add ability to visualize your topic/ subscriber graph

Author: BenCaunt

.idea/workspace.xml

@@ -1,8 +1,7 @@
 from abc import ABC, abstractmethod
 import time
 import json
-
-
+from typing import Tuple, Any
 
 
 class Subscriber(ABC):
@@ -38,9 +37,9 @@ def subscriber_periodic(self):
         pass
 
     def subscriber_periodic_sim(self):
-        '''
-        optional simulation method that one can override if they want different logic than their noirmal periodic
-        '''
+        """
+        optional simulation method that one can override if they want different logic than their normal periodic
+        """
         self.subscriber_periodic()
 
     def store_messages(self, topic_name: str, message: 'Message'):
@@ -146,13 +145,14 @@ def is_complete(self):
 class DelayCommand(Command):
     def __init__(self, delay_time_s, name="Delay Command"):
         super().__init__([])
+        self.start_time = None
         self.delay_time = delay_time_s
         self.name = name
-        self.first_run_occured = False
+        self.first_run_occurred = False
 
     def first_run_behavior(self):
         self.start_time = time.time()
-        self.first_run_occured = True
+        self.first_run_occurred = True
 
     def periodic(self):
         pass
@@ -162,14 +162,14 @@ def is_complete(self):
 
 
 class Topic(Subscriber):
-    '''
-    These could be various sensor readings or commands. 
-    For example, you might have a SpeedCommand topic that the MotorController subscribes to. 
-    Whenever a new message is published on this topic, 
-    the MotorController would update the robot's speed accordingly. 
-    Similarly, sensor topics can publish data 
+    """
+    These could be various sensor readings or commands.
+    For example, you might have a SpeedCommand topic that the MotorController subscribes to.
+    Whenever a new message is published on this topic,
+    the MotorController would update the robot's speed accordingly.
+    Similarly, sensor topics can publish data
     such as images from a camera, distance from an ultrasonic sensor, etc.
-    '''
+    """
 
     def __init__(self, name="Abstract Topic", is_sim=False):
         super().__init__(is_sim, name)
@@ -178,9 +178,10 @@ def __init__(self, name="Abstract Topic", is_sim=False):
         self.__current_time = time.time()
         self.__previous_time = time.time()
         self.delta_time_seconds = self.__current_time - self.__previous_time
-        # when true, if we are simulating, we will publish the message that was in the log file instead of generating a new one
-        # important if this topic is just used for reading data from a physical sensor that the simulation does not have access to read.  
-        # should be kept false if the topic can be simulated or is calculated based on data from other topics.  Odometry and PID for example SHOULD be simulated
+        # when true, if we are simulating, we will publish the message that was in the log file instead of generating
+        # a new one important if this topic is just used for reading data from a physical sensor that the simulation
+        # does not have access to read. should be kept false if the topic can be simulated or is calculated based on
+        # data from other topics.  Odometry and PID for example SHOULD be simulated
         self.replace_message_with_log = False
 
     def subscriber_periodic(self):
@@ -197,7 +198,7 @@ def generate_messages_periodic(self):
         '''
         pass
 
-    def publish_periodic(self) -> Message:
+    def publish_periodic(self) -> Tuple[Message, float, float]:
         self.__current_time = time.time()
         self.delta_time_seconds = self.__current_time - self.__previous_time
         self.message_body = self.generate_messages_periodic()
@@ -206,7 +207,8 @@ def publish_periodic(self) -> Message:
         self.notify_subscribers(msg)
         return msg, self.__current_time, self.delta_time_seconds
 
-    def publish_periodic_from_log(self, message_from_log: 'Message', current_time, delta_time_seconds) -> Message:
+    def publish_periodic_from_log(self, message_from_log: 'Message', current_time, delta_time_seconds) -> \
+            Tuple[Message, Any, Any]:
         self.__current_time = current_time
         self.delta_time_seconds = delta_time_seconds
         self.__previous_time = self.__current_time

architecture/architecture_relationships.py

@@ -1,5 +1,5 @@
 from architecture.architecture_relationships import Command, Subscriber, Topic, Message
-from pyros_math.graph_theory import dependecy_sort, cycle_is_present_in_any
+from pyros_math.graph_theory import dependency_sort, cycle_is_present_in_any
 from pyros_exceptions.pyros_exceptions import TopicCircularDependency, TopicNameCollision, SubscriberNameCollision
 from architecture.OnRobotUDP import start_client, send_data_to_server
 import time
@@ -31,7 +31,7 @@ def initialize(self):
 
         self.has_initialize_been_called = True
 
-        self.topics = dependecy_sort(self.topics)
+        self.topics = dependency_sort(self.topics)
 
         if cycle_is_present_in_any(self.topics):
             raise TopicCircularDependency("There is a circular dependency in the topics, aborting init")
@@ -122,7 +122,7 @@ def periodic(self):
         for topic in self.topics:
             topic.periodic()
 
-        if True: # self.num_runs >= self.num_runs_per_transmission:
+        if self.num_runs >= self.num_runs_per_transmission:
             if self.enable_coms:
                 send_data_to_server(self.client_socket, self.server_address, stored_messages_txt)
             self.num_runs = 0
@@ -178,3 +178,5 @@ def check_topic_name_collision(self):
             for sub in self.subscribers:
                 if topic.name == sub.name:
                     raise RuntimeError("Topic and Subscriber cannot have the same name: {}".format(topic.name))
+
+

architecture/scheduler.py

@@ -6,7 +6,7 @@
 
 class Motor(Subscriber):
     def __init__(self, subscriber_name="Motor", is_sim=False):
-        super().__init__(subscriber_name, is_sim)
+        super().__init__(is_sim, subscriber_name)
         self.voltage_hardware = 0
 
     def subscriber_periodic(self):

example/MotorControllerExample/MotorHardware.py

@@ -0,0 +1,29 @@
+import networkx as nx
+import matplotlib.pyplot as plt
+
+G = nx.DiGraph()
+G.add_edges_from(
+    [('A', 'B'), ('A', 'C'), ('D', 'B'), ('E', 'C'), ('E', 'F'),
+     ('B', 'H'), ('B', 'G'), ('B', 'F'), ('C', 'G')])
+
+val_map = {'A': 1.0,
+           'D': 0.5714285714285714,
+           'H': 0.0}
+
+values = [val_map.get(node, 0.25) for node in G.nodes()]
+
+# Specify the edges you want here
+red_edges = [('A', 'C'), ('E', 'C')]
+edge_colours = ['black' if not edge in red_edges else 'red'
+                for edge in G.edges()]
+black_edges = [edge for edge in G.edges() if edge not in red_edges]
+
+# Need to create a layout when doing
+# separate calls to draw nodes and edges
+pos = nx.spring_layout(G)
+nx.draw_networkx_nodes(G, pos, cmap=plt.get_cmap('jet'),
+                       node_color=values, node_size=500)
+nx.draw_networkx_labels(G, pos)
+nx.draw_networkx_edges(G, pos, edgelist=red_edges, edge_color='r', arrows=True)
+nx.draw_networkx_edges(G, pos, edgelist=black_edges, arrows=False)
+plt.show()

networkx_test.py

@@ -81,6 +81,6 @@ def main():
     server_thread = threading.Thread(target=main)
     server_thread.start()
 
-    # ani = FuncAnimation(fig, update, blit=False, interval=10, repeat=False, cache_frame_data=False)
-    # plt.show()
-    # server_socket.close()
+    ani = FuncAnimation(fig, update, blit=True, interval=10, repeat=False, cache_frame_data=False)
+    plt.show()
+    server_socket.close()