Merge pull request #17 from FRC-7525/state-visualization-CI

[CI] State Machine Visualization

Author: PotmanNob

.github/scripts/visualizeStates.py

@@ -0,0 +1,109 @@
+import sys
+import re
+import networkx as nx
+from pathlib import Path
+import matplotlib.pyplot as plt
+
+# States that do not need to have a trigger to idle
+EXCLUDED_STATES = []
+
+def get_states(manager_states_path):
+    file = Path(manager_states_path).read_text(encoding='utf8')
+    states = re.findall(r'\s*(?:\w+)\s*\((?:[\s\S]*?)\)[,;]', file, re.MULTILINE | re.IGNORECASE)
+    return states
+
+def parse_states(states):
+    parsed_states = []
+    for state in states:
+        state_name_match = re.match(r'^\s*(\w+)\s*\(', state, re.IGNORECASE)
+        sub_states = re.findall(r'\b(?:\w+\.)+\w+\b', state)
+        parsed_states.append({
+            'stateName': state_name_match[1] if state_name_match else None,
+            'subStates': sub_states
+        })
+    return parsed_states
+
+def get_triggers(manager_path):
+    file = Path(manager_path).read_text(encoding='utf8')
+    triggers = re.findall(r'addTrigger\(.+?\)', file, re.MULTILINE | re.IGNORECASE)
+    return triggers
+
+def parse_triggers(triggers):
+    parsed_triggers = []
+    for trigger in triggers:
+        matched = re.search(r'\s*(\w+)\s*,\s*(\w+)\s*,\s*((?:[\w:]+)|(?:\(\)\s*->\s*[\w.]+\(\)))\s*\)', trigger)
+        if matched:
+            parsed_triggers.append({
+                'from': matched[1],
+                'to': matched[2],
+                'condition': matched[3]
+            })
+    return parsed_triggers
+
+def create_state_map(states, triggers):
+    state_map = {state['stateName']: state for state in states}
+
+    for trigger in triggers:
+        state = state_map.get(trigger['from'])
+        if state is not None:
+            if 'connectionsTo' not in state:
+                state['connectionsTo'] = []
+            state['connectionsTo'].append({
+                'to': trigger['to'],
+                'condition': trigger['condition']
+            })
+    return state_map
+
+def generate_graph(state_map):
+    graph = nx.DiGraph()
+    for (state_name, state_info) in state_map.items():
+        graph.add_node(state_name, label=state_name)
+        for connection in state_info.get('connectionsTo', []):
+            graph.add_edge(state_name, connection['to'], weight=1)
+
+
+    pos = nx.shell_layout(graph)
+    pos["IDLE"] = (0, 0)
+
+    fixed_nodes = ["IDLE"]
+    pos = nx.spring_layout(graph, pos=pos, fixed=fixed_nodes, k=0.2)
+
+    edge_labels = nx.get_edge_attributes(graph, 'label')
+
+    nx.draw(graph, pos, with_labels=True, node_color='lightblue', node_size=1000, font_size=6, arrows=True)
+    nx.draw_networkx_edge_labels(graph, pos, edge_labels=edge_labels, font_size=6)
+
+    plt.title("State Machine Visualization")
+    plt.tight_layout()
+    plt.savefig("state_machine.png", format='png', dpi=300)
+
+
+def checkConnectedToIdle(state_map):
+    notToIdle = []
+    for state_name, state in state_map.items():
+        if state_name in EXCLUDED_STATES: continue
+        for connections in state["connectionsTo"]:
+            if connections.to == "IDLE": continue
+            else: notToIdle.append(state_name)
+    return notToIdle
+
+
+def main(managerStatesPath, managerPath):
+    states = get_states(managerStatesPath)
+    states = parse_states(states)
+
+    triggers = get_triggers(managerPath)
+    triggers = parse_triggers(triggers)
+
+    state_map = create_state_map(states, triggers)
+    
+    generate_graph(state_map)
+    notToIdle = checkConnectedToIdle(state_map)
+    if notToIdle:
+        print(f"ERROR: The following states are not connected to IDLE: {', '.join(notToIdle)}")
+        return 1
+    else:
+        print("Success: All states are connected to IDLE.")
+    return 0
+if __name__ == '__main__':
+    main(sys.argv[1], sys.argv[2])

.github/workflows/visualizeStates.yml

@@ -0,0 +1,59 @@
+name: Visualize States
+
+on:
+  pull_request:
+    types: [opened]
+
+jobs:
+  generate-graph:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v3
+
+    - name: Set up Python
+      uses: actions/setup-python@v4
+      with:
+        python-version: '3.x'
+
+    - name: Install dependencies
+      run: |
+        pip install networkx matplotlib
+
+    - name: Run graph generation and check IDLE connections
+      id: run-script
+      run: |
+        python3 .github/scripts/visualizeStates.py ./src/main/java/frc/robot/Manager/ManagerStates.java ./src/main/java/frc/robot/Manager/Manager.java
+        echo "exit_code=$?" >> $GITHUB_OUTPUT
+      continue-on-error: true
+
+    - name: Upload graph as artifact
+      uses: actions/upload-artifact@v4
+      with:
+        name: state-machine-graph
+        path: state_machine.png
+
+    - name: Comment on PR
+      uses: actions/github-script@v6
+      with:
+        script: |
+          const prNumber = context.payload.pull_request.number;
+          const exitCode = Number(process.env.EXIT_CODE);
+          const commentBody = exitCode === 0
+            ? "✅ State machine graph generated and uploaded.\n\nAll states connect to IDLE."
+            : "⚠️ State machine graph generated, but some states do not connect to IDLE. Check the workflow logs and the generated graph for details.";
+
+          github.rest.issues.createComment({
+            issue_number: prNumber,
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            body: commentBody
+          })
+      env:
+        EXIT_CODE: ${{ steps.run-script.outputs.exit_code }}
+
+    - name: Fail if states not connected to IDLE
+      if: steps.run-script.outputs.exit_code != '0'
+      run: |
+        echo "States not connected to IDLE."
+        exit 1

vendordeps/yagsl-2025.8.0.json vendordeps/yagsl-2025.7.2.jsonvendordeps/yagsl-2025.8.0.json renamed to vendordeps/yagsl-2025.7.2.json

@@ -1,7 +1,7 @@
 {
-    "fileName": "yagsl-2025.8.0.json",
+    "fileName": "yagsl-2025.7.2.json",
     "name": "YAGSL",
-    "version": "2025.8.0",
+    "version": "2025.7.2",
     "frcYear": "2025",
     "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "swervelib",
             "artifactId": "YAGSL-java",
-            "version": "2025.8.0"
+            "version": "2025.7.2"
         }
     ],
     "requires": [