Check message definition updates automatically

.github/msgs_checker.py

@@ -0,0 +1,150 @@
+#!/usr/bin/python3
+
+from glob import glob
+import re
+from dataclasses import dataclass
+from typing import Set, Dict
+from catkin_pkg.packages import find_packages
+from catkin_pkg.package import Package
+from subprocess import check_output
+from pathlib import Path
+from itertools import chain
+from json import dumps
+import requests
+import os
+
+
+# cspell: ignore srvs
+@dataclass
+class UsedPackage:
+    msgs: Set[str]
+    srvs: Set[str]
+
+
+# u_int8 -> UInt8
+def to_camel_case(snake_str: str):
+    return "".join(x.capitalize() for x in snake_str.lower().split("_"))
+
+
+def either_glob(str: str):
+    return "".join([f"[{c.lower()}{c.upper()}]" if c.isalpha() else c for c in str])
+
+
+def main():
+    # Glob all *.cpp / *.hpp files
+    files = glob("**/*.cpp", recursive=True) + glob("**/*.hpp", recursive=True)
+
+    # Message include regex
+    msg_include_regex = re.compile(r"#include\s*[<\"](.+_msgs)/msg/(.+)\.hpp[>\"]")
+    srv_include_regex = re.compile(r"#include\s*[<\"](.+_srv)/srv/(.+)\.hpp[>\"]")
+
+    # Check for `#include` statements
+    used_packages: Dict[str, UsedPackage] = {}
+    for file in files:
+        with open(file, "r") as f:
+            lines = f.readlines()
+            for line in lines:
+                msg_match = msg_include_regex.match(line)
+                srv_match = srv_include_regex.match(line)
+                if msg_match:
+                    package = msg_match.group(1)
+                    msg = to_camel_case(msg_match.group(2))
+
+                    if package not in used_packages:
+                        used_packages[package] = UsedPackage(set(), set())
+                    used_packages[package].msgs.add(msg)
+
+                if srv_match:
+                    package = srv_match.group(1)
+                    srv = to_camel_case(srv_match.group(2))
+
+                    if package not in used_packages:
+                        used_packages[package] = UsedPackage(set(), set())
+                    used_packages[package].srvs.add(srv)
+
+    # Expect external packages to be in the workspace...
+    pkgs: Dict[str, Package] = find_packages(".")
+    known_packages = [pkg.name for pkg in pkgs.values()]
+    unknown_packages = set(used_packages.keys()) - set(known_packages)
+    if len(unknown_packages) > 0:
+        print(f"Unknown packages: {unknown_packages}")
+
+    updated_patches = []
+
+    for path, pkg in pkgs.items():
+        if pkg.name not in used_packages:
+            continue
+
+        used_msgs = used_packages[pkg.name].msgs
+        used_srvs = used_packages[pkg.name].srvs
+        used_names = used_msgs | used_srvs
+
+        base_path = Path(path)
+        check_paths = chain(
+            *(
+                [base_path.rglob(f"**/{either_glob(msg)}.msg") for msg in used_names]
+                + [base_path.rglob(f"**/{either_glob(msg)}.srv") for msg in used_names]
+                + [base_path.rglob(f"**/{either_glob(msg)}.idl") for msg in used_names]
+            )
+        )
+        existing_files = [path for path in check_paths if path.exists()]
+        existing_files = [str(path.relative_to(base_path)) for path in existing_files]
+
+        if len(existing_files) == 0:
+            print(
+                f"Package {pkg.name} has no messages or services {used_msgs} {used_srvs}"
+            )
+            continue
+
+        # Call `git log` for 7 days history
+        # cspell: ignore oneline
+        log = (
+            check_output(
+                [
+                    "git",
+                    "log",
+                    "--since",
+                    "7.days",
+                    "-p",
+                    "--minimal",
+                    "--pretty=oneline",
+                    "--",
+                    *existing_files,
+                ],
+                cwd=base_path,
+            )
+            .strip()
+            .decode("utf-8")
+        )
+
+        if len(log) == 0:
+            print(f"Package {pkg.name} has no recent changes")
+            continue
+
+        updated_patches.append(log)
+
+    if len(updated_patches) == 0:
+        print("No patches to notify")
+        return
+
+    patches = "\n".join(updated_patches)
+
+    # Post to GitHub issues comment
+
+    body = dumps(
+        {
+            "body": f"```diff\n{patches}\n```",
+        }
+    )
+    requests.post(
+        f"https://api.github.com/repos/{os.environ['GITHUB_REPOSITORY']}/issues/{os.environ['ISSUE_NUMBER']}/comments",
+        headers={
+            "Authorization": f"token {os.environ['GITHUB_TOKEN']}",
+            "Content-Type": "application/json",
+        },
+        data=body,
+    )
+
+
+if __name__ == "__main__":
+    main()

.github/workflows/CheckMessageDepsUpdate.yaml

@@ -0,0 +1,45 @@
+name: Check msgs / srvs update
+on:
+  schedule:
+    - cron: "0 0 * * 1"
+  workflow_dispatch:
+
+jobs:
+  check_message_updates:
+    name: Check message updates
+    runs-on: ubuntu-22.04
+    container: ros:humble
+    steps:
+      - name: checkout
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          path: scenario_simulator_v2
+
+      - name: Install dependencies
+        run: |
+          vcs import scenario_simulator_v2/external < scenario_simulator_v2/dependency_humble.repos
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.10"
+
+      - uses: abatilo/actions-poetry@v2
+        with:
+          poetry-version: "1.5.1"
+
+      - name: Install Python dependencies
+        run: |
+          cd scenario_simulator_v2
+          poetry install --no-interaction
+
+      - name: Check updates
+        shell: bash
+        run: |
+          cd scenario_simulator_v2
+          poetry run python3 .github/msgs_checker.py
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          GITHUB_REPOSITORY: ${{ github.repository }}
+          ISSUE_NUMBER: 1203

pyproject.toml

@@ -19,6 +19,8 @@ mkdocs-codeinclude-plugin = "^0.2.1"
 mkdocs-git-revision-date-localized-plugin = "^1.2.0"
 plantuml = "^0.3.0"
 mkdocs-redirects = "^1.2.1"
+requests = "^2.31.0"
+catkin-pkg = "^1.0.0"
 
 
 [build-system]