sml_transition_graph.h

Go to the documentation of this file.

// Copyright 2021 PickNik Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the PickNik Inc. nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

/*
 * Desc: Class to generate SML diagrams using boost.Graph library
 */

#pragma once

#include <string>
// [boost].SML
#include <boost_sml/sml.hpp>
// Boost.Graph
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/breadth_first_search.hpp>
#include <boost/graph/graph_traits.hpp>
#include <boost/graph/graphviz.hpp>

namespace sml_transition_graph {

// A bundle for the state's name see
// https://www.boost.org/doc/libs/1_49_0/libs/graph/doc/bundles.html
struct State {
  std::string name;
};
using graph_t =
    boost::adjacency_list<boost::vecS, boost::vecS, boost::directedS, State>;

class SmlTransitionGraph : public graph_t {
 public:
  using edge_t = std::pair<std::string, std::string>;
  const vertex_descriptor NIL = std::numeric_limits<vertex_descriptor>::max();

  template <class SM>
  SmlTransitionGraph(const SM& sm) {
    construct_graph(sm);
  }
  void write_graphiz(std::ostream& out = std::cout) const {
    boost::write_graphviz(
        out, *this, boost::make_label_writer(boost::get(&State::name, *this)));
  }

  void write_all_reachable_states(const vertex_descriptor& start_vertex,
                                  std::ostream& out = std::cout) {
    const auto predecessors = find_predecessors(start_vertex);
    write_graphviz_predecessors(out, predecessors);
  }

  // TODO: write all paths
  // https://github.com/networkx/networkx/blob/master/networkx/algorithms/simple_paths.py
  void write_path_between_two_states(const vertex_descriptor& start_vertex,
                                     const vertex_descriptor& goal_vertex,
                                     std::ostream& out = std::cout) {
    auto path = find_path(start_vertex, goal_vertex);
    write_graphviz_path(out, path);
  }

  std::vector<vertex_descriptor> find_path(
      const vertex_descriptor& start_vertex,
      const vertex_descriptor& goal_vertex) {
    if (start_vertex == goal_vertex) return {};

    const auto predecessors = find_predecessors(start_vertex);

    std::vector<vertex_descriptor> path = {goal_vertex};
    for (auto current_vertex = predecessors[goal_vertex]; current_vertex != NIL;
         current_vertex = predecessors[current_vertex])
      path.push_back(current_vertex);

    return path;
  }

  std::vector<vertex_descriptor> find_predecessors(
      const vertex_descriptor& start_vertex) {
    std::vector<vertex_descriptor> predecessors(boost::num_vertices(*this),
                                                NIL);
    boost::breadth_first_search(
        *this, start_vertex,
        boost::visitor(boost::make_bfs_visitor(boost::record_predecessors(
            &predecessors[0], boost::on_tree_edge()))));
    return predecessors;
  }

  vertex_descriptor get_vertex_index(const std::string& vertex_name) const {
    return vertex_name_to_descriptor_map_.at(vertex_name);
  }
  std::string get_vertex_name(const vertex_descriptor& vertex_index) const {
    return (*this)[vertex_index].name;
  }

 private:
  template <class T>
  void construct_edge(std::vector<edge_t>& edges) noexcept {
    auto src_state =
        std::string{boost::sml::aux::string<typename T::src_state>{}.c_str()};
    auto dst_state =
        std::string{boost::sml::aux::string<typename T::dst_state>{}.c_str()};
    if (T::initial) edges.push_back({"sml_entry_point", src_state});
    // Check if dst_state starts with prefix
    if (dst_state.rfind("boost::sml::", 0) == 0) return;
    edges.push_back({src_state, dst_state});
  }

  template <template <class...> class T, class... Ts>
  void construct_edges_impl(const T<Ts...>&,
                            std::vector<edge_t>& edges) noexcept {
    int _[]{0, (construct_edge<Ts>(edges), 0)...};
    (void)_;
  }

  template <class SM>
  std::vector<edge_t> construct_edges(const SM& /* sm */) noexcept {
    std::vector<edge_t> edges;
    construct_edges_impl(typename SM::transitions{}, edges);
    return edges;
  }

  template <class SM>
  void construct_graph(const SM& sm) noexcept {
    auto edges = construct_edges(sm);
    // Create unique vertices
    std::unordered_set<std::string> vertices;
    for (const auto& edge : edges) vertices.insert({edge.first, edge.second});
    for (const auto& vertex : vertices) {
      auto vertex_descriptor = boost::add_vertex(*this);
      (*this)[vertex_descriptor].name = vertex;
      vertex_name_to_descriptor_map_.insert({vertex, vertex_descriptor});
    }
    for (const auto& edge : edges)
      boost::add_edge(vertex_name_to_descriptor_map_[edge.first],
                      vertex_name_to_descriptor_map_[edge.second], *this);
  }

  void write_graphviz_predecessors(
      std::ostream& out, const std::vector<vertex_descriptor>& predecessors) {
    out << "digraph G {\n";
    edge_iterator ei, ei_end;
    for (boost::tie(ei, ei_end) = edges(*this); ei != ei_end; ++ei) {
      edge_descriptor e = *ei;
      vertex_descriptor u = boost::source(e, *this),
                        v = boost::target(e, *this);
      out << (*this)[u].name << " -> " << (*this)[v].name << "[label=\" \"";
      if (predecessors[v] == u)
        out << ", color=\"black\"";
      else
        out << ", color=\"grey\"";
      out << "];\n";
    }
    out << "}\n";
  }

  void write_graphviz_path(std::ostream& out,
                           const std::vector<vertex_descriptor>& path) {
    out << "digraph G {\n";
    edge_iterator ei, ei_end;
    for (boost::tie(ei, ei_end) = edges(*this); ei != ei_end; ++ei) {
      edge_descriptor e = *ei;
      vertex_descriptor u = boost::source(e, *this),
                        v = boost::target(e, *this);
      out << (*this)[u].name << " -> " << (*this)[v].name << "[label=\" \"";
      if (std::find(path.cbegin(), path.cend(), u) != path.end() &&
          std::find(path.cbegin(), path.cend(), v) != path.end())
        out << ", color=\"black\"";
      else
        out << ", color=\"grey\"";
      out << "];\n";
    }
    out << "}\n";
  }

  std::unordered_map<std::string, vertex_descriptor>
      vertex_name_to_descriptor_map_;
};
}  // namespace sml_transition_graph