Merge pull request #29 from JuliaRobotics/feat/3Q20/edgeweight

single edge with penwidth

Author: dehann

Project.toml

@@ -2,7 +2,7 @@ name = "FunctionalStateMachine"
 uuid = "3e9e306e-7e3c-11e9-12d2-8f8f67a2f951"
 keywords = ["state machine"]
 desc = "Functional state machine with stepping and visualization tools."
-version = "0.2.3"
+version = "0.2.4"
 
 [deps]
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"

README.md

@@ -89,6 +89,34 @@ hist = statemachine.history
 drawStateMachineHistory(hist, show=true)
 ```
 
+Multiple state machines can be visualized together
+```julia
+using Graphs, FunctionalStateMachine
+
+#...
+
+# start multiple concurrent FSMs (this is only one)
+## they are likely interdependent
+statemachine = StateMachine{Nothing}(next=foo!)
+while statemachine(nothing, recordhistory=true); end
+
+# add all histories to the `hists::Dict` as follows
+## ths example has userdata of type ::Nothing
+hists = Dict{Symbol,Vector{Tuple{DateTime,Int,Function,Nothing}}}(:first => statemachine.history)
+
+# generate all the images that will make up the video
+animateStateMachineHistoryIntervalCompound(hists, interval=1)
+
+# and convert images to video with ffmpeg as shell command
+fps = 5
+run(`ffmpeg -r 10 -i /tmp/caesar/csmCompound/csm_%d.png -c:v libtheora -vf fps=$fps -pix_fmt yuv420p -vf "scale=trunc(iw/2)*2:trunc(ih/2)*2" -q 10 /tmp/caesar/csmCompound/out.ogv`)
+@async run(`totem /tmp/caesar/csmCompound/out.ogv`)
+```
+can combine multiple concurrent histories of the state machine execution into the same image frames.  See function for more details.
+
+
+# Lower Level Visualization tools
+
 ## Animate Asyncronous State Machine Transitions
 
 The following example function shows several state machines that were run asyncronously can be synchronously animated as separate frames (see below for single frame with multiple information):
@@ -149,30 +177,6 @@ A closely related function
 animateStateMachineHistoryByTime
 ```
 
-Multiple state machines can be visualized together
-```julia
-using Graphs, FunctionalStateMachine
-
-#...
-
-# start multiple concurrent FSMs (this is only one)
-## they are likely interdependent
-statemachine = StateMachine{Nothing}(next=foo!)
-while statemachine(nothing, recordhistory=true); end
-
-# add all histories to the `hists::Dict` as follows
-## ths example has userdata of type ::Nothing
-hists = Dict{Symbol,Vector{Tuple{DateTime,Int,Function,Nothing}}}(:first => statemachine.history)
-
-# generate all the images that will make up the video
-animateStateMachineHistoryIntervalCompound(hists, interval=1)
-
-# and convert images to video with ffmpeg as shell command
-fps = 5
-run(`ffmpeg -r 10 -i /tmp/caesar/csmCompound/csm_%d.png -c:v libtheora -vf fps=$fps -pix_fmt yuv420p -vf "scale=trunc(iw/2)*2:trunc(ih/2)*2" -q 10 /tmp/caesar/csmCompound/out.ogv`)
-@async run(`totem /tmp/caesar/csmCompound/out.ogv`)
-```
-can combine multiple concurrent histories of the state machine execution into the same image frames.  See function for more details.
 
 # Contribute
 

src/StateMachineAnimation.jl

@@ -8,6 +8,8 @@ export
   animateStateMachineHistoryByTimeCompound,
   animateStateMachineHistoryIntervalCompound
 
+import Graphs: incdict
+incdict(::Type{V}, ::Type{E}; is_directed::Bool = true) where {V,E} = incdict(Dict{Int,V}(), E{V}; is_directed=is_directed)
 
 """
     $SIGNATURES
@@ -18,9 +20,9 @@ according to the contents of parameters passed in.
 Notes:
 - Current implementation repeats duplicate transitions as new edges.
 """
-function histGraphStateMachineTransitions(stateVisits, allStates::Vector{Symbol})
+function histGraphStateMachineTransitions(stateVisits, allStates::Vector{Symbol};maxpenwidth::Int=5)
 
-  g = Graphs.incdict(Graphs.ExVertex,is_directed=true)
+  g = Graphs.incdict(Graphs.ExVertex,Graphs.ExEdge,is_directed=true)
   lookup = Dict{Symbol, Int}()
 
   # add all required states as nodes to the visualization graph
@@ -41,9 +43,25 @@ function histGraphStateMachineTransitions(stateVisits, allStates::Vector{Symbol}
       count += 1
       exvf = g.vertices[lookup[from]]
       exvt = g.vertices[lookup[to]]
-      # add the edge fom one to the next state
-      edge = Graphs.make_edge(g, exvf, exvt)
-      Graphs.add_edge!(g, edge)
+      # add the edge from one to the next state
+      # TODO, don't add if already there.
+      addedge = true
+      for oun in Graphs.out_neighbors(exvf, g)
+        if oun.index == exvt.index
+          addedge = false 
+          # increase penwidth+=1 on that edge
+          for ed in Graphs.out_edges(exvf, g)
+            haskey(ed.attributes, "penwidth") ? nothing : (ed.attributes["penwidth"] = 1)
+            ed.attributes["penwidth"] += 1
+            ed.attributes["penwidth"] = minimum([maxpenwidth;ed.attributes["penwidth"]])            
+          end
+          break
+        end
+      end
+      if addedge
+        edge = Graphs.make_edge(g, exvf, exvt)
+        Graphs.add_edge!(g, edge)
+      end
     end
   end