From 4d6bafcaf594ecadfad638bca4da5e97c9cae56f Mon Sep 17 00:00:00 2001
From: David Wehr <dawehr@iastate.edu>
Date: Thu, 9 Feb 2017 22:44:04 -0600
Subject: [PATCH] Fixed some minor warnings in the compiler, and linked in the
 math library

---
 quad/computation_graph/Makefile               | 440 +++++++++---------
 quad/computation_graph/src/main.c             |   2 +-
 quad/computation_graph/src/node_accumulator.c |   2 +-
 quad/computation_graph/src/node_accumulator.h |   2 +-
 quad/computation_graph/src/node_add.h         |  32 +-
 quad/computation_graph/src/node_constant.h    |  30 +-
 quad/computation_graph/src/node_gain.h        |  38 +-
 quad/computation_graph/src/node_mult.c        |  50 +-
 quad/computation_graph/src/node_mult.h        |  34 +-
 quad/computation_graph/src/node_pow.h         |  38 +-
 10 files changed, 334 insertions(+), 334 deletions(-)

diff --git a/quad/computation_graph/Makefile b/quad/computation_graph/Makefile
index bc379cc3c..dd6e7b7e2 100644
--- a/quad/computation_graph/Makefile
+++ b/quad/computation_graph/Makefile
@@ -1,220 +1,220 @@
-#### PROJECT SETTINGS ####
-# The name of the executable to be created
-BIN_NAME := computation_graph
-# Compiler used
-CC ?= gcc
-# Extension of source files used in the project
-SRC_EXT = c
-# Path to the source directory, relative to the makefile
-SRC_PATH = ./src
-# Space-separated pkg-config libraries used by this project
-LIBS =
-# General compiler flags
-COMPILE_FLAGS = -std=c99 -Wall -Wextra -pedantic -g
-# Additional release-specific flags
-RCOMPILE_FLAGS = -D NDEBUG
-# Additional debug-specific flags
-DCOMPILE_FLAGS = -D DEBUG
-# Add additional include paths
-INCLUDES = -I $(SRC_PATH)
-# General linker settings
-LINK_FLAGS =
-# Additional release-specific linker settings
-RLINK_FLAGS =
-# Additional debug-specific linker settings
-DLINK_FLAGS =
-# Destination directory, like a jail or mounted system
-DESTDIR = /
-# Install path (bin/ is appended automatically)
-INSTALL_PREFIX = usr/local
-#### END PROJECT SETTINGS ####
-
-# Generally should not need to edit below this line
-
-# Obtains the OS type, either 'Darwin' (OS X) or 'Linux'
-UNAME_S:=$(shell uname -s)
-
-# Function used to check variables. Use on the command line:
-# make print-VARNAME
-# Useful for debugging and adding features
-print-%: ; @echo $*=$($*)
-
-# Shell used in this makefile
-# bash is used for 'echo -en'
-SHELL = /bin/bash
-# Clear built-in rules
-.SUFFIXES:
-# Programs for installation
-INSTALL = install
-INSTALL_PROGRAM = $(INSTALL)
-INSTALL_DATA = $(INSTALL) -m 644
-
-# Append pkg-config specific libraries if need be
-ifneq ($(LIBS),)
-	COMPILE_FLAGS += $(shell pkg-config --cflags $(LIBS))
-	LINK_FLAGS += $(shell pkg-config --libs $(LIBS))
-endif
-
-# Verbose option, to output compile and link commands
-export V := false
-export CMD_PREFIX := @
-ifeq ($(V),true)
-	CMD_PREFIX :=
-endif
-
-# Combine compiler and linker flags
-release: export CFLAGS := $(CFLAGS) $(COMPILE_FLAGS) $(RCOMPILE_FLAGS)
-release: export LDFLAGS := $(LDFLAGS) $(LINK_FLAGS) $(RLINK_FLAGS)
-debug: export CFLAGS := $(CFLAGS) $(COMPILE_FLAGS) $(DCOMPILE_FLAGS)
-debug: export LDFLAGS := $(LDFLAGS) $(LINK_FLAGS) $(DLINK_FLAGS)
-
-# Build and output paths
-release: export BUILD_PATH := build/release
-release: export BIN_PATH := bin/release
-debug: export BUILD_PATH := build/debug
-debug: export BIN_PATH := bin/debug
-install: export BIN_PATH := bin/release
-
-# Find all source files in the source directory, sorted by most
-# recently modified
-ifeq ($(UNAME_S),Darwin)
-	SOURCES = $(shell find $(SRC_PATH) -name '*.$(SRC_EXT)' | sort -k 1nr | cut -f2-)
-else
-	SOURCES = $(shell find $(SRC_PATH) -name '*.$(SRC_EXT)' -printf '%T@\t%p\n' \
-						| sort -k 1nr | cut -f2-)
-endif
-
-# fallback in case the above fails
-rwildcard = $(foreach d, $(wildcard $1*), $(call rwildcard,$d/,$2) \
-						$(filter $(subst *,%,$2), $d))
-ifeq ($(SOURCES),)
-	SOURCES := $(call rwildcard, $(SRC_PATH), *.$(SRC_EXT))
-endif
-
-# Set the object file names, with the source directory stripped
-# from the path, and the build path prepended in its place
-OBJECTS = $(SOURCES:$(SRC_PATH)/%.$(SRC_EXT)=$(BUILD_PATH)/%.o)
-# Set the dependency files that will be used to add header dependencies
-DEPS = $(OBJECTS:.o=.d)
-
-# Macros for timing compilation
-ifeq ($(UNAME_S),Darwin)
-	CUR_TIME = awk 'BEGIN{srand(); print srand()}'
-	TIME_FILE = $(dir $@).$(notdir $@)_time
-	START_TIME = $(CUR_TIME) > $(TIME_FILE)
-	END_TIME = read st < $(TIME_FILE) ; \
-		$(RM) $(TIME_FILE) ; \
-		st=$$((`$(CUR_TIME)` - $$st)) ; \
-		echo $$st
-else
-	TIME_FILE = $(dir $@).$(notdir $@)_time
-	START_TIME = date '+%s' > $(TIME_FILE)
-	END_TIME = read st < $(TIME_FILE) ; \
-		$(RM) $(TIME_FILE) ; \
-		st=$$((`date '+%s'` - $$st - 86400)) ; \
-		echo `date -u -d @$$st '+%H:%M:%S'`
-endif
-
-# Version macros
-# Comment/remove this section to remove versioning
-USE_VERSION := false
-# If this isn't a git repo or the repo has no tags, git describe will return non-zero
-ifeq ($(shell git describe > /dev/null 2>&1 ; echo $$?), 0)
-	USE_VERSION := true
-	VERSION := $(shell git describe --tags --long --dirty --always | \
-		sed 's/v\([0-9]*\)\.\([0-9]*\)\.\([0-9]*\)-\?.*-\([0-9]*\)-\(.*\)/\1 \2 \3 \4 \5/g')
-	VERSION_MAJOR := $(word 1, $(VERSION))
-	VERSION_MINOR := $(word 2, $(VERSION))
-	VERSION_PATCH := $(word 3, $(VERSION))
-	VERSION_REVISION := $(word 4, $(VERSION))
-	VERSION_HASH := $(word 5, $(VERSION))
-	VERSION_STRING := \
-		"$(VERSION_MAJOR).$(VERSION_MINOR).$(VERSION_PATCH).$(VERSION_REVISION)-$(VERSION_HASH)"
-	override CFLAGS := $(CFLAGS) \
-		-D VERSION_MAJOR=$(VERSION_MAJOR) \
-		-D VERSION_MINOR=$(VERSION_MINOR) \
-		-D VERSION_PATCH=$(VERSION_PATCH) \
-		-D VERSION_REVISION=$(VERSION_REVISION) \
-		-D VERSION_HASH=\"$(VERSION_HASH)\"
-endif
-
-# Standard, non-optimized release build
-.PHONY: release
-release: dirs
-ifeq ($(USE_VERSION), true)
-	@echo "Beginning release build v$(VERSION_STRING)"
-else
-	@echo "Beginning release build"
-endif
-	@$(START_TIME)
-	@$(MAKE) all --no-print-directory
-	@echo -n "Total build time: "
-	@$(END_TIME)
-
-# Debug build for gdb debugging
-.PHONY: debug
-debug: dirs
-ifeq ($(USE_VERSION), true)
-	@echo "Beginning debug build v$(VERSION_STRING)"
-else
-	@echo "Beginning debug build"
-endif
-	@$(START_TIME)
-	@$(MAKE) all --no-print-directory
-	@echo -n "Total build time: "
-	@$(END_TIME)
-
-# Create the directories used in the build
-.PHONY: dirs
-dirs:
-	@echo "Creating directories"
-	@mkdir -p $(dir $(OBJECTS))
-	@mkdir -p $(BIN_PATH)
-
-# Installs to the set path
-.PHONY: install
-install:
-	@echo "Installing to $(DESTDIR)$(INSTALL_PREFIX)/bin"
-	@$(INSTALL_PROGRAM) $(BIN_PATH)/$(BIN_NAME) $(DESTDIR)$(INSTALL_PREFIX)/bin
-
-# Uninstalls the program
-.PHONY: uninstall
-uninstall:
-	@echo "Removing $(DESTDIR)$(INSTALL_PREFIX)/bin/$(BIN_NAME)"
-	@$(RM) $(DESTDIR)$(INSTALL_PREFIX)/bin/$(BIN_NAME)
-
-# Removes all build files
-.PHONY: clean
-clean:
-	@echo "Deleting $(BIN_NAME) symlink"
-	@$(RM) $(BIN_NAME)
-	@echo "Deleting directories"
-	@$(RM) -r build
-	@$(RM) -r bin
-
-# Main rule, checks the executable and symlinks to the output
-all: $(BIN_PATH)/$(BIN_NAME)
-	@echo "Making symlink: $(BIN_NAME) -> $<"
-	@$(RM) $(BIN_NAME)
-	@ln -s $(BIN_PATH)/$(BIN_NAME) $(BIN_NAME)
-
-# Link the executable
-$(BIN_PATH)/$(BIN_NAME): $(OBJECTS)
-	@echo "Linking: $@"
-	@$(START_TIME)
-	$(CMD_PREFIX)$(CC) $(OBJECTS) $(LDFLAGS) -o $@
-	@echo -en "\t Link time: "
-	@$(END_TIME)
-
-# Add dependency files, if they exist
--include $(DEPS)
-
-# Source file rules
-# After the first compilation they will be joined with the rules from the
-# dependency files to provide header dependencies
-$(BUILD_PATH)/%.o: $(SRC_PATH)/%.$(SRC_EXT)
-	@echo "Compiling: $< -> $@"
-	@$(START_TIME)
-	$(CMD_PREFIX)$(CC) $(CFLAGS) $(INCLUDES) -MP -MMD -c $< -o $@
-	@echo -en "\t Compile time: "
-	@$(END_TIME)
+#### PROJECT SETTINGS ####
+# The name of the executable to be created
+BIN_NAME := computation_graph
+# Compiler used
+CC ?= gcc
+# Extension of source files used in the project
+SRC_EXT = c
+# Path to the source directory, relative to the makefile
+SRC_PATH = ./src
+# Space-separated pkg-config libraries used by this project
+LIBS =
+# General compiler flags
+COMPILE_FLAGS = -std=c99 -Wall -Wextra -pedantic -g
+# Additional release-specific flags
+RCOMPILE_FLAGS = -D NDEBUG
+# Additional debug-specific flags
+DCOMPILE_FLAGS = -D DEBUG
+# Add additional include paths
+INCLUDES = -I $(SRC_PATH)
+# General linker settings
+LINK_FLAGS = -lm
+# Additional release-specific linker settings
+RLINK_FLAGS =
+# Additional debug-specific linker settings
+DLINK_FLAGS =
+# Destination directory, like a jail or mounted system
+DESTDIR = /
+# Install path (bin/ is appended automatically)
+INSTALL_PREFIX = usr/local
+#### END PROJECT SETTINGS ####
+
+# Generally should not need to edit below this line
+
+# Obtains the OS type, either 'Darwin' (OS X) or 'Linux'
+UNAME_S:=$(shell uname -s)
+
+# Function used to check variables. Use on the command line:
+# make print-VARNAME
+# Useful for debugging and adding features
+print-%: ; @echo $*=$($*)
+
+# Shell used in this makefile
+# bash is used for 'echo -en'
+SHELL = /bin/bash
+# Clear built-in rules
+.SUFFIXES:
+# Programs for installation
+INSTALL = install
+INSTALL_PROGRAM = $(INSTALL)
+INSTALL_DATA = $(INSTALL) -m 644
+
+# Append pkg-config specific libraries if need be
+ifneq ($(LIBS),)
+	COMPILE_FLAGS += $(shell pkg-config --cflags $(LIBS))
+	LINK_FLAGS += $(shell pkg-config --libs $(LIBS))
+endif
+
+# Verbose option, to output compile and link commands
+export V := false
+export CMD_PREFIX := @
+ifeq ($(V),true)
+	CMD_PREFIX :=
+endif
+
+# Combine compiler and linker flags
+release: export CFLAGS := $(CFLAGS) $(COMPILE_FLAGS) $(RCOMPILE_FLAGS)
+release: export LDFLAGS := $(LDFLAGS) $(LINK_FLAGS) $(RLINK_FLAGS)
+debug: export CFLAGS := $(CFLAGS) $(COMPILE_FLAGS) $(DCOMPILE_FLAGS)
+debug: export LDFLAGS := $(LDFLAGS) $(LINK_FLAGS) $(DLINK_FLAGS)
+
+# Build and output paths
+release: export BUILD_PATH := build/release
+release: export BIN_PATH := bin/release
+debug: export BUILD_PATH := build/debug
+debug: export BIN_PATH := bin/debug
+install: export BIN_PATH := bin/release
+
+# Find all source files in the source directory, sorted by most
+# recently modified
+ifeq ($(UNAME_S),Darwin)
+	SOURCES = $(shell find $(SRC_PATH) -name '*.$(SRC_EXT)' | sort -k 1nr | cut -f2-)
+else
+	SOURCES = $(shell find $(SRC_PATH) -name '*.$(SRC_EXT)' -printf '%T@\t%p\n' \
+						| sort -k 1nr | cut -f2-)
+endif
+
+# fallback in case the above fails
+rwildcard = $(foreach d, $(wildcard $1*), $(call rwildcard,$d/,$2) \
+						$(filter $(subst *,%,$2), $d))
+ifeq ($(SOURCES),)
+	SOURCES := $(call rwildcard, $(SRC_PATH), *.$(SRC_EXT))
+endif
+
+# Set the object file names, with the source directory stripped
+# from the path, and the build path prepended in its place
+OBJECTS = $(SOURCES:$(SRC_PATH)/%.$(SRC_EXT)=$(BUILD_PATH)/%.o)
+# Set the dependency files that will be used to add header dependencies
+DEPS = $(OBJECTS:.o=.d)
+
+# Macros for timing compilation
+ifeq ($(UNAME_S),Darwin)
+	CUR_TIME = awk 'BEGIN{srand(); print srand()}'
+	TIME_FILE = $(dir $@).$(notdir $@)_time
+	START_TIME = $(CUR_TIME) > $(TIME_FILE)
+	END_TIME = read st < $(TIME_FILE) ; \
+		$(RM) $(TIME_FILE) ; \
+		st=$$((`$(CUR_TIME)` - $$st)) ; \
+		echo $$st
+else
+	TIME_FILE = $(dir $@).$(notdir $@)_time
+	START_TIME = date '+%s' > $(TIME_FILE)
+	END_TIME = read st < $(TIME_FILE) ; \
+		$(RM) $(TIME_FILE) ; \
+		st=$$((`date '+%s'` - $$st - 86400)) ; \
+		echo `date -u -d @$$st '+%H:%M:%S'`
+endif
+
+# Version macros
+# Comment/remove this section to remove versioning
+USE_VERSION := false
+# If this isn't a git repo or the repo has no tags, git describe will return non-zero
+ifeq ($(shell git describe > /dev/null 2>&1 ; echo $$?), 0)
+	USE_VERSION := true
+	VERSION := $(shell git describe --tags --long --dirty --always | \
+		sed 's/v\([0-9]*\)\.\([0-9]*\)\.\([0-9]*\)-\?.*-\([0-9]*\)-\(.*\)/\1 \2 \3 \4 \5/g')
+	VERSION_MAJOR := $(word 1, $(VERSION))
+	VERSION_MINOR := $(word 2, $(VERSION))
+	VERSION_PATCH := $(word 3, $(VERSION))
+	VERSION_REVISION := $(word 4, $(VERSION))
+	VERSION_HASH := $(word 5, $(VERSION))
+	VERSION_STRING := \
+		"$(VERSION_MAJOR).$(VERSION_MINOR).$(VERSION_PATCH).$(VERSION_REVISION)-$(VERSION_HASH)"
+	override CFLAGS := $(CFLAGS) \
+		-D VERSION_MAJOR=$(VERSION_MAJOR) \
+		-D VERSION_MINOR=$(VERSION_MINOR) \
+		-D VERSION_PATCH=$(VERSION_PATCH) \
+		-D VERSION_REVISION=$(VERSION_REVISION) \
+		-D VERSION_HASH=\"$(VERSION_HASH)\"
+endif
+
+# Standard, non-optimized release build
+.PHONY: release
+release: dirs
+ifeq ($(USE_VERSION), true)
+	@echo "Beginning release build v$(VERSION_STRING)"
+else
+	@echo "Beginning release build"
+endif
+	@$(START_TIME)
+	@$(MAKE) all --no-print-directory
+	@echo -n "Total build time: "
+	@$(END_TIME)
+
+# Debug build for gdb debugging
+.PHONY: debug
+debug: dirs
+ifeq ($(USE_VERSION), true)
+	@echo "Beginning debug build v$(VERSION_STRING)"
+else
+	@echo "Beginning debug build"
+endif
+	@$(START_TIME)
+	@$(MAKE) all --no-print-directory
+	@echo -n "Total build time: "
+	@$(END_TIME)
+
+# Create the directories used in the build
+.PHONY: dirs
+dirs:
+	@echo "Creating directories"
+	@mkdir -p $(dir $(OBJECTS))
+	@mkdir -p $(BIN_PATH)
+
+# Installs to the set path
+.PHONY: install
+install:
+	@echo "Installing to $(DESTDIR)$(INSTALL_PREFIX)/bin"
+	@$(INSTALL_PROGRAM) $(BIN_PATH)/$(BIN_NAME) $(DESTDIR)$(INSTALL_PREFIX)/bin
+
+# Uninstalls the program
+.PHONY: uninstall
+uninstall:
+	@echo "Removing $(DESTDIR)$(INSTALL_PREFIX)/bin/$(BIN_NAME)"
+	@$(RM) $(DESTDIR)$(INSTALL_PREFIX)/bin/$(BIN_NAME)
+
+# Removes all build files
+.PHONY: clean
+clean:
+	@echo "Deleting $(BIN_NAME) symlink"
+	@$(RM) $(BIN_NAME)
+	@echo "Deleting directories"
+	@$(RM) -r build
+	@$(RM) -r bin
+
+# Main rule, checks the executable and symlinks to the output
+all: $(BIN_PATH)/$(BIN_NAME)
+	@echo "Making symlink: $(BIN_NAME) -> $<"
+	@$(RM) $(BIN_NAME)
+	@ln -s $(BIN_PATH)/$(BIN_NAME) $(BIN_NAME)
+
+# Link the executable
+$(BIN_PATH)/$(BIN_NAME): $(OBJECTS)
+	@echo "Linking: $@"
+	@$(START_TIME)
+	$(CMD_PREFIX)$(CC) $(OBJECTS) $(LDFLAGS) -o $@
+	@echo -en "\t Link time: "
+	@$(END_TIME)
+
+# Add dependency files, if they exist
+-include $(DEPS)
+
+# Source file rules
+# After the first compilation they will be joined with the rules from the
+# dependency files to provide header dependencies
+$(BUILD_PATH)/%.o: $(SRC_PATH)/%.$(SRC_EXT)
+	@echo "Compiling: $< -> $@"
+	@$(START_TIME)
+	$(CMD_PREFIX)$(CC) $(CFLAGS) $(INCLUDES) -MP -MMD -c $< -o $@
+	@echo -en "\t Compile time: "
+	@$(END_TIME)
diff --git a/quad/computation_graph/src/main.c b/quad/computation_graph/src/main.c
index 2f0784f89..c54494acb 100644
--- a/quad/computation_graph/src/main.c
+++ b/quad/computation_graph/src/main.c
@@ -35,7 +35,7 @@ int main() {
 //    printf("Sum is %f\n", graph_get_output(graph, mult1_id, GAIN_RESULT));
 
     int success = graph_run_tests();
-    printf("Success: %s", success == 0 ? "Yes" : "No");
+    printf("Success: %s\n", success == 0 ? "Yes" : "No");
     fflush(stdout);
     return 0;
 }
diff --git a/quad/computation_graph/src/node_accumulator.c b/quad/computation_graph/src/node_accumulator.c
index 8556ac8cc..17a36ee92 100644
--- a/quad/computation_graph/src/node_accumulator.c
+++ b/quad/computation_graph/src/node_accumulator.c
@@ -1,7 +1,7 @@
 #include "node_accumulator.h"
 #include <stdlib.h>
 
-static struct accum_state {
+struct accum_state {
     double accumulated;
 };
 
diff --git a/quad/computation_graph/src/node_accumulator.h b/quad/computation_graph/src/node_accumulator.h
index c9e04db7c..3b34220ad 100644
--- a/quad/computation_graph/src/node_accumulator.h
+++ b/quad/computation_graph/src/node_accumulator.h
@@ -4,7 +4,7 @@
 
 int graph_add_node_accum(struct computation_graph *graph, const char* name);
 
-const extern struct graph_node_type node_accum_type;
+extern const struct graph_node_type node_accum_type;
 
 enum graph_node_accum_inputs {
     ACCUM_IN,
diff --git a/quad/computation_graph/src/node_add.h b/quad/computation_graph/src/node_add.h
index 5c90ea16c..ac518505f 100644
--- a/quad/computation_graph/src/node_add.h
+++ b/quad/computation_graph/src/node_add.h
@@ -1,17 +1,17 @@
-#ifndef __NODE_ADD_H__
-#define __NODE_ADD_H__
-#include "computation_graph.h"
-
-int graph_add_node_add(struct computation_graph *graph, const char* name);
-
-const extern struct graph_node_type node_add_type;
-
-enum graph_node_add_inputs {
-    ADD_SUMMAND1,
-    ADD_SUMMAND2,
-};
-
-enum graph_node_add_outputs {
-    ADD_SUM
-};
+#ifndef __NODE_ADD_H__
+#define __NODE_ADD_H__
+#include "computation_graph.h"
+
+int graph_add_node_add(struct computation_graph *graph, const char* name);
+
+extern const struct graph_node_type node_add_type;
+
+enum graph_node_add_inputs {
+    ADD_SUMMAND1,
+    ADD_SUMMAND2,
+};
+
+enum graph_node_add_outputs {
+    ADD_SUM
+};
 #endif // __NODE_ADD_H__
\ No newline at end of file
diff --git a/quad/computation_graph/src/node_constant.h b/quad/computation_graph/src/node_constant.h
index 67acbc2d7..42463a5c5 100644
--- a/quad/computation_graph/src/node_constant.h
+++ b/quad/computation_graph/src/node_constant.h
@@ -1,16 +1,16 @@
-#ifndef __NODE_CONSTANT_H__
-#define __NODE_CONSTANT_H__
-#include "computation_graph.h"
-
-int graph_add_node_const(struct computation_graph *graph, const char* name);
-
-const extern struct graph_node_type node_const_type;
-
-enum graph_node_const_params {
-    CONST_SET
-};
-
-enum graph_node_const_outputs {
-    CONST_VAL
-};
+#ifndef __NODE_CONSTANT_H__
+#define __NODE_CONSTANT_H__
+#include "computation_graph.h"
+
+int graph_add_node_const(struct computation_graph *graph, const char* name);
+
+extern const struct graph_node_type node_const_type;
+
+enum graph_node_const_params {
+    CONST_SET
+};
+
+enum graph_node_const_outputs {
+    CONST_VAL
+};
 #endif //__NODE_CONSTANT_H__
\ No newline at end of file
diff --git a/quad/computation_graph/src/node_gain.h b/quad/computation_graph/src/node_gain.h
index dd42d97f5..e20b9a018 100644
--- a/quad/computation_graph/src/node_gain.h
+++ b/quad/computation_graph/src/node_gain.h
@@ -1,20 +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
-};
+#ifndef __NODE_GAIN_H__
+#define __NODE_GAIN_H__
+#include "computation_graph.h"
+
+int graph_add_node_gain(struct computation_graph *graph, const char* name);
+
+extern const 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_mult.c b/quad/computation_graph/src/node_mult.c
index b727249f6..2696719fd 100644
--- a/quad/computation_graph/src/node_mult.c
+++ b/quad/computation_graph/src/node_mult.c
@@ -1,25 +1,25 @@
-#include "node_mult.h"
-#include <stdlib.h>
-
-static void mult_nodes(void *state, const double* params, const double *inputs, double *outputs) {
-    outputs[MULT_PRODUCT] = inputs[MULT_MULTIPLICAND1] * inputs[MULT_MULTIPLICAND2];
-}
-static void reset(void *state) {}
-
-static const char* const in_names[2] = {"Multiplicand 1", "Multiplicand 2"};
-static const char* const out_names[1] = {"Product"};
-static const char* const param_names[0] = {};
-const struct graph_node_type node_mult_type = {
-        .input_names = in_names,
-        .output_names = out_names,
-        .param_names = param_names,
-        .n_inputs = 2,
-        .n_outputs = 1,
-        .n_params = 0,
-        .execute = mult_nodes,
-        .reset = reset
-};
-
-int graph_add_node_mult(struct computation_graph *graph, const char* name) {
-    return graph_add_node(graph, name, &node_mult_type, NULL);
-}
+#include "node_mult.h"
+#include <stdlib.h>
+
+static void mult_nodes(void *state, const double* params, const double *inputs, double *outputs) {
+    outputs[MULT_PRODUCT] = inputs[MULT_MULTIPLICAND1] * inputs[MULT_MULTIPLICAND2];
+}
+static void reset(void *state) {}
+
+static const char* const in_names[2] = {"Multiplicand 1", "Multiplicand 2"};
+static const char* const out_names[1] = {"Product"};
+static const char* const param_names[0] = {};
+const struct graph_node_type node_mult_type = {
+        .input_names = in_names,
+        .output_names = out_names,
+        .param_names = param_names,
+        .n_inputs = 2,
+        .n_outputs = 1,
+        .n_params = 0,
+        .execute = mult_nodes,
+        .reset = reset
+};
+
+int graph_add_node_mult(struct computation_graph *graph, const char* name) {
+    return graph_add_node(graph, name, &node_mult_type, NULL);
+}
diff --git a/quad/computation_graph/src/node_mult.h b/quad/computation_graph/src/node_mult.h
index 39b37cd59..49194353c 100644
--- a/quad/computation_graph/src/node_mult.h
+++ b/quad/computation_graph/src/node_mult.h
@@ -1,18 +1,18 @@
-#ifndef __NODE_MULT_H__
-#define __NODE_MULT_H__
-#include "computation_graph.h"
-
-int graph_add_node_mult(struct computation_graph *graph, const char* name);
-
-const extern struct graph_node_type node_mult_type;
-
-enum graph_node_mult_inputs {
-    MULT_MULTIPLICAND1,
-    MULT_MULTIPLICAND2,
-};
-
-enum graph_node_mult_outputs {
-    MULT_PRODUCT
-};
-
+#ifndef __NODE_MULT_H__
+#define __NODE_MULT_H__
+#include "computation_graph.h"
+
+int graph_add_node_mult(struct computation_graph *graph, const char* name);
+
+extern const struct graph_node_type node_mult_type;
+
+enum graph_node_mult_inputs {
+    MULT_MULTIPLICAND1,
+    MULT_MULTIPLICAND2,
+};
+
+enum graph_node_mult_outputs {
+    MULT_PRODUCT
+};
+
 #endif  // __NODE_MULT_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 cfc8959e2..e817defef 100644
--- a/quad/computation_graph/src/node_pow.h
+++ b/quad/computation_graph/src/node_pow.h
@@ -1,20 +1,20 @@
-#ifndef __NODE_POW_H__
-#define __NODE_POW_H__
-#include "computation_graph.h"
-
-int graph_add_node_pow(struct computation_graph *graph, const char* name);
-
-const extern struct graph_node_type node_pow_type;
-
-enum graph_node_pow_inputs {
-    POW_BASE
-};
-
-enum graph_node_pow_params {
-    POW_EXP
-};
-
-enum graph_node_pow_outputs {
-    POW_RESULT
-};
+#ifndef __NODE_POW_H__
+#define __NODE_POW_H__
+#include "computation_graph.h"
+
+int graph_add_node_pow(struct computation_graph *graph, const char* name);
+
+extern const struct graph_node_type node_pow_type;
+
+enum graph_node_pow_inputs {
+    POW_BASE
+};
+
+enum graph_node_pow_params {
+    POW_EXP
+};
+
+enum graph_node_pow_outputs {
+    POW_RESULT
+};
 #endif // __NODE_POW_H__
\ No newline at end of file
-- 
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