forked from Archive/PX4-Autopilot
uorb_graph: add script to generate uORB pub/sub graphs
2 possible output formats: - JSON (can be used with D3.js) - Graphviz Not covered yet: Publication & Subscription classes
This commit is contained in:
Beat Küng
parent
d5bb948cbb
commit
e2d6c0a8f9
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@ -0,0 +1,657 @@
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#! /usr/bin/env python
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from __future__ import print_function
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import argparse
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import os
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import codecs
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import re
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import colorsys
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import json
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parser = argparse.ArgumentParser(
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description='Generate uORB pub/sub dependency graph from source code')
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parser.add_argument('-s', '--src-path', action='append',
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help='Source path(s) (default=src, can be specified multiple times)',
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default=[])
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parser.add_argument('-e', '--exclude-path', action='append',
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help='Excluded path(s), can be specified multiple times',
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default=[])
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parser.add_argument('-f', '--file', metavar='file', action='store',
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help='output file name prefix',
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default='graph')
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parser.add_argument('-o', '--output', metavar='output', action='store',
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help='output format (json or graphviz)',
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default='json')
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parser.add_argument('--use-topic-union', action='store_true',
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help='''
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Use the union of all publication and subscription topics (useful for complete
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graphs or only few/single module(s)). The default is to use the intersection
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(remove topics that have no subscriber or no publisher)''')
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args = parser.parse_args()
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g_debug = False
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def dbg_print(string):
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if g_debug:
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print(string)
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def get_N_colors(N, s=0.8, v=0.9):
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""" get N distinct colors as a list of hex strings """
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HSV_tuples = [(x*1.0/N, s, v) for x in range(N)]
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hex_out = []
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for rgb in HSV_tuples:
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rgb = map(lambda x: int(x*255), colorsys.hsv_to_rgb(*rgb))
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hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb)))
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return hex_out
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class PubSub:
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""" Collects either publication or subscription information for nodes
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(modules and topics) & edges """
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def __init__(self, is_publication, topic_blacklist, orb_pub_sub_regexes, special_cases):
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"""
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:param is_publication: if True, publications, False for
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subscriptions
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:param topic_blacklist: list of topics to blacklist
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:param orb_pub_sub_regexes: list of regexes to extract orb calls
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(e.g. orb_subscribe). They need to have 2 captures, the second
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one is the one capturing ORB_ID(<topic>
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"""
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self._module_pubsubs = {} # key = module name, value = set of topic names
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self._special_cases = special_cases
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self._special_cases_matched = None
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self._topic_blacklist = topic_blacklist
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self._orb_pub_sub_regexes = orb_pub_sub_regexes
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if is_publication:
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self._method = 'Publication'
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else:
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self._method = 'Subscription'
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def reset(self):
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self._special_cases_matched = [False]*len(self._special_cases)
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def filter_modules(self, module_whitelist):
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remove = [k for k in self._module_pubsubs if k not in module_whitelist]
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for k in remove: del self._module_pubsubs[k]
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def check_if_match_found(self, modules):
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""" check if all special cases got a match (if not, it means the source
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code got changed)
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"""
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for i, (module_match, file_match_re, src_match_re, _) in enumerate(self._special_cases):
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if module_match in modules and src_match_re is not None:
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if not self._special_cases_matched[i]:
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raise Exception('Module '+module_match+
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': no match for '+self._method+' special case'+
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src_match_re.pattern+'. The case needs to be updated')
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def extract(self, file_name, src_str, module, orb_id_vehicle_attitude_controls_topic):
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""" Extract subscribed/published topics from a source string
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:param src_str: string of C/C++ code with comments and whitespace removed
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"""
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orb_pubsub_matches = []
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for regex in self._orb_pub_sub_regexes:
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orb_pubsub_matches += re.findall(regex, src_str)
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orb_id = 'ORB_ID('
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for _, match in orb_pubsub_matches:
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if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
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match = orb_id+orb_id_vehicle_attitude_controls_topic
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# match has the form: '[ORB_ID(]<topic_name>'
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if match.startswith(orb_id):
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topic_name = match[len(orb_id):]
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self._add_topic(topic_name, file_name, module)
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else:
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ignore_found = False
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for module_match, file_match_re, _, ignore_re in self._special_cases:
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if module == module_match:
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if file_match_re.search(file_name):
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if ignore_re.search(match):
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ignore_found = True
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if not ignore_found:
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# If we land here, we need to add another special case
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raise Exception(self._method+' w/o ORB_ID(): '+match+' in '
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+file_name+' ('+module+')')
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# handle special cases
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for i, (module_match, file_match_re, src_match_re, _) in enumerate(self._special_cases):
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if src_match_re is None:
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continue
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if module == module_match:
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if file_match_re.search(file_name):
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matches = src_match_re.findall(src_str)
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for match in matches:
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# match has the form: '[ORB_ID(]<topic_name>'
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if match.startswith(orb_id):
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topic_name = match[len(orb_id):]
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dbg_print('Found '+self._method+' for special case in '
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+module+': '+topic_name)
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self._add_topic(topic_name, file_name, module)
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self._special_cases_matched[i] = True
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else:
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# this is not fatal, as it could be a method delaration/definition
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dbg_print('Special case '+self._method+' w/o ORB_ID(): '
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+match+' in '+file_name+' ('+module+')')
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def _add_topic(self, topic_name, file_name, module):
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""" add a subscription/publication for a module
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"""
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if topic_name in self._topic_blacklist:
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dbg_print('ignoring blacklisted topic '+topic_name)
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return
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if module is None:
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if not file_name.endswith('hott/messages.cpp'): # hott has a special module structure. just ignore it
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print('Warning: found '+self._method+' without associated module: '
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+topic_name+' in '+file_name)
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return
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if not module in self._module_pubsubs:
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self._module_pubsubs[module] = set()
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self._module_pubsubs[module].add(topic_name)
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def get_topics(self, modules):
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""" get the set of topics
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:param modules: list of modules to take into account
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"""
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topics = set()
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for module in modules:
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if module in self._module_pubsubs:
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topics |= self._module_pubsubs[module]
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return topics
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@property
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def pubsubs(self):
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""" get dict of all publication/subscriptions (key=modules, value=set of
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topic names"""
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return self._module_pubsubs
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class Graph:
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""" Collects Node and Edge information by parsing the source tree """
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def __init__(self, module_whitelist=[], topic_blacklist=[]):
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self._current_module = [] # stack with current module (they can be nested)
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self._all_modules = set() # set of all found modules
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self._comment_remove_pattern = re.compile(
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r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"',
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re.DOTALL | re.MULTILINE)
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self._whitespace_pattern = re.compile(r'\s+')
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self._module_whitelist = module_whitelist
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self._excluded_paths = []
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self._orb_id_vehicle_attitude_controls_topic = 'actuator_controls_0'
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self._orb_id_vehicle_attitude_controls_re = \
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re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)')
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self._module_subscriptions = {} # key = module name, value = set of topic names
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self._module_publications = {} # key = module name, value = set of topic names
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self._modules = set() # all modules
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self._topics = set() # all topics
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self._topic_colors = {} # key = topic, value = color (html string)
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# handle special cases
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# format: list of tuples with 4 entries:
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# - module name to match (module MAIN)
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# - regex for file name(s) to match within the module (matched against the full path)
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# - regex to extract the topic name: the match must be ORB_ID(<topic_name>
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# Note: whitespace is removed from source code, so it does not need to be
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# accounted for in the regex.
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# If this is None, it will just be ignored
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# - regex to ignore matches in the form orb_[subscribe|advertise](<match>
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# (the expectation is that the previous matching ORB_ID() will be passed
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# to this, so that we can ignore it)
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special_cases_sub = [
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('sensors', r'voted_sensors_update\.cpp$', r'\binit_sensor_class\b\(([^,)]+)', r'^meta$'),
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('mavlink', r'.*', r'\badd_orb_subscription\b\(([^,)]+)', r'^_topic$'),
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('sdlog2', r'.*', None, r'^topic$'),
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('logger', r'.*', None, r'^(topic|sub\.metadata|_polling_topic_meta)$'),
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('uavcan', r'uavcan_main\.cpp$', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
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('tap_esc', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
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('pwm_out_sim', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
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('snapdragon_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),
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('fmu', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
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('linux_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),
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]
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special_cases_sub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
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for a,b,c,d in special_cases_sub]
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self._subscriptions = PubSub(False, topic_blacklist,
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[r"\borb_subscribe(_multi|)\b\(([^,)]+)"],
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special_cases_sub)
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special_cases_pub = [
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('replay', r'replay_main\.cpp$', None, r'^sub\.orb_meta$'),
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('fw_pos_control_l1', r'FixedwingPositionControl\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
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('mc_pos_control', r'mc_pos_control_main\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
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('mc_att_control', r'mc_att_control_main\.cpp$', r'\b_rates_sp_id=([^,)]+)', r'^_rates_sp_id$'),
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('mc_att_control', r'mc_att_control_main\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
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('fw_att_control', r'fw_att_control_main\.cpp$', r'\b_rates_sp_id=([^,)]+)', r'^_rates_sp_id$'),
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('fw_att_control', r'fw_att_control_main\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
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('fw_att_control', r'fw_att_control_main\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
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('uavcan', r'sensors/.*\.cpp$', r'\bUavcanCDevSensorBridgeBase\([^{]*DEVICE_PATH,([^,)]+)', r'^_orb_topic$'),
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('batt_smbus', r'batt_smbus\.cpp$', r'\b_batt_orb_id=([^,)]+)', r'^_batt_orb_id$'),
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]
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special_cases_pub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
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for a,b,c,d in special_cases_pub]
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self._publications = PubSub(True, topic_blacklist,
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[r"\borb_advertise(_multi|_queue|_multi_queue|)\b\(([^,)]+)",
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r"\borb_publish_auto()\b\(([^,)]+)"],
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special_cases_pub)
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def _get_current_module(self):
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if len(self._current_module) == 0:
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return None
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return self._current_module[-1]
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def build(self, src_path_list, excluded_paths=[], use_topic_pubsub_union=True):
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""" parse the source tree & extract pub/sub information.
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:param use_topic_pubsub_union: if true, use all topics that have a
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publisher or subscriber. If false, use only topics with at least one
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publisher and subscriber.
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fill in self._module_subsciptions & self._module_publications
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"""
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self._subscriptions.reset()
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self._publications.reset()
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self._excluded_paths = [os.path.normpath(p) for p in excluded_paths]
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for path in src_path_list:
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self._build_recursive(path)
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# filter by whitelist
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if len(self._module_whitelist) > 0:
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self._subscriptions.filter_modules(self._module_whitelist)
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self._publications.filter_modules(self._module_whitelist)
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# modules & topics sets
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self._modules = set(self._publications.pubsubs.keys() +
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self._subscriptions.pubsubs.keys())
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print('number of modules: '+str(len(self._modules)))
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self._topics = self._get_topics(use_topic_pubsub_union=use_topic_pubsub_union)
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print('number of topics: '+str(len(self._topics)))
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# initialize colors
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color_list = get_N_colors(len(self._topics), 0.7, 0.85)
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self._topic_colors = {}
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for i, topic in enumerate(self._topics):
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self._topic_colors[topic] = color_list[i]
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# validate that all special rules got used
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self._subscriptions.check_if_match_found(self._all_modules)
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self._publications.check_if_match_found(self._all_modules)
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def _get_topics(self, use_topic_pubsub_union=True):
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""" get the set of topics
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"""
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subscribed_topics = self._subscriptions.get_topics(self._modules)
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published_topics = self._publications.get_topics(self._modules)
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if use_topic_pubsub_union:
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return subscribed_topics | published_topics
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return subscribed_topics & published_topics
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def _build_recursive(self, path):
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if os.path.normpath(path) in self._excluded_paths:
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dbg_print('ignoring excluded path '+path)
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return
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entries = os.listdir(path)
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# check if entering a new module
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cmake_file = 'CMakeLists.txt'
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new_module = False
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if cmake_file in entries:
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new_module = self._extract_module_name(os.path.join(path, cmake_file))
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# iterate directories recursively
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for entry in entries:
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file_name = os.path.join(path, entry)
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if os.path.isdir(file_name):
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self._build_recursive(file_name)
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# iterate source files
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# Note: we could skip the entries if we're not in a module, but we don't
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# so that we get appropriate error messages to know where we miss subs
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# or pubs
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for entry in entries:
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file_name = os.path.join(path, entry)
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if os.path.isfile(file_name):
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_, ext = os.path.splitext(file_name)
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if ext in ['.cpp', '.c', '.h', '.hpp']:
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self._process_source_file(file_name)
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if new_module:
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self._current_module.pop()
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def _extract_module_name(self, file_name):
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""" extract the module name from a CMakeLists.txt file and store
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in self._current_module if there is any """
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datafile = file(file_name)
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found_module_def = False
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for line in datafile:
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if 'px4_add_module' in line: # must contain 'px4_add_module'
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found_module_def = True
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words = line.split()
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# get the definition of MAIN
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if found_module_def and 'MAIN' in words and len(words) >= 2:
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self._current_module.append(words[1])
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self._all_modules.add(words[1])
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dbg_print('Found module name: '+words[1])
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return True
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return False
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def _process_source_file(self, file_name):
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""" extract information from a single source file """
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with codecs.open(file_name, 'r', 'utf-8') as f:
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try:
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content = f.read()
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except:
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print('Failed reading file: %s, skipping content.' % path)
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return
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current_module = self._get_current_module()
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if current_module == 'uorb_tests': # skip this
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return
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if current_module == 'uorb':
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# search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
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matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
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for match in matches:
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if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
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# if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
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raise Exception(
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'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
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'is '+match+' but expected ORB_ID('+
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self._orb_id_vehicle_attitude_controls_topic)
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return # skip uorb module for the rest
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if content.lower().find('orb_') != -1: # approximative filter to quickly
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# discard files we're not interested in
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# (speedup the parsing)
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src = self._comment_remover(content)
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src = re.sub(self._whitespace_pattern, '', src) # remove all whitespace
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# subscriptions
|
||||
self._subscriptions.extract(file_name, src, current_module,
|
||||
self._orb_id_vehicle_attitude_controls_topic)
|
||||
|
||||
# publications
|
||||
self._publications.extract(file_name, src, current_module,
|
||||
self._orb_id_vehicle_attitude_controls_topic)
|
||||
|
||||
# TODO: handle Publication & Subscription template classes
|
||||
|
||||
|
||||
|
||||
def _comment_remover(self, text):
|
||||
""" remove C++ & C style comments.
|
||||
Source: https://stackoverflow.com/a/241506 """
|
||||
def replacer(match):
|
||||
s = match.group(0)
|
||||
if s.startswith('/'):
|
||||
return " " # note: a space and not an empty string
|
||||
else:
|
||||
return s
|
||||
return re.sub(self._comment_remove_pattern, replacer, text)
|
||||
|
||||
|
||||
@property
|
||||
def modules(self):
|
||||
""" get the set of all modules """
|
||||
return self._modules
|
||||
|
||||
@property
|
||||
def topics(self):
|
||||
""" get set set of all topics """
|
||||
return self._topics
|
||||
|
||||
@property
|
||||
def topic_colors(self):
|
||||
""" get a dict of all topic colors with key=topic, value=color """
|
||||
return self._topic_colors
|
||||
|
||||
@property
|
||||
def module_subscriptions(self):
|
||||
""" get a dict of all subscriptions with key=module name, value=set(topic names) """
|
||||
return self._subscriptions.pubsubs
|
||||
|
||||
@property
|
||||
def module_publications(self):
|
||||
""" get a dict of all publications with key=module name, value=set(topic names) """
|
||||
return self._publications.pubsubs
|
||||
|
||||
|
||||
|
||||
class OutputGraphviz:
|
||||
""" write graph using Graphviz """
|
||||
|
||||
def __init__(self, graph):
|
||||
self._graph = graph
|
||||
|
||||
def write(self, file_name, engine='fdp',
|
||||
show_publications=True, show_subscriptions=True):
|
||||
""" write the graph to a file
|
||||
:param engine: graphviz engine
|
||||
- fdp works for large graphs
|
||||
- neato works better for smaller graphs
|
||||
- circo works for single modules
|
||||
CLI: fdp graph.fv -Tpdf -o test.pdf
|
||||
"""
|
||||
|
||||
print('Writing to '+file_name)
|
||||
|
||||
ratio = 1 # aspect ratio
|
||||
|
||||
modules = self._graph.modules
|
||||
topics = self._graph.topics
|
||||
topic_colors = self._graph.topic_colors
|
||||
module_publications = self._graph.module_publications
|
||||
module_subscriptions = self._graph.module_subscriptions
|
||||
|
||||
graph_attr={'splines': 'true', 'ratio': str(ratio), 'overlap': 'false'}
|
||||
graph_attr['sep'] = '"+15,15"' # increase spacing between nodes
|
||||
graph = Digraph(comment='autogenerated graph with graphviz using uorb_graph.py',
|
||||
engine=engine, graph_attr=graph_attr)
|
||||
|
||||
|
||||
# nodes
|
||||
for module in modules:
|
||||
graph.node('m_'+module, module, shape='box', fontcolor='#ffffff',
|
||||
style='filled', color='#666666', fontsize='16')
|
||||
|
||||
for topic in topics:
|
||||
graph.node('t_'+topic, topic, shape='ellipse', fontcolor='#ffffff',
|
||||
style='filled', color=topic_colors[topic])
|
||||
|
||||
|
||||
# edges
|
||||
if show_publications:
|
||||
for module in modules:
|
||||
if module in module_publications:
|
||||
for topic in module_publications[module]:
|
||||
if topic in topics:
|
||||
graph.edge('m_'+module, 't_'+topic,
|
||||
color=topic_colors[topic], style='dashed')
|
||||
|
||||
if show_subscriptions:
|
||||
for module in modules:
|
||||
if module in module_subscriptions:
|
||||
for topic in module_subscriptions[module]:
|
||||
if topic in topics:
|
||||
graph.edge('t_'+topic, 'm_'+module,
|
||||
color=topic_colors[topic])
|
||||
|
||||
graph.render(file_name, view=False)
|
||||
|
||||
|
||||
class OutputJSON:
|
||||
""" write graph to a JSON file (that can be used with D3.js) """
|
||||
|
||||
def __init__(self, graph):
|
||||
self._graph = graph
|
||||
|
||||
def write(self, file_name):
|
||||
|
||||
print('Writing to '+file_name)
|
||||
|
||||
modules = self._graph.modules
|
||||
topics = self._graph.topics
|
||||
topic_colors = self._graph.topic_colors
|
||||
module_publications = self._graph.module_publications
|
||||
module_subscriptions = self._graph.module_subscriptions
|
||||
|
||||
data = {}
|
||||
nodes = []
|
||||
|
||||
# nodes
|
||||
for module in modules:
|
||||
node = {}
|
||||
node['id'] = 'm_'+module
|
||||
node['name'] = module
|
||||
node['type'] = 'module'
|
||||
node['color'] = '#666666'
|
||||
# TODO: add url to open module documentation?
|
||||
nodes.append(node)
|
||||
|
||||
for topic in topics:
|
||||
node = {}
|
||||
node['id'] = 't_'+topic
|
||||
node['name'] = topic
|
||||
node['type'] = 'topic'
|
||||
node['color'] = topic_colors[topic]
|
||||
# url is opened when double-clicking on the node
|
||||
# TODO: does not work for multi-topics
|
||||
node['url'] = 'https://github.com/PX4/Firmware/blob/master/msg/'+topic+'.msg'
|
||||
nodes.append(node)
|
||||
|
||||
data['nodes'] = nodes
|
||||
|
||||
edges = []
|
||||
|
||||
# edges
|
||||
for module in modules:
|
||||
if module in module_publications:
|
||||
for topic in module_publications[module]:
|
||||
if topic in topics:
|
||||
edge = {}
|
||||
edge['source'] = 'm_'+module
|
||||
edge['target'] = 't_'+topic
|
||||
edge['color'] = topic_colors[topic]
|
||||
edge['style'] = 'dashed'
|
||||
edges.append(edge)
|
||||
|
||||
for module in modules:
|
||||
if module in module_subscriptions:
|
||||
for topic in module_subscriptions[module]:
|
||||
if topic in topics:
|
||||
edge = {}
|
||||
edge['source'] = 't_'+topic
|
||||
edge['target'] = 'm_'+module
|
||||
edge['color'] = topic_colors[topic]
|
||||
edge['style'] = 'normal'
|
||||
edges.append(edge)
|
||||
|
||||
data['links'] = edges
|
||||
|
||||
with open(file_name, 'w') as outfile:
|
||||
json.dump(data, outfile) # add indent=2 for readable formatting
|
||||
|
||||
|
||||
# SITL startup script modules
|
||||
# extract with: cat typhoon_h480|cut -f1 -d' '|sort|uniq|awk '{ print ",\"" $0 "\""; }'
|
||||
whitelist_sitl = [
|
||||
'accelsim'
|
||||
, 'adcsim'
|
||||
, 'barosim'
|
||||
, 'camera_trigger'
|
||||
, 'commander'
|
||||
, 'dataman'
|
||||
, 'ekf2'
|
||||
, 'gpssim'
|
||||
, 'gyrosim'
|
||||
, 'land_detector'
|
||||
, 'logger'
|
||||
, 'mavlink'
|
||||
, 'mc_att_control'
|
||||
, 'mc_pos_control'
|
||||
, 'mixer'
|
||||
, 'navigator'
|
||||
, 'param'
|
||||
, 'pwm_out_sim'
|
||||
, 'replay'
|
||||
, 'sensors'
|
||||
, 'simulator'
|
||||
, 'tone_alarm'
|
||||
, 'uorb'
|
||||
, 'vmount' ]
|
||||
|
||||
|
||||
# ignore topics that are subscribed/published by many topics, but are not really
|
||||
# useful to show in the graph
|
||||
topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ]
|
||||
print('Excluded topics: '+str(topic_blacklist))
|
||||
|
||||
graph = Graph(module_whitelist=[], topic_blacklist=topic_blacklist)
|
||||
if len(args.src_path) == 0:
|
||||
args.src_path = ['src']
|
||||
graph.build(args.src_path, args.exclude_path, use_topic_pubsub_union=args.use_topic_union)
|
||||
|
||||
|
||||
if args.output == 'json':
|
||||
output_json = OutputJSON(graph)
|
||||
output_json.write(args.file+'.json')
|
||||
|
||||
elif args.output == 'graphviz':
|
||||
try:
|
||||
from graphviz import Digraph
|
||||
except:
|
||||
print("Failed to import graphviz.")
|
||||
print("You may need to install it with 'pip install graphviz'")
|
||||
print("")
|
||||
raise
|
||||
output_graphviz = OutputGraphviz(graph)
|
||||
engine='fdp' # use neato or fdp
|
||||
output_graphviz.write(args.file+'.fv', engine=engine)
|
||||
output_graphviz.write(args.file+'_subs.fv', show_publications=False, engine=engine)
|
||||
output_graphviz.write(args.file+'_pubs.fv', show_subscriptions=False, engine=engine)
|
||||
else:
|
||||
print('Error: unknown output format '+args.output)
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue