feat: add graphviz layout option to graph_viewer

Author: JuanCarlosgg

.gitignore

@@ -3,4 +3,5 @@
 **/cmake-build-release/*
 **/.idea/*
 .cache/
-bench/
+bench/
+experiment/

dependencies.sh

@@ -12,6 +12,7 @@ sudo apt install libqglviewer-dev-qt6
 sudo apt install libeigen3-dev
 sudo apt install python3-dev python3-pybind11
 sudo apt install cmake gcc-13 g++-13
+sudo apt install libgraphviz-dev
 
 sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-13 1
 sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 1

gui/CMakeLists.txt

@@ -38,6 +38,16 @@ find_package(Eigen3 3.3 REQUIRED NO_MODULE)
 find_package(OpenSceneGraph REQUIRED COMPONENTS osg osgDB osgGA)
 find_package(cppitertools)
 
+find_package(PkgConfig)
+pkg_check_modules(GRAPHVIZ libgvc libcgraph)
+if(GRAPHVIZ_FOUND)
+    message(STATUS "Found Graphviz via pkg-config")
+    #message(STATUS "  Include dirs: ${GRAPHVIZ_INCLUDE_DIRS}")
+    #message(STATUS "  Libraries: ${GRAPHVIZ_LIBRARIES}")
+    #message(STATUS "  Library dirs: ${GRAPHVIZ_LIBRARY_DIRS}")
+endif()
+
+
 SET(CMAKE_AUTOMOC ON)
 SET(CMAKE_AUTOUIC ON)
 
@@ -88,6 +98,7 @@ target_link_libraries(dsr_gui
         Qt6::OpenGL
         fastdds
         ${qt3d_libs}
+        ${GRAPHVIZ_LIBRARIES}
         )
 
 target_include_directories(dsr_gui
@@ -99,6 +110,7 @@ target_include_directories(dsr_gui
         PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/>
         $<INSTALL_INTERFACE:>
+        ${GRAPHVIZ_INCLUDE_DIRS}
         )
 
 set_target_properties(dsr_gui

gui/dsr_gui.cpp

@@ -21,13 +21,15 @@
 #include <QScreen>
 #include <QStringList>
 #include <QStatusBar>
+#include <qsharedpointer.h>
 #include <utility>
 #include <dsr/gui/viewers/graph_viewer/graph_node.h>
 #include <dsr/gui/viewers/graph_viewer/graph_edge.h>
 #include <unistd.h>
 #include <cstdlib>
 #include <cstdio>
 #include <cstring>
+#include "dsr/gui/viewers/graph_viewer/graph_viewer.h"
 #include "sys/times.h"
 #include <fcntl.h>
 
@@ -313,6 +315,19 @@ void DSRViewer::initialize_views(int options, view central)
         {
             qobject_cast<GraphViewer *>(widgets_by_type[view::graph]->widget)->toggle_animation(state);
         });
+
+        auto layout_menu = window->menuBar()->addMenu(window->tr("&Graph Layout"));
+
+        for (auto str : {"dot", "neato", "fdp", "sfdp", "circo", "twopi"}) {
+            auto action = std::string("Graphviz ") + str;
+            QAction *action_graphviz = new QAction(action.data(), this);
+            action_graphviz->setStatusTip(tr(action.data()));
+            layout_menu->addAction(action_graphviz);
+            connect(action_graphviz, &QAction::triggered, this, [this, str](bool state)
+            {
+                qobject_cast<GraphViewer *>(widgets_by_type[view::graph]->widget)->compute_layout(str);
+            });
+        }
     }
 
 //	Tabification of current docks

gui/include/dsr/gui/viewers/graph_viewer/graph_viewer.h

@@ -28,6 +28,8 @@
 #include <QResizeEvent>
 #include <QMenu>
 
+#include <graphviz/gvc.h>
+#include <graphviz/cgraph.h>
 
 class GraphNode;
 class GraphEdge;
@@ -54,6 +56,7 @@ namespace DSR
 			void hide_show_node_SLOT(uint64_t id, bool visible);
 			// Others
 			void toggle_animation(bool state);
+            void compute_layout(const char * alg = "dot");
 			void reload(QWidget * widget);
             void remove_node_SLOT(uint64_t id);  // remove node from DSR
 
@@ -72,9 +75,13 @@ namespace DSR
 			std::map<std::string,std::set<std::uint64_t>> type_id_map;
 			int timerId = 0;
             void showContextMenu(QMouseEvent *event);
-
+            
+            // Graphviz layout
+            GVC_t* graphviz_context;
+            Agraph_t* graphviz_graph;
 
     	protected:
+
             void createGraph();
 			virtual void timerEvent(QTimerEvent *event);
 			virtual void mousePressEvent(QMouseEvent *event);

gui/viewers/graph_viewer/graph_viewer.cpp

@@ -5,6 +5,11 @@
 #include <dsr/gui/viewers/graph_viewer/graph_edge.h>
 #include <dsr/gui/viewers/graph_viewer/graph_viewer.h>
 #include <QMessageBox>
+#include <graphviz/cgraph.h>
+#include <graphviz/gvc.h>
+#include <graphviz/types.h>
+#include <qglobal.h>
+#include <string>
 
 using namespace DSR ;
 
@@ -18,6 +23,9 @@ GraphViewer::GraphViewer(std::shared_ptr<DSR::DSRGraph> G_, QWidget *parent) :
     G = std::move(G_);
 	own = std::shared_ptr<GraphViewer>(this);
 
+    graphviz_context = gvContext();
+    graphviz_graph =  agopen((char*)"G", Agdirected, nullptr);
+
     contextMenu = new QMenu(this);
     showMenu = contextMenu->addMenu(tr("&Show:"));
 
@@ -55,6 +63,8 @@ GraphViewer::~GraphViewer()
 
 	}
 	scene.clear();
+    agclose(graphviz_graph);
+    gvFreeContext(graphviz_context);
 }
 
 void GraphViewer::createGraph()
@@ -157,6 +167,12 @@ void GraphViewer::add_or_assign_node_SLOT(uint64_t id, const std::string &type)
             color = G->get_attrib_by_name<color_att>(n.value()).value_or(color);
 			gnode->set_color(color);
 			gnode->setType(type);
+            auto id_str = std::to_string(id);
+            Agnode_t* gvnode = agnode(graphviz_graph, id_str.data(), 1);
+            agset(gvnode, (char*)"width", (char*)"1.5");
+            agset(gvnode, (char*)"height", (char*)"1.5");
+            agset(gvnode, (char*)"shape", (char*)"box");
+            agset(gvnode, (char*)"fixedsize", (char*)"true");
         }
         else
 		{
@@ -186,6 +202,9 @@ void GraphViewer::add_or_assign_node_SLOT(uint64_t id, const std::string &type)
                 add_or_assign_edge_SLOT(edges.from(), edges.to(), edges.type());
         }
     }
+
+	this->scene.setSceneRect(scene.itemsBoundingRect());
+	this->fitInView(scene.itemsBoundingRect(), Qt::KeepAspectRatio );
 }
 
 GraphNode* GraphViewer::new_visual_node(uint64_t id, const std::string &type, const std::string &name, bool debug)
@@ -215,6 +234,15 @@ void GraphViewer::add_or_assign_edge_SLOT(std::uint64_t from, std::uint64_t to,
             {
                 auto item = this->new_visual_edge(from, to, edge_tag);
                 gmap_edges.insert(std::make_pair(key, item));
+
+                auto from_str = std::to_string(from);
+                auto to_str = std::to_string(to);
+                Agnode_t *gvnode_f = agfindnode(graphviz_graph, from_str.data());
+                Agnode_t *gvnode_t = agfindnode(graphviz_graph, to_str.data());
+
+                Agedge_t* gvedge = agedge(graphviz_graph, gvnode_f, gvnode_t, nullptr, 1);
+                agset(gvedge, (char *)"type", (char *)edge_tag.data());
+
             }
             if (gmap_edges[key]) gmap_edges[key]->change_detected();
         }
@@ -266,6 +294,15 @@ void GraphViewer::del_edge_SLOT(std::uint64_t from, std::uint64_t to, const std:
                 scene.removeItem(edge);
                 delete edge;
             }
+
+            auto from_str = std::to_string(from);
+            auto to_str = std::to_string(to);
+            Agnode_t *gvnode_f = agfindnode(graphviz_graph, from_str.data());
+            Agnode_t *gvnode_t = agfindnode(graphviz_graph, to_str.data());
+
+            if (Agedge_t *gvedge = agfindedge(graphviz_graph, gvnode_f, gvnode_t)) {
+                agdeledge(graphviz_graph, gvedge);
+            }
 		}
 	} catch(const std::exception &e) { std::cout << e.what() <<" Error  "<<__FUNCTION__<<":"<<__LINE__<< std::endl;}
 
@@ -282,6 +319,10 @@ void GraphViewer::del_node_SLOT(uint64_t id)
             scene.removeItem(item);
             delete item;
             gmap.erase(id);
+            auto id_str = std::to_string(id);
+            if (Agnode_t *gvnode = agfindnode(graphviz_graph, id_str.data())) {
+                agdelnode(graphviz_graph, gvnode);
+            }
         }
     } catch(const std::exception &e) { std::cout << e.what() <<" Error  "<<__FUNCTION__<<":"<<__LINE__<< std::endl;}
 
@@ -333,4 +374,38 @@ void GraphViewer::remove_node_SLOT(uint64_t node_id)
 {
     std::cout << "Remove node in graph_viewer class"<<node_id <<std::endl;
     G->delete_node(node_id);
+}
+
+void GraphViewer::compute_layout(const char * alg) {
+    
+    gvLayout(graphviz_context, graphviz_graph, alg);
+
+    qreal root_x = 0.0, root_y = 0.0; 
+    for (Agnode_t* n = agfstnode(graphviz_graph); n; n = agnxtnode(graphviz_graph, n)) {
+        auto name = agnameof(n);
+        uint64_t id = std::stoull(name);
+        double x = ND_coord(n).x;
+        double y = ND_coord(n).y;
+        auto *gnode = gmap.at(id);
+        if (gnode) gnode->setPos(x, y);
+        if (std::string_view(name) == std::string_view("root")) {
+            root_x = x;
+            root_y = y;
+        }
+        // We don't need to process the edges to render them
+        //Uncomment this is the layout propagation is desired
+        /*qDebug() << __FILE__ <<":"<<__FUNCTION__<< " node id in graphnode: " << id ;
+        std::optional<Node> g_node = G->get_node(id);
+        if (g_node.has_value()) {
+            G->add_or_modify_attrib_local<pos_x_att>(*g_node, (float) x);
+            G->add_or_modify_attrib_local<pos_y_att>(*g_node,  (float) y);
+            G->update_node(*g_node);
+        }*/
+    }
+
+    centerOn(root_x, root_y);
+	this->scene.setSceneRect(scene.itemsBoundingRect());
+	this->fitInView(scene.itemsBoundingRect(), Qt::KeepAspectRatio );
+
+    gvFreeLayout(graphviz_context, graphviz_graph);
 }