README: Add service graph

asherikov · asherikov · commit 7209ae676b87 · 2025-10-28T19:44:17.000+04:00
diff --git a/README.md b/README.md
@@ -123,6 +123,10 @@ working directories.
   termination can also be performed by stopping a particular service, e.g.,
   `cdinit.sh stop --force px4sitl_gz_clock`.
 
+### Service dependency graph
+
+<img src="https://raw.githubusercontent.com/asherikov/px4ws/main/doc/service_graph.svg" alt="service graph" />
+
 
 Troubleshooting
 ===============
diff --git a/doc/service_graph.svg b/doc/service_graph.svg
@@ -0,0 +1,163 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<!-- Generated by graphviz version 2.43.0 (0)
+ -->
+<!-- Title: DinitServices Pages: 1 -->
+<svg width="539pt" height="332pt"
+ viewBox="0.00 0.00 539.28 332.00" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
+<g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(4 328)">
+<title>DinitServices</title>
+<polygon fill="white" stroke="transparent" points="-4,4 -4,-328 535.28,-328 535.28,4 -4,4"/>
+<!-- cdinit_log -->
+<g id="node1" class="node">
+<title>cdinit_log</title>
+<path fill="white" stroke="black" d="M333.28,-36C333.28,-36 271.28,-36 271.28,-36 265.28,-36 259.28,-30 259.28,-24 259.28,-24 259.28,-12 259.28,-12 259.28,-6 265.28,0 271.28,0 271.28,0 333.28,0 333.28,0 339.28,0 345.28,-6 345.28,-12 345.28,-12 345.28,-24 345.28,-24 345.28,-30 339.28,-36 333.28,-36"/>
+<text text-anchor="middle" x="302.28" y="-14.3" font-family="Times,serif" font-size="14.00">cdinit_log</text>
+</g>
+<!-- px4sitl_dds_agent -->
+<g id="node2" class="node">
+<title>px4sitl_dds_agent</title>
+<path fill="lightblue" stroke="black" d="M362.78,-108C362.78,-108 241.78,-108 241.78,-108 235.78,-108 229.78,-102 229.78,-96 229.78,-96 229.78,-84 229.78,-84 229.78,-78 235.78,-72 241.78,-72 241.78,-72 362.78,-72 362.78,-72 368.78,-72 374.78,-78 374.78,-84 374.78,-84 374.78,-96 374.78,-96 374.78,-102 368.78,-108 362.78,-108"/>
+<text text-anchor="middle" x="302.28" y="-86.3" font-family="Times,serif" font-size="14.00">px4sitl_dds_agent</text>
+</g>
+<!-- px4sitl_dds_agent&#45;&gt;cdinit_log -->
+<g id="edge4" class="edge">
+<title>px4sitl_dds_agent&#45;&gt;cdinit_log</title>
+<path fill="none" stroke="black" d="M302.28,-71.7C302.28,-63.39 302.28,-53.28 302.28,-44.14"/>
+<ellipse fill="black" stroke="black" cx="302.28" cy="-40.1" rx="4" ry="4"/>
+</g>
+<!-- px4sitl_gz_clock -->
+<g id="node3" class="node">
+<title>px4sitl_gz_clock</title>
+<path fill="lightblue" stroke="black" d="M140.78,-180C140.78,-180 33.78,-180 33.78,-180 27.78,-180 21.78,-174 21.78,-168 21.78,-168 21.78,-156 21.78,-156 21.78,-150 27.78,-144 33.78,-144 33.78,-144 140.78,-144 140.78,-144 146.78,-144 152.78,-150 152.78,-156 152.78,-156 152.78,-168 152.78,-168 152.78,-174 146.78,-180 140.78,-180"/>
+<text text-anchor="middle" x="87.28" y="-158.3" font-family="Times,serif" font-size="14.00">px4sitl_gz_clock</text>
+</g>
+<!-- px4sitl_gz_clock&#45;&gt;cdinit_log -->
+<g id="edge7" class="edge">
+<title>px4sitl_gz_clock&#45;&gt;cdinit_log</title>
+<path fill="none" stroke="black" d="M68.4,-143.92C49.7,-124.94 26.28,-94.08 44.28,-72 69.86,-40.63 183.47,-27.3 251.1,-22.06"/>
+<ellipse fill="black" stroke="black" cx="255.12" cy="-21.76" rx="4" ry="4"/>
+</g>
+<!-- px4sitl_gz_headless -->
+<g id="node5" class="node">
+<title>px4sitl_gz_headless</title>
+<path fill="lightblue" stroke="black" d="M199.28,-108C199.28,-108 65.28,-108 65.28,-108 59.28,-108 53.28,-102 53.28,-96 53.28,-96 53.28,-84 53.28,-84 53.28,-78 59.28,-72 65.28,-72 65.28,-72 199.28,-72 199.28,-72 205.28,-72 211.28,-78 211.28,-84 211.28,-84 211.28,-96 211.28,-96 211.28,-102 205.28,-108 199.28,-108"/>
+<text text-anchor="middle" x="132.28" y="-86.3" font-family="Times,serif" font-size="14.00">px4sitl_gz_headless</text>
+</g>
+<!-- px4sitl_gz_clock&#45;&gt;px4sitl_gz_headless -->
+<g id="edge10" class="edge">
+<title>px4sitl_gz_clock&#45;&gt;px4sitl_gz_headless</title>
+<path fill="none" stroke="black" d="M98.4,-143.7C103.63,-135.56 109.98,-125.69 115.76,-116.7"/>
+<polygon fill="black" stroke="black" points="118.82,-118.41 121.28,-108.1 112.93,-114.62 118.82,-118.41"/>
+</g>
+<!-- px4sitl_gz_gui -->
+<g id="node4" class="node">
+<title>px4sitl_gz_gui</title>
+<path fill="lightblue" stroke="black" d="M228.28,-324C228.28,-324 134.28,-324 134.28,-324 128.28,-324 122.28,-318 122.28,-312 122.28,-312 122.28,-300 122.28,-300 122.28,-294 128.28,-288 134.28,-288 134.28,-288 228.28,-288 228.28,-288 234.28,-288 240.28,-294 240.28,-300 240.28,-300 240.28,-312 240.28,-312 240.28,-318 234.28,-324 228.28,-324"/>
+<text text-anchor="middle" x="181.28" y="-302.3" font-family="Times,serif" font-size="14.00">px4sitl_gz_gui</text>
+</g>
+<!-- px4sitl_gz_gui&#45;&gt;cdinit_log -->
+<g id="edge15" class="edge">
+<title>px4sitl_gz_gui&#45;&gt;cdinit_log</title>
+<path fill="none" stroke="black" d="M140.28,-287.92C99.6,-268.48 39.64,-232.46 13.28,-180 -8.64,-136.38 -2.53,-105.17 33.28,-72 64.32,-43.25 181.97,-28.87 250.97,-22.77"/>
+<ellipse fill="black" stroke="black" cx="255.15" cy="-22.41" rx="4" ry="4"/>
+</g>
+<!-- px4sitl_gz_wait -->
+<g id="node6" class="node">
+<title>px4sitl_gz_wait</title>
+<path fill="lightyellow" stroke="black" d="M395.28,-180C395.28,-180 293.28,-180 293.28,-180 287.28,-180 281.28,-174 281.28,-168 281.28,-168 281.28,-156 281.28,-156 281.28,-150 287.28,-144 293.28,-144 293.28,-144 395.28,-144 395.28,-144 401.28,-144 407.28,-150 407.28,-156 407.28,-156 407.28,-168 407.28,-168 407.28,-174 401.28,-180 395.28,-180"/>
+<text text-anchor="middle" x="344.28" y="-158.3" font-family="Times,serif" font-size="14.00">px4sitl_gz_wait</text>
+</g>
+<!-- px4sitl_gz_gui&#45;&gt;px4sitl_gz_wait -->
+<g id="edge12" class="edge">
+<title>px4sitl_gz_gui&#45;&gt;px4sitl_gz_wait</title>
+<path fill="none" stroke="black" d="M200.94,-287.87C229.82,-262.71 283.84,-215.65 316.68,-187.04"/>
+<polygon fill="black" stroke="black" points="319.31,-189.4 324.55,-180.19 314.71,-184.12 319.31,-189.4"/>
+</g>
+<!-- px4sitl_ros -->
+<g id="node9" class="node">
+<title>px4sitl_ros</title>
+<path fill="lightgray" stroke="black" d="M216.78,-252C216.78,-252 145.78,-252 145.78,-252 139.78,-252 133.78,-246 133.78,-240 133.78,-240 133.78,-228 133.78,-228 133.78,-222 139.78,-216 145.78,-216 145.78,-216 216.78,-216 216.78,-216 222.78,-216 228.78,-222 228.78,-228 228.78,-228 228.78,-240 228.78,-240 228.78,-246 222.78,-252 216.78,-252"/>
+<text text-anchor="middle" x="181.28" y="-230.3" font-family="Times,serif" font-size="14.00">px4sitl_ros</text>
+</g>
+<!-- px4sitl_gz_gui&#45;&gt;px4sitl_ros -->
+<g id="edge11" class="edge">
+<title>px4sitl_gz_gui&#45;&gt;px4sitl_ros</title>
+<path fill="none" stroke="black" d="M181.28,-287.7C181.28,-279.98 181.28,-270.71 181.28,-262.11"/>
+<polygon fill="black" stroke="black" points="184.78,-262.1 181.28,-252.1 177.78,-262.1 184.78,-262.1"/>
+</g>
+<!-- px4sitl_gz_headless&#45;&gt;cdinit_log -->
+<g id="edge6" class="edge">
+<title>px4sitl_gz_headless&#45;&gt;cdinit_log</title>
+<path fill="none" stroke="black" d="M173.87,-71.88C197.83,-62.01 228.08,-49.55 253.21,-39.21"/>
+<ellipse fill="black" stroke="black" cx="257.13" cy="-37.59" rx="4" ry="4"/>
+</g>
+<!-- px4sitl_gz_wait&#45;&gt;cdinit_log -->
+<g id="edge16" class="edge">
+<title>px4sitl_gz_wait&#45;&gt;cdinit_log</title>
+<path fill="none" stroke="black" d="M361.51,-143.9C377.65,-125.7 397.48,-96.25 384.28,-72 377.03,-58.68 364.84,-48.2 352.04,-40.2"/>
+<ellipse fill="black" stroke="black" cx="348.35" cy="-38.04" rx="4" ry="4"/>
+</g>
+<!-- px4sitl_gz_wait&#45;&gt;px4sitl_gz_headless -->
+<g id="edge3" class="edge">
+<title>px4sitl_gz_wait&#45;&gt;px4sitl_gz_headless</title>
+<path fill="none" stroke="black" d="M292.69,-143.97C262.81,-134.1 225.02,-121.62 193.62,-111.25"/>
+<polygon fill="black" stroke="black" points="194.69,-107.92 184.1,-108.11 192.5,-114.57 194.69,-107.92"/>
+</g>
+<!-- px4sitl_px4 -->
+<g id="node7" class="node">
+<title>px4sitl_px4</title>
+<path fill="lightblue" stroke="black" d="M439.28,-252C439.28,-252 365.28,-252 365.28,-252 359.28,-252 353.28,-246 353.28,-240 353.28,-240 353.28,-228 353.28,-228 353.28,-222 359.28,-216 365.28,-216 365.28,-216 439.28,-216 439.28,-216 445.28,-216 451.28,-222 451.28,-228 451.28,-228 451.28,-240 451.28,-240 451.28,-246 445.28,-252 439.28,-252"/>
+<text text-anchor="middle" x="402.28" y="-230.3" font-family="Times,serif" font-size="14.00">px4sitl_px4</text>
+</g>
+<!-- px4sitl_px4&#45;&gt;cdinit_log -->
+<g id="edge8" class="edge">
+<title>px4sitl_px4&#45;&gt;cdinit_log</title>
+<path fill="none" stroke="black" d="M408.03,-215.87C417.58,-183.98 432.62,-114.83 400.28,-72 388.34,-56.2 370.28,-44.56 352.9,-36.28"/>
+<ellipse fill="black" stroke="black" cx="349.16" cy="-34.59" rx="4" ry="4"/>
+</g>
+<!-- px4sitl_px4&#45;&gt;px4sitl_gz_wait -->
+<g id="edge2" class="edge">
+<title>px4sitl_px4&#45;&gt;px4sitl_gz_wait</title>
+<path fill="none" stroke="black" d="M387.94,-215.7C380.99,-207.3 372.51,-197.07 364.88,-187.86"/>
+<polygon fill="black" stroke="black" points="367.53,-185.57 358.45,-180.1 362.14,-190.04 367.53,-185.57"/>
+</g>
+<!-- px4sitl_qgroundcontrol -->
+<g id="node8" class="node">
+<title>px4sitl_qgroundcontrol</title>
+<path fill="lightblue" stroke="black" d="M519.28,-324C519.28,-324 361.28,-324 361.28,-324 355.28,-324 349.28,-318 349.28,-312 349.28,-312 349.28,-300 349.28,-300 349.28,-294 355.28,-288 361.28,-288 361.28,-288 519.28,-288 519.28,-288 525.28,-288 531.28,-294 531.28,-300 531.28,-300 531.28,-312 531.28,-312 531.28,-318 525.28,-324 519.28,-324"/>
+<text text-anchor="middle" x="440.28" y="-302.3" font-family="Times,serif" font-size="14.00">px4sitl_qgroundcontrol</text>
+</g>
+<!-- px4sitl_qgroundcontrol&#45;&gt;cdinit_log -->
+<g id="edge5" class="edge">
+<title>px4sitl_qgroundcontrol&#45;&gt;cdinit_log</title>
+<path fill="none" stroke="black" d="M448.58,-287.79C453.02,-277.63 458.02,-264.38 460.28,-252 474.95,-171.56 475.35,-134.19 422.28,-72 404.6,-51.29 377.26,-38.36 353.14,-30.47"/>
+<ellipse fill="black" stroke="black" cx="349.26" cy="-29.26" rx="4" ry="4"/>
+</g>
+<!-- px4sitl_qgroundcontrol&#45;&gt;px4sitl_px4 -->
+<g id="edge1" class="edge">
+<title>px4sitl_qgroundcontrol&#45;&gt;px4sitl_px4</title>
+<path fill="none" stroke="black" d="M430.89,-287.7C426.51,-279.64 421.22,-269.89 416.38,-260.98"/>
+<polygon fill="black" stroke="black" points="419.41,-259.22 411.56,-252.1 413.26,-262.56 419.41,-259.22"/>
+</g>
+<!-- px4sitl_ros&#45;&gt;px4sitl_dds_agent -->
+<g id="edge9" class="edge">
+<title>px4sitl_ros&#45;&gt;px4sitl_dds_agent</title>
+<path fill="none" stroke="black" d="M195.87,-215.87C217.04,-191.03 256.4,-144.85 280.86,-116.14"/>
+<polygon fill="black" stroke="black" points="283.81,-118.07 287.63,-108.19 278.48,-113.53 283.81,-118.07"/>
+</g>
+<!-- px4sitl_ros&#45;&gt;px4sitl_gz_clock -->
+<g id="edge14" class="edge">
+<title>px4sitl_ros&#45;&gt;px4sitl_gz_clock</title>
+<path fill="none" stroke="black" d="M158.04,-215.7C146.09,-206.8 131.36,-195.82 118.43,-186.2"/>
+<polygon fill="black" stroke="black" points="120.36,-183.27 110.25,-180.1 116.18,-188.88 120.36,-183.27"/>
+</g>
+<!-- px4sitl_ros&#45;&gt;px4sitl_gz_headless -->
+<g id="edge13" class="edge">
+<title>px4sitl_ros&#45;&gt;px4sitl_gz_headless</title>
+<path fill="none" stroke="black" d="M179.2,-215.83C176.62,-197.58 171.42,-168.08 162.28,-144 158.75,-134.71 153.77,-125.09 148.88,-116.65"/>
+<polygon fill="black" stroke="black" points="151.83,-114.77 143.68,-108.01 145.84,-118.38 151.83,-114.77"/>
+</g>
+</g>
+</svg>
