Added rosdiscover input

.gitignore

@@ -0,0 +1,3 @@
+metrics/*
+__pycache__/
+graphs/*

README.md

@@ -23,20 +23,55 @@ The following figure illustrates the 3-phases approach to extract computation gr
 ```
 
 ## Installation
-Note that it is not necessary for our architecture extractor, which is independent of platforms. However, it requires a few dependencies, solved by the following commands:
+### Installing ROSDiscover
+Installing rosdiscover has some prerequisites needed for the static code analysis we need to install these first.
+
+#### Build docker-llvm
+Build the [docker-llvm](https://github.com/ChrisTimperley/docker-llvm) image image. This will build the llvm compiler used to build rosdicover-extract-cxx. This might take a while.
+
+####  Build rosdiscover-extract-cxx
+* Clone [the repo](https://github.com/cmu-rss-lab/rosdiscover-cxx-recover)
+* Add submodules with their correct versions
+    * `cd extern`
+    * `git clone https://github.com/fmtlib/fmt && cd fmt && git checkout d141cdbeb0fb422a3fb7173b285fd38e0d1772dc && cd ..`
+    * `git clone https://github.com/nlohmann/json nlohmann_json && cd nlohmann_json && git checkout db78ac1d7716f56fc9f1b030b715f872f93964e4 && cd ..`
+    * `git clone https://github.com/mapbox/variant/ && cd variant && git checkout a5a79a594f39d705a7ef969f54a0743516f0bc6d && cd ../../`
+* Build the image
+    * `cd docker && sudo make install`
+
+After following these steps you will have a docker volume called rosdiscover-cxx-extract-opt ready to be mounted and used by rosdiscover. You can check if it was properly installed by running sudo docker volume ls.
+
+#### Install the rosdiscover python package
+* `pip3 install roswire`
+* `git clone https://github.com/cmu-rss-lab/rosdiscover rosdiscover`
+* `cd rosdiscover`
+* `pip install -e .`
+
+#### Install the rosbag-extractor dependencies:
 
 ```
 $ pip3 install -r ./requirements.txt
 $ sudo apt install graphviz
 ```
 * If the requirements list is/becomes broken, do not hesitate to pull request the necessary updates.
 
-Then, just run the extraction script on a bag file: 
+
+Now you are finally ready to use  the extraction script on a bag file: 
+
 ```
 $ python3 extractor.py [-h] <-v ROS_VERSION> [-s START_TIME] [-e END_TIME] <-f FILE_PATH> <-ft FILE_TYPE> [-i INPUT] [-ts TIME_SPACE]
 ```
 
-##### Example
+ parser.add_argument('-rd', '--use-ros-discover', help='Option to run rosdiscover', required=False, type=bool)
+    parser.add_argument('-rdc', '--ros-discover-config', help='Path to the rosdiscover config', required=False, type=str)
+    parser.add_argument('-rds', '--node-input-strategy', help='either node-provider or graph-merge', required=False, type=str)
+
+If you would like to use rosbag extractor with rosdiscover support please use the following flags:
+* `-rd / --use-ros-discover` - Enable the usage of rosdiscover for node input
+* `-rdc / --ros-discover-config` - Path to the configuration for rosdiscover. Check out [this example](https://github.com/cristidragomir97/rosbag-extractor/blob/main/rosdiscover_configs/turtlebot3-slam.yml)
+* `-rds / --ros-discover-strategy` - The strategy used for integrationg the rosdiscover output. `graph-merge` creates an architecture graph using rosart and another one using rosdiscover and merges them, while `node-provider` uses the input from rosdiscover as an input for rosbag-extractor. 
+
+## Example
 
 Here, we provide an example with a very simple ROS 2 bag file:
 ```
@@ -87,3 +122,4 @@ The corresponding metric as follows can be found in the ``metrics`` directory.
 ```
 
 
+

extractor.py

@@ -1,7 +1,10 @@
 import os, sys
 import argparse
 from src.extractor import main
-
+from rosdiscover_wrapper import *
+import pandas as pd
+from graph_merger import *
+from graphviz import Source
 
 def check_files_extension(folder_path, extension):
     for filename in os.listdir(folder_path):
@@ -10,7 +13,7 @@ def check_files_extension(folder_path, extension):
     return False
 
 
-def run_extractor(ros_version, start_time, end_time, file_path, filetype, input, time_space):
+def run_extractor(ros_version, start_time, end_time, file_path, filetype, input, time_space, rosdiscover):
     print(">>>> Bag File Extractor <<<<")
 
     if start_time is None:
@@ -20,19 +23,19 @@ def run_extractor(ros_version, start_time, end_time, file_path, filetype, input,
 
     if ros_version == 'ros1':
         if filetype == 'bag':
-            main.extractor(start_time, end_time, file_path, filetype, input, time_space)
+            graph_path = main.extractor(start_time, end_time, file_path, filetype, input, time_space, rosdiscover = rosdiscover)
         else:
             print("ROS1 only has filetype `bag`")
             sys.exit()
     elif ros_version == 'ros2':
         if filetype == 'db3':
             if check_files_extension(file_path, '.db3'):
-                main.extractor(start_time, end_time, file_path, filetype, input, time_space)
+                graph_path = main.extractor(start_time, end_time, file_path, filetype, input, time_space, rosdiscover = rosdiscover)
             else:
                 print("Cannot find the correct file with the input filetype: " + filetype)
         elif filetype == 'mcap':
             if check_files_extension(file_path, '.mcap'):
-                main.extractor(start_time, end_time, file_path, filetype, input, time_space)
+                graph_path = main.extractor(start_time, end_time, file_path, filetype, input, time_space, rosdiscover = rosdiscover)
             else:
                 print("Cannot find the correct file with the input filetype: " + filetype)
         else:
@@ -41,7 +44,30 @@ def run_extractor(ros_version, start_time, end_time, file_path, filetype, input,
         print("ROS version is unknown")
 
     print(">>>>>>>>>>>>>><<<<<<<<<<<<<<<")
+    return graph_path
+
+
+def convert_dot_to_pdf(dot_file_path, pdf_output_path):
+    """
+    Reads a DOT file, displays the graph, and saves it as a PDF.
+
+    Parameters:
+    - dot_file_path: str, the path to the DOT file.
+    - pdf_output_path: str, the path where the PDF file will be saved.
+    """
+    print(pdf_output_path)
+    # Read the DOT file
+    with open(dot_file_path, 'r') as file:
+        dot_content = file.read()
+
+    # Create a Source object from the DOT content
+    dot_graph = Source(dot_content)
 
+    # Optionally, view the graph (this will open a viewer window if supported)
+    dot_graph.view()
+
+    # Save the graph to a PDF file (cleanup=True removes intermediate files)
+    dot_graph.render(pdf_output_path, format='pdf', cleanup=True)
 
 def run():
     # Arguments definition and management
@@ -53,15 +79,70 @@ def run():
     parser.add_argument('-ft', '--file_type', help='Bag file type: bag, db3 or mcap', required=True, type=str)
     parser.add_argument('-i', '--input', help='Path to file containing nodes information', required=False, type=str)
     parser.add_argument('-ts', '--time_space', help='Time in second to generate a series of interconnected graphs', required=False, type=str)
+    parser.add_argument('-rd', '--use-ros-discover', help='Option to run rosdiscover', required=False, type=bool)
+    parser.add_argument('-rdc', '--ros-discover-config', help='Path to the rosdiscover config', required=False, type=str)
+    parser.add_argument('-rds', '--node-input-strategy', help='either node-provider or graph-merge', required=False, type=str)
     options = parser.parse_args()
 
-    run_extractor(options.ros_version,
-                  options.start_time,
-                  options.end_time,
-                  options.file_path,
-                  options.file_type,
-                  options.input,
-                  options.time_space)
+    if options.use_ros_discover is not None:
+        if options.ros_discover_config is not None:
+            if options.node_input_strategy is not None:
+                csv_output_file = f"{options.file_path}/rosdiscover_output.csv"
+                print("Running ROS Discover",options.ros_discover_config, "with the", options.node_input_strategy, "strategy")
+                run_rosdiscover(options.ros_discover_config, csv_output_file)
+
+
+                if str(options.node_input_strategy) == "graph-merge":
+                    base_graph_path = run_extractor(options.ros_version,
+                        options.start_time,
+                        options.end_time,
+                        options.file_path,
+                        options.file_type,
+                        options.input,
+                        options.time_space, 
+                        rosdiscover = True)
+
+                    rosdiscover_graph_path = create_graph(path=csv_output_file, format= "dot")
+                    convert_dot_to_pdf(rosdiscover_graph_path, f"{rosdiscover_graph_path}.pdf")
+                    rosdiscover_graph_path = rosdiscover_graph_path + ".dot"
+
+                    print("Base graph path: ", base_graph_path)
+                    graph_folder_path = os.path.dirname(os.path.realpath(base_graph_path))
+                    print("Rosdiscover graph path: ", rosdiscover_graph_path)
+
+                    base_graph = parse_dotfile(base_graph_path)
+                    rosdiscover_graph = parse_dotfile(rosdiscover_graph_path)
+                    merged_graph = merge_and_highlight(base_graph, rosdiscover_graph)
+                    export_to_dot(merged_graph, graph_folder_path + "/merged_graph.dot")
+                    convert_dot_to_pdf(graph_folder_path + "/merged_graph.dot", graph_folder_path + "/merged_graph.pdf")
+
+
+                elif str(options.node_input_strategy) == "node-provider":
+                    graph_path = run_extractor(options.ros_version,
+                        options.start_time,
+                        options.end_time,
+                        options.file_path,
+                        options.file_type,
+                        csv_output_file,
+                        options.time_space, 
+                        rosdiscover = True)
+                    print(graph_path)
+
+                else:
+                    print("Node strategy is not node-provider or graph-merge")
+            else:
+                print("Please provide a strategy for the node input, can be either node-provider or graph-merge")
+    else:
+        run_extractor(options.ros_version,
+                        options.start_time,
+                        options.end_time,
+                        options.file_path,
+                        options.file_type,
+                        options.input,
+                        options.time_space, 
+                        rosdiscover = False)
+
+
 
 
 if __name__ == "__main__":

graph_merger.py

@@ -0,0 +1,43 @@
+import pydot
+
+def parse_dotfile(file_path):
+    graphs = pydot.graph_from_dot_file(file_path)
+    if graphs:
+        return graphs[0]
+    else:
+        return None
+
+def merge_and_highlight(graph1, graph2):
+    # Initialize the merged graph
+    merged_graph = pydot.Dot(graph_type='digraph')
+
+    # Add all nodes and edges from the first graph
+    for node in graph1.get_nodes():
+        merged_graph.add_node(node)
+    for edge in graph1.get_edges():
+        merged_graph.add_edge(edge)
+
+    # Keep track of existing nodes and edges for comparison
+    existing_nodes = set(node.get_name() for node in merged_graph.get_nodes())
+    existing_edges = set((edge.get_source(), edge.get_destination()) for edge in merged_graph.get_edges())
+
+    # Add nodes from the second graph
+    for node in graph2.get_nodes():
+        if node.get_name() not in existing_nodes:
+            node.set_color('red')  # Highlight new nodes in red
+        merged_graph.add_node(node)
+
+    # Add edges from the second graph, highlight new edges or edges between existing nodes
+    for edge in graph2.get_edges():
+        edge_tuple = (edge.get_source(), edge.get_destination())
+        if edge_tuple not in existing_edges:
+            edge.set_color('red')  # Highlight new edges in red
+            merged_graph.add_edge(edge)
+        elif edge.get_color() != 'red':  # For existing edges not highlighted, ensure they're not colored red
+            edge.set_color('')  # Reset color to default if re-adding an existing edge that's not new
+
+    return merged_graph
+
+def export_to_dot(merged_graph, output_file):
+    merged_graph.write_dot(output_file)
+    print(f"Exported merged graph to {output_file}")

requirement.txt

@@ -2,3 +2,6 @@ bagpy>=0.4.8
 graphviz>=0.20
 catkin_pkg>0.5.2
 rosbags
+pandas=2.2.1
+pydot=2.0.0
+ruamel.yaml=0.18.6

rosdiscover_configs/autorally.yml

@@ -0,0 +1,9 @@
+image: therobotcooperative/autorally
+sources:
+  - /opt/ros/melodic/setup.bash
+  - /ros_ws/devel/setup.bash
+  - /ros_ws/src/autorally/autorally_util/setupEnvLocal.sh
+launches:
+  - /ros_ws/src/autorally/autorally_gazebo/launch/autoRallyTrackGazeboSim.launch
+  - /ros_ws/src/autorally/autorally_control/launch/waypointFollower.launch
+  - /ros_ws/src/autorally/autorally_control/launch/constantSpeedController.launch

rosdiscover_configs/fetch.yml

@@ -0,0 +1,7 @@
+image: therobotcooperative/fetch
+sources:
+- /opt/ros/melodic/setup.bash
+- /ros_ws/devel/setup.bash
+launches:
+- /ros_ws/src/fetch_gazebo/fetch_gazebo/launch/playground.launch
+- /ros_ws/src/fetch_gazebo/fetch_gazebo_demo/launch/demo.launch

rosdiscover_configs/turtlebot3-slam.yml

@@ -0,0 +1,13 @@
+image: cristidragomir97/turtlebot3-melodic
+sources:
+- /opt/ros/melodic/setup.bash
+- /turtlebot3_ws/devel/setup.bash
+environment:
+  TURTLEBOT3_MODEL: burger
+launches:
+- filename: /turtlebot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_house.launch
+- filename: /turtlebot3_ws/src/turtlebot3/turtlebot3_teleop/launch/turtlebot3_teleop_key.launch
+- filename: /turtlebot3_ws/src/turtlebot3/turtlebot3_slam/launch/turtlebot3_slam.launch
+  slam_methods: gmapping
+
+