Program to create graph file of messaging from our config
Optionally can display graphically using dot / graphviz
Change-Id: I4aa3383b412ab41b25ccd541ba3aebda22860005
diff --git a/aos/BUILD b/aos/BUILD
index b9a510a..c97ec86 100644
--- a/aos/BUILD
+++ b/aos/BUILD
@@ -481,6 +481,21 @@
],
)
+cc_binary(
+ name = "aos_graph_nodes",
+ srcs = [
+ "aos_graph_nodes.cc",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":configuration",
+ ":json_to_flatbuffer",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "@com_github_google_glog//:glog",
+ ],
+)
+
cc_library(
name = "ftrace",
srcs = [
diff --git a/aos/aos_graph_nodes.cc b/aos/aos_graph_nodes.cc
new file mode 100644
index 0000000..952c6b5
--- /dev/null
+++ b/aos/aos_graph_nodes.cc
@@ -0,0 +1,108 @@
+#include <iostream>
+#include <map>
+
+#include "aos/configuration.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "gflags/gflags.h"
+
+DEFINE_bool(all, false,
+ "If true, print out the channels for all nodes in the config file, "
+ "not just the channels which are visible on this node.");
+DEFINE_string(config, "./config.json", "File path of aos configuration");
+DEFINE_bool(short_types, true,
+ "Whether to show a shortened version of the type name");
+
+int main(int argc, char **argv) {
+ gflags::SetUsageMessage(
+ "\nCreates graph of nodes and message channels based on the robot config "
+ "file. \n\n"
+ "To save to file, run as: \n"
+ "\t aos_graph_nodes > /tmp/graph.dot\n\n"
+ "To display graph, run as: \n"
+ "\t aos_graph_nodes | dot -Tx11");
+ aos::InitGoogle(&argc, &argv);
+
+ // Cycle through this list of colors-- here's some defaults.
+ // Can use color names or Hex values of RGB, e.g., red = "#FF0000"
+ std::vector<std::string> color_list = {"red", "blue", "orange", "green",
+ "violet", "gold3", "magenta"};
+ int color_index = 0;
+
+ std::string channel_name;
+ std::string message_type;
+
+ // Map from source nodes to color for them
+ std::map<std::string, std::string> color_map;
+
+ if (argc > 1) {
+ LOG(ERROR) << "ERROR: Got unexpected arguments\n\n";
+ gflags::ShowUsageWithFlagsRestrict(argv[0], "aos/aos_graph_nodes.cc");
+ return -1;
+ }
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ const aos::Configuration *config_msg = &config.message();
+ aos::ShmEventLoop event_loop(config_msg);
+ event_loop.SkipTimingReport();
+ event_loop.SkipAosLog();
+
+ // Open output file and print header
+ std::stringstream graph_out;
+ graph_out << "digraph g {" << std::endl;
+
+ for (const aos::Channel *channel : *config_msg->channels()) {
+ VLOG(1) << "Found channel " << channel->type()->string_view();
+ if (FLAGS_all || aos::configuration::ChannelIsReadableOnNode(
+ channel, event_loop.node())) {
+ flatbuffers::string_view type_name = channel->type()->string_view();
+ if (FLAGS_short_types) {
+ // Strip down to just the top level of the message type
+ type_name = channel->type()->string_view().substr(
+ channel->type()->string_view().rfind(".") + 1, std::string::npos);
+ }
+
+ VLOG(1) << "Found: " << channel->name()->string_view() << ' '
+ << channel->type()->string_view();
+
+ CHECK(channel->has_source_node())
+ << ": Could not find source node for channel "
+ << channel->type()->string_view();
+ std::string source_node_name = channel->source_node()->c_str();
+ VLOG(1) << "Source node name:" << channel->source_node()->c_str();
+
+ // If we haven't seen this node yet, add to our list, with new color
+ if (color_map.count(source_node_name) == 0) {
+ color_map[source_node_name] = color_list[color_index];
+ color_index = (color_index + 1) % color_list.size();
+ }
+
+ if (channel->has_destination_nodes()) {
+ for (const aos::Connection *connection :
+ *channel->destination_nodes()) {
+ VLOG(1) << "Destination Node: " << connection->name()->string_view();
+ graph_out << "\t" << source_node_name << " -> "
+ << connection->name()->c_str() << " [label=\""
+ << channel->name()->c_str() << "\\n"
+ << type_name << "\" color=\"" << color_map[source_node_name]
+ << "\"];" << std::endl;
+ }
+ }
+ }
+ }
+
+ // Write out all the nodes at the end, with their respective colors
+ for (const auto node_color : color_map) {
+ graph_out << "\t" << node_color.first << " [color=\"" << node_color.second
+ << "\"];" << std::endl;
+ }
+
+ // Close out the file
+ graph_out << "}" << std::endl;
+
+ std::cout << graph_out.str();
+ return 0;
+}