Changes to the DOT export to be compatible with the old version of graphviz on the lab computer

quad/computation_graph/src/computation_graph.c

@@ -202,16 +202,16 @@ int export_dot(const struct computation_graph* graph, FILE* of, int print_output
     for (i = 0; i < graph->n_nodes; i++) {
         struct graph_node *node = &graph->nodes[i];
         // Create node
-        fprintf(of, "\"%s\"[shape=record\nlabel=\"\n", node->name);
-        fprintf(of, "<f0> %s\n", node->name); // Node name is port 0
+        fprintf(of, "\"%s\"[shape=record\nlabel=\"", node->name);
+        fprintf(of, "<f0>%s ", node->name); // Node name is port 0
         int j;
         // Create ports for inputs
         for (j = 0; j < node->type->n_inputs; j++) {
-            fprintf(of, "|<f%d> --\\>%s\n", j+1, node->type->input_names[j]);
+            fprintf(of, " |<f%d> --\\>%s", j+1, node->type->input_names[j]);
         }
         // Create ports for parameters
         for (j = 0; j < node->type->n_params; j++) {
-            fprintf(of, "|<f%d> [%s=%.3f]\n", j+1+node->type->n_inputs, node->type->param_names[j],node->param_values[j]);
+            fprintf(of, " |<f%d> [%s=%.3f]", j+1+node->type->n_inputs, node->type->param_names[j],node->param_values[j]);
         }
         fprintf(of, "\"]\n"); // Close label bracket
         // Make connections from

quad/sw/modular_quad_pid/gen_diagram/network.dot

 digraph G {
 rankdir="LR"
 "Roll PID"[shape=record
-label="
-<f0> Roll PID
-|<f1> --\>Cur point
-|<f2> --\>Setpoint
-|<f3> --\>dt
-|<f4> [Kp=15.000]
-|<f5> [Ki=0.000]
-|<f6> [Kd=0.200]
-"]
+label="<f0>Roll PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=15.000] |<f5> [Ki=0.000] |<f6> [Kd=0.200]"]
 "Roll" -> "Roll PID":f1 [label="Constant"]
 "RC Roll" -> "Roll PID":f2 [label="Constant"]
 "dT" -> "Roll PID":f3 [label="Constant"]
 "Pitch PID"[shape=record
-label="
-<f0> Pitch PID
-|<f1> --\>Cur point
-|<f2> --\>Setpoint
-|<f3> --\>dt
-|<f4> [Kp=15.000]
-|<f5> [Ki=0.000]
-|<f6> [Kd=0.200]
-"]
+label="<f0>Pitch PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=15.000] |<f5> [Ki=0.000] |<f6> [Kd=0.200]"]
 "Pitch" -> "Pitch PID":f1 [label="Constant"]
 "RC Pitch" -> "Pitch PID":f2 [label="Constant"]
 "dT" -> "Pitch PID":f3 [label="Constant"]
 "Yaw PID"[shape=record
-label="
-<f0> Yaw PID
-|<f1> --\>Cur point
-|<f2> --\>Setpoint
-|<f3> --\>dt
-|<f4> [Kp=2.600]
-|<f5> [Ki=0.000]
-|<f6> [Kd=0.000]
-"]
+label="<f0>Yaw PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=2.600] |<f5> [Ki=0.000] |<f6> [Kd=0.000]"]
 "Roll Rate PID"[shape=record
-label="
-<f0> Roll Rate PID
-|<f1> --\>Cur point
-|<f2> --\>Setpoint
-|<f3> --\>dt
-|<f4> [Kp=4600.000]
-|<f5> [Ki=0.000]
-|<f6> [Kd=550.000]
-"]
+label="<f0>Roll Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=4600.000] |<f5> [Ki=0.000] |<f6> [Kd=550.000]"]
 "dPhi" -> "Roll Rate PID":f1 [label="Constant"]
 "Roll PID" -> "Roll Rate PID":f2 [label="Correction"]
 "dT" -> "Roll Rate PID":f3 [label="Constant"]
 "Pitch Rate PID"[shape=record
-label="
-<f0> Pitch Rate PID
-|<f1> --\>Cur point
-|<f2> --\>Setpoint
-|<f3> --\>dt
-|<f4> [Kp=4600.000]
-|<f5> [Ki=0.000]
-|<f6> [Kd=550.000]
-"]
+label="<f0>Pitch Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=4600.000] |<f5> [Ki=0.000] |<f6> [Kd=550.000]"]
 "dTheta" -> "Pitch Rate PID":f1 [label="Constant"]
 "Pitch PID" -> "Pitch Rate PID":f2 [label="Correction"]
 "dT" -> "Pitch Rate PID":f3 [label="Constant"]
 "Yaw Rate PID"[shape=record
-label="
-<f0> Yaw Rate PID
-|<f1> --\>Cur point
-|<f2> --\>Setpoint
-|<f3> --\>dt
-|<f4> [Kp=435480.000]
-|<f5> [Ki=0.000]
-|<f6> [Kd=0.000]
-"]
+label="<f0>Yaw Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=435480.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000]"]
 "dPsi" -> "Yaw Rate PID":f1 [label="Constant"]
 "RC Yaw" -> "Yaw Rate PID":f2 [label="Constant"]
 "dT" -> "Yaw Rate PID":f3 [label="Constant"]
 "X pos PID"[shape=record
-label="
-<f0> X pos PID
-|<f1> --\>Cur point
-|<f2> --\>Setpoint
-|<f3> --\>dt
-|<f4> [Kp=0.000]
-|<f5> [Ki=0.000]
-|<f6> [Kd=0.000]
-"]
+label="<f0>X pos PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000]"]
 "Y pos PID"[shape=record
-label="
-<f0> Y pos PID
-|<f1> --\>Cur point
-|<f2> --\>Setpoint
-|<f3> --\>dt
-|<f4> [Kp=0.000]
-|<f5> [Ki=0.000]
-|<f6> [Kd=0.000]
-"]
+label="<f0>Y pos PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000]"]
 "Altitude"[shape=record
-label="
-<f0> Altitude
-|<f1> --\>Cur point
-|<f2> --\>Setpoint
-|<f3> --\>dt
-|<f4> [Kp=0.000]
-|<f5> [Ki=0.000]
-|<f6> [Kd=0.000]
-"]
+label="<f0>Altitude  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000]"]
 "P PWM Clamp"[shape=record
-label="
-<f0> P PWM Clamp
-|<f1> --\>Bounds in
-|<f2> [Min=-20000.000]
-|<f3> [Max=20000.000]
-"]
+label="<f0>P PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
 "Pitch Rate PID" -> "P PWM Clamp":f1 [label="Correction"]
 "R PWM Clamp"[shape=record
-label="
-<f0> R PWM Clamp
-|<f1> --\>Bounds in
-|<f2> [Min=-20000.000]
-|<f3> [Max=20000.000]
-"]
+label="<f0>R PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
 "Roll Rate PID" -> "R PWM Clamp":f1 [label="Correction"]
 "Y PWM Clamp"[shape=record
-label="
-<f0> Y PWM Clamp
-|<f1> --\>Bounds in
-|<f2> [Min=-20000.000]
-|<f3> [Max=20000.000]
-"]
+label="<f0>Y PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
 "Yaw Rate PID" -> "Y PWM Clamp":f1 [label="Correction"]
 "Pitch Clamp"[shape=record
-label="
-<f0> Pitch Clamp
-|<f1> --\>Bounds in
-|<f2> [Min=-0.349]
-|<f3> [Max=0.349]
-"]
+label="<f0>Pitch Clamp  |<f1> --\>Bounds in |<f2> [Min=-0.349] |<f3> [Max=0.349]"]
 "Y pos PID" -> "Pitch Clamp":f1 [label="Correction"]
 "Roll Clamp"[shape=record
-label="
-<f0> Roll Clamp
-|<f1> --\>Bounds in
-|<f2> [Min=-0.349]
-|<f3> [Max=0.349]
-"]
+label="<f0>Roll Clamp  |<f1> --\>Bounds in |<f2> [Min=-0.349] |<f3> [Max=0.349]"]
 "X pos PID" -> "Roll Clamp":f1 [label="Correction"]
 "Pitch"[shape=record
-label="
-<f0> Pitch
-|<f1> [Constant=0.000]
-"]
+label="<f0>Pitch  |<f1> [Constant=0.000]"]
 "Roll"[shape=record
-label="
-<f0> Roll
-|<f1> [Constant=0.000]
-"]
+label="<f0>Roll  |<f1> [Constant=0.000]"]
 "Yaw"[shape=record
-label="
-<f0> Yaw
-|<f1> [Constant=0.000]
-"]
+label="<f0>Yaw  |<f1> [Constant=0.000]"]
 "dTheta"[shape=record
-label="
-<f0> dTheta
-|<f1> [Constant=0.000]
-"]
+label="<f0>dTheta  |<f1> [Constant=0.000]"]
 "dPhi"[shape=record
-label="
-<f0> dPhi
-|<f1> [Constant=0.000]
-"]
+label="<f0>dPhi  |<f1> [Constant=0.000]"]
 "dPsi"[shape=record
-label="
-<f0> dPsi
-|<f1> [Constant=0.000]
-"]
+label="<f0>dPsi  |<f1> [Constant=0.000]"]
 "RC Pitch"[shape=record
-label="
-<f0> RC Pitch
-|<f1> [Constant=0.000]
-"]
+label="<f0>RC Pitch  |<f1> [Constant=0.000]"]
 "RC Roll"[shape=record
-label="
-<f0> RC Roll
-|<f1> [Constant=0.000]
-"]
+label="<f0>RC Roll  |<f1> [Constant=0.000]"]
 "RC Yaw"[shape=record
-label="
-<f0> RC Yaw
-|<f1> [Constant=0.000]
-"]
+label="<f0>RC Yaw  |<f1> [Constant=0.000]"]
 "RC Throttle"[shape=record
-label="
-<f0> RC Throttle
-|<f1> [Constant=0.000]
-"]
+label="<f0>RC Throttle  |<f1> [Constant=0.000]"]
 "Signal Mixer"[shape=record
-label="
-<f0> Signal Mixer
-|<f1> --\>Throttle
-|<f2> --\>Pitch
-|<f3> --\>Roll
-|<f4> --\>Yaw
-"]
+label="<f0>Signal Mixer  |<f1> --\>Throttle |<f2> --\>Pitch |<f3> --\>Roll |<f4> --\>Yaw"]
 "RC Throttle" -> "Signal Mixer":f1 [label="Constant"]
 "P PWM Clamp" -> "Signal Mixer":f2 [label="Bounded"]
 "R PWM Clamp" -> "Signal Mixer":f3 [label="Bounded"]
 "Y PWM Clamp" -> "Signal Mixer":f4 [label="Bounded"]
 "dT"[shape=record
-label="
-<f0> dT
-|<f1> [Constant=0.005]
-"]
+label="<f0>dT  |<f1> [Constant=0.005]"]
 }
\ No newline at end of file