launchViz.py
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00001 #!/usr/bin/env python
00002 """
00003 Copyright (c) 2012,
00004 Systems, Robotics and Vision Group
00005 University of the Balearican Islands
00006 All rights reserved.
00007 
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010     * Redistributions of source code must retain the above copyright
00011       notice, this list of conditions and the following disclaimer.
00012     * Redistributions in binary form must reproduce the above copyright
00013       notice, this list of conditions and the following disclaimer in the
00014       documentation and/or other materials provided with the distribution.
00015     * Neither the name of Systems, Robotics and Vision Group, University of 
00016       the Balearican Islands nor the names of its contributors may be used to 
00017       endorse or promote products derived from this software without specific 
00018       prior written permission.
00019 
00020 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00021 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00022 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00023 DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
00024 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00025 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00026 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00027 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00028 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00029 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00030 """
00031 
00032 
00033 try:
00034     import os
00035     import sys
00036     #import subprocess
00037     import argparse
00038     import gtk
00039     import xdot
00040     import StringIO
00041     import fnmatch
00042     from xml.etree import ElementTree
00043     import roslib.packages
00044 except ImportError:
00045     # Checks the installation of the necessary python modules 
00046     print((os.linesep * 2).join(["An error found importing one module:",
00047     str(sys.exc_info()[1]), "You need to install it", "Stopping..."]))
00048     sys.exit(-2)
00049 
00050 def find_launchfiles(directory, pattern='*.launch'):
00051     for root, dirs, files in os.walk(directory):
00052         for basename in files:
00053             if fnmatch.fnmatch(basename, pattern):
00054                 filename = os.path.join(root, basename)
00055                 yield root, basename, filename
00056       
00057 def check_launchfiles(directory, pattern='*.launch'):
00058     for root, dirs, files in os.walk(directory):
00059         for basename in files:
00060             if fnmatch.fnmatch(basename, pattern):
00061                 return True;
00062     return False;
00063 
00064 def prepare_file():
00065     g = StringIO.StringIO()
00066     g.write('digraph G {\n rankdir=LR \n')
00067     return g
00068 
00069 def show_graph(g,package = 0):
00070     drawable = False
00071     g.write('}')
00072     if len(g.getvalue())>26:
00073         drawable = True
00074         window = xdot.xdot.DotWindow()
00075         window.set_dotcode(g.getvalue())
00076         if package:
00077             window.set_title('Package {0}'.format(package))
00078         window.connect('destroy', gtk.main_quit)
00079     g.close()
00080     return drawable
00081 
00082 def start_subgraph(g,boxname):
00083     g.write('  subgraph "{0}"'.format(boxname))
00084     g.write(' {\n')
00085     g.write('    label = "{0}";\n'.format(boxname))
00086 
00087 def write_information(g,node_name,node_args=0):
00088     if node_args==0:
00089         for name in node_name: 
00090             g.write('"{0}_node" [shape=Mrecord,label="{0}",style="filled",fillcolor="khaki"]\n'.format(name))
00091     else:
00092         g.write('"{0}" [shape=none, margin=0, label=<\n'.format(node_name))
00093         g.write('<table border="0" cellborder="1" cellpadding="4">\n')
00094         g.write('<tr><td BGCOLOR="greenyellow"><b>{0}</b></td></tr>\n'.format(node_name))
00095         if node_args:
00096             g.write('<tr><td BGCOLOR="lemonchiffon">Arguments:</td></tr>\n')
00097             for (arg, arg_def) in node_args:
00098                 g.write('<tr><td ALIGN="LEFT" BGCOLOR="lemonchiffon">{0} = {1}</td></tr>\n'.format(arg,arg_def))
00099         g.write('</table>>];\n')
00100     
00101 
00102 def write_connection(g,origin,destination, isNode=False):
00103     if not isNode:
00104         g.write('    "{0}" -> "{1}"\n'.format(origin,destination))
00105     elif isNode:
00106         g.write('    "{0}" -> "{1}_node"\n'.format(origin,destination))
00107   
00108 def get_args_from_parser():
00109     parser = argparse.ArgumentParser(description='Draws graph from launchfiles')
00110     parser.add_argument('--pkg', metavar='package', help='ROS packages you want to inspect',nargs='+')
00111     return parser.parse_args()
00112 
00113 def draw_folder(g,folder):
00114     working_directory = folder
00115     if check_launchfiles(folder):
00116         for root,filename,filepath in find_launchfiles(folder):
00117             if root != working_directory:
00118                 working_directory = root
00119             f = open(filepath,'rt')
00120             try:
00121                 tree = ElementTree.parse(f)
00122                 node_name = os.path.splitext(filename)[0] #remove extension
00123                 it = tree.iter()
00124                 #Iterate
00125                 node_args = []
00126                 node_includes = []
00127                 node_nodes = []
00128                 for node in it:
00129                     if node.tag == "arg":
00130                         #save arguments and default values
00131                         arg_name = node.attrib.get('name')
00132                         default_value = node.attrib.get('default')
00133                         value = node.attrib.get('value')
00134                         if_clause = node.attrib.get('if')
00135                         if default_value:
00136                             #add to the node_args list with default
00137                             node_args.append((arg_name,default_value))
00138                         elif not value:
00139                             #add to the node_args list with REQUIRED
00140                             node_args.append((arg_name,"REQUIRED"))
00141                         elif if_clause:
00142                             nodelet_args = value.split()[1]
00143                     if node.tag == "include":
00144                         #remove extension and path to file
00145                         incl_ext = os.path.basename(node.attrib.get('file'))
00146                         incl = os.path.splitext(incl_ext)[0]
00147                         node_includes.append(incl)
00148                     if node.tag == "node": 
00149                         node_type = node.attrib.get('type')
00150                         if node_type == "nodelet":
00151                             node_type = node.attrib.get('args')
00152                             if len(node_type.split())>1:
00153                                 node_type = node_type.split()[1]
00154                             if node_type[len(node_type)-1] == ")":
00155                                 node_type = nodelet_args
00156                             node_nodes.append(node_type)
00157                         else:
00158                             node_nodes.append(node_type)
00159 
00160                 
00161                 write_information(g,node_name,node_args)
00162                 write_information(g,node_nodes)
00163                 for dest in node_nodes:
00164                     write_connection(g,node_name,dest,True)
00165                 for dest in node_includes:
00166                     write_connection(g,node_name,dest)
00167             except ElementTree.ParseError:
00168                 print "Error parsing {}".format(filepath)
00169 
00170         return g
00171     else:
00172         print "[W]\tNo launchfile was found in {0}".format(os.path.basename(folder))
00173 
00174 def xml_process(packages = 0):
00175     g = prepare_file()
00176     if not packages:
00177         working_directory = os.getcwd();
00178         draw_folder(g,working_directory)
00179     else:
00180         for pkg in packages:
00181           directory = roslib.packages.get_pkg_dir(pkg)
00182           draw_folder(g,directory)
00183     return g
00184     
00185 def main():
00186     args = get_args_from_parser()
00187     g = xml_process(args.pkg)
00188     if show_graph(g):
00189       gtk.main()
00190 
00191 if __name__ == "__main__":
00192     main()


launch_tools
Author(s): Stephan Wirth , Miquel Massot
autogenerated on Mon Oct 6 2014 07:47:46