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graph.cpp
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#include <cmath>
#include <matplot/matplot.h>
#include <type_traits>
#include <numeric>
#include <iterator> //for std::ostream_iterator
#include <algorithm> //for std::copy
#include <iostream> //for std::cout
#include "FiniteStateMachine.h"
std::vector<std::pair<size_t, size_t>> get_edges();
int doGraphOld() {
using namespace matplot;
std::vector<std::pair<size_t, size_t>> edges = {
{0, 1}, {0, 2}, {0, 9}, {1, 3}, {1, 11}, {2, 3},
{2, 4}, {3, 5}, {4, 5}, {4, 6}, {5, 8}, {6, 7},
{6, 9}, {7, 8}, {7, 10}, {8, 11}, {9, 10}, {10, 11} };
auto g = digraph(edges);
g->marker("o");
g->node_color("yellow");
g->marker_size(20);
g->line_style("-");
auto axes = g->parent();
// axes->text({ 2 }, { 3 }, { "foo" }); just makes it dissapear
//axes->text({ 0 }, { 0}, { "foo" }); //just makes it dissapear
g->x_data({ 2, 4, 1.5, 3.5, 1, 3, 1, 2.1, 3, 2, 3.1, 4 });
g->y_data({ 3, 3, 3.5, 3.5, 4, 4, 2, 2, 2, 1, 1, 1 });
g->node_labels({ "foo" });
show();
return 0;
// auto edges = get_edges();
//
//// auto axes = graph(edges, "-:gs");
// auto axes = graph(edges, "-.oy");
// axes->marker_size(30.0);
//
// // - solid line
// // . gnuplot linetype 7
// // d diamond, o circle
// // r
//
// axes->show_labels(true);
//
//
// show();
// return 0;
}
std::vector<std::pair<size_t, size_t>> get_edges() {
return {
{0, 1}, {0, 4}, {0, 5}, {1, 2}, {1, 10}, {2, 3}, {2, 15},
{3, 4}, {3, 20}, {4, 25}, {5, 6}, {5, 9}, {6, 7}, {6, 29},
{7, 8}, {7, 41}, {8, 9}, {8, 37}, {9, 11}, {10, 11}, {10, 14},
{11, 12}, {12, 13}, {12, 36}, {13, 14}, {13, 32}, {14, 16}, {15, 16},
{15, 19}, {16, 17}, {17, 18}, {17, 31}, {18, 19}, {18, 52}, {19, 21},
{20, 21}, {20, 24}, {21, 22}, {22, 23}, {22, 51}, {23, 24}, {23, 47},
{24, 26}, {25, 26}, {25, 29}, {26, 27}, {27, 28}, {27, 46}, {28, 29},
{28, 42}, {30, 31}, {30, 34}, {30, 53}, {31, 32}, {32, 33}, {33, 34},
{33, 35}, {34, 55}, {35, 36}, {35, 39}, {36, 37}, {37, 38}, {38, 39},
{38, 40}, {39, 56}, {40, 41}, {40, 44}, {41, 42}, {42, 43}, {43, 44},
{43, 45}, {44, 57}, {45, 46}, {45, 49}, {46, 47}, {47, 48}, {48, 49},
{48, 50}, {49, 58}, {50, 51}, {50, 54}, {51, 52}, {52, 53}, {53, 54},
{54, 59}, {55, 56}, {55, 59}, {56, 57}, {57, 58}, {58, 59} };
}
#define ENTERED_COLOR 2.0
#define NEUTRAL_COLOR 1.0
#define EXITED_COLOR 0.0
void FSMGraphAdapter::setEnteredState(const std::string& state) {
auto stateToIndex = [&](const std::string& stateName) { return std::find(nodeNames_.begin(), nodeNames_.end(), stateName) - nodeNames_.begin(); };
currentState_ = (int)stateToIndex(state);
colors_[currentState_] = ENTERED_COLOR;
graph_->marker_colors(colors_);
markerSizes_[currentState_] = 5.0;
graph_->marker_sizes(markerSizes_);
}
void FSMGraphAdapter::setExitedState(const std::string& state) {
if (previousState_ != -1) {
colors_[previousState_] = NEUTRAL_COLOR;
markerSizes_[previousState_] = 3.0;
}
previousState_ = currentState_;
colors_[previousState_] = EXITED_COLOR;
graph_->marker_colors(colors_);
markerSizes_[previousState_] = 4.0;
graph_->marker_sizes(markerSizes_);
}
void FSMGraphAdapter::setTransitionEdge(int edgeIndex) {
std::vector<std::string> activeEdges(edgeNames_.size());
std::generate(activeEdges.begin(), activeEdges.end(), []() { return std::string(""); });
activeEdges[edgeIndex] = edgeNames_[edgeIndex];
graph_->edge_labels(activeEdges); // only show edge name when transition was active
}
FSMGraphAdapter::FSMGraphAdapter(const FSMContextPtr& ctx) : ctx_(ctx) {
using namespace matplot;
// todo: get edges from ctx
auto[ edges, edgeNames, nodeNames] = ctx->getEdgesWithNames();
edgeNames_ = edgeNames;
nodeNames_ = nodeNames;
auto stateToIndex = [&](const std::string& stateName) { return std::find(nodeNames_.begin(), nodeNames_.end(), stateName) - nodeNames_.begin(); };
colors_ = std::vector<double>(nodeNames_.size());
currentState_ = (int)stateToIndex(ctx->getState());
transition_ = previousState_ = -1;
graph_ = digraph(edges);
graph_->node_labels(nodeNames_);// array of labels for the nodes
//std::cout << "nodes:" << std::endl;
//std::copy(nodeNames.begin(), nodeNames.end(), std::ostream_iterator<std::string>(std::cout, " "));
//std::cout << std::endl;
graph_->line_style("-");
graph_->marker("o");
auto lineSpec = graph_->line_spec();
std::fill_n(colors_.begin(), nodeNames_.size(), NEUTRAL_COLOR);
colors_[currentState_] = ENTERED_COLOR;
graph_->marker_colors(colors_);
markerSizes_ = std::vector<float>(nodeNames_.size());
std::generate(markerSizes_.begin(), markerSizes_.end(), []() { return 3.0f; });
markerSizes_[currentState_] = 5.0;
graph_->marker_sizes(markerSizes_);
auto marker_sizes = graph_->marker_sizes();
//std::vector<double> lineWidths(edgeNames_.size());
//std::generate(lineWidths.begin(), lineWidths.end(), []() { return 10.0; });
//lineWidths[1] = 30.0;
//g->line_widths(lineWidths);
entryObserver_ = ctx->getProperty("FiniteStateMachine::EnterState")->getObserver();
entryObserver_->setUpdate([=](const MessageType& m) { setEnteredState(m.get<std::string>()); });
exitObserver_ = ctx->getProperty("FiniteStateMachine::ExitState")->getObserver();
exitObserver_->setUpdate([=](const MessageType& m) { setExitedState(m.get<std::string>()); });
edgeObserver_ = ctx->getProperty("FiniteStateMachine::Transition")->getObserver();
edgeObserver_->setUpdate([=](const MessageType& m) { setTransitionEdge(m.get<int>()); });
}