diff --git a/quad/computation_graph/src/computation_graph.c b/quad/computation_graph/src/computation_graph.c
index f5b766174637b2ad174d9f699e95ad798870dead..9fb4ffcc82fd4e06eb390fcfd353d7a5bd539960 100644
--- a/quad/computation_graph/src/computation_graph.c
+++ b/quad/computation_graph/src/computation_graph.c
@@ -1,5 +1,6 @@
#include <stdlib.h>
#include <string.h>
+#include <assert.h>
#include "computation_graph.h"
#define GRAPH_MAX_DEPTH 20
@@ -34,7 +35,9 @@ int graph_set_source(struct computation_graph *graph,
}
int graph_create_node(struct computation_graph *graph,
- char* name,
+ const char* name,
+ const char* const* input_names,
+ const char* const* output_names,
int n_inputs,
int n_outputs,
execute_node_t exec_func,
@@ -52,6 +55,8 @@ int graph_create_node(struct computation_graph *graph,
}
struct graph_node *new_node = &graph->nodes[new_id];
new_node->name = strdup(name);
+ new_node->input_names = input_names;
+ new_node->output_names = output_names;
new_node->output_values = malloc(n_outputs * sizeof(double));
new_node->input_values = malloc(n_inputs * sizeof(double));
new_node->state = state;
@@ -76,7 +81,7 @@ int graph_set_input_val(struct computation_graph *graph, int node_id, int input_
return 0;
}
-double graph_get_output(struct computation_graph *graph, int node_id, int output_id) {
+double graph_get_output(const struct computation_graph *graph, int node_id, int output_id) {
if (node_id >= graph->n_nodes || output_id >= graph->nodes[node_id].n_outputs) {
return -1;
}
@@ -85,6 +90,7 @@ double graph_get_output(struct computation_graph *graph, int node_id, int output
void graph_compute_node_rec(struct computation_graph *graph, int node_id, int depth) {
if (depth >= GRAPH_MAX_DEPTH) {
+ assert(1 == 0); // TODO :Xil_Assert false
return;
}
if (node_id >= graph->n_nodes) {
@@ -116,3 +122,46 @@ void graph_compute_node(struct computation_graph *graph, int node_id) {
}
graph_compute_node_rec(graph, node_id, 0);
}
+
+int export_dot(const struct computation_graph* graph, FILE* of) {
+ fprintf(of, "digraph G {\n"); // Header
+
+ // Draw all the nodes and their inputs
+ int i;
+ for (i = 0; i < graph->n_nodes; i++) {
+ struct graph_node *node = &graph->nodes[i];
+ // Separate node and inputs as a cluster
+ fprintf(of, "subgraph cluster_%d {\n", i);
+ // Create node
+ fprintf(of, "\"%s\"\n", node->name);
+ // Draw inputs to graph
+ int j;
+ for (j = 0; j < node->n_inputs; j++) {
+ // Block for input to node
+ fprintf(of, "\"%s[%s]\"[shape=box]\n", node->name, node->input_names[j]);
+ // Link inputs to node
+ fprintf(of, "\"%s[%s]\" -> \"%s\"[label=\"%.3f\"]\n", node->name, node->input_names[j], node->name,
+ node->input_values[j]);
+ }
+ fprintf(of, "}\n"); // Close cluster
+ }
+
+ // Draw the links between nodes
+ for (i = 0; i < graph->n_nodes; i++) {
+ struct graph_node *node = &graph->nodes[i];
+ int j;
+ for (j = 0; j < node->n_inputs; j++) {
+ // Input is connected if controller ID is not -1
+ if (node->input_srcs[j].controller_id != -1) {
+ struct graph_node* src_node = &graph->nodes[node->input_srcs[j].controller_id];
+ int output_id = node->input_srcs[j].controller_output;
+ const char* output_name = src_node->output_names[output_id];
+ // Draws link from source controller to node input block. Also labels the value of the link
+ fprintf(of, "\"%s\" -> \"%s[%s]\" [label=\"%s=%.3f\"]\n", src_node->name, node->name, node->input_names[j], output_name, src_node->output_values[output_id]);
+ }
+ }
+ }
+
+ fprintf(of, "}"); // Close graph
+ return 0;
+}
\ No newline at end of file
diff --git a/quad/computation_graph/src/computation_graph.h b/quad/computation_graph/src/computation_graph.h
index 2f1cc1543264cc9274519c65d3967089129eac50..18c7930d1b666c63578e8fee9f4d4699d23f07bd 100644
--- a/quad/computation_graph/src/computation_graph.h
+++ b/quad/computation_graph/src/computation_graph.h
@@ -1,7 +1,9 @@
#ifndef __COMPUTATION_GRAPH_H__
#define __COMPUTATION_GRAPH_H__
-typedef void (*execute_node_t)(void *state, double *inputs, double *outputs);
+#include <stdio.h>
+
+typedef void (*execute_node_t)(void *state, const double *inputs, double *outputs);
typedef void (*reset_node_t)(void *state);
@@ -19,6 +21,8 @@ struct computation_graph {
struct graph_node {
char *name;
+ const char* const *input_names;
+ const char* const *output_names;
double *output_values;
double *input_values;
int n_inputs;
@@ -38,17 +42,21 @@ struct computation_graph *create_graph();
int graph_set_source(struct computation_graph *graph, int dest_cntl, int dest_input, int src_cntl, int src_output);
int graph_create_node(struct computation_graph *graph,
- char* name,
+ const char* name,
+ const char* const *input_names,
+ const char* const *output_names,
int n_inputs,
int n_outputs,
execute_node_t exec_func,
reset_node_t reset_func,
void *state);
-double graph_get_output(struct computation_graph *graph, int node_id, int output_id);
+double graph_get_output(const struct computation_graph *graph, int node_id, int output_id);
int graph_set_input_val(struct computation_graph *graph, int node_id, int input_id, double value);
void graph_compute_node(struct computation_graph *graph, int node_id);
+int export_dot(const struct computation_graph* graph, FILE* of);
+
#endif // __COMPUTATION_GRAPH_H__
diff --git a/quad/computation_graph/src/main.c b/quad/computation_graph/src/main.c
index 2080d95a8edff3e1e7e1c23732914ca4d4985924..19a188ac2374e01c3d1a8f880a105917d35b409e 100644
--- a/quad/computation_graph/src/main.c
+++ b/quad/computation_graph/src/main.c
@@ -1,6 +1,6 @@
#include <stdio.h>
#include "computation_graph.h"
-#include "node_add.h"
+#include "node_add2.h"
#include "node_mult.h"
int main() {
@@ -13,12 +13,16 @@ int main() {
graph_set_input_val(graph, add3_id, ADD2_SUMMAND2, 5);
graph_set_source(graph, add3_id, ADD2_SUMMAND1, add2_id, ADD2_SUM);
- int mult1_id = graph_add_node_mult(graph, "add3");
- graph_set_input_val(graph, mult1_id, MULT_MULTIPLICAND1, 4);
+ int mult1_id = graph_add_node_mult(graph, "mult");
+ graph_set_source(graph, mult1_id, MULT_MULTIPLICAND1, add2_id, ADD2_SUM);
graph_set_source(graph, mult1_id, MULT_MULTIPLICAND2, add3_id, ADD2_SUM);
-
graph_compute_node(graph, mult1_id);
+
+ FILE* dot_fp;
+ dot_fp = fopen("..\\comp_graph.dot", "w");
+ export_dot(graph, dot_fp);
+ fclose(dot_fp);
printf("Sum is %f\n", graph_get_output(graph, mult1_id, ADD2_SUM));
fflush(stdout);
return 0;
diff --git a/quad/computation_graph/src/node_add2.c b/quad/computation_graph/src/node_add2.c
index 3619967e60ad284af0be501ff64221af287b8bc3..62c9c1a844a5ab66f027df76af411e412c056466 100644
--- a/quad/computation_graph/src/node_add2.c
+++ b/quad/computation_graph/src/node_add2.c
@@ -1,12 +1,15 @@
-#include "node_add.h"
+#include "node_add2.h"
#include <stdlib.h>
-static void add_nodes(void *state, double *inputs, double *outputs) {
+static const char* const in_names[2] = {"Summand 1", "Summand 2"};
+static const char* const out_names[1] = {"Sum"};
+
+static void add_nodes(void *state, const double *inputs, double *outputs) {
outputs[ADD2_SUM] = inputs[ADD2_SUMMAND1] + inputs[ADD2_SUMMAND2];
}
static void reset(void *state) {}
-int graph_add_node_add2(struct computation_graph *graph, char* name) {
- return graph_create_node(graph, name, 2, 1, &add_nodes, &reset, NULL);
+int graph_add_node_add2(struct computation_graph *graph, const char* name) {
+ return graph_create_node(graph, name, in_names, out_names, 2, 1, &add_nodes, &reset, NULL);
}
diff --git a/quad/computation_graph/src/node_add.h b/quad/computation_graph/src/node_add2.h
similarity index 63%
rename from quad/computation_graph/src/node_add.h
rename to quad/computation_graph/src/node_add2.h
index 3f7183f1b3a433520d7a2ea83c32c398a45cd3b6..ba2d3e0e03043fb50e6c537d660bee4a63ece79a 100644
--- a/quad/computation_graph/src/node_add.h
+++ b/quad/computation_graph/src/node_add2.h
@@ -1,6 +1,6 @@
#include "computation_graph.h"
-int graph_add_node_add2(struct computation_graph *graph, char* name);
+int graph_add_node_add2(struct computation_graph *graph, const char* name);
enum graph_node_add2_inputs {
ADD2_SUMMAND1,
diff --git a/quad/computation_graph/src/node_mult.c b/quad/computation_graph/src/node_mult.c
index b8db3f1a44cc06b3042a3ccdcd33761844b71d8c..cc4a1b21db51a9f806d33b0b6af2d0c162bf24a1 100644
--- a/quad/computation_graph/src/node_mult.c
+++ b/quad/computation_graph/src/node_mult.c
@@ -1,12 +1,15 @@
#include "node_mult.h"
#include <stdlib.h>
-static void mult_nodes(void *state, double *inputs, double *outputs) {
+static const char* const in_names[2] = {"Multiplicand 1", "Multiplicand 2"};
+static const char* const out_names[1] = {"Product"};
+
+static void mult_nodes(void *state, const double *inputs, double *outputs) {
outputs[MULT_PRODUCT] = inputs[MULT_MULTIPLICAND1] * inputs[MULT_MULTIPLICAND2];
}
static void reset(void *state) {}
-int graph_add_node_mult(struct computation_graph *graph, char* name) {
- return graph_create_node(graph, name, 2, 1, &mult_nodes, &reset, NULL);
+int graph_add_node_mult(struct computation_graph *graph, const char* name) {
+ return graph_create_node(graph, name, in_names, out_names, 2, 1, &mult_nodes, &reset, NULL);
}
diff --git a/quad/computation_graph/src/node_mult.h b/quad/computation_graph/src/node_mult.h
index 51d41f73d9cfcdaf61ad76ad8516222011e7f9f2..744bf85f08ddd35238ed624f496cf18aa62a1ffa 100644
--- a/quad/computation_graph/src/node_mult.h
+++ b/quad/computation_graph/src/node_mult.h
@@ -1,6 +1,6 @@
#include "computation_graph.h"
-int graph_add_node_mult(struct computation_graph *graph, char* name);
+int graph_add_node_mult(struct computation_graph *graph, const char* name);
enum graph_node_mult_inputs {
MULT_MULTIPLICAND1,