Merge pull request #8 from JuliaRobotics/feature/visualization

Feature/visualization

Author: GearsAD

docs/src/func_ref.md

@@ -58,6 +58,12 @@ getSubgraphAroundNode
 getSubgraph
 ```
 
+### Visualization
+```@docs
+toDot
+toDotFile
+```
+
 ### DataFrame Extension Functions
 ```@docs
 getAdjacencyMatrixDataFrame

src/services/GraphsDFG.jl

@@ -15,6 +15,23 @@ mutable struct GraphsNode
 end
 const FGType = Graphs.GenericIncidenceList{GraphsNode,Graphs.Edge{GraphsNode},Dict{Int,GraphsNode},Dict{Int,Array{Graphs.Edge{GraphsNode},1}}}
 
+# For visualization
+import Graphs: attributes, vertex_index
+# Export attributes, these are enumerates as properties for the variables and factors
+# REF: http://www.graphviz.org/documentation/
+function attributes(v::GraphsNode, g::T)::AttributeDict where T <:GenericIncidenceList
+    AttributeDict(
+        "label" => v.dfgNode.label,
+        "color" => typeof(v.dfgNode) == DFGVariable ? "red" : "blue",
+        "shape" => typeof(v.dfgNode) == DFGVariable ? "box" : "ellipse",
+        "fillcolor" => typeof(v.dfgNode) == DFGVariable ? "red" : "blue"
+        )
+end
+
+# This is insanely important - if we don't provide a valid index, the edges don't work correctly.
+vertex_index(v::GraphsNode) = v.index
+
+# Exports
 export GraphsDFG
 export addVariable!
 export addFactor!
@@ -28,6 +45,7 @@ export getNeighbors
 export getSubgraphAroundNode
 export getSubgraph
 export isFullyConnected, hasOrphans
+export toDot, toDotFile
 
 mutable struct GraphsDFG <: AbstractDFG
     g::FGType
@@ -80,7 +98,7 @@ function addFactor!(dfg::GraphsDFG, factor::DFGFactor, variables::Vector{DFGVari
     # Add the edges...
     for variable in variables
         v = dfg.g.vertices[variable._internalId]
-        edge = Graphs.make_edge(dfg.g, f, v)
+        edge = Graphs.make_edge(dfg.g, v, f)
         Graphs.add_edge!(dfg.g, edge)
     end
     return true
@@ -409,6 +427,30 @@ function getAdjacencyMatrix(dfg::GraphsDFG)::Matrix{Union{Nothing, Symbol}}
     return adjMat
 end
 
+"""
+    $(SIGNATURES)
+Produces a dot-format of the graph for visualization.
+"""
+function toDot(dfg::GraphsDFG)::String
+    m = PipeBuffer()
+    write(m,Graphs.to_dot(dfg.g))
+    data = take!(m)
+    close(m)
+    return String(data)
+end
+
+"""
+    $(SIGNATURES)
+Produces a dot file of the graph for visualization.
+Download XDot to see the data
+"""
+function toDotFile(dfg::GraphsDFG, fileName::String)::Nothing
+    open(fileName, "w") do fid
+        write(fid,Graphs.to_dot(dfg.g))
+    end
+    return nothing
+end
+
 function __init__()
     @require DataFrames="a93c6f00-e57d-5684-b7b6-d8193f3e46c0" begin
         if isdefined(Main, :DataFrames)

test/interfaceTests.jl

@@ -97,3 +97,9 @@ end
     dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2, true, dfgSubgraph)
     @test setdiff([:x1, :x1x2f1, :x2], map(n -> n.label, [ls(dfgSubgraph)..., lsf(dfgSubgraph)...])) == []
 end
+
+@testset "Producing Dot Files" begin
+    @test toDot(dfg) == "graph graphname {\n18 [\"label\"=\"x8x9f1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n2 [\"label\"=\"x2\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n2 -- 11\n2 -- 12\n16 [\"label\"=\"x6x7f1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n11 [\"label\"=\"x1x2f1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n7 [\"label\"=\"x7\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n7 -- 16\n7 -- 17\n9 [\"label\"=\"x9\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n9 -- 18\n9 -- 19\n10 [\"label\"=\"x10\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n10 -- 19\n19 [\"label\"=\"x9x10f1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n17 [\"label\"=\"x7x8f1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n8 [\"label\"=\"x8\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n8 -- 17\n8 -- 18\n6 [\"label\"=\"x6\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n6 -- 15\n6 -- 16\n4 [\"label\"=\"x4\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n4 -- 13\n4 -- 14\n3 [\"label\"=\"x3\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n3 -- 12\n3 -- 13\n5 [\"label\"=\"x5\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n5 -- 14\n5 -- 15\n13 [\"label\"=\"x3x4f1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n14 [\"label\"=\"x4x5f1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n15 [\"label\"=\"x5x6f1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n12 [\"label\"=\"x2x3f1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n1 [\"label\"=\"x1\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n1 -- 11\n}\n"
+
+    @test toDotFile(dfg, "something.dot") == nothing
+end