Merge pull request #1 from tier4/dev/check_caret_rclcpp

feat: CLI to check whether caret-rclcpp is used

ros2caret/verb/__init__.py

@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.from caret_analyze import Application, Lttng
 
+from logging import DEBUG, Formatter, getLogger, INFO, StreamHandler
+
 from ros2cli.plugin_system import PLUGIN_SYSTEM_VERSION
 from ros2cli.plugin_system import satisfies_version
 
@@ -37,6 +39,19 @@ def __init__(self):
         super(VerbExtension, self).__init__()
         satisfies_version(PLUGIN_SYSTEM_VERSION, '^0.1')
 
+        handler = StreamHandler()
+        handler.setLevel(INFO)
+
+        fmt = '%(levelname)-8s: %(asctime)s | %(message)s'
+        formatter = Formatter(
+            fmt,
+            datefmt='%Y-%m-%d %H:%M:%S')
+        handler.setFormatter(formatter)
+
+        logger = getLogger()
+        logger.setLevel(DEBUG)
+        logger.addHandler(handler)
+
     def add_arguments(self, parser, cli_name):
         pass
 

ros2caret/verb/check_caret_rclcpp.py

@@ -0,0 +1,108 @@
+# Copyright 2021 Research Institute of Systems Planning, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.from caret_analyze import Application, Lttng
+
+from logging import getLogger
+import os
+import subprocess
+
+from ros2caret.verb import VerbExtension
+
+logger = getLogger(__name__)
+
+
+galactic_tp_symbol_names = [
+    'ros_trace_rclcpp_publish'
+    'ros_trace_rclcpp_subscription_init',
+    'ros_trace_rclcpp_subscription_callback_added',
+]
+
+caret_fork_tp_symbol_names = [
+    'ros_trace_dispatch_intra_process_subscription_callback',
+    'ros_trace_dispatch_subscription_callback',
+    'ros_trace_message_construct',
+    'ros_trace_rclcpp_intra_publish'
+]
+
+
+class CheckCaretRclcppVerb(VerbExtension):
+
+    def add_arguments(self, parser, cli_name):
+        parser.add_argument(
+            '-w', '--workspace', dest='workspace', type=str,
+            help='the path to the workspace to be checked', required=True)
+
+    def get_package_name_from_path(self, path: str) -> str:
+        package_name = path.replace(self.root_dir_path, '').split('/')[0]
+
+        return package_name
+
+    """
+    TODO: Need to speed up.
+          When this command is run against Autoware,
+          it takes approximately one minute to complete.
+    """
+    def main(self, *, args):
+        root_dir_path = args.workspace + '/build/'
+        if(os.path.exists(root_dir_path)):
+            self.root_dir_path = root_dir_path
+        else:
+            logger.error('"build" directory not found. '
+                         'Specify the path to the workspace where the build command completed.')
+            exit(1)
+
+        cmd = f'find {self.root_dir_path} -type f ! -size 0 -executable \
+                ! -name "*.o"            ! -name "*.cpp"    ! -name "*.make" \
+                ! -name "*.cmake"        ! -name "Makefile" ! -name "*.internal" \
+                ! -name "*.includecache" ! -name "*.in"     ! -name "*.txt" \
+                ! -name "*.a"            ! -name "*.stamp"  ! -name "*.genexp" \
+                ! -name "*.sample"       ! -name "*.py"'
+        filtered_file_paths = (subprocess.Popen(cmd,
+                                                stdout=subprocess.PIPE,
+                                                shell=True).communicate()[0]
+                               ).decode('utf-8').split('\n')
+
+        # Check whether at least one galactic implementation trace point exists
+        exists_galactic_tp_file_paths = []
+        for file_path in filtered_file_paths[:-1]:
+            cmd = f'nm -D {file_path} | grep -e {" -e ".join(galactic_tp_symbol_names)}'
+            out_str = (subprocess.Popen(cmd,
+                                        stdout=subprocess.PIPE,
+                                        shell=True).communicate()[0]
+                       )
+            if(out_str):
+                exists_galactic_tp_file_paths.append(file_path)
+
+        # Check whether at least one CARET fork implementation trace point exists
+        all_packages = set()
+        ok_packages = set()
+        for file_path in exists_galactic_tp_file_paths:
+            all_packages.add(self.get_package_name_from_path(file_path))
+            cmd = f'nm -D {file_path} | grep -e {" -e ".join(caret_fork_tp_symbol_names)}'
+            out_str = (subprocess.Popen(cmd,
+                                        stdout=subprocess.PIPE,
+                                        shell=True
+                                        ).communicate()[0]
+                       ).decode('utf-8')
+            if(out_str):
+                ok_packages.add(self.get_package_name_from_path(file_path))
+
+        # Logging
+        ng_packages = all_packages - ok_packages
+        if(ng_packages):
+            msg = 'The following packages have not been built using caret-rclcpp:\n'
+            for ng_package in ng_packages:
+                msg += f'\t{ng_package}\n'
+            logger.warning(msg)
+        else:
+            logger.info('All packages are built using caret-rclcpp.')

setup.py

@@ -26,10 +26,11 @@
             'ros2caret.verb = ros2caret.verb:VerbExtension'
         ],
         'ros2caret.verb': [
-            'architecture = ros2caret.verb.architecture:ArchitectureVerb',
-            'callback_graph = ros2caret.verb.callback_graph:CallbackGraphVerb',
-            'chain_latency = ros2caret.verb.chain_latency:ChainLatencyVerb',
-            'message_flow = ros2caret.verb.message_flow:MessageFlowVerb',
+            'check_caret_rclcpp = ros2caret.verb.check_caret_rclcpp:CheckCaretRclcppVerb'
+            # 'architecture = ros2caret.verb.architecture:ArchitectureVerb',
+            # 'callback_graph = ros2caret.verb.callback_graph:CallbackGraphVerb',
+            # 'chain_latency = ros2caret.verb.chain_latency:ChainLatencyVerb',
+            # 'message_flow = ros2caret.verb.message_flow:MessageFlowVerb',
         ]
     },
 )