        _dir_cache['ros'] = ros_root
     
     for pkg_root in pkg_dirs:
         for dir, dirs, files in os.walk(pkg_root, topdown=True):

tools/roswtf/src/roswtf/__init__.py

@@ -118,9 +118,9 @@ def _roswtf_main():
     from roswtf.context import WtfContext
     from roswtf.environment import wtf_check_environment, invalid_url
     from roswtf.graph import wtf_check_graph
-    from roswtf.packages import wtf_check_packages
+    import roswtf.packages
-    from roswtf.roslaunchwtf import wtf_check_roslaunch_static, wtf_check_roslaunch_online
+    import roswtf.roslaunchwtf
-    
+    import roswtf.stacks    
     import roswtf.plugins
     static_plugins, online_plugins = roswtf.plugins.load_plugins()
 
@@ -136,14 +136,19 @@ def _roswtf_main():
             print "Package:",curr_package
             ctx = WtfContext.from_package(curr_package)
             #TODO: load all .launch files in package
+        elif os.path.isfile('stack.xml'):
+            curr_stack = os.path.basename(os.path.abspath('.'))
+            print "Stack:",curr_stack            
+            ctx = WtfContext.from_stack(curr_stack)
         else:
             print "No package in context"
             ctx = WtfContext.from_env()
 
     # static checks
     wtf_check_environment(ctx)
-    wtf_check_packages(ctx)
+    roswtf.packages.wtf_check(ctx)
-    wtf_check_roslaunch_static(ctx)
+    roswtf.stacks.wtf_check(ctx)    
+    roswtf.roslaunchwtf.wtf_check_static(ctx)
     for p in static_plugins:
         p(ctx)
 
@@ -185,7 +190,7 @@ def _roswtf_main():
         rospy.init_node('roswtf', anonymous=True)
 
         online_checks = True
-        wtf_check_roslaunch_online(ctx)
+        roswtf.roslaunchwtf.wtf_check_online(ctx)
 
         for p in online_plugins:
             online_checks = True

tools/roswtf/src/roswtf/context.py

@@ -37,6 +37,7 @@ import sys
 
 import roslib.manifest
 import roslib.packages
+import roslib.stacks
 import roslib.rosenv
 import roslib.scriptutil
 import roslib.substitution_args
@@ -51,6 +52,7 @@ class WtfException(Exception): pass
 ## system we are attempting to debug
 class WtfContext(object):
     __slots__ = ['pkg', 'pkg_dir', 'pkgs',
+                 'stack', 'stack_dir', 'stacks',
                  'manifest_file', 'manifest',
                  'env', 'ros_root', 'ros_package_path', 'pythonpath',
                  'ros_master_uri',
@@ -74,8 +76,13 @@ class WtfContext(object):
         # main package we are running 
         self.pkg = None
         self.pkg_dir = None
+        # main stack we are running 
+        self.stack = None
+        
         # - list of all packages involved in this check
         self.pkgs = []
+        # - list of all stacks involved in this check        
+        self.stacks = []        
 
         # manifest location of package that we are running 
         self.manifest_file = None
@@ -126,8 +133,18 @@ class WtfContext(object):
         ctx = WtfContext()
         ctx.launch_files = roslaunch_files
         _load_roslaunch(ctx, roslaunch_files)
-        # ctx.pkg initialized by _load_roslaunch
+        # ctx.pkg and ctx.stack initialized by _load_roslaunch
         _load_pkg(ctx, ctx.pkg)
+        _load_stack(ctx, ctx.stack)        
+        _load_env(ctx, env)
+        return ctx
+
+    @staticmethod
+    ## @throws WtfException: if context state cannot be initialized
+    def from_stack(stack, env=os.environ):
+        ctx = WtfContext()
+        _load_stack(ctx, stack)
+        ctx.pkgs = roslib.stacks.packages_of(stack)
         _load_env(ctx, env)
         return ctx
     
@@ -136,6 +153,9 @@ class WtfContext(object):
     def from_package(pkg, env=os.environ):
         ctx = WtfContext()
         _load_pkg(ctx, pkg)
+        stack = roslib.stacks.stack_of(pkg)
+        if stack:
+            _load_stack(ctx, stack)
         _load_env(ctx, env)
         return ctx
 
@@ -165,11 +185,20 @@ def _load_pkg(ctx, pkg):
     ctx.pkgs = [pkg] + roslib.scriptutil.rospack_depends(pkg)
     try:
         ctx.pkg_dir = roslib.packages.get_pkg_dir(pkg)
-        ctx.manifest_file = roslib.manifest.manifest_file(pkg)
-        ctx.manifest_file = roslib.manifest.parse_file(ctx.manifest_file)        
     except roslib.packages.InvalidROSPkgException:
         raise WtfException("Cannot locate manifest file for package [%s]"%pkg)
 
+## utility for initializing WtfContext state
+## @throws WtfException: if context state cannot be initialized
+def _load_stack(ctx, stack):
+    ctx.stack = stack
+    ctx.stacks = [stack] + roslib.scriptutil.rosstack_depends(stack)
+    try:
+        ctx.stack_dir = roslib.stacks.get_stack_dir(stack)
+    except roslib.stacks.InvalidROSStackException:
+        raise WtfException("Cannot locate manifest file for stack [%s]"%stack)
+    
+    
 ## utility for initializing WtfContext state
 ## @throws WtfException: if context state cannot be initialized
 def _load_env(ctx,env):

tools/roswtf/src/roswtf/packages.py

@@ -225,7 +225,7 @@ def cmakelists_package_valid(ctx):
         missing.remove('rospack')
     return missing
 
-packages_warnings = [
+warnings = [
     # disabling as it is too common and regular
     #(makefile_exists,
     # "The following packages have no Makefile:"),
@@ -241,19 +241,19 @@ packages_warnings = [
     (cmake_gensrv,     
      'The following packages need rosbuild_gensrv() in CMakeLists.txt:'),
     ]
-packages_errors = [
+errors = [
     (msgs_built, "Messages have not been built in the following package(s).\nYou can fix this by typing 'rosmake %(pkg)s':"),
     (srvs_built, "Services have not been built in the following package(s).\nYou can fix this by typing 'rosmake %(pkg)s':"),
     (manifest_rpath_flags, "The following packages have rpath issues in manifest.xml:"),
     ]
 
-def wtf_check_packages(ctx):
+def wtf_check(ctx):
     # no package in context to verify
     if not ctx.pkg:
         return
     
-    for r in packages_warnings:
+    for r in warnings:
         warning_rule(r, r[0](ctx), ctx)
-    for r in packages_errors:
+    for r in errors:
         error_rule(r, r[0](ctx), ctx)
 

tools/roswtf/src/roswtf/roslaunchwtf.py

@@ -295,7 +295,7 @@ static_roslaunch_errors = [
     (roslaunch_load_check, "roslaunch load failed"),
     ]
 
-def wtf_check_roslaunch_static(ctx):
+def wtf_check_static(ctx):
     if not ctx.launch_files:
         return
 
@@ -312,7 +312,7 @@ def wtf_check_roslaunch_static(ctx):
 def _load_online_ctx(ctx):
     ctx.roslaunch_uris = roslaunch.netapi.get_roslaunch_uris()
     
-def wtf_check_roslaunch_online(ctx):
+def wtf_check_online(ctx):
     _load_online_ctx(ctx)
     for r in online_roslaunch_warnings:
         warning_rule(r, r[0](ctx), ctx)

tools/roswtf/src/roswtf/stacks.py

@@ -0,0 +1,93 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id: packages.py 6258 2009-09-22 22:08:20Z kwc $
+
+import os
+import time
+
+from roswtf.environment import paths, is_executable
+from roswtf.rules import warning_rule, error_rule
+
+import roslib.msgs
+import roslib.packages
+import roslib.scriptutil
+import roslib.stacks
+import roslib.stack_manifest
+
+_packages_of_cache = {}
+def _packages_of(d):
+    if d in _packages_of_cache:
+        return _packages_of_cache[d]
+    else:
+        _packages_of_cache[d] = pkgs = roslib.stacks.packages_of(d)
+        return pkgs
+                
+def manifest_depends(ctx):
+    # This rule should probably be cache optimized
+    errors = []
+    stack_list = roslib.stacks.list_stacks()
+    #print stack_list
+    for s in ctx.stacks:
+        s_deps = []
+        s_pkgs = _packages_of(s)
+        for p in s_pkgs:
+            s_deps.extend(roslib.scriptutil.rospack_depends_1(p))
+        pkg_dir = roslib.stacks.get_stack_dir(s)
+        m_file = roslib.stack_manifest.stack_file(s, True)
+        m = roslib.stack_manifest.parse_file(m_file)
+        for d in m.depends:
+            if not d.stack in stack_list:
+                errors.append("%s (%s does not exist)"%(m_file, d))
+            else:
+                pkgs = _packages_of(d.stack)
+                if not [p for p in pkgs if p in s_deps]:
+                    errors.append("%s (%s appears to be an unnecessary depend)"%(m_file, d))
+    return errors
+
+warnings = [
+    (manifest_depends, "The following stack.xml file list invalid dependencies:"),
+    
+    ]
+errors = [
+    ]
+
+def wtf_check(ctx):
+    # no package in context to verify
+    if not ctx.stacks:
+        return
+    
+    for r in warnings:
+        warning_rule(r, r[0](ctx), ctx)
+    for r in errors:
+        error_rule(r, r[0](ctx), ctx)
+