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hal-graph.py
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hal-graph.py
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#!/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()