dependency check

dependencies.txt

@@ -0,0 +1,11 @@
+# use the requirements.txt syntax to add dependencies
+symengine>=0.3.1.dev1
+numpy>1.15.0, <=1.15.4
+urdfdom-py>=0.4.0
+rosunit>=1.14.4
+cython>=0.26.1
+qpoases>=3.1.0
+giskard_msgs>=0.1.0
+py_trees_ros>=0.5.14
+py_trees>=0.6.1
+pybullet==2.3.5

src/giskardpy/utils.py

@@ -8,6 +8,8 @@
 import numpy as np
 from itertools import product, chain
 from numpy import pi
+from rospy import logwarn
+import re
 
 import errno
 from os import tmpfile
@@ -24,6 +26,7 @@
 from contextlib import contextmanager
 import sys, os
 import pylab as plt
+import pkg_resources
 
 from giskardpy.plugin import PluginBehavior, NewPluginBase
 
@@ -514,4 +517,126 @@ def add_edges(root, root_dot_name, visibility_level):
                     add_edges(c, proposed_dot_name, visibility_level)
 
     add_edges(root, root.name, visibility_level)
-    return graph
+    return graph
+
+
+
+def compare_version(version1, operator, version2):
+    """
+    compares two version numbers by means of the given operator
+    :param version1: version number 1 e.g. 0.1.0
+    :type version1: str
+    :param operator: ==,<=,>=,<,>
+    :type operator: str
+    :param version2: version number 1 e.g. 3.2.0
+    :type version2: str
+    :return:
+    """
+    version1 = version1.split('.')
+    version2 = version2.split('.')
+    if operator == '==':
+        if (len(version1) != len(version2)):
+            return False
+        for i in range(len(version1)):
+            if version1[i] != version2[i]:
+                return False
+        return True
+    elif operator == '<=':
+        k = min(len(version1), len(version2))
+        for i in range(k):
+            if version1[i] > version2[i]:
+                return True
+            elif version1[i] < version2[i]:
+                return False
+        if len(version1) < len(version2):
+            return False
+        else:
+            return True
+    elif operator == '>=':
+        k = min(len(version1), len(version2))
+        for i in range(k):
+            if version1[i] < version2[i]:
+                return True
+            elif version1[i] > version2[i]:
+                return False
+        if len(version1) > len(version2):
+            return False
+        else:
+            return True
+    elif operator == '<':
+        k = min(len(version1), len(version2))
+        for i in range(k):
+            if version1[i] > version2[i]:
+                return True
+            elif version1[i] < version2[i]:
+                return False
+        if len(version1) < len(version2):
+            return False
+        else:
+            return True
+    elif operator == '>':
+        k = min(len(version1), len(version2))
+        for i in range(k):
+            if version1[i] < version2[i]:
+                return True
+            elif version1[i] > version2[i]:
+                return False
+        if len(version1) > len(version2):
+            return False
+        else:
+            return True
+    else:
+        return False
+
+
+def rospkg_exists(name):
+    """
+       checks whether a ros package with the given name and version exists
+       :param name: the name and version of the ros package in requirements format e.g. giskard_msgs<=0.1.0
+       :type name: str
+       :return: True if it exits else False
+    """
+    r = rospkg.RosPack()
+    name = name.replace(' ', '')
+    version_list = name.split(',')
+    version_entry1 = re.split('(==|>=|<=|<|>)', version_list[0])
+    package_name=version_entry1[0]
+    try:
+        m = r.get_manifest(package_name)
+    except Exception as e:
+        logwarn('package {name} not found'.format(name=name))
+        return False
+    if len(version_entry1) == 1:
+        return True
+    if not compare_version(version_entry1[2], version_entry1[1], m.version):
+        logwarn('found ROS package {installed_name}=={installed_version} but {r} is required}'.format(installed_name=package_name, installed_version=str(m.version), r=name))
+        return False
+    for entry in version_list[1:]:
+        operator_and_version = re.split('(==|>=|<=|<|>)', entry)
+        if not compare_version(operator_and_version[2], operator_and_version[1], m.version):
+            logwarn('found ROS package {installed_name}=={installed_version} but {r} is required}'.format(installed_name=package_name, installed_version=str(m.version), r=name))
+            return False
+
+    return True
+
+
+def check_dependencies():
+    """
+    Checks whether the dependencies specified in the dependency.txt in the root folder of giskardpy are installed. If a
+    dependecy is not installed a message is printed.
+    """
+    r = rospkg.RosPack()
+
+    with open(r.get_path('giskardpy') + '/dependencies.txt') as f:
+        dependencies = f.readlines()
+
+    dependencies = [x.split('#')[0] for x in dependencies]
+    dependencies = [x.strip() for x in dependencies]
+
+    for d in dependencies:
+        try:
+            pkg_resources.require(d)
+        except pkg_resources.DistributionNotFound as e:
+            rospkg_exists(d)
+        except pkg_resources.VersionConflict as e:
+            logwarn('found {version_f} but version {version_r} is required'.format(version_r=str(e.req), version_f=str(e.dist)))