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00035 import roslib.names
00036 import rosgraph.impl.graph
00037
00038 ORIENTATIONS = ['LR', 'TB', 'RL', 'BT']
00039
00040 INIT_DOTCODE = """
00041 digraph G { initializing [label="initializing..."]; }
00042 """
00043
00044
00045 NODE_NODE_GRAPH = "node_node"
00046
00047 NODE_TOPIC_GRAPH = "node_topic"
00048
00049 NODE_TOPIC_ALL_GRAPH = "node_topic_all"
00050
00051 import urllib
00052 def safe_dotcode_name(name):
00053 """
00054 encode the name for dotcode symbol-safe syntax
00055 """
00056
00057 ret = urllib.quote(name)
00058 ret = ret.replace('/', '_')
00059 ret = ret.replace('%', '_')
00060 ret = ret.replace('-', '_')
00061 return ret
00062
00063 def _edge_to_dot(e):
00064 if e.label:
00065 return ' %s->%s [label="%s"]'%(safe_dotcode_name(e.start), safe_dotcode_name(e.end), e.label)
00066 else:
00067 return ' %s->%s'%(safe_dotcode_name(e.start), safe_dotcode_name(e.end))
00068
00069 def _generate_node_dotcode(node, g, quiet):
00070 if node in g.bad_nodes:
00071 bn = g.bad_nodes[node]
00072 if bn.type == rosgraph.impl.graph.BadNode.DEAD:
00073 return ' %s [color="red", shape="doublecircle", label="%s", URL="node:%s"];'%(
00074 safe_dotcode_name(node), node, node)
00075 else:
00076 return ' %s [color="orange", shape="doublecircle", label="%s", URL="node:%s"];'%(
00077 safe_dotcode_name(node), node, node, node)
00078 else:
00079 return ' %s [label="%s", URL="node:%s"];'%(safe_dotcode_name(node), node, node)
00080
00081 QUIET_NAMES = ['/diag_agg', '/runtime_logger', '/pr2_dashboard', '/rviz', '/rosout', '/cpu_monitor', '/monitor','/hd_monitor', '/rxloggerlevel', '/clock']
00082 def _quiet_filter(name):
00083
00084 for n in QUIET_NAMES:
00085 if n in name:
00086 return False
00087 return True
00088
00089 def _quiet_filter_edge(edge):
00090 for quiet_label in ['/time', '/clock', '/rosout']:
00091 if quiet_label == edge.label:
00092 return False
00093 return _quiet_filter(edge.start) and _quiet_filter(edge.end)
00094
00095 def generate_namespaces(g, graph_mode, quiet=False):
00096 """
00097 Determine the namespaces of the nodes being displayed
00098 """
00099 namespaces = []
00100 if graph_mode == NODE_NODE_GRAPH:
00101 nodes = g.nn_nodes
00102 if quiet:
00103 nodes = [n for n in nodes if not n in QUIET_NAMES]
00104 namespaces = list(set([roslib.names.namespace(n) for n in nodes]))
00105
00106 elif graph_mode == NODE_TOPIC_GRAPH or \
00107 graph_mode == NODE_TOPIC_ALL_GRAPH:
00108 nn_nodes = g.nn_nodes
00109 nt_nodes = g.nt_nodes
00110 if quiet:
00111 nn_nodes = [n for n in nn_nodes if not n in QUIET_NAMES]
00112 nt_nodes = [n for n in nt_nodes if not n in QUIET_NAMES]
00113 if nn_nodes or nt_nodes:
00114 namespaces = [roslib.names.namespace(n) for n in nn_nodes]
00115
00116
00117
00118 namespaces.extend([roslib.names.namespace(n[1:]) for n in nt_nodes])
00119
00120 return list(set(namespaces))
00121
00122 def _filter_edges(edges, nodes):
00123
00124 return [e for e in edges if e.start in nodes and e.end in nodes]
00125
00126 def generate_dotcode(g, ns_filter, graph_mode, orientation, quiet=False):
00127 """
00128 @param g: Graph instance
00129 @param ns_filter: namespace filter (must be canonicalized with trailing '/')
00130 @type ns_filter: string
00131 @param graph_mode str: NODE_NODE_GRAPH | NODE_TOPIC_GRAPH | NODE_TOPIC_ALL_GRAPH
00132 @type graph_mode: str
00133 @param orientation: rankdir value (see ORIENTATIONS dict)
00134 @return: dotcode generated from graph singleton
00135 @rtype: str
00136 """
00137
00138 if ns_filter:
00139 name_filter = ns_filter[:-1]
00140
00141
00142 if graph_mode == NODE_NODE_GRAPH:
00143 nodes = g.nn_nodes
00144 if quiet:
00145 nodes = [n for n in nodes if not n in QUIET_NAMES]
00146 if ns_filter and ns_filter != '/':
00147 nodes = [n for n in nodes if n.startswith(ns_filter) or n == name_filter]
00148 if nodes:
00149 nodes_str = '\n'.join([_generate_node_dotcode(n, g, quiet) for n in nodes])
00150 else:
00151 nodes_str = ' empty;'
00152
00153 elif graph_mode == NODE_TOPIC_GRAPH or \
00154 graph_mode == NODE_TOPIC_ALL_GRAPH:
00155 nn_nodes = g.nn_nodes
00156 nt_nodes = g.nt_nodes
00157 if quiet:
00158 nn_nodes = [n for n in nn_nodes if not n in QUIET_NAMES]
00159 nt_nodes = [n for n in nt_nodes if not n in QUIET_NAMES]
00160 if ns_filter and ns_filter != '/':
00161 nn_nodes = [n for n in nn_nodes if n.startswith(ns_filter) or n == name_filter]
00162 nt_nodes = [n for n in nt_nodes if n[1:].startswith(ns_filter) or n[1:] == name_filter]
00163
00164 if nn_nodes or nt_nodes:
00165 nodes_str = '\n'.join([_generate_node_dotcode(n, g, quiet) for n in nn_nodes])
00166 nodes_str += '\n'.join([' %s [shape=box,label="%s",URL="topic:%s"];'%(
00167 safe_dotcode_name(n), rosgraph.impl.graph.node_topic(n), rosgraph.impl.graph.node_topic(n)) for n in nt_nodes])
00168 else:
00169 nodes_str = ' empty;'
00170 nodes = list(nn_nodes) + list(nt_nodes)
00171
00172
00173 if graph_mode == NODE_NODE_GRAPH:
00174 edges = g.nn_edges
00175 elif graph_mode == NODE_TOPIC_GRAPH:
00176 edges = g.nt_edges
00177 else:
00178 edges = g.nt_all_edges
00179 if quiet:
00180 edges = filter(_quiet_filter_edge, edges)
00181
00182 edges = _filter_edges(edges, nodes)
00183 edges_str = '\n'.join([_edge_to_dot(e) for e in edges])
00184 return "digraph G {\n rankdir=%(orientation)s;\n%(nodes_str)s\n%(edges_str)s}\n"%vars()
00185
