548 lines
19 KiB
Python
548 lines
19 KiB
Python
""" Finite State Machine Inspector module """
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__all__ = ['FSMInspector', 'StateInspector']
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from direct.tkwidgets.AppShell import *
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from direct.showbase.TkGlobal import *
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import Pmw, math, operator, sys
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if sys.version_info >= (3, 0):
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from tkinter.simpledialog import askstring
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else:
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from tkSimpleDialog import askstring
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DELTA = (5.0 / 360.) * 2.0 * math.pi
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class FSMInspector(AppShell):
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# Override class variables
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appname = 'ClassicFSM Inspector'
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frameWidth = 400
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frameHeight = 450
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usecommandarea = 0
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usestatusarea = 0
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def __init__(self, fsm, **kw):
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INITOPT = Pmw.INITOPT
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optiondefs = (
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('title', fsm.getName(), None),
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('gridSize', '0.25i', self._setGridSize),
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)
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self.defineoptions(kw, optiondefs)
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self.fsm = fsm
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# Tell the fsm we are inspecting it so it will send events
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# when it changes state
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self.fsm.inspecting = 1
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AppShell.__init__(self)
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self.initialiseoptions(FSMInspector)
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def appInit(self):
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# Initialize instance variables
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self.states = []
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self.stateInspectorDict = {}
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self.name = self.fsm.getName()
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def createInterface(self):
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# Create the components
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interior = self.interior()
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menuBar = self.menuBar
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# ClassicFSM Menu
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menuBar.addmenu('ClassicFSM', 'ClassicFSM Operations')
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menuBar.addmenuitem('ClassicFSM', 'command',
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'Input grid spacing',
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label = 'Grid spacing...',
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command = self.popupGridDialog)
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# Create the checkbutton variable
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self._fGridSnap = IntVar()
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self._fGridSnap.set(1)
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menuBar.addmenuitem('ClassicFSM', 'checkbutton',
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'Enable/disable grid',
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label = 'Snap to grid',
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variable = self._fGridSnap,
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command = self.toggleGridSnap)
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menuBar.addmenuitem('ClassicFSM', 'command',
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'Print out ClassicFSM layout',
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label = 'Print ClassicFSM layout',
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command = self.printLayout)
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# States Menu
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menuBar.addmenu('States', 'State Inspector Operations')
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menuBar.addcascademenu('States', 'Font Size',
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'Set state label size', tearoff = 1)
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for size in (8, 10, 12, 14, 18, 24):
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menuBar.addmenuitem('Font Size', 'command',
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'Set font to: ' + repr(size) + ' Pts', label = repr(size) + ' Pts',
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command = lambda s = self, sz = size: s.setFontSize(sz))
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menuBar.addcascademenu('States', 'Marker Size',
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'Set state marker size', tearoff = 1)
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for size in ('Small', 'Medium', 'Large'):
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sizeDict = {'Small': '0.25i', 'Medium': '0.375i', 'Large': '0.5i'}
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menuBar.addmenuitem('Marker Size', 'command',
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size + ' markers', label = size + ' Markers',
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command = lambda s = self, sz = size, d = sizeDict:
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s.setMarkerSize(d[sz]))
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# The Scrolled Canvas
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self._scrolledCanvas = self.createcomponent('scrolledCanvas',
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(), None,
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Pmw.ScrolledCanvas, (interior,),
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hull_width = 400, hull_height = 400,
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usehullsize = 1)
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self._canvas = self._scrolledCanvas.component('canvas')
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self._canvas['scrollregion'] = ('-2i', '-2i', '2i', '2i')
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self._scrolledCanvas.resizescrollregion()
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self._scrolledCanvas.pack(padx = 5, pady = 5, expand=1, fill = BOTH)
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# Update lines
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self._canvas.bind('<B1-Motion>', self.drawConnections)
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self._canvas.bind('<ButtonPress-2>', self.mouse2Down)
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self._canvas.bind('<B2-Motion>', self.mouse2Motion)
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self._canvas.bind('<Configure>',
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lambda e, sc = self._scrolledCanvas:
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sc.resizescrollregion())
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self.createStateInspectors()
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self.initialiseoptions(FSMInspector)
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def scrolledCanvas(self):
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return self._scrolledCanvas
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def canvas(self):
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return self._canvas
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def setFontSize(self, size):
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self._canvas.itemconfigure('labels', font = ('MS Sans Serif', size))
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def setMarkerSize(self, size):
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for key in self.stateInspectorDict:
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self.stateInspectorDict[key].setRadius(size)
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self.drawConnections()
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def drawConnections(self, event = None):
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# Get rid of existing arrows
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self._canvas.delete('arrow')
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for key in self.stateInspectorDict:
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si = self.stateInspectorDict[key]
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state = si.state
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if state.getTransitions():
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for name in state.getTransitions():
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self.connectStates(si, self.getStateInspector(name))
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def connectStates(self, fromState, toState):
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endpts = self.computeEndpoints(fromState, toState)
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line = self._canvas.create_line(endpts, tags = ('arrow',),
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arrow = 'last')
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def computeEndpoints(self, fromState, toState):
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# Compute angle between two points
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fromCenter = fromState.center()
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toCenter = toState.center()
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angle = self.findAngle(fromCenter, toCenter)
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# Compute offset fromState point
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newFromPt = map(operator.__add__,
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fromCenter,
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self.computePoint(fromState.radius,
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angle + DELTA))
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# Compute offset toState point
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newToPt = map(operator.__sub__,
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toCenter,
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self.computePoint(toState.radius,
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angle - DELTA))
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return list(newFromPt) + list(newToPt)
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def computePoint(self, radius, angle):
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x = radius * math.cos(angle)
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y = radius * math.sin(angle)
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return (x, y)
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def findAngle(self, fromPoint, toPoint):
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dx = toPoint[0] - fromPoint[0]
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dy = toPoint[1] - fromPoint[1]
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return math.atan2(dy, dx)
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def mouse2Down(self, event):
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self._width = 1.0 * self._canvas.winfo_width()
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self._height = 1.0 * self._canvas.winfo_height()
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xview = self._canvas.xview()
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yview = self._canvas.yview()
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self._left = xview[0]
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self._top = yview[0]
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self._dxview = xview[1] - xview[0]
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self._dyview = yview[1] - yview[0]
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self._2lx = event.x
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self._2ly = event.y
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def mouse2Motion(self, event):
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newx = self._left - ((event.x - self._2lx)/self._width) * self._dxview
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self._canvas.xview_moveto(newx)
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newy = self._top - ((event.y - self._2ly)/self._height) * self._dyview
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self._canvas.yview_moveto(newy)
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self._2lx = event.x
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self._2ly = event.y
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self._left = self._canvas.xview()[0]
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self._top = self._canvas.yview()[0]
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def createStateInspectors(self):
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fsm = self.fsm
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self.states = fsm.getStates()
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# Number of rows/cols needed to fit inspectors in a grid
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dim = int(math.ceil(math.sqrt(len(self.states))))
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# Separation between nodes
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spacing = 2.5 * self._canvas.canvasx('0.375i')
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count = 0
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for state in self.states:
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si = self.addState(state)
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if state.getInspectorPos():
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si.setPos(state.getInspectorPos()[0],
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state.getInspectorPos()[1])
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else:
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row = int(math.floor(count / dim))
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col = count % dim
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si.setPos(col * spacing, row * spacing +
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0.5 * (0, spacing)[col % 2])
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# Add hooks
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self.accept(self.name + '_' + si.getName() + '_entered',
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si.enteredState)
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self.accept(self.name + '_' + si.getName() + '_exited',
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si.exitedState)
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count = count + 1
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self.drawConnections()
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if fsm.getCurrentState():
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self.enteredState(fsm.getCurrentState().getName())
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def getStateInspector(self, name):
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return self.stateInspectorDict.get(name, None)
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def addState(self, state):
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si = self.stateInspectorDict[state.getName()] = (
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StateInspector(self, state))
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return si
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def enteredState(self, stateName):
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si = self.stateInspectorDict.get(stateName, None)
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if si:
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si.enteredState()
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def exitedState(self, stateName):
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si = self.stateInspectorDict.get(stateName, None)
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if si:
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si.exitedState()
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def _setGridSize(self):
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self._gridSize = self['gridSize']
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self.setGridSize(self._gridSize)
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def setGridSize(self, size):
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for key in self.stateInspectorDict:
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self.stateInspectorDict[key].setGridSize(size)
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def popupGridDialog(self):
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spacing = askstring('ClassicFSM Grid Spacing', 'Grid Spacing:')
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if spacing:
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self.setGridSize(spacing)
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self._gridSize = spacing
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def toggleGridSnap(self):
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if self._fGridSnap.get():
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self.setGridSize(self._gridSize)
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else:
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self.setGridSize(0)
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def printLayout(self):
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dict = self.stateInspectorDict
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keys = list(dict.keys())
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keys.sort()
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print("ClassicFSM.ClassicFSM('%s', [" % self.name)
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for key in keys[:-1]:
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si = dict[key]
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center = si.center()
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print(" State.State('%s'," % si.state.getName())
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print(" %s," % si.state.getEnterFunc().__name__)
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print(" %s," % si.state.getExitFunc().__name__)
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print(" %s," % si.state.getTransitions())
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print(" inspectorPos = [%.1f, %.1f])," % (center[0], center[1]))
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for key in keys[-1:]:
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si = dict[key]
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center = si.center()
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print(" State.State('%s'," % si.state.getName())
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print(" %s," % si.state.getEnterFunc().__name__)
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print(" %s," % si.state.getExitFunc().__name__)
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print(" %s," % si.state.getTransitions())
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print(" inspectorPos = [%.1f, %.1f])]," % (center[0], center[1]))
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print(" '%s'," % self.fsm.getInitialState().getName())
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print(" '%s')" % self.fsm.getFinalState().getName())
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def toggleBalloon(self):
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if self.toggleBalloonVar.get():
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self.balloon.configure(state = 'balloon')
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else:
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self.balloon.configure(state = 'none')
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def onDestroy(self, event):
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""" Called on ClassicFSM Panel shutdown """
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self.fsm.inspecting = 0
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for si in self.stateInspectorDict.values():
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self.ignore(self.name + '_' + si.getName() + '_entered')
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self.ignore(self.name + '_' + si.getName() + '_exited')
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class StateInspector(Pmw.MegaArchetype):
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def __init__(self, inspector, state, **kw):
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# Record inspector and state
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self.inspector = inspector
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self.state = state
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# Create a unique tag which you can use to move a marker and
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# and its corresponding text around together
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self.tag = state.getName()
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self.fsm = inspector.fsm
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# Pointers to the inspector's components
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self.scrolledCanvas = inspector.component('scrolledCanvas')
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self._canvas = self.scrolledCanvas.component('canvas')
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#define the megawidget options
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optiondefs = (
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('radius', '0.375i', self._setRadius),
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('gridSize', '0.25i', self._setGridSize),
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)
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self.defineoptions(kw, optiondefs)
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# Initialize the parent class
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Pmw.MegaArchetype.__init__(self)
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# Draw the oval
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self.x = 0
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self.y = 0
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half = self._canvas.winfo_fpixels(self['radius'])
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self.marker = self._canvas.create_oval((self.x - half),
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(self.y - half),
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(self.x + half),
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(self.y + half),
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fill = 'CornflowerBlue',
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tags = (self.tag,'markers'))
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self.text = self._canvas.create_text(0, 0, text = state.getName(),
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justify = CENTER,
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tags = (self.tag,'labels'))
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# Is this state contain a sub machine?
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if state.hasChildren():
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# reduce half by sqrt of 2.0
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half = half * 0.707106
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self.rect = self._canvas.create_rectangle((- half), (- half),
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half, half,
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tags = (self.tag,))
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# The Popup State Menu
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self._popupMenu = Menu(self._canvas, tearoff = 0)
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self._popupMenu.add_command(label = 'Request transition to ' +
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state.getName(),
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command = self.transitionTo)
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if state.hasChildren():
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self._popupMenu.add_command(label = 'Inspect ' + state.getName() +
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' submachine',
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command = self.inspectSubMachine)
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self.scrolledCanvas.resizescrollregion()
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# Add bindings
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self._canvas.tag_bind(self.tag, '<Enter>', self.mouseEnter)
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self._canvas.tag_bind(self.tag, '<Leave>', self.mouseLeave)
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self._canvas.tag_bind(self.tag, '<ButtonPress-1>', self.mouseDown)
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self._canvas.tag_bind(self.tag, '<B1-Motion>', self.mouseMotion)
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self._canvas.tag_bind(self.tag, '<ButtonRelease-1>', self.mouseRelease)
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self._canvas.tag_bind(self.tag, '<ButtonPress-3>', self.popupStateMenu)
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self.initialiseoptions(StateInspector)
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# Utility methods
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def _setRadius(self):
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self.setRadius(self['radius'])
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def setRadius(self, size):
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half = self.radius = self._canvas.winfo_fpixels(size)
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c = self.center()
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self._canvas.coords(self.marker,
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c[0] - half, c[1] - half, c[0] + half, c[1] + half)
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if self.state.hasChildren():
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half = self.radius * 0.707106
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self._canvas.coords(self.rect,
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c[0] - half, c[1] - half, c[0] + half, c[1] + half)
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def _setGridSize(self):
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self.setGridSize(self['gridSize'])
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def setGridSize(self, size):
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self.gridSize = self._canvas.winfo_fpixels(size)
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if self.gridSize == 0:
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self.fGridSnap = 0
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else:
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self.fGridSnap = 1
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def setText(self, text = None):
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self._canvas.itemconfigure(self.text, text = text)
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def setPos(self, x, y, snapToGrid = 0):
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if self.fGridSnap:
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self.x = round(x / self.gridSize) * self.gridSize
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self.y = round(y / self.gridSize) * self.gridSize
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else:
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self.x = x
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self.y = y
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# How far do we have to move?
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cx, cy = self.center()
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self._canvas.move(self.tag, self.x - cx, self.y - cy)
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def center(self):
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c = self._canvas.coords(self.marker)
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return (c[0] + c[2])/2.0, (c[1] + c[3])/2.0
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def getName(self):
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return self.tag
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# Event Handlers
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def mouseEnter(self, event):
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self._canvas.itemconfig(self.marker, width = 2)
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def mouseLeave(self, event):
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self._canvas.itemconfig(self.marker, width = 1)
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def mouseDown(self, event):
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self._canvas.lift(self.tag)
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self.startx, self.starty = self.center()
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self.lastx = self._canvas.canvasx(event.x)
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self.lasty = self._canvas.canvasy(event.y)
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def mouseMotion(self, event):
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dx = self._canvas.canvasx(event.x) - self.lastx
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dy = self._canvas.canvasy(event.y) - self.lasty
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newx, newy = map(operator.__add__, (self.startx, self.starty), (dx, dy))
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self.setPos(newx, newy)
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def mouseRelease(self, event):
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self.scrolledCanvas.resizescrollregion()
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def popupStateMenu(self, event):
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self._popupMenu.post(event.widget.winfo_pointerx(),
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event.widget.winfo_pointery())
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def transitionTo(self):
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self.fsm.request(self.getName())
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def inspectSubMachine(self):
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print('inspect ' + self.tag + ' subMachine')
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for childFSM in self.state.getChildren():
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FSMInspector(childFSM)
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def enteredState(self):
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self._canvas.itemconfigure(self.marker, fill = 'Red')
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def exitedState(self):
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self._canvas.itemconfigure(self.marker, fill = 'CornflowerBlue')
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"""
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# USING FINITE STATE INSPECTOR
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1) in your Configrc add:
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want-tk #t
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2) start up the show and create a Finite State Machine
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from direct.showbase.ShowBaseGlobal import *
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from direct.fsm import ClassicFSM
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from direct.fsm import State
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def enterState():
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print 'enterState'
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def exitState():
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print 'exitState'
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fsm = ClassicFSM.ClassicFSM('stopLight',
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[State.State('red', enterState, exitState, ['green']),
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State.State('yellow', enterState, exitState, ['red']),
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State.State('green', enterState, exitState, ['yellow'])],
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'red',
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'red')
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import FSMInspector
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inspector = FSMInspector.FSMInspector(fsm, title = fsm.getName())
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# Note, the inspectorPos argument is optional, the inspector will
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# automagically position states on startup
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fsm = ClassicFSM.ClassicFSM('stopLight', [
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State.State('yellow',
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enterState,
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exitState,
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['red'],
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inspectorPos = [95.9, 48.0]),
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State.State('red',
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enterState,
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exitState,
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['green'],
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inspectorPos = [0.0, 0.0]),
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State.State('green',
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enterState,
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exitState,
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['yellow'],
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inspectorPos = [0.0, 95.9])],
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'red',
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'red')
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3) Pop open a viewer
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import FSMInspector
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insp = FSMInspector.FSMInspector(fsm)
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or if you wish to be fancy:
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insp = FSMInspector.FSMInspector(fsm, title = fsm.getName())
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Features:
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- Right mouse button over a state pops up a menu allowing you to
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request a transition to that state
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- Middle mouse button will grab the canvas and slide things around
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if your state machine is bigger than the viewing area
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- There are some self explanatory menu options up at the top, the most
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useful being: "print ClassicFSM layout" which will print out python code
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|
which will create an ClassicFSM augmented with layout information for the
|
|
viewer so everything shows up in the same place the next time you
|
|
inspect the state machine
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CAVEAT:
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|
There is some unexplained problems with using TK and emacs right now which
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occasionally results in everything locking up. This procedure seems to
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avoid the problem for me:
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# Start up the show
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from direct.showbase.ShowBaseGlobal import *
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# You will see the window and a Tk panel pop open
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# Type a number at the emacs prompt
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|
>>> 123
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|
# At this point everything will lock up and you won't get your prompt back
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|
|
|
# Hit a bunch of Control-C's in rapid succession, in most cases
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|
# this will break you out of whatever badness you were in and
|
|
# from that point on everything will behave normally
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|
|
|
|
|
# This is how you pop up an inspector
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|
import FSMInspector
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|
inspector = FSMInspector.FSMInspector(fsm, title = fsm.getName())
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|
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"""
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|