A quick script to check declared licenses recursively

license_check.py

#!/usr/bin/env python3

# Copyright (c) 2018 Open Source Robotics Foundation
#
# Apache License
# Version 2.0, January 2004
# http://www.apache.org/licenses/
#
# TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
#
# 1. Definitions.
#
# "License" shall mean the terms and conditions for use, reproduction,
# and distribution as defined by Sections 1 through 9 of this document.
#
# "Licensor" shall mean the copyright owner or entity authorized by
# the copyright owner that is granting the License.
#
# "Legal Entity" shall mean the union of the acting entity and all
# other entities that control, are controlled by, or are under common
# control with that entity. For the purposes of this definition,
# "control" means (i) the power, direct or indirect, to cause the
# direction or management of such entity, whether by contract or
# otherwise, or (ii) ownership of fifty percent (50%) or more of the
# outstanding shares, or (iii) beneficial ownership of such entity.
#
# "You" (or "Your") shall mean an individual or Legal Entity
# exercising permissions granted by this License.
#
# "Source" form shall mean the preferred form for making modifications,
# including but not limited to software source code, documentation
# source, and configuration files.
#
# "Object" form shall mean any form resulting from mechanical
# transformation or translation of a Source form, including but
# not limited to compiled object code, generated documentation,
# and conversions to other media types.
#
# "Work" shall mean the work of authorship, whether in Source or
# Object form, made available under the License, as indicated by a
# copyright notice that is included in or attached to the work
# (an example is provided in the Appendix below).
#
# "Derivative Works" shall mean any work, whether in Source or Object
# form, that is based on (or derived from) the Work and for which the
# editorial revisions, annotations, elaborations, or other modifications
# represent, as a whole, an original work of authorship. For the purposes
# of this License, Derivative Works shall not include works that remain
# separable from, or merely link (or bind by name) to the interfaces of,
# the Work and Derivative Works thereof.
#
# "Contribution" shall mean any work of authorship, including
# the original version of the Work and any modifications or additions
# to that Work or Derivative Works thereof, that is intentionally
# submitted to Licensor for inclusion in the Work by the copyright owner
# or by an individual or Legal Entity authorized to submit on behalf of
# the copyright owner. For the purposes of this definition, "submitted"
# means any form of electronic, verbal, or written communication sent
# to the Licensor or its representatives, including but not limited to
# communication on electronic mailing lists, source code control systems,
# and issue tracking systems that are managed by, or on behalf of, the
# Licensor for the purpose of discussing and improving the Work, but
# excluding communication that is conspicuously marked or otherwise
# designated in writing by the copyright owner as "Not a Contribution."
#
# "Contributor" shall mean Licensor and any individual or Legal Entity
# on behalf of whom a Contribution has been received by Licensor and
# subsequently incorporated within the Work.
#
# 2. Grant of Copyright License. Subject to the terms and conditions of
# this License, each Contributor hereby grants to You a perpetual,
# worldwide, non-exclusive, no-charge, royalty-free, irrevocable
# copyright license to reproduce, prepare Derivative Works of,
# publicly display, publicly perform, sublicense, and distribute the
# Work and such Derivative Works in Source or Object form.
#
# 3. Grant of Patent License. Subject to the terms and conditions of
# this License, each Contributor hereby grants to You a perpetual,
# worldwide, non-exclusive, no-charge, royalty-free, irrevocable
# (except as stated in this section) patent license to make, have made,
# use, offer to sell, sell, import, and otherwise transfer the Work,
# where such license applies only to those patent claims licensable
# by such Contributor that are necessarily infringed by their
# Contribution(s) alone or by combination of their Contribution(s)
# with the Work to which such Contribution(s) was submitted. If You
# institute patent litigation against any entity (including a
# cross-claim or counterclaim in a lawsuit) alleging that the Work
# or a Contribution incorporated within the Work constitutes direct
# or contributory patent infringement, then any patent licenses
# granted to You under this License for that Work shall terminate
# as of the date such litigation is filed.
#
# 4. Redistribution. You may reproduce and distribute copies of the
# Work or Derivative Works thereof in any medium, with or without
# modifications, and in Source or Object form, provided that You
# meet the following conditions:
#
# (a) You must give any other recipients of the Work or
# Derivative Works a copy of this License; and
#
# (b) You must cause any modified files to carry prominent notices
# stating that You changed the files; and
#
# (c) You must retain, in the Source form of any Derivative Works
# that You distribute, all copyright, patent, trademark, and
# attribution notices from the Source form of the Work,
# excluding those notices that do not pertain to any part of
# the Derivative Works; and
#
# (d) If the Work includes a "NOTICE" text file as part of its
# distribution, then any Derivative Works that You distribute must
# include a readable copy of the attribution notices contained
# within such NOTICE file, excluding those notices that do not
# pertain to any part of the Derivative Works, in at least one
# of the following places: within a NOTICE text file distributed
# as part of the Derivative Works; within the Source form or
# documentation, if provided along with the Derivative Works; or,
# within a display generated by the Derivative Works, if and
# wherever such third-party notices normally appear. The contents
# of the NOTICE file are for informational purposes only and
# do not modify the License. You may add Your own attribution
# notices within Derivative Works that You distribute, alongside
# or as an addendum to the NOTICE text from the Work, provided
# that such additional attribution notices cannot be construed
# as modifying the License.
#
# You may add Your own copyright statement to Your modifications and
# may provide additional or different license terms and conditions
# for use, reproduction, or distribution of Your modifications, or
# for any such Derivative Works as a whole, provided Your use,
# reproduction, and distribution of the Work otherwise complies with
# the conditions stated in this License.
#
# 5. Submission of Contributions. Unless You explicitly state otherwise,
# any Contribution intentionally submitted for inclusion in the Work
# by You to the Licensor shall be under the terms and conditions of
# this License, without any additional terms or conditions.
# Notwithstanding the above, nothing herein shall supersede or modify
# the terms of any separate license agreement you may have executed
# with Licensor regarding such Contributions.
#
# 6. Trademarks. This License does not grant permission to use the trade
# names, trademarks, service marks, or product names of the Licensor,
# except as required for reasonable and customary use in describing the
# origin of the Work and reproducing the content of the NOTICE file.
#
# 7. Disclaimer of Warranty. Unless required by applicable law or
# agreed to in writing, Licensor provides the Work (and each
# Contributor provides its Contributions) on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
# implied, including, without limitation, any warranties or conditions
# of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
# PARTICULAR PURPOSE. You are solely responsible for determining the
# appropriateness of using or redistributing the Work and assume any
# risks associated with Your exercise of permissions under this License.
#
# 8. Limitation of Liability. In no event and under no legal theory,
# whether in tort (including negligence), contract, or otherwise,
# unless required by applicable law (such as deliberate and grossly
# negligent acts) or agreed to in writing, shall any Contributor be
# liable to You for damages, including any direct, indirect, special,
# incidental, or consequential damages of any character arising as a
# result of this License or out of the use or inability to use the
# Work (including but not limited to damages for loss of goodwill,
# work stoppage, computer failure or malfunction, or any and all
# other commercial damages or losses), even if such Contributor
# has been advised of the possibility of such damages.
#
# 9. Accepting Warranty or Additional Liability. While redistributing
# the Work or Derivative Works thereof, You may choose to offer,
# and charge a fee for, acceptance of support, warranty, indemnity,
# or other liability obligations and/or rights consistent with this
# License. However, in accepting such obligations, You may act only
# on Your own behalf and on Your sole responsibility, not on behalf
# of any other Contributor, and only if You agree to indemnify,
# defend, and hold each Contributor harmless for any liability
# incurred by, or claims asserted against, such Contributor by reason
# of your accepting any such warranty or additional liability.
#
# END OF TERMS AND CONDITIONS
#
# APPENDIX: How to apply the Apache License to your work.
#
# To apply the Apache License to your work, attach the following
# boilerplate notice, with the fields enclosed by brackets "{}"
# replaced with your own identifying information. (Don't include
# the brackets!)  The text should be enclosed in the appropriate
# comment syntax for the file format. We also recommend that a
# file or class name and description of purpose be included on the
# same "printed page" as the copyright notice for easier
# identification within third-party archives.
#
# Copyright {yyyy} {name of copyright owner}
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.




import argparse
import pprint
import subprocess

import catkin_pkg
import rosdistro
from rosdistro.dependency_walker import DependencyWalker
import rosdep2
from rosdep2 import create_default_installer_context, get_default_installer
from rosdep2.sources_list import SourcesListLoader
from rosdep2.lookup import RosdepLookup, ResolutionError
from rosdep2.main import configure_installer_context, convert_os_override_option, error_to_human_readable
from rosdep2.rospkg_loader import DEFAULT_VIEW_KEY


class Options(object):
    def __init__(self):
        self.verbose = False
        self.os_override = None
        self.as_root = {}


def resolve_via_rosdep(rosdep_name, os_override=None):
    options = Options()
    options.os_override = os_override
    sources_loader = SourcesListLoader.create_default(verbose=options.verbose)
    lookup = RosdepLookup.create_from_rospkg(sources_loader=sources_loader)

    installer_context = rosdep2.create_default_installer_context(verbose=options.verbose)
    configure_installer_context(installer_context, options)

    installer, installer_keys, default_key, \
        os_name, os_version = get_default_installer(installer_context=installer_context,
                                                    verbose=options.verbose)
    view = lookup.get_rosdep_view(DEFAULT_VIEW_KEY, verbose=options.verbose)
    try:
        dep_view = view.lookup(rosdep_name)
    except KeyError as ex:
        print(error_to_human_readable(ex))
        return []

    try:
        rule_installer, rule = dep_view.get_rule_for_platform(os_name, os_version, installer_keys, default_key)
    except ResolutionError as ex:
        print(error_to_human_readable(ex))
        return []
    installer = installer_context.get_installer(rule_installer)
    resolved = installer.resolve(rule)
    # print('#%s' % (rule_installer))
    # print(' '.join([str(r) for r in resolved]))
    return resolved


def get_dpkg_info(package_name, format_string, os_override=None):
    resolved_names = resolve_via_rosdep(package_name, os_override)
    result = []
    for name in resolved_names:
        try:
            output = subprocess.check_output('dpkg-query --showformat=\'${%s}\' --show %s' % (format_string, name), shell=True)
            output = output.decode()
            output = output.replace('\n', '')
            result.append(output)
        except subprocess.CalledProcessError as ex:
            result.append("%s detection failed" % format_string)
    return ', '.join(result)

def get_dpkg_licenses(package_name, os_override=None):
    resolved_names = resolve_via_rosdep(package_name, os_override)
    # using logic from https://unix.stackexchange.com/questions/264055/how-do-i-find-out-the-license-for-each-of-my-installed-applications-packages
    licenses = set()
    detection_string = 'License: '
    try:
        for name in resolved_names:
            filename = '/usr/share/doc/%s/copyright' % name
            with open(filename, 'r') as copyright_file:
                for line in copyright_file.readlines():
                    if line.startswith(detection_string):
                        licenses.add(line[len(detection_string):].strip())
            if not licenses:
                with open(filename, 'r') as copyright_file:
                    print("Failed to get license from %s" % filename)
                    print('---')
                    print(copyright_file.read())
                    print('---')
                return set(["Failed to find 'License: ' in %s" % filename])
        return licenses
    except Exception as ex:
        return set(["License Detection Failed %s" % ex])


parser = argparse.ArgumentParser(description='Audit ROS Packages Declared Licenses')
parser.add_argument('rosdistro', default='kinetic',
                    help='The rosdistro to check.')
parser.add_argument('packages', type=str, nargs='*',
                    help='Packages to check for declared licenses')
parser.add_argument('--os-override', dest='os_override', default=None,
                    metavar='OS_NAME:OS_VERSION', help='Override OS name and version (colon-separated), e.g. ubuntu:bionic')
args = parser.parse_args()


index = rosdistro.get_index(rosdistro.get_index_url())

cached_dist = rosdistro.get_cached_distribution(index, args.rosdistro)

if not args.packages:
    args.packages = cached_dist._distribution_file.release_packages.keys()

dwalker = DependencyWalker(cached_dist)

dependencies = set()
not_packages = set()
for p in args.packages:
    try:
        dependencies |= dwalker.get_recursive_depends(p, ['buildtool', 'build', 'run', 'test'], ros_packages_only=True)
    except KeyError as ex:
        not_packages.add(p)

print("Dependencies: ", dependencies)

system_dependencies = set()

ros_licenses = {}
ros_project_urls = {}
ros_versions = {}
ros_description = {}
for dep in dependencies:
    pkg = catkin_pkg.package.parse_package_string(cached_dist.get_release_package_xml(dep))
    ros_licenses[dep] = pkg.licenses
    url = [p.url for p in pkg.urls if p.type is 'website']
    ros_project_urls[dep] = url[0] if url else 'http://wiki.ros.org/%s' % dep
    ros_versions[dep] = pkg.version
    system_dependencies |= (set([p.name for p in pkg.build_depends]) | set([p.name for p in pkg.run_depends]) | set([p.name for p in pkg.build_export_depends]) | set([p.name for p in pkg.buildtool_depends]) | set([p.name for p in pkg.buildtool_export_depends])) - dependencies
    ros_description[dep] = pkg.description

sysdep_licenses = {}
sysdep_versions = {}
sysdep_project_urls = {}
sysdep_description = {}
for sysdep in system_dependencies:
    sysdep_licenses[sysdep] = get_dpkg_licenses(sysdep, args.os_override)
    sysdep_versions[sysdep] = get_dpkg_info(sysdep, "Version", args.os_override)
    sysdep_project_urls[sysdep] = get_dpkg_info(sysdep, "Homepage", args.os_override)
    sysdep_description[sysdep] = get_dpkg_info(sysdep, "Description", args.os_override)

pp = pprint.PrettyPrinter(indent=2)


print("")
print("Recursive Dependencies with Declared Licences")
print("")
print("Packages: %s" % args.packages)
print("")
print("ROS Packages:")
pp.pprint(ros_licenses)


print("System Packages:")
pp.pprint(sysdep_licenses)

print("")
print("Could not resolve ROS package %s in %s" % (sorted([k for k in not_packages]), args.rosdistro))

output_filename = '%s_output.csv' % args.rosdistro

with open(output_filename, 'w') as csv:
    csv.write("Declared License audit for packages in rosdistro: %s from packages %s and down.\n" % (args.rosdistro, args.packages))
    csv.write("Name\tProject URL\tVersion\tModified?\tLinked?\tLicense Name\tDescription\n")
    for p in ros_licenses.keys():
        csv.write("%s\t%s\t%s\tUnmodified\tDefault Dynamic\t%s\t%s\n" % (p, ros_project_urls[p], ros_versions[p], ', '.join(ros_licenses[p]), ros_description[p]))
    for p in sysdep_licenses.keys():
        csv.write("%s\t%s\t%s\tSystem Packaging\tUnclassified linking\t%s\t%s\n" % (p, sysdep_project_urls[p], sysdep_versions[p], ', '.join(sysdep_licenses[p]), sysdep_description[p]))

setup instructions

mkdir /tmp/py3
python3 -m venv /tmp/py3
. /tmp/py3/bin/activate
pip install wheel rosdep rosdistro

python license_check.py rviz ur10_moveit_config robot_state_publisher moveit_ros_move_group tf2_ros ur_description ur_modern_driver moveit ompl