diff --git a/quad/computation_graph/Makefile b/quad/computation_graph/Makefile
index dd6e7b7e24e5c23087f7c24a24b875c650a6bbee..44c7e592619900de5251a68e4a8acb989422a6fc 100644
--- a/quad/computation_graph/Makefile
+++ b/quad/computation_graph/Makefile
@@ -10,7 +10,7 @@ SRC_PATH = ./src
# Space-separated pkg-config libraries used by this project
LIBS =
# General compiler flags
-COMPILE_FLAGS = -std=c99 -Wall -Wextra -pedantic -g
+COMPILE_FLAGS = -std=c99 -Wall -Wextra -g
# Additional release-specific flags
RCOMPILE_FLAGS = -D NDEBUG
# Additional debug-specific flags
diff --git a/quad/computation_graph/src/computation_graph.c b/quad/computation_graph/src/computation_graph.c
index eb54048ce90dcc9e13741eb514a542d681ddc4a9..28b10fbb45faac72293d7f50407c9f795d13bbca 100644
--- a/quad/computation_graph/src/computation_graph.c
+++ b/quad/computation_graph/src/computation_graph.c
@@ -41,6 +41,7 @@ static void reset_node_rec(struct computation_graph* graph, int node_id, int dep
if (node->type->reset != NULL) {
node->type->reset(node->state);
}
+ node->updated = 1;
node->processed_state = PROCESSED;
}
@@ -75,6 +76,7 @@ int graph_set_source(struct computation_graph *graph,
src_node->n_children += 1; // Count destination node as a child
dest_node->input_srcs[dest_input].controller_id = src_node_id;
dest_node->input_srcs[dest_input].controller_output = src_output;
+ dest_node->updated = 1;
reset_node(graph, src_node_id);
return 0;
}
@@ -99,6 +101,7 @@ int graph_add_node(struct computation_graph *graph,
new_node->type = type;
new_node->state = state;
new_node->n_children = 0;
+ new_node->updated = 1;
new_node->output_values = malloc(type->n_outputs * sizeof(double));
new_node->param_values = malloc(type->n_params * sizeof(double));
new_node->input_srcs = malloc(type->n_inputs * sizeof(struct input_type));
@@ -125,10 +128,11 @@ int graph_set_param_val(struct computation_graph *graph, int node_id, int param_
return -1;
}
graph->nodes[node_id].param_values[param_id] = value;
+ graph->nodes[node_id].updated = 1;
return 0;
}
-double graph_get_param_val(struct computation_graph *graph, int node_id, int param_id) {
+double graph_get_param_val(const struct computation_graph *graph, int node_id, int param_id) {
if (node_id >= graph->n_nodes || param_id >= graph->nodes[node_id].type->n_params) {
return NAN;
}
@@ -160,23 +164,26 @@ void graph_compute_node_rec(struct computation_graph *graph, int node_id, int de
int src_cntl_id = node->input_srcs[input_id].controller_id;
if (src_cntl_id != -1) {
graph_compute_node_rec(graph, src_cntl_id, depth + 1);
+ node->updated |= graph->nodes[src_cntl_id].updated;
}
}
- // Populate the exec_input_vals array for computation
- for (input_id = 0; input_id < node->type->n_inputs; input_id++) {
- int src_cntl_id = node->input_srcs[input_id].controller_id;
- int src_output_id = node->input_srcs[input_id].controller_output;
- if (src_cntl_id != -1) {
- exec_input_vals[input_id] = graph->nodes[src_cntl_id].output_values[src_output_id];
+ if (node->updated) {
+ // Populate the exec_input_vals array for computation
+ for (input_id = 0; input_id < node->type->n_inputs; input_id++) {
+ int src_cntl_id = node->input_srcs[input_id].controller_id;
+ int src_output_id = node->input_srcs[input_id].controller_output;
+ if (src_cntl_id != -1) {
+ exec_input_vals[input_id] = graph->nodes[src_cntl_id].output_values[src_output_id];
+ }
+ else {
+ // Set input value to 0 if not connected
+ exec_input_vals[input_id] = 0;
+ }
}
- else {
- // Set input value to 0 if not connected
- exec_input_vals[input_id] = 0;
+ if (node->type->execute != NULL) {
+ (*node->type->execute)(node->state, node->param_values, exec_input_vals, node->output_values);
}
}
- if (node->type->execute != NULL) {
- (*node->type->execute)(node->state, node->param_values, exec_input_vals, node->output_values);
- }
node->processed_state = PROCESSED;
}
@@ -191,6 +198,10 @@ void graph_compute_nodes(struct computation_graph *graph, int* node_ids, int n_n
graph_compute_node_rec(graph, node_id, 0);
}
}
+ // Clear all the updated flags
+ for (i = 0; i < graph->n_nodes; i++) {
+ graph->nodes[i].updated = 0;
+ }
}
int export_dot(const struct computation_graph* graph, FILE* of, int print_outputs) {
diff --git a/quad/computation_graph/src/computation_graph.h b/quad/computation_graph/src/computation_graph.h
index 5b38d252f95db85b2556044ed965bc250c703a8b..e5e769fd28abcb90f66ef2df40434e132c496c62 100644
--- a/quad/computation_graph/src/computation_graph.h
+++ b/quad/computation_graph/src/computation_graph.h
@@ -37,17 +37,18 @@ struct graph_node_type {
// Declares an instance of a node
struct graph_node {
- const char *name;
- const struct graph_node_type* type;
- double *output_values;
- double *param_values;
- int n_children;
- void *state;
- int processed_state;
- struct input_type {
+ const char *name; // Name of this node instance
+ const struct graph_node_type* type; // Type of this node
+ double *output_values; // Computed output values
+ double *param_values; // Values of parameters set for this node
+ int n_children; // The number of connected children
+ void *state; // Pointer to the state instance
+ int processed_state; // State of the node with respecct to the graph traversal
+ struct input_type { // Array of tuples indicating the source for each input to this node
int controller_id;
int controller_output;
} *input_srcs;
+ int updated; // 1 if this node has had an input or parameter change
};
/*
@@ -93,7 +94,7 @@ int graph_set_param_val(struct computation_graph *graph, int node_id, int param_
* Returns the value of the param at param_id for the given node
* Will return NaN if the given node or parameter IDs are not valid
*/
-double graph_get_param_val(struct computation_graph *graph, int node_id, int param_id);
+double graph_get_param_val(const struct computation_graph *graph, int node_id, int param_id);
/*
* Computes the nodes given by node_id.
diff --git a/quad/computation_graph/src/main.c b/quad/computation_graph/src/main.c
index be0e8ee775fd4b8900bb41724a8431ab6384ac11..b7fb2d3302228793a67465812e155e37e2f3b1f8 100644
--- a/quad/computation_graph/src/main.c
+++ b/quad/computation_graph/src/main.c
@@ -37,5 +37,6 @@ int main() {
int success = graph_run_tests();
printf("Success: %s\n", success == 0 ? "Yes" : "No");
fflush(stdout);
+
return 0;
}
diff --git a/quad/computation_graph/test/Makefile b/quad/computation_graph/test/Makefile
index 73d20c6744b465f4fb83afc3afe0e11ef31baf70..4fb6cf11603044352c832c27ce2b2a21edc58147 100644
--- a/quad/computation_graph/test/Makefile
+++ b/quad/computation_graph/test/Makefile
@@ -4,7 +4,7 @@ INC = $(QUAD_ROOT)/computation_graph/src
BLOCKS_INC = $(QUAD_ROOT)/computation_graph/src/graph_blocks
LIB = $(QUAD_ROOT)/lib/test
-test_computation_graph: test_computation_graph.c
+test_computation_graph: test_computation_graph.c $(SRC)
gcc -o test_computation_graph -I. -I$(INC) -I$(BLOCKS_INC) -I$(LIB) $(LIB)/test.o test_computation_graph.c $(SRC) -lm
.PHONY: clean
diff --git a/quad/computation_graph/test/test_computation_graph.c b/quad/computation_graph/test/test_computation_graph.c
index 8b11796af3a0042c5224cb65a37926185f17ee64..e4155ec8fb90ade08d0cc9484a4ca99ea8d02dbf 100644
--- a/quad/computation_graph/test/test_computation_graph.c
+++ b/quad/computation_graph/test/test_computation_graph.c
@@ -131,7 +131,9 @@ int graph_test_reset_rules() {
to_compute_for[0] = gain2;
graph_compute_nodes(graph, to_compute_for, 1);
double result = graph_get_output(graph, gain2, GAIN_RESULT);
- return nequal(result, 10);
+ // Equals 5 and not 10 because the inputs to the accumulator did not change,
+ // so it didn't run again'
+ return nequal(result, 5);
}
int graph_test_self_loop() {