hal-graph.py

#!/usr/bin/env python2
#
# Copyright (C) 2015 Jakob Flierl <jakob.flierl@gmail.com>
#
#  This program is free software; you can redistribute it and/or modify
#  it under the terms of the GNU General Public License as published by
#  the Free Software Foundation; either version 2 of the License, or
#  (at your option) any later version.
#
#  This program is distributed in the hope that it will be useful,
#  but WITHOUT ANY WARRANTY; without even the implied warranty of
#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#  GNU General Public License for more details.
#
#  You should have received a copy of the GNU General Public License
#  along with this program; if not, write to the Free Software
#  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301 USA
#
# HAL Graph
#
#  inspired by https://github.com/MachineryScience/Rockhopper/blob/master/MakeHALGraph.py
#
#  this version differs to MakeHALGraph.py as follows:
#
#  * uses the pydot lib instead of the pygraphviz lib
#    (pygraphviz export seems to export dot files in a non-deterministic manner)
#
#  * gtk gui (- using a slightly modified version of xdot.py)
#
#  * gui refreshes the HAL data every [interval] seconds
#
# Related:
#
#  * http://emergent.unpythonic.net/01174426278
#  * http://wiki.linuxcnc.org/cgi-bin/wiki.pl?HAL
#  * http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Rockhopper_Web_Server
#  * https://sites.google.com/site/manisbutareed/visualizing-emc2-configurations
#  * https://groups.google.com/forum/?hl=en#!searchin/machinekit/editor/machinekit/cuWQtVf1qtw/ZSX53ERMKLIJ

import os
import sys
import time
import math
import hal
import subprocess
import pydot

import gtk
import gtk.gdk

import xdot

import warnings

#from linuxcnc   import hal
from machinekit import hal

class HALAnalyzer( object ):
    def __init__(self ):
        self.Graph = pydot.Dot(graph_type='digraph', name="Hal graph",
                               rankdir='LR',
                               splines='spline',
#                               splines='ortho',
#                               splines='none',
#                               splines='curved',
#                               splines='polyline',
                               overlap='false',
                               #start='regular',
                               #pad=".05",
                               #ranksep="0.75",
                               nodesep="0.0"
        )

    def groupname(self, pinname): # TODO check if this works with every pin name
        pstr = pinname.split('.')
        pin_group_name = pstr[0]
        try:
            if (len(pstr) > 2) and (int(pstr[1] > -1)):
                pin_group_name = pstr[0] + '.' + pstr[1]
        except Exception, err:
            pass
        return pin_group_name

    def dotname(self, name):
        return name.replace(".","_").replace("-", "_")
                
    def parse( self ):
        self.pin_group_dict = {}
        self.sig_dict = {}
        for pin in hal.pins():
            p = hal.Pin(pin)
            if p.signal:
                # if there is a signal listed on this pin, make sure
                # that signal is in our signal dictionary
                if ( p.signal.name in self.sig_dict ):
                    self.sig_dict[ p.signal.name ].append( p )
                else:
                    self.sig_dict[ p.signal.name ] = [ p ]
                    tmp = '<<table border="0" cellspacing="0">\n  <tr><td port="signame" bgcolor="lightgray" border="1"><font point-size="8">' + p.signame + '</font></td></tr>' + \
                          '\n  <tr><td port="signame" border="1">' + str(p.get()) + '</td></tr></table>>'
                    self.Graph.add_node(pydot.Node(p.signame,
                                                   label=tmp,
                                                   shape='none'
                                                   ))
                n = self.groupname(p.name)
            
                if n in self.pin_group_dict:
                    self.pin_group_dict[ n ].append( p )
                else:
                    self.pin_group_dict[ n ] = [ p ]

        # Add all the pins into their sub-graphs
        for pin_g_name, pin_g_val_array in self.pin_group_dict.iteritems():
            tmp = '<<table border="0" cellspacing="0">\n  <tr><td port="title" border="1" bgcolor="#FFD75E">' + pin_g_name + '</td></tr>\n'
            for pin in pin_g_val_array:
                label =pin.name.split('.')[-1]
                name = self.dotname(pin.name.split('.')[-1])
                tmp += '  <tr><td port="'+ name + '" border="1">' + label + '</td></tr>\n'
            tmp += "</table>>"
            self.Graph.add_node(pydot.Node(self.dotname(pin_g_name), label=tmp, shape="none"))

        # Add all the edges to and from signals
        for sig in hal.signals():
            s = hal.Signal(sig)
            for pin in s.pins():
                n1 = self.dotname(self.groupname(pin.name)) + ":" + self.dotname(pin.name.split(".")[-1])
                n2 = s.name
                if (pin.name == s.writername):
                    self.Graph.add_edge(pydot.Edge( n1, n2, arrowhead="none", penwidth = 2, splines="ortho" ))
                else:
                    self.Graph.add_edge(pydot.Edge( n2, n1, penwidth = 2, splines="ortho" ))
        
    def write_svg( self, dot_filter, filename ):
        try:
            with warnings.catch_warnings():
                warnings.filterwarnings("ignore",category=DeprecationWarning)
                output = self.Graph.create_svg(prog=dot_filter )
                f = open(filename, "w")
                f.write(output)
                f.close()
        except Exception, err:
            print err

    def to_string( self ):
        return self.Graph.to_string()

class HALGraphWindow(xdot.DotWindow):

    def __init__(self, dot_filter):
        xdot.DotWindow.__init__(self)
        self.base_title = "HAL Graph"
        self.set_filter(dot_filter)
        self.widget.connect('clicked', self.on_url_clicked)
        self.analyzer = None
        self.reload()
        self.widget.zoom_to_fit()
        self.interval = 0

    def timer_interval(self, interval):
        self.interval = interval

    def enable_timer(self):
        if (self.interval > 0):
            self.timer = gtk.timeout_add(self.interval, self.timer_tick)
        
    def reload(self):
        self.analyzer = HALAnalyzer()
        self.analyzer.parse()
        self.set_dotcode(self.analyzer.to_string())
        self.textentry_changed(self.widget, self.textentry)
#        self.queue_draw()

    def on_reload(self, action): # reload button
        self.reload()

    def on_url_clicked(self, widget, url, event):
        dialog = gtk.MessageDialog(
                parent = self, 
                buttons = gtk.BUTTONS_OK,
                message_format="%s clicked" % url)
        dialog.connect('response', lambda dialog, response: dialog.destroy())
        dialog.run()
        return True

    def timer_tick(self):
        gtk.timeout_remove(self.timer)
        self.reload()
        self.enable_timer()
        return True

def main():
    dot_filter = "dot" # 'neato', 'twopi', ..
    if len(sys.argv) == 1:
        w = HALGraphWindow(dot_filter)
        w.connect('destroy', gtk.main_quit)
        w.timer_interval(5000)
        w.enable_timer()
        gtk.main()
    elif len(sys.argv) == 2:
        a = HALAnalyzer()
        a.parse()
        a.write_svg(dot_filter, sys.argv[1])
    else:
        print "usage: hal-graph.py [hal-graph.svg]"

if __name__ == '__main__':
    main()