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git-afsantos / haros

H(igh) A(ssurance) ROS - Static analysis of ROS application code.
MIT License
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Use under Windows? #23

Closed gavanderhoorn closed 6 years ago

gavanderhoorn commented 6 years ago

More curious than a serious need, but is there a possibility to use Haros under Windows?

Provided dependencies (like cppcheck) can be run there, are you aware of any blockers in Haros itself?

gavanderhoorn commented 6 years ago

Congrats on the v3 release btw. Very nice work :hamburger:

git-afsantos commented 6 years ago

Thanks!

I am not sure Haros can work on Windows without implementing a lot of additional compatibility glue. The visualiser, at least, is obviously platform-independent, and already works on Windows. The problem is the analyser. The most certain answer is that it may work, with varying degrees of functionality.

Skimming through the scripts, I believe the basic analysis and file export procedures might work without much trouble. How much of the basic analysis works depends, of course, on the selection of enabled plugins.

Even before the analysis takes place, it will run into trouble when searching for packages, nodes and such. This feature depends on rospkg (Python library), and I am not sure it is available for Windows. Either one must implement a replacement (maybe a naïve one, that searches only in a hard-coded directory), or I might have to change something else in the settings (maybe allow the user to provide package-path pairs during initialization). For nodes, it needs the location of the ROS workspace, but I think it might be possible to get around this.

Another big problem is the most recent file parsing feature. Parsing of launch files is using rosgraph (again, this is not a problem to replace with a dumb implementation, I did it once in the early stages), and parsing of C++ files is using libclang from the Clang compiler. There might be a workaround for Clang...

I am doing development across multiple machines (Windows and multiple variants of Ubuntu for ROS Indigo and Kinetic). One of the machines I use the most is an older ROS Indigo, which only has an old version of cppcheck. I am aware that newer versions are able to do fuzzy parsing of C++ and dump the parse trees into XML files. I just did not have the time, but if I ever get my hands on it, this might be the alternative parser I provide, instead of Clang.

gavanderhoorn commented 6 years ago

re: rospkg and rosgraph: at least the former works under Windows. I use it there as well. The latter probably does too, but might need some tweaking.

re: libclang: yeah, that's a bit more uncertain for me.

git-afsantos commented 6 years ago

Just for reference, I think the minimum required version of cppcheck is 1.66 (2014-08-02).

Generate xml dump of AST/ValueFlow/SymbolDatabase/TokenList if --dump is given

My Ubuntu 14.04 (Indigo) machine only has access to version 1.61 through apt-get.

gavanderhoorn commented 6 years ago

I'll close this, as it's not really an actionable issue.

If/when I try this or get it running I'll post an update.