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Merged
merged 8 commits into from
Sep 19, 2022
Merged

pygraphviz functions updated #812

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111a134
pygraphviz functions updated
sachinkum0009 Sep 16, 2022
08cf5e4
dependencies updated
sachinkum0009 Sep 16, 2022
56e335d
minor change
sachinkum0009 Sep 16, 2022
4c639a5
Specify apt dependency from rosdep
bmagyar Sep 17, 2022
f9ee99c
Should have gone for python3 from the start
bmagyar Sep 17, 2022
6f5f1c0
Fix flake8 under-indent warnings
bmagyar Sep 18, 2022
4fca06e
minor changes
sachinkum0009 Sep 18, 2022
6422f6c
commented code removed
sachinkum0009 Sep 18, 2022
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3 changes: 1 addition & 2 deletions ros2controlcli/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,7 @@
<depend>controller_manager</depend>
<depend>controller_manager_msgs</depend>
<exec_depend>rosidl_runtime_py</exec_depend>
<exec_depend>python-graphviz-pip</exec_depend>
<exec_depend>graphviz</exec_depend>
<exec_depend>python3-pygraphviz</exec_depend>

<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
Expand Down
30 changes: 16 additions & 14 deletions ros2controlcli/ros2controlcli/verb/view_controller_chains.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@

from ros2controlcli.api import add_controller_mgr_parsers

import graphviz
import pygraphviz as pgz


def make_controller_node(s, controller_name, state_interfaces, command_interfaces, input_controllers,
Expand Down Expand Up @@ -58,7 +58,7 @@ def make_controller_node(s, controller_name, state_interfaces, command_interface
deliminator = ''
outputs_str += '<{}> {} {} '.format("controller_start_" + output_controller, output_controller, deliminator)

s.node(controller_name, f'{controller_name}|{{{{{inputs_str}}}|{{{outputs_str}}}}}')
s.add_node(controller_name, label=f'{controller_name}|{{{{{inputs_str}}}|{{{outputs_str}}}}}')


def make_command_node(s, command_interfaces):
Expand All @@ -70,7 +70,7 @@ def make_command_node(s, command_interfaces):
deliminator = ''
outputs_str += '<{}> {} {} '.format("command_end_" + command_interface, command_interface, deliminator)

s.node("command_interfaces", '{}|{{{{{}}}}}'.format("command_interfaces", outputs_str))
s.add_node("command_interfaces", label='{}|{{{{{}}}}}'.format("command_interfaces", outputs_str))


def make_state_node(s, state_interfaces):
Expand All @@ -82,12 +82,14 @@ def make_state_node(s, state_interfaces):
deliminator = ''
inputs_str += '<{}> {} {} '.format("state_start_" + state_interface, state_interface, deliminator)

s.node("state_interfaces", '{}|{{{{{}}}}}'.format("state_interfaces", inputs_str))
s.add_node("state_interfaces", label='{}|{{{{{}}}}}'.format("state_interfaces", inputs_str))


def show_graph(input_chain_connections, output_chain_connections, command_connections, state_connections,
command_interfaces, state_interfaces, visualize):
s = graphviz.Digraph('g', filename='/tmp/controller_diagram.gv', node_attr={'shape': 'record', 'style': 'rounded'})
s = pgz.AGraph(name='g', strict=False, directed=True, rankdir='LR')
s.node_attr["shape"] = "record"
s.node_attr["style"] = "rounded"
port_map = dict()
# get all controller names
controller_names = set()
Expand All @@ -107,19 +109,19 @@ def show_graph(input_chain_connections, output_chain_connections, command_connec

for controller_name in controller_names:
for connection in output_chain_connections[controller_name]:
s.edge('{}:{}'.format(controller_name, "controller_start_" + connection),
'{}:{}'.format(port_map['controller_end_' + connection], 'controller_end_' + connection))
s.add_edge('{}:{}'.format(controller_name, "controller_start_" + connection),
'{}:{}'.format(port_map['controller_end_' + connection], 'controller_end_' + connection))
for state_connection in state_connections[controller_name]:
s.edge('{}:{}'.format("state_interfaces", "state_start_" + state_connection),
'{}:{}'.format(controller_name, 'state_end_' + state_connection))
s.add_edge('{}:{}'.format("state_interfaces", "state_start_" + state_connection),
'{}:{}'.format(controller_name, 'state_end_' + state_connection))
for command_connection in command_connections[controller_name]:
s.edge('{}:{}'.format(controller_name, "command_start_" + command_connection),
'{}:{}'.format("command_interfaces", 'command_end_' + command_connection))
s.add_edge('{}:{}'.format(controller_name, "command_start_" + command_connection),
'{}:{}'.format("command_interfaces", 'command_end_' + command_connection))

s.attr(ranksep='2')
s.attr(rankdir="LR")
s.graph_attr.update(ranksep='2')
s.layout(prog='dot')
if visualize:
s.view()
s.draw('/tmp/controller_diagram.gv.pdf', format='pdf')


def parse_response(list_controllers_response, list_hardware_response, visualize=True):
Expand Down