diff --git a/quad/computation_graph/src/computation_graph.c b/quad/computation_graph/src/computation_graph.c
index d64fa753f1e1d287e8bc55717a8f3b7ce6d27435..ac02dc324a23598cc879d36ee6e62fb4b1d3dba2 100644
--- a/quad/computation_graph/src/computation_graph.c
+++ b/quad/computation_graph/src/computation_graph.c
@@ -121,18 +121,23 @@ void graph_compute_node(struct computation_graph *graph, int node_id) {
int export_dot(const struct computation_graph* graph, FILE* of) {
fprintf(of, "digraph G {\n"); // Header
+ fprintf(of, "rankdir=\"LR\"\n"); // Horizontal layout
// Draw all the nodes and their inputs
int i;
for (i = 0; i < graph->n_nodes; i++) {
struct graph_node *node = &graph->nodes[i];
// Create node
- fprintf(of, "\"%s\"[label=\"", node->name);
- fprintf(of, "Name: %s\n", node->name); // Node name first
+ fprintf(of, "\"%s\"[shape=record\nlabel=\"\n", node->name);
+ fprintf(of, "<f0> %s\n", node->name); // Node name is port 0
int j;
- // Add parameters as labels
+ // 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]);
+ }
+ // Create ports for parameters
for (j = 0; j < node->type->n_params; j++) {
- fprintf(of, "%s=%.3f\n", node->type->param_names[j], node->param_values[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, "\"]\n"); // Close label bracket
//
@@ -140,26 +145,9 @@ int export_dot(const struct computation_graph* graph, FILE* of) {
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->type->output_names[output_id];
- fprintf(of, "\"%s\" -> \"%s\" [label=\"%s=%.3f\"]\n", src_node->name, node->name, output_name, src_node->output_values[output_id]);
- }
- }
- /*
- // 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, "\"%s\" -> \"%s\":f%d [label=\"%s=%.3f\"]\n", src_node->name, node->name, j+1, output_name, src_node->output_values[output_id]);
}
}
- */
- fprintf(of, "}"); // Close graph1
+ fprintf(of, "}"); // Close graph
return 0;
}
\ No newline at end of file
diff --git a/quad/computation_graph/src/main.c b/quad/computation_graph/src/main.c
index 761a1ac515d36423276fb0908b73a1ffe82567f3..8be7d30ecdd22650d37e8dfecceebc7baa4f14d0 100644
--- a/quad/computation_graph/src/main.c
+++ b/quad/computation_graph/src/main.c
@@ -3,7 +3,7 @@
#include "node_add.h"
#include "node_mult.h"
#include "node_constant.h"
-#include "node_pow.h"
+#include "node_gain.h"
int main() {
struct computation_graph *graph = create_graph();
@@ -17,17 +17,21 @@ int main() {
graph_set_source(graph, add1_id, ADD_SUMMAND1, const1, CONST_VAL);
graph_set_source(graph, add1_id, ADD_SUMMAND2, const2, CONST_VAL);
- int pow1_id = graph_add_node_pow(graph, "Pow");
- graph_set_param_val(graph, pow1_id, POW_EXP, 3);
- graph_set_source(graph, pow1_id, POW_BASE, add1_id, ADD_SUM);
+ int gain1_id = graph_add_node_gain(graph, "Gain");
+ graph_set_param_val(graph, gain1_id, GAIN_GAIN, 3);
+ graph_set_source(graph, gain1_id, GAIN_INPUT, add1_id, ADD_SUM);
- graph_compute_node(graph, pow1_id);
+ int mult1_id = graph_add_node_mult(graph, "Mult");
+ graph_set_source(graph, mult1_id, MULT_MULTIPLICAND1, gain1_id, GAIN_RESULT);
+ graph_set_source(graph, mult1_id, MULT_MULTIPLICAND2, const1, CONST_VAL);
+
+ 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, pow1_id, POW_RESULT));
+ printf("Sum is %f\n", graph_get_output(graph, mult1_id, GAIN_RESULT));
fflush(stdout);
return 0;
}
diff --git a/quad/computation_graph/src/node_gain.c b/quad/computation_graph/src/node_gain.c
new file mode 100644
index 0000000000000000000000000000000000000000..f89c6f9cb068249af6fc5b958156dd5ae558b4bb
--- /dev/null
+++ b/quad/computation_graph/src/node_gain.c
@@ -0,0 +1,25 @@
+#include "node_gain.h"
+#include <stdlib.h>
+
+static void scale_nodes(void *state, const double* params, const double *inputs, double *outputs) {
+ outputs[GAIN_RESULT] = inputs[GAIN_INPUT] * params[GAIN_GAIN];
+}
+static void reset(void *state) {}
+
+static const char* const in_names[1] = {"Input"};
+static const char* const out_names[1] = {"Amplified"};
+static const char* const param_names[1] = {"Gain"};
+const struct graph_node_type node_gain_type = {
+ .input_names = in_names,
+ .output_names = out_names,
+ .param_names = param_names,
+ .n_inputs = 1,
+ .n_outputs = 1,
+ .n_params = 1,
+ .execute = scale_nodes,
+ .reset = reset
+};
+
+int graph_add_node_gain(struct computation_graph *graph, const char* name) {
+ return graph_add_node(graph, name, &node_gain_type, NULL);
+}
diff --git a/quad/computation_graph/src/node_gain.h b/quad/computation_graph/src/node_gain.h
new file mode 100644
index 0000000000000000000000000000000000000000..dd42d97f56711df1b32cfc523de48e2aea0e15ba
--- /dev/null
+++ b/quad/computation_graph/src/node_gain.h
@@ -0,0 +1,20 @@
+#ifndef __NODE_GAIN_H__
+#define __NODE_GAIN_H__
+#include "computation_graph.h"
+
+int graph_add_node_gain(struct computation_graph *graph, const char* name);
+
+const extern struct graph_node_type node_gain_type;
+
+enum graph_node_pow_inputs {
+ GAIN_INPUT
+};
+
+enum graph_node_pow_params {
+ GAIN_GAIN
+};
+
+enum graph_node_gain_outputs {
+ GAIN_RESULT
+};
+#endif // __NODE_GAIN_H__
\ No newline at end of file
diff --git a/quad/computation_graph/src/node_pow.h b/quad/computation_graph/src/node_pow.h
index be98299548aaf5147687e4c248383038d1d56f14..cfc8959e2900b2a77c021f69140daeea0dc590fd 100644
--- a/quad/computation_graph/src/node_pow.h
+++ b/quad/computation_graph/src/node_pow.h
@@ -14,7 +14,7 @@ enum graph_node_pow_params {
POW_EXP
};
-enum graph_node_add2_outputs {
+enum graph_node_pow_outputs {
POW_RESULT
};
#endif // __NODE_POW_H__
\ No newline at end of file