script_to_graph.py

Go to the documentation of this file.

#!/usr/bin/env python
#
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# 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 sys
import types
import string
import os

# graph includes
import pygraphviz as pgv

import rospy
from simple_script_server import script


if __name__ == "__main__":
        if (len(sys.argv) <= 1 ):
                print "Error: wrong number of input arguments"
                print "usage: rosrun cob_script_server script_to_graph.py <<SCRIPTFILE>> [level]"
                # \todo What does "level" do?
                sys.exit(1)
        elif (len(sys.argv) == 2):
                filename = sys.argv[1]
                level = 100
        elif (len(sys.argv) == 3):
                filename = sys.argv[1]
                level = int(sys.argv[2])
        else:
                print "Error: to many arguments"
                print "usage: rosrun cob_script_server script_to_graph.py <<SCRIPTFILE>> [level]"
                sys.exit(1)

        print "Script file = ", filename
        print "Graph level = ", level
        rospy.set_param("/script_server/level",level)

        filename_splitted = string.split(filename, "/")
        #print filename_splitted
        scriptfile = filename_splitted[-1]
        if(len(filename_splitted) > 1):
                filename_splitted.pop(len(filename_splitted)-1)
                scriptdir = ""
                for name in filename_splitted:
                        scriptdir += name + "/"
                #print scriptdir
                sys.path.insert(0,scriptdir)
        scriptfile_woext = string.split(scriptfile, ".")[0]
        #print scriptfile_woext

        try:
                __import__(scriptfile_woext, globals(), locals(), [], -1)
                scriptmodule = sys.modules[scriptfile_woext]
                for classname in dir(scriptmodule):
                        subclass = scriptmodule.__getattribute__(classname)
                        if(isinstance(subclass, types.ClassType)):
                                if(issubclass(subclass, script)):
                                        if(classname != "script"):
                                                s = subclass()
                                                dotcode = s.Parse()
                                                print "dotcode = ",dotcode
                                                graph=pgv.AGraph(dotcode)
                                                graph.layout('dot')
                                                basename, extension = os.path.splitext(filename)
                                                if (level == 100):
                                                        graph.draw(basename + ".png")
                                                else:
                                                        graph.draw(basename + "_" + str(level) + ".png")
        except ImportError:
                print "Unable to import script file"
                print "usage: rosrun cob_script_server script_to_graph.py <<SCRIPTFILE>> [level]"