feat(dependency_checker): add dependency checker script (#89)

* add dependency_checker

Signed-off-by: a-maumau <[email protected]>

* fix

Signed-off-by: a-maumau <[email protected]>

* style(pre-commit): autofix

* fix bag

Signed-off-by: a-maumau <[email protected]>

* apply markdownlint

Signed-off-by: a-maumau <[email protected]>

* fix typo

Co-authored-by: Yutaka Kondo <[email protected]>

fix typo

Co-authored-by: Yutaka Kondo <[email protected]>
Signed-off-by: a-maumau <[email protected]>

* add dep ament_cmake

Signed-off-by: a-maumau <[email protected]>

* fix based on shellcheck

Signed-off-by: a-maumau <[email protected]>

* fix words

Signed-off-by: a-maumau <[email protected]>

* add cspell ignore

Signed-off-by: a-maumau <[email protected]>

---------

Signed-off-by: a-maumau <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Yutaka Kondo <[email protected]>

autoware_dependency_checker/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_dependency_checker)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
+
+install(PROGRAMS
+  scripts/dependency_checker.sh
+  DESTINATION lib/${PROJECT_NAME})

autoware_dependency_checker/README.md

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+# autoware_dependency_checker
+
+This package provides a script for checking whether each package's dependencies listed in a package.xml are used or not.
+Currently, it mainly checks packages that start with `autoware_`.
+
+## Dependency Checking
+
+The script will try to match the dependencies and the headers by reading the dependencies listed in package.xml and the included headers in the source files.
+
+Some dependency in `package.xml` and the included header might differ.
+The following table shows the matching between dependency names and headers:
+
+| from               | to                 | description                       |
+| ------------------ | ------------------ | --------------------------------- |
+| autoware_pkg_name  | autoware/pkg_name  | Usually this style should be used |
+| autoware\_\*\_msgs | autoware\_\*\_msgs | For messages                      |
+| autoware_other_pkg | autoware_other_pkg | E.g. autoware_lanelet2_extension  |
+
+## Usage
+
+```Text
+# build
+$ cd to/autoware_tools
+$ colcon build --symlink-install --cmake-args --packages-up-to autoware_dependency_checker
+$ source
+
+# run
+$ cd to/your/autoware
+$ ros2 run autoware_dependency_checker dependency_checker.sh
+
+# run in some package
+$ cd to/some/package
+$ ros2 run autoware_dependency_checker dependency_checker.sh
+```

autoware_dependency_checker/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_dependency_checker</name>
+  <version>0.1.0</version>
+  <description>The autoware_dependency_checker package</description>
+  <maintainer email="[email protected]">Yutaka Kondo</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="[email protected]">Vincent Richard</author>
+  <author email="[email protected]">Masaki Baba</author>
+
+  <build_depend>ament_cmake</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

autoware_dependency_checker/scripts/dependency_checker.sh

@@ -0,0 +1,157 @@
+#!/bin/bash
+# This script finds recursively all package.xml in the src/ subdirectory
+# Then check if all packages marked <depend> are effectively used somewhere in the package.
+# Packages marked <depend> normally either provide shared libraries or custom messages
+
+# Packages that should always be <buildtool_depend>, not <depend>
+KNOWN_BUILDTOOLS="rosidl_default_generators;autoware_cmake;eigen3_cmake_module"
+
+current_dir=$(pwd)
+
+# Out of pattern packages
+# These will get checked with `package_name/.*` pattern
+# autoware_*_msg is handled in the following process, so you don't need to add here
+EXCLUDE_PACKAGES=(
+    "autoware_ad_api_specs"
+    "autoware_lanelet2_extension"
+    "autoware_raw_vehicle_cmd_converter"
+)
+
+# Find all package names under the current directory
+mapfile -t ALL_PACKAGES < <(find "$current_dir" \
+    -not \( -path "$current_dir/install" -prune \) \
+    -not \( -path "$current_dir/build" -prune \) \
+    -name "package.xml" -print0 | xargs -0 -n 1 dirname | xargs -n 1 basename | sort -u)
+
+# Find all autoware packages starting with "autoware_"
+# These packages will get checked with `autoware/pkg_name/.*`
+BASE_RULE_TARGETS=()
+for pkg_name in "${ALL_PACKAGES[@]}"; do
+    if [[ $pkg_name == autoware_* ]]; then
+        filter_flag=0
+
+        for exclude_pkg_name in "${EXCLUDE_PACKAGES[@]}"; do
+            if [[ $pkg_name == "$exclude_pkg_name" ]]; then
+                filter_flag=1
+                break
+            fi
+        done
+        if [[ $filter_flag -eq 0 ]]; then
+            BASE_RULE_TARGETS+=("$pkg_name")
+        fi
+    fi
+done
+
+pkgs=$(find "$current_dir" \
+    -not \( -path "$current_dir/install" -prune \) \
+    -not \( -path "$current_dir/build" -prune \) \
+    -name "package.xml")
+
+for pkg in $pkgs; do
+    echo "--- Checking $pkg ---"
+    # Get all packages marked <depend>. For example:
+    #   <depend>dep_name</depend>
+    deps=$(grep -d skip -oP '^\s*<depend>\K[^<]+' "$pkg")
+    dir=$(dirname "$pkg")
+
+    if [[ ! -f "$dir/CMakeLists.txt" ]]; then
+        echo "Skipping package with no CMakeLists.txt (is python package?)"
+        echo ""
+        continue
+    fi
+
+    for dep in $deps; do
+        # filter out buildtools (should not use <depend>)
+        if grep -q "$dep" <<<"$KNOWN_BUILDTOOLS"; then
+            echo "$dep should rather be marked as <buildtool_depend>, not <depend>"
+            continue
+        fi
+
+        # filter out ament stuff (should not use <depend>)
+        if [[ $dep =~ ament_.*$ ]]; then
+            echo "$dep should rather be marked as either <build_depend> or <test_depend>, not <depend>"
+            continue
+        fi
+
+        # filter out python stuff (should not use <depend>)
+        if [[ $dep =~ python-.*$ ]]; then
+            echo "$dep should rather be marked as either <build_depend> or <test_depend>, not <depend>"
+            continue
+        fi
+
+        # By convention, dependency headers must be prefixed with the package name. For Example:
+        # tier4_autoware_utils/geometry/geometry.hpp
+        header_regex="$dep/.*"
+
+        # System dependencies don't follow this rule. They all have custom names.
+        [[ $dep =~ libpcl-.*$ ]] && header_regex="pcl/.*"
+        [[ $dep =~ libboost-.*$ ]] && header_regex="boost/.*"
+        [[ $dep =~ libqt5-.*$ ]] && header_regex="Q.*"
+        [[ $dep == "qtbase5-dev" ]] && header_regex="Q.*"
+        [[ $dep == "libopencv-dev" ]] && header_regex="opencv2/.*"
+        [[ $dep == "pugixml-dev" ]] && header_regex="pugixml.hpp"
+        [[ $dep == "yaml_cpp_vendor" ]] && header_regex="yaml-cpp/yaml.h"
+        [[ $dep == "nlohmann-json-dev" ]] && header_regex="nlohmann/json.hpp"
+        [[ $dep == "range-v3" ]] && header_regex="range/v3/.*"
+        [[ $dep == "libcpprest-dev" ]] && header_regex="cpprest/.*"
+        [[ $dep == "eigen" ]] && header_regex="Eigen/.*"
+        [[ $dep == "libnl-3-dev" ]] && header_regex="netlink/.*"
+        [[ $dep == "libpcap" ]] && header_regex="pcap.h"
+        [[ $dep == "cgal" ]] && header_regex="CGAL/.*"
+        [[ $dep == "osqp_vendor" ]] && header_regex="osqp/.*"
+        [[ $dep == "magic_enum" ]] && header_regex="magic_enum.hpp"
+        [[ $dep == "geographiclib" ]] && header_regex="GeographicLib/.*"
+        # Some autoware packages don't follow the convention either...
+        [[ $dep == "autoware_auto_common" ]] && header_regex="(common|helper_functions)/.*"
+        # cspell: ignore multigrid
+        [[ $dep == "ndt_omp" ]] && header_regex="(pclomp|multigrid_pclomp)/.*"
+        [[ $dep == "planning_test_utils" ]] && header_regex="planning_interface_test_manager/.*"
+        [[ $dep == "shape_estimation" ]] && header_regex="autoware/shape_estimation/.*"
+        # Add more as needed...
+
+        # Check the dependency with the including rule:
+        #   autoware_pkg_name -> autoware/pkg_name/.*
+        #   autoware_*_msgs   -> autoware_*_msgs/.*
+        for autoware_pkg in "${BASE_RULE_TARGETS[@]}"; do
+            if [[ $dep == "$autoware_pkg" ]]; then
+                # for the autoware_*_msgs
+                if [[ $autoware_pkg == *_msgs ]]; then
+                    source_name="${autoware_pkg}"
+                else
+                    # replace `autoware_` with `autoware/`
+                    source_name="${autoware_pkg/autoware_/autoware/}"
+                fi
+
+                header_regex="${source_name}/.*"
+                break
+            fi
+        done
+
+        # Look for C/C++ includes. For example:
+        # #include "tier4_autoware_utils/geometry/geometry.hpp"
+        # Note: whether these includes are actually useful is out-of-scope of this script
+        # There are many great tools for that.
+        include_regex="^#include [<\"]${header_regex}[>\"]"
+
+        # Dependencies defining custom messages may also be re-used in other messages or services
+        # By convention, these packages must be named "*_msgs", excepted for "builtin_interfaces"
+        if [[ $dep =~ .*_msgs$ ]] || [[ $dep == "builtin_interfaces" ]]; then
+            if grep -wIPrq "$dep" "$dir" --include \*.msg --include \*.srv --include \*.idl; then
+                continue # found!
+            fi
+        fi
+
+        # Check if the dependency is included anywhere in the source files
+        if grep -wIPrq "$include_regex" "$dir" \
+            --include \*.c --include \*.cc --include \*.cpp --include \*.h --include \*.hpp; then
+            continue # found!
+        fi
+
+        echo "$dep seems not to be used"
+
+        # /!\ WARNING - DANGEROUS /!\
+        # Uncomment to delete unused dependency!
+        # sed -i "/<depend>$dep<\/depend>/d" $pkg
+    done
+    echo ""
+done