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rosdistro_analyser.py
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rosdistro_analyser.py
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#!/usr/bin/env python
import argparse
from pprint import pprint, pformat
from sys import stderr
import sys
reload(sys)
from sys import setdefaultencoding
from shutil import rmtree
from copy import deepcopy
from yaml import load, dump
from rosinstall_generator.distro import get_distro, get_package_names
from rosinstall_generator.distro import get_recursive_dependencies, get_release_tag
from collections import defaultdict
import pygraphviz as pgv
from rosdistro import get_distribution_files, get_index, get_index_url
from tempfile import mkdtemp
from logging import info, basicConfig, exception, warning, INFO
import xml.etree.ElementTree as ET
from subprocess import check_call
from os.path import join
from copy import copy
from catkin_pkg import topological_order
setdefaultencoding('utf8')
def dictify(r, root=True):
if root:
return {r.tag: dictify(r, False)}
d = copy(r.attrib)
if r.text:
d["_text"] = r.text
for x in r.findall("./*"):
if x.tag not in d:
d[x.tag] = []
d[x.tag].append(dictify(x, False))
return d
class CacheAnalyser:
def __init__(self, distro='kinetic', tags=['lcas'],
analyse_release=True, analyse_source=True,
repo_whitelist=None
):
self._distro_name = distro
self._distro = get_distro(distro)
self._pkgs = {}
__repo_template = {
'packages': {},
'type': None,
'url': None,
'release_url': None,
'version': None,
'release_version': None,
'requires_repositories': set([]),
'required_by_repositories': set([]),
'external_dependencies': set([]),
'internal_dependencies': set([]),
'status': 'unknown',
'jenkins_job': None
}
__pkg_template = {
'name': None,
'authors': [],
'maintainers': [],
'url': '',
'description': '',
'license': 'unknown',
'status': 'unknown',
'deps': set([]),
'repository': None
}
self._repositories = defaultdict(lambda: deepcopy(__repo_template))
self._pkgs = defaultdict(lambda: deepcopy(__pkg_template))
self._index = get_index(get_index_url())
self._distributions = get_distribution_files(self._index, distro)
self._distribution = None
for d in self._distributions:
if set(d.tags).intersection(set(tags)):
self._distribution = d
break
# find only the first release platform and assume it's the right one...
self._release_platform = self._distribution.release_platforms['ubuntu'][0]
self.__jenkins_url_template_dev = (
'https://lcas.lincoln.ac.uk/buildfarm/job/%sdev__%%s__ubuntu_%s_amd64/'
% (
self._distro_name[0].upper(),
self._release_platform
)
)
self._analyse_release = analyse_release
self._analyse_source = analyse_source
self._repo_whitelist = repo_whitelist
self._distro_repositories = self._distribution.repositories
self._released_packages_set = set(self._distribution.release_packages)
def _analyse_repos(self):
tmp_dir = mkdtemp()
try:
for r, sg in self._distro_repositories.items():
if self._repo_whitelist:
if r not in self._repo_whitelist:
continue
try:
info('analysing repository %s' % r)
if sg.release_repository and self._analyse_release: # released
self._repositories[r]['packages'] = self._analyse_released_repo(sg)
self._repositories[r]['status'] = 'released'
self._repositories[r]['release_url'] = sg.release_repository.url
self._repositories[r]['release_version'] = sg.release_repository.version
info('-> repository %s is RELEASED as version %s with packages "%s"' % (
r, sg.release_repository.version, ', '.join(list(self._repositories[r]['packages']))))
elif sg.source_repository and self._analyse_source: # not released but source available
if sg.source_repository.type == 'git':
self._repositories[r]['packages'] = self._analyse_non_released_repo(sg, tmp_dir)
self._repositories[r]['status'] = 'source'
info('-> repository %s is NON-released with packages "%s"' % (
r, ', '.join(list(self._repositories[r]['packages']))))
else:
warning('skipping source repository %s as it is not git' % r)
if sg.source_repository:
self._repositories[r]['type'] = sg.source_repository.type
self._repositories[r]['url'] = sg.source_repository.url
self._repositories[r]['version'] = sg.source_repository.version
if sg.source_repository.test_commits:
self._repositories[r]['jenkins_job'] = self.__jenkins_url_template_dev % r
self._pkgs.update(self._repositories[r]['packages'])
except Exception as e:
exception("skipping %s as exception occured" % r)
finally:
rmtree(tmp_dir)
self._analyse_deps()
def _analyse_deps(self):
for p in self._pkgs:
pkg = self._pkgs[p]
repo = pkg['repository']
info('analyse dependencies for package %s' % p)
internal_deps = pkg['deps'].intersection(set(self._pkgs))
external_deps = pkg['deps'].difference(set(self._pkgs))
for d in internal_deps:
dep_repo = self._pkgs[d]['repository']
if repo != dep_repo: # ignore self-dep
self._repositories[dep_repo]['required_by_repositories'].add(repo)
self._repositories[repo]['requires_repositories'].add(dep_repo)
self._repositories[repo]['internal_dependencies'].update(internal_deps)
self._repositories[repo]['external_dependencies'].update(external_deps)
def _extract_from_package_xml(self, px):
return {
'authors': ([a['_text']
for a in px['author']]
if 'author' in px
else ''),
'maintainers': ([a['_text']
for a in px['maintainer']]
if 'maintainer' in px
else ''),
'description': (' '.join(
[a['_text']
for a in px['description']])
if 'description' in px
else ''),
'license': (' '.join(
[a['_text']
for a in px['license']])
if 'license' in px
else ''),
'url': (px['url'][0]['_text'] if '_text' in px['url'][0] else None) if 'url' in px else None
}
def _analyse_released_repo(self, sg):
_pkg={}
for p in sg.release_repository.package_names:
deps = get_recursive_dependencies(self._distro, [p], limit_depth=1)
e = {
'name': p,
'status': 'released',
'deps': deps,
'repository': self._distribution.release_packages[p].repository_name
}
px = self.parse_package_xml(p)['package']
e.update(self._extract_from_package_xml(px))
_pkg[p] = e
return _pkg
def _analyse_non_released_repo(self, sg, tmp_dir):
_pkgs={}
try:
self.__checkout(
sg.source_repository.url,
sg.source_repository.version,
sg.name, tmp_dir)
except Exception:
exception('exception when trying to checkout repository %s. Carrying on regardless.' % sg.name)
try:
pkgs = [
p[1] for p in topological_order.topological_order(
join(tmp_dir, sg.name))
]
except Exception:
exception('exception when trying to analyse repository %s, returning [].' % sg.name)
return _pkgs
for pkg in pkgs:
#print pkg
e = {
'name': pkg.name,
'status': 'source',
'deps': set([str(d.name) for d in pkg.build_depends]
+ [str(d.name) for d in pkg.exec_depends]),
'repository': sg.name,
'url': pkg.urls[0] if pkg.urls else None,
'description': pkg.description,
'authors': [str(a.name) for a in pkg.authors],
'maintainers': [str(a.name) for a in pkg.maintainers],
'license': ', '.join(pkg.licenses)
}
_pkgs[pkg.name] = e
return _pkgs
def __checkout(self, url, branch, name, dir):
check_call(["git", "clone", '--depth', '1',
#'--recurse-submodules',
'-b', branch, url, name], cwd=dir)
def parse_package_xml(self, package):
xml = self._distro.get_release_package_xml(package)
root = ET.fromstring(xml)
return dictify(root)
def write(self, filename):
with open(filename, 'w') as f:
doc = {
'repositories': dict(self._repositories),
'pkgs': dict(self._pkgs)
}
f.write(dump(doc))
def load(self, filename):
with open(filename, 'r') as f:
doc = load(f.read())
self._repositories.update(doc['repositories'])
self._pkgs.update(doc['pkgs'])
def generate_graph(self):
dot = pgv.AGraph(label="<<B>Dependency Graph of Repositories</B>>",
directed=True,
strict=True,
size=16,
splines='true',
compound=True,
ratio='expand',
rankdir='tb',
concentrate=True)
released = dot.add_subgraph(name='released')
non_released = dot.add_subgraph(name='non_released')
for repo_name in sorted(self._repositories):
repo = self._repositories[repo_name]
info('generating node %s' % repo_name)
pstr = ''
for pname in sorted(repo['packages']):
pkg = repo['packages'][pname]
# pstr += ' <I>%s </I>(%s)<BR ALIGN="LEFT"/>' % (
# pname, ', '.join(pkg['package']['maintainers']))
pstr += ' <I>%s</I><BR ALIGN="LEFT"/>' % (
pname)
pstr += ' '
# maintainers = ''
# for pn in sg['packages']:
# p = sg['packages']
# for m in p['maintainers']:
# maintainers += ' ' + pn + ': ' + m + '<br align="left"/>'
# if p['release_status'] is None:
# nc = 'red'
# else:
# if p['release_status'] == 'release':
# nc = 'green'
# else:
# nc = 'yellow'
#dot.add_node(k, label='<<I>'+k.upper()+'</I><br align="left"/>'+maintainers+'>', color=nc)
label = (
'<<B>%s</B>'
'<BR ALIGN="LEFT"/>'
'<FONT POINT-SIZE="8">%s</FONT>>' %
(repo_name.lower(), pstr))
tooltip = (
'externals dependencies: %s' %
(', '.join(sorted(repo['external_dependencies']))))
if repo['status'] == 'released':
node_color = '#00AA00'
else:
node_color = '#AA0000'
dot.add_node(repo_name,
label=label,
color=node_color,
shape='folder',
tooltip=tooltip,
URL=repo['url'])
edge_tooltip = '\n '.join(
repo['requires_repositories']
)
for dr in repo['requires_repositories']:
if self._repositories[dr]['status'] == 'released':
edge_color = '#00AA00'
weight = 100
else:
edge_color = '#AA0000'
weight = 1
dot.add_edge(
repo_name, dr, color=edge_color, weight=weight, penwidth=2,
constraint=True,
URL=self._repositories[dr]['url'],
edgetooltip=('"%s" requires:\n %s' % (repo_name, edge_tooltip)))
return dot
def generate_md_package(self, pkg):
s = '| [`%s`](%s): _%s_ | %s | %s | %s |\n' % (
pkg['name'],
pkg['url'] if pkg['url'] else '',
" ".join(pkg['description'].split()) if 'description' in pkg else 'n/a',
', '.join(pkg['maintainers']),
', '.join(pkg['authors']),
pkg['license']
)
# str = ' * Depends on pkgs: '
# for d in pkg['depends']:
# str += '[`%s`](#package-%s) ' % (d, d)
# str += '\n'
# str += ' * Maintainers: %s\n' % ', '.join(pkg['package']['maintainers'])
# str += ' * Authors: %s\n' % ', '.join(pkg['package']['authors'])
# str += ' * License: %s\n' % pkg['package']['license']
return s
def generate_rosinstall(self, repo_name):
str = (
"- git:\n"
" local-name: %s\n"
" uri: %s\n"
" version: %s\n")
str = str % (
repo_name,
self._repositories[repo_name]['url'],
self._repositories[repo_name]['version']
)
return str
def generate_md_repo(self, repo_name):
repo = self._repositories[repo_name]
str = '---\n\n# %s\n' % repo_name
if repo['release_version'] and repo['release_url']:
str += '## Install from released Ubuntu packages\n'
str += 'Install using `apt install %s`.\n\n' % (
' '.join(
['ros-%s-%s' % (
self._distro_name, pname.replace('_','-')
) for pname in repo['packages']])
)
str += '<img src="ubuntu.svg" height="12px"/> released version: **`%s`** (via release repository: %s)\n\n' % (
repo['release_version'], repo['release_url']
)
if repo['type'] == 'git':
if repo['jenkins_job']:
str += '<img src="git.svg" height="12px"/> source code: %s (branch: `%s`) [](%s)\n\n' % (
repo['url'], repo['version'], repo['jenkins_job'], repo['jenkins_job']
)
else:
str += '<img src="git.svg" height="12px"/> source code: %s (branch: `%s`)\n\n' % (
repo['url'], repo['version']
)
if repo['status'] == 'source':
str += '\n## Install from source\n'
str += '\n`rosinstall` definition (including any unreleased dependencies), to be used with [`wstool`](http://wiki.ros.org/wstool):\n'
str += '\n```\n%s' % (
self.generate_rosinstall(repo_name)
)
if repo['requires_repositories']:
for d in repo['requires_repositories']:
if self._repositories[d]['status'] != 'released':
str += '%s' % (
self.generate_rosinstall(d)
)
str += '```\n'
if repo['requires_repositories']:
str += '\n## Repository dependencies\n'
str += 'depends on these other repositories: '
str += ', '.join(['[`%s`](#%s)\n' % (d, d) for d in repo['requires_repositories']])
str += '\n\n'
str += '\n## Included packages\n\n'
tablehead = '| package | maintainer | authors | licence |\n'
tableline = '| ------- | ---------- | ------- | ------- |\n'
str += tablehead + tableline
for p in repo['packages']:
# str+='## Package **%s**\n*%s*\n' % (
# p, repo['packages'][p]['package']['description']
# )
str+=self.generate_md_package(repo['packages'][p])
return str
def generate_markdown_repos(self):
repos = self._repositories
# outstr = u''
# tablehead = '| package | maintainer | authors | licence | depends on |\n'
# tableline = '| ------- | ---------- | ------- | ------- | ---------- |\n'
outstr = u''
outstr += ('\n'
'## Install released packages\n'
'See the [documentation]'
'(https://github.com/LCAS/rosdistro/wiki'
'#using-the-l-cas-repository-if-you-'
'just-want-to-use-our-software) '
'to enable the Ubuntu repositories to be ready to '
'install binary releases. '
'To install all packages documented here, '
'simply run \n\n```\n'
'sudo apt install <PACKAGENAME>\n```\n\n'
'after having enabled the repositories.\n\n')
# outstr += ('\n'
# '## Cloning all repositories\n'
# 'Copy the following code block into the file '
# '`.rosinstall` in your `src/` directory of your '
# 'workspace and run `wstool up` to pull in all '
# 'sources at once. An easy way to do it is '
# '`cat >> .rosinstall` and pasting the block below, '
# 'followed by `[Ctrl-D]`, and then runnning `wstool up`. '
# 'In order to the install all dependencies required '
# 'to compile the code, simply do this in your source dir:\n'
# '1. `rosdep update`\n'
# '2. `rosdep install -i --from-paths .`\n'
# )
# outstr += '\n\n```\n'
# for repo in sorted(repos):
# outstr += self.generate_rosinstall(repo)
# outstr += '\n```\n\n'
for repo in sorted(repos):
outstr += self.generate_md_repo(repo)
return outstr
def preamble(self):
return ('This is an overview of repositories and packages '
'that form part of the distribution. '
'_This page is autogenerated for ROS distribution `%s`._\n'
'\n'
'_Dependency Graph (download as [PDF](repos-%s.pdf))_\n'
'[](repos-%s.svg?sanitize=true)' %
(
self._distro_name, self._distro_name, self._distro_name, self._distro_name
)
)
def main():
parser = argparse.ArgumentParser(
description='analyse a rosdistro',
epilog='(c) Marc Hanheide 2019',
formatter_class=argparse.ArgumentDefaultsHelpFormatter
)
parser.add_argument(
'--distro', '-d',
help='name of ROS distro, default: kinetic',
default='kinetic'
)
parser.add_argument(
'--tags', '-t',
help='list of repository tags, space-separated',
default='lcas'
)
parser.add_argument(
'--repo-whitelist', '-r',
help='list of whitelisted repositories, space-separated. default: all',
default=None
)
parser.add_argument(
'--write', '-w',
help='write the gathered data to a file. default: None',
default=None
)
parser.add_argument(
'--load', '-l',
help='load previous data from a file. default: None',
default=None
)
args = parser.parse_args()
_tags = args.tags.split(' ') if len(args.tags)>0 else []
_repo_whitelist = args.repo_whitelist.split(' ') if args.repo_whitelist else None
#print _orgas
ca = CacheAnalyser(
distro=args.distro, tags=_tags, repo_whitelist=_repo_whitelist)
if args.load:
ca.load(args.load)
else:
ca._analyse_repos()
if args.write:
ca.write(args.write)
dot = ca.generate_graph()
dot.layout(prog='dot')
dot.draw('repos-%s.svg' % args.distro)
dot.draw('repos-%s.pdf' % args.distro)
dot.draw('repos-%s.png' % args.distro)
print(ca.preamble())
print(ca.generate_markdown_repos())
if __name__ == "__main__":
basicConfig(level=INFO)
main()