def __init__(self):
# Load all configuration
# filename2contents = look_everywhere_for_config_files()
dtu.logger.debug('Reading configuration files...')
self.configs = get_all_configuration_files()
self.package2nodes = {}
packages = dtu.get_list_of_packages_in_catkin_ws()
dtu.logger.debug('Reading %d packages configuration...' %
len(packages))
for p in packages:
self.package2nodes[p] = load_configuration_for_nodes_in_package(p)
dtu.logger.debug('Validating configuration...')
for i, c in enumerate(self.configs):
try:
self.validate_file(c)
c = c._replace(valid=True)
except ValidationError as e:
c = c._replace(valid=False)
c = c._replace(error_if_invalid=str(e))
self.configs[i] = c
def generate_easy_node_docs():
skip = ['easier_node']
packages = dtu.get_list_of_packages_in_catkin_ws()
dtu.logger.info('Looking in %d packages for nodes.' % len(packages))
names = sorted(packages, key=lambda _: packages[_])
for package_name in names:
md = ""
package_dir = packages[package_name]
package_xml = os.path.join(package_dir, 'package.xml')
package_info = dtu.read_package_xml_info(package_xml)
md += generate_from_package_info(package_info, package_dir)
configs = load_configuration_for_nodes_in_package(package_name)
for node_name, config in configs.items():
if node_name in skip:
continue
md += generate_from_node_config(config)
out = os.path.join(package_dir, '.autogenerated.md')
write_to_file_if_changed(out, md)
def find_cmds_to_shortcut():
package2dir = dtu.get_list_of_packages_in_catkin_ws()
for package, src in package2dir.items():
src = dtu.get_ros_package_path(package)
cmd = ['find', src, '-type', 'f', '-executable']
res = dtu.system_cmd_result(cwd='.', cmd=cmd, display_stdout=False, display_stderr=False,
raise_on_error=True)
filenames = [x for x in res.stdout.strip().split('\n') if x]
for fn in filenames:
data = open(fn).read()
if tag in data:
b = os.path.basename(fn)
desc = None
yield Script(package=package, script=b, desc=desc, filename=fn)
else:
pass
dtu.logger.debug('ignoring %s' % fn)
def get_checks():
""" Returns a list of Entry """
manager = Manager()
add = manager.add
JOY_DEVICE = '/dev/input/js0'
this_is_a_duckiebot = dtu.on_duckiebot()
this_is_a_laptop = dtu.on_laptop()
this_is_circle = dtu.on_circle()
username = getpass.getuser()
if this_is_a_duckiebot:
add(None,
"Camera is detected",
CommandOutputContains('sudo vcgencmd get_camera', 'detected=1'),
Diagnosis("The camera is not connected."))
add(None,
"Scipy is installed",
CanImportPackages(['scipy', 'scipy.io']),
Diagnosis("Scipy is not installed correctly."))
add(None,
"sklearn is installed",
CanImportPackages(['sklearn']),
Diagnosis("sklearn is not installed correctly."))
python_packages = [
# 'ros_node_utils',
'procgraph',
'comptests',
'compmake',
'contracts',
]
for p in python_packages:
add(None,
"%s is installed" % p,
CanImportPackages([p]),
Diagnosis("Dependency %r is not installed correctly." % p),
Suggestion(" pip install --user %s" % p))
add(None,
"Date is set correctly",
CheckDate(),
Diagnosis("The date is not set correctly."))
not_root=add(None,
"Not running as root",
YouAreNotUser('root'),
Diagnosis("You should not run the code as root."))
if this_is_a_duckiebot:
not_ubuntu = add(not_root,
"Not running as ubuntu",
YouAreNotUser('ubuntu'),
Diagnosis("You should not run the code as ubuntu."))
add(not_ubuntu,
"Member of group sudo",
UserBelongsToGroup(username, "sudo"),
Diagnosis("You are not authorized to run sudo."))
add(not_ubuntu,
"Member of group input",
UserBelongsToGroup(username, "input"),
Diagnosis("You are not authorized to use the joystick."))
add(not_ubuntu,
"Member of group video",
UserBelongsToGroup(username, "video"),
Diagnosis("You are not authorized to read from the camera device."))
add(not_ubuntu,
"Member of group i2c",
UserBelongsToGroup(username, "input"),
Diagnosis("You are not authorized to use the motor shield."))
for g in ['sudo','input','video','i2c']:
add(None,
"User ubuntu member of group `%s`" % g,
UserBelongsToGroup("ubuntu", g),
Diagnosis("Image not created properly."))
if this_is_a_laptop or this_is_a_duckiebot:
good_ssh_configuration(manager)
required_packages = set()
if this_is_a_duckiebot or this_is_a_laptop or this_is_circle:
required_packages.update(make_list("""
vim byobu
git git-extras
htop atop iftop
aptitude apt-file
build-essential libblas-dev liblapack-dev libatlas-base-dev gfortran libyaml-cpp-dev
python-dev ipython python-sklearn
python-termcolor
ros-kinetic-desktop-full
ntpdate
python-pip
ipython
virtualenv
libxml2-dev
libxslt1-dev
python-frozendict
python-tables
"""))
if this_is_a_duckiebot:
required_packages.update(make_list("""
i2c-tools
python-smbus
libffi-dev
mplayer
mencoder
"""))
if this_is_a_laptop or this_is_circle:
required_packages.update(make_list("""
git-lfs
pdftk
bibtex2html
"""))
# TODO
# suggested = ['emacs', 'zsh', 'nethogs']
for p in required_packages:
add(None, "Installed APT package " + p, CheckPackageInstalled(p), Diagnosis('Package %r not installed.' % p))
forbidden_packages = [
"python-roslaunch",
"rosbash",
'python-ruamel.yaml',
'python-ruamel.ordereddict',
]
for p in forbidden_packages:
add(None, "You should not have installed APT package " + p,
CheckPackageNotInstalled(p), Diagnosis('Forbidden package %r is installed.' % p))
if not this_is_circle:
add_suite_git(manager)
if this_is_a_duckiebot:
add(None,
"Edimax detected",
CommandOutputContains('iwconfig', 'rtl8822bu'),
Diagnosis("It seems that the Edimax is not detected."))
add(None,
'The hostname is configured',
CheckHostnameConfigured(),
Diagnosis('You have not completed a proper setup.'))
add(None,
'/etc/hosts is sane',
CheckGoodHostsFile(),
Diagnosis('The contents of /etc/hosts will cause problems later on.'))
if this_is_a_duckiebot:
add(None,
'Correct kernel version',
GoodKernel(),
Diagnosis('You have been messing with the kernel.'),
Suggestion('You probably need to start with a pristine SD card.'))
add(None,
'Wifi name configured',
WifiNameConfigured(),
Diagnosis('You have not completed the Wifi configuration.'))
add(None,
"Messages are compiled",
CheckImportMessages(),
Diagnosis("The messages are not compiling correctly."))
# if not this_is_circle:
# add(None,
# 'Shell is bash',
# EnvironmentVariableIsEqualTo('SHELL', '/bin/bash'),
# Diagnosis('You have not set the shell to /bin/bash'),
# Suggestion('You can change the shell using `chsh`.'))
if this_is_a_duckiebot:
add(None,
"Joystick detected",
DeviceExists(JOY_DEVICE),
Diagnosis("The joystick is not found at %s" % JOY_DEVICE))
DUCKIETOWN_ROOT = dtu.DuckietownConstants.DUCKIETOWN_ROOT_variable
DUCKIEFLEET_ROOT = dtu.DuckietownConstants.DUCKIEFLEET_ROOT_variable
DUCKIETOWN_CONFIG_SEQUENCE = dtu.DuckietownConstants.DUCKIETOWN_CONFIG_SEQUENCE_variable
if False:
v = DUCKIETOWN_CONFIG_SEQUENCE
add(None,
'Provided environment variable %s.' % v,
EnvironmentVariableExists(v),
Diagnosis("%s is not set." % v),
Suggestion('You have to set %r in your environment (e.g. .bashrc)' % v))
variables_to_check = [DUCKIETOWN_ROOT, DUCKIEFLEET_ROOT, #DUCKIETOWN_CONFIG_SEQUENCE
]
existence = {}
for v in variables_to_check:
var_exists = add(None,
'Provided environment variable %s.' % v,
EnvironmentVariableExists(v),
Diagnosis("%s is not set." % v),
Suggestion('You have to set %r in your environment (e.g. .bashrc)' % v))
existence[v] = add(var_exists,
'Existence of path ${%s}' % v,
DirExists('${%s}' % v),
Diagnosis("%s is set but it points to a non-existing directory." % v)
)
add(existence[DUCKIETOWN_ROOT],
'Software repo downloaded with SSH scheme.',
GitCorrectRemote('${%s}' % DUCKIETOWN_ROOT),
Diagnosis("You downloaded the repo using https."),
SeeDocs('clone-software-repo')
)
# recent update
add(existence[DUCKIETOWN_ROOT],
'You pulled the Software repo in the last 24 hours',
RecentlyPulled('${%s}' % DUCKIETOWN_ROOT, 24),
Diagnosis("You did not recently pull the Software repository."),
)
add(existence[DUCKIEFLEET_ROOT],
'You pulled the Duckiefleet root in the last 24 hours',
RecentlyPulled('${%s}' % DUCKIEFLEET_ROOT, 24),
Diagnosis("You did not recently pull the Duckiefleet repository."),
)
if not this_is_a_duckiebot:
_git_lfs_installed = add(None, # @UnusedVariable
'Git LFS installed',
GitLFSInstalled(),
Diagnosis('You have not installed Git LFS'),
SeeDocs('git-lfs'))
if this_is_a_duckiebot:
add(None,
'This robot is mentioned in scuderia.',
ThisRobotInScuderiaFile(),
Diagnosis('You have not added the robot to the scuderia.'),
SeeDocs('scuderia'))
progs = ['roslaunch', 'rosrun']
for prog in progs:
add(None,
'Good path for "%s"' % prog,
CommandOutputContains('which %s' % prog, '/opt/ros/kinetic'),
Diagnosis('The program `%s` is not resolved to the one in /opt/ros' % prog))
add(None,
'Good path for python',
CommandOutputContains('which python', '/usr/bin/python'),
Diagnosis('The program `python` is not resolved to the one in /usr/bin. '))
machines_exists = add(None,
'Existence of machines file',
MachinesExists(),
Diagnosis('You have an invalid or missing machines file.'),
SeeDocs('machines'),
)
if this_is_a_duckiebot:
add(machines_exists,
'Machines file contains this robot',
MachinesValid(),
Diagnosis('You have an invalid machines file.'),
)
found_duckiefleet = add(None,
'Possible to get duckiefleet in some way',
FindingDuckiefleet(),
Diagnosis('Cannot find duckiefleet root'),
)
add(found_duckiefleet,
'The duckiefleet repo is up to date',
UptodateDuckiefleet(),
Diagnosis('The duckiefleet repo is not up to date') )
if False: # TODO
if this_is_a_laptop:
existence = add(None,
'Environment variable DUCKIETOWN_DATA',
EnvironmentVariableExists('DUCKIETOWN_DATA'),
Diagnosis("DUCKIETOWN_DATA is not set."
"""
The environment variable DUCKIETOWN_DATA must either:
1) be set to "n/a"
2) point to an existing path corresponding to Dropbox/duckietown-data.
(containing a subdirectory 'logs')
"""
))
logs = [
"${DUCKIETOWN_DATA}/logs/20160400-phase3-logs/dp45/20160406/20160406-226-All_red_lights_followTheLeader1-2cv.bag",
]
for l in logs:
add(existence,
'Log %r exists in DUCKIETOWN_DATA' % os.path.basename(l),
FileExists(l),
Diagnosis("The DUCKIETOWN_DATA folder does not contain the logs it should.")
)
if False:
# TODO: not sure if this is needed
if this_is_a_duckiebot:
add(None,
'Environment variable VEHICLE_NAME',
EnvironmentVariableExists('VEHICLE_NAME'),
Diagnosis("""
The environment variable VEHICLE_NAME must be the name of your robot
(if you are on the robot)."""),
Suggestion("""
Add this line to ~/.bashrc:
export VEHICLE_NAME= (your vehicle name)
"""))
try:
packagename2dir = dtu.get_list_of_packages_in_catkin_ws()
except dtu.DTConfigException:
pass
else:
for package_name, dirname in packagename2dir.items():
add_python_package_checks(add, package_name, dirname)
# TODO: DISPLAY is not set
# files in src/ or scripts/ are executable
# There is no file "util.py" copied from pkg_name
# add(None,
# 'Passwordless sudo',
# FileContains('/etc/'))
# TODO: date
return manager.entries