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Merge pull request #22 from FRC-7525/Manager
Manager
2 parents 616968b + d23624f commit 6c9b8ae

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‎.github/scripts/visualizeStates.py‎

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import sys
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import re
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from pathlib import Path
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from graphviz import Digraph
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# ---------- Parsing ManagerStates ----------
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def get_manager_states(manager_states_path):
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text = Path(manager_states_path).read_text(encoding="utf8")
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pattern = re.compile(
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r"""
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(\w+)\s*
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\(\s*
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"(.*?)"\s*,\s*
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([^,]+)\s*,\s*
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([^,]+)\s*,\s*
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([^,]+)\s*,\s*
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([^)]+)
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\)
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""",
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re.VERBOSE | re.DOTALL,
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)
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states = {}
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for m in pattern.finditer(text):
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name = m.group(1)
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def clean(x: str) -> str:
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x = x.strip()
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x = re.sub(r".*?\.", "", x)
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x = re.sub(r"\(.*\)", "", x)
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return x
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states[name] = {
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"Intake": clean(m.group(3)),
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"Hopper": clean(m.group(4)),
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"Shooter": clean(m.group(5)),
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"Climber": clean(m.group(6)),
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"connectionsTo": [],
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}
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return states
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# ---------- Parsing Triggers ----------
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def get_triggers(manager_path):
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file = Path(manager_path).read_text(encoding="utf8")
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return re.findall(r"addTrigger\([\s\S]*?\);", file)
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def parse_triggers(triggers):
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parsed = []
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for t in triggers:
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m = re.search(
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r"""
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addTrigger\(
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\s*(?:\w+\.)?(\w+)\s*, # from
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\s*(?:\w+\.)?(\w+)\s*, # to
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\s*(.*?) # condition (FULL)
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\)\s*;
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""",
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t,
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re.VERBOSE | re.DOTALL,
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)
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if not m:
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continue
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condition = m.group(3).strip()
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# Remove lambda wrapper
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condition = re.sub(r"^\(\)\s*->\s*", "", condition)
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# Remove controller prefixes
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condition = re.sub(r"(?:DRIVER|OPERATOR)_CONTROLLER::get", "", condition)
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condition = re.sub(r".*?::", "", condition)
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parsed.append({
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"from": m.group(1),
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"to": m.group(2),
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"condition": condition,
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})
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return parsed
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def attach_triggers(state_map, triggers):
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for t in triggers:
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if t["from"] in state_map:
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state_map[t["from"]]["connectionsTo"].append(t)
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# ---------- Graphviz helpers ----------
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def node_id(name: str) -> str:
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return re.sub(r"\W+", "_", name)
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EDGE_COLORS = [
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"#f6e05e", "#68d391", "#63b3ed", "#fc8181",
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"#90cdf4", "#faf089", "#fbb6ce", "#9f7aea"
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]
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# ---------- Visualization ----------
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def generate_graph(state_map):
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dot = Digraph("StateMachine", format="png", engine="dot")
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dot.attr(
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rankdir="TB",
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bgcolor="#1e1e2f",
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fontname="Helvetica",
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nodesep="0.6",
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ranksep="0.9",
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)
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dot.attr(
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"node",
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shape="box",
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style="rounded,filled",
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fillcolor="#2d2d3c",
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color="#68d391",
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fontcolor="white",
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fontname="Helvetica-Bold",
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fontsize="11",
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penwidth="1.4",
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)
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dot.attr(
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"edge",
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fontname="Helvetica",
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fontsize="9",
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arrowsize="0.8",
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)
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# Nodes
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for state, info in state_map.items():
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lines = [
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f"{state}",
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"────────────",
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f"Intake → {info['Intake']}",
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f"Hopper → {info['Hopper']}",
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f"Shooter → {info['Shooter']}",
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f"Climber → {info['Climber']}",
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]
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label = "\n".join(lines)
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if state == "IDLE":
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dot.node(
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node_id(state),
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label=label,
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fillcolor="#3e2c1c",
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color="#f6ad55",
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penwidth="2.5",
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)
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else:
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dot.node(node_id(state), label=label)
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# Edges
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color_index = 0
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for state, info in state_map.items():
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if not info["connectionsTo"]:
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continue
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color = EDGE_COLORS[color_index % len(EDGE_COLORS)]
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color_index += 1
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for c in info["connectionsTo"]:
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dot.edge(
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node_id(state),
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node_id(c["to"]),
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label=c["condition"],
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color=color,
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fontcolor=color,
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penwidth="1.8",
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)
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dot.render("state_machine", cleanup=True)
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print("Rendered state_machine.png")
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# ---------- Main ----------
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def main(managerStatesPath, managerPath):
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state_map = get_manager_states(managerStatesPath)
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triggers = parse_triggers(get_triggers(managerPath))
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attach_triggers(state_map, triggers)
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generate_graph(state_map)
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print("Success!")
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if __name__ == "__main__":
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main(sys.argv[1], sys.argv[2])

‎.github/workflows/visualizeStates.yml‎

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name: Visualize States
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on:
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pull_request:
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types:
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- reopened
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- opened
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- synchronize
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jobs:
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generate-graph:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout repo
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uses: actions/checkout@v3
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- name: Install system dependencies
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run: |
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sudo apt-get update
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sudo apt-get install -y graphviz
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- name: Set up Python
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uses: actions/setup-python@v4
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with:
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python-version: '3.x'
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- name: Install dependencies
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run: |
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pip install graphviz
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- name: Run graph generation
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id: run-script
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run: |
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python3 .github/scripts/visualizeStates.py ./src/main/java/frc/robot/Subsystems/Manager/ManagerStates.java ./src/main/java/frc/robot/Subsystems/Manager/Manager.java
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echo "exit_code=$?" >> $GITHUB_OUTPUT
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continue-on-error: true
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- name: Upload graph as artifact
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uses: actions/upload-artifact@v4
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with:
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name: state-machine-graph
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path: state_machine.png
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- name: Comment on PR
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uses: actions/github-script@v6
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with:
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script: |
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const prNumber = context.payload.pull_request.number;
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const exitCode = Number(process.env.EXIT_CODE);
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const commentBody = exitCode === 0
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? "✅ State machine graph generated and uploaded."
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: "⚠️ Something went wrong while generating the state machine graph.";
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github.rest.issues.createComment({
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issue_number: prNumber,
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owner: context.repo.owner,
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repo: context.repo.repo,
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body: commentBody
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})
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env:
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EXIT_CODE: ${{ steps.run-script.outputs.exit_code }}

‎Other/AscopeFiles/PutAscopeModelsAndConfigHere.txt‎

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hmm

‎Other/Dashboards/PutDriverDashBoardHere.txt‎

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hmmmmmm

‎Other/Sim/GoatedSimConfig.json‎

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{
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"Docking": {
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"Data": [
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"DockNode ID=0x00000002 Pos=-2,2 Size=1926,1098 Split=X",
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"DockNode ID=0x00000001 Parent=0x00000002 SizeRef=1153,1095 Split=Y",
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"DockNode ID=0x0000000F Parent=0x00000001 SizeRef=991,210 Split=X",
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"DockNode ID=0x0000000D Parent=0x0000000F SizeRef=519,140 Split=X",
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"DockNode ID=0x0000000B Parent=0x0000000D SizeRef=257,140 Selected=0x39AD1970",
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"DockNode ID=0x0000000C Parent=0x0000000D SizeRef=280,140 Selected=0xD58031C5",
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"DockNode ID=0x0000000E Parent=0x0000000F SizeRef=632,140 Selected=0x513EDE86",
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"DockNode ID=0x00000010 Parent=0x00000001 SizeRef=991,883 Split=Y Selected=0xB5CBE9F0",
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"DockNode ID=0x00000012 Parent=0x00000010 SizeRef=1153,233 Split=Y Selected=0xF9AD29AD",
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"DockNode ID=0x00000014 Parent=0x00000012 SizeRef=1155,199 Selected=0x5446CBB7",
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"DockNode ID=0x00000015 Parent=0x00000012 SizeRef=1155,240 Selected=0xF9AD29AD",
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"DockNode ID=0x00000013 Parent=0x00000010 SizeRef=1153,650 Selected=0xB5CBE9F0",
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"DockNode ID=0x00000011 Parent=0x00000002 SizeRef=767,1095 Split=Y",
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"DockNode ID=0x00000007 Parent=0x00000011 SizeRef=313,611 Split=X Selected=0x3E3C37F1",
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"DockNode ID=0x00000003 Parent=0x00000007 SizeRef=309,746 Selected=0x3E3C37F1",
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"DockNode ID=0x00000004 Parent=0x00000007 SizeRef=458,746 Selected=0x2D9B9756",
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"DockNode ID=0x00000008 Parent=0x00000011 SizeRef=313,287 Split=Y Selected=0x6AE6D891",
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"DockNode ID=0x00000005 Parent=0x00000008 SizeRef=313,32 Split=X Selected=0x6AE6D891",
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"DockNode ID=0x00000009 Parent=0x00000005 SizeRef=295,176 Selected=0x6AE6D891",
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"DockNode ID=0x0000000A Parent=0x00000005 SizeRef=472,176 Selected=0xC8493FD8",
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"DockNode ID=0x00000006 Parent=0x00000008 SizeRef=313,316 Selected=0x138219D4"
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]
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},
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"MainWindow": {
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"GLOBAL": {
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"font": "Roboto Bold",
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"fps": "120",
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"height": "1051",
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"maximized": "1",
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"style": "3",
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"userScale": "2",
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"width": "1920",
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"xpos": "0",
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"ypos": "29"
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}
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},
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"Window": {
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"###/AdvantageKit/RealOutputs/Alerts": {
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"Collapsed": "0",
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"Pos": "137,171",
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"Size": "300,148"
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},
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"###/FMSInfo": {
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"Collapsed": "0",
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"Pos": "60,60",
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"Size": "168,206"
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},
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"###/SmartDashboard/Auto Chooser": {
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"Collapsed": "0",
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"DockId": "0x0000000E,0",
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"Pos": "521,20",
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"Size": "633,211"
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},
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"###/SmartDashboard/Field": {
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"Collapsed": "0",
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"DockId": "0x00000013,0",
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"Pos": "-2,450",
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"Size": "1155,650"
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},
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"###/SmartDashboard/VisionSystemSim-Vision/Sim Field": {
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"Collapsed": "0",
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"DockId": "0x00000015,0",
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"Pos": "-1,233",
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"Size": "1155,441"
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},
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"###/SmartDashboard/VisionSystemSim-main/Sim Field": {
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"Collapsed": "0",
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"DockId": "0x00000014,0",
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"Pos": "-2,215",
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"Size": "1155,233"
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},
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"###FMS": {
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"Collapsed": "0",
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"DockId": "0x0000000A,0",
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"Pos": "1452,750",
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"Size": "472,32"
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},
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"###Joysticks": {
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"Collapsed": "0",
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"DockId": "0x00000006,0",
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"Pos": "1155,784",
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"Size": "769,316"
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},
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"###Keyboard 0 Settings": {
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"Collapsed": "0",
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"DockId": "0x00000003,0",
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"Pos": "1156,20",
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"Size": "309,746"
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},
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"###NetworkTables": {
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"Collapsed": "0",
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"DockId": "0x00000004,0",
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"Pos": "1155,2",
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"Size": "769,746"
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},
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"###NetworkTables Info": {
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"Collapsed": "0",
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"Pos": "939,136",
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"Size": "681,492"
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},
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"###Other Devices": {
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"Collapsed": "0",
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"Pos": "558,386",
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"Size": "312,1173"
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},
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"###Plot <0>": {
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"Collapsed": "0",
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"Pos": "65,61",
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"Size": "700,400"
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},
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"###PowerDistributions": {
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"Collapsed": "0",
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"Pos": "245,155",
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"Size": "200,456"
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},
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"###System Joysticks": {
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"Collapsed": "0",
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"DockId": "0x00000009,0",
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"Pos": "1155,750",
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"Size": "295,32"
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},
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"###Timing": {
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"Collapsed": "0",
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"DockId": "0x0000000C,0",
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"Pos": "552,2",
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"Size": "601,211"
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},
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"Debug##Default": {
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"Collapsed": "0",
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"Pos": "60,60",
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"Size": "400,400"
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},
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"Robot State": {
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"Collapsed": "0",
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"DockId": "0x0000000B,0",
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"Pos": "-2,2",
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"Size": "552,211"
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}
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}
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}

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