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Graphical representation for the planner #1242

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3 changes: 2 additions & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,8 @@ cargo run
In about 30 seconds, you have a typed `source → task → sink` graph that prints its
first messages and records `logs/hello-copper.copper`. Start with
`copperconfig.ron`, `src/main.rs`, and `src/tasks.rs`; the generated `justfile`
also provides helpers for logs, CopperLists, graph rendering, and replay.
also provides helpers for logs, CopperLists, topology (`just dag`), the exact
generated process schedule (`just plan`), and replay.

## How Copper Fits Together

Expand Down
237 changes: 59 additions & 178 deletions core/cu29_derive/src/lib.rs
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Expand Up @@ -22,17 +22,16 @@ use cu29_runtime::config::{
};
use cu29_runtime::curuntime::{
CuExecutionLoop, CuExecutionStep, CuExecutionUnit, CuStepPhase, CuTaskType,
compute_runtime_plan, expand_anytime_steps, find_task_type_for_id,
find_task_type_for_id,
};
use cu29_runtime::planner::{DEFAULT_COPPERLIST_COUNT, PlanEntityKind, assemble_runtime_plan};
use cu29_traits::{CuError, CuResult};
use proc_macro2::{Ident, Span};

mod bundle_resources;
mod resources;
mod utils;

const DEFAULT_CLNB: usize = 2; // We can double buffer for now until we add the parallel copperlist execution support.

#[inline]
fn int2sliceindex(i: u32) -> syn::Index {
syn::Index::from(i as usize)
Expand Down Expand Up @@ -675,11 +674,10 @@ fn build_gen_cumsgs_support(
graph: &CuGraph,
mission_label: Option<&str>,
) -> CuResult<proc_macro2::TokenStream> {
let task_specs = CuTaskSpecSet::from_graph(graph)?;
let channel_usage = collect_bridge_channel_usage(graph);
let mut bridge_specs = build_bridge_specs(cuconfig, graph, &channel_usage);
let (culist_plan, exec_entities, plan_to_original) =
build_execution_plan(graph, &task_specs, &mut bridge_specs).map_err(|e| {
build_execution_plan(cuconfig, graph, &mut bridge_specs).map_err(|e| {
if let Some(mission) = mission_label {
CuError::from(format!(
"Could not compute copperlist plan for mission '{mission}': {e}"
Expand Down Expand Up @@ -1564,7 +1562,7 @@ pub fn copper_runtime(args: TokenStream, input: TokenStream) -> TokenStream {
.logging
.as_ref()
.and_then(|logging| logging.copperlist_count)
.unwrap_or(DEFAULT_CLNB);
.unwrap_or(DEFAULT_COPPERLIST_COUNT);
let copperlist_count_tokens = proc_macro2::Literal::usize_unsuffixed(copperlist_count);
let caller_root = utils::caller_crate_root();
let (git_commit, git_dirty) = detect_git_info(&caller_root);
Expand Down Expand Up @@ -1723,7 +1721,7 @@ pub fn copper_runtime(args: TokenStream, input: TokenStream) -> TokenStream {
let mut culist_bridge_specs =
build_bridge_specs(&copper_config, graph, &culist_channel_usage);
let (culist_plan, culist_exec_entities, culist_plan_to_original) =
match build_execution_plan(graph, &task_specs, &mut culist_bridge_specs) {
match build_execution_plan(&copper_config, graph, &mut culist_bridge_specs) {
Ok(plan) => plan,
Err(e) => return return_error(format!("Could not compute copperlist plan: {e}")),
};
Expand Down Expand Up @@ -6145,6 +6143,7 @@ fn task_output_payload_type(
})
}

#[cfg(test)]
fn synthesized_single_output_msg_name(
task_type: &Type,
task_kind: CuTaskType,
Expand Down Expand Up @@ -7921,187 +7920,71 @@ fn build_bridge_resource_mappings(
}

fn build_execution_plan(
config: &CuConfig,
graph: &CuGraph,
task_specs: &CuTaskSpecSet,
bridge_specs: &mut [BridgeSpec],
) -> CuResult<(
CuExecutionLoop,
Vec<ExecutionEntity>,
HashMap<NodeId, NodeId>,
)> {
let mut plan_graph = CuGraph::default();
let mut exec_entities = Vec::new();
let mut original_to_plan = HashMap::new();
let mut plan_to_original = HashMap::new();
let mut name_to_original = HashMap::new();
let mut channel_nodes = HashMap::new();

for (node_id, node) in graph.get_all_nodes() {
name_to_original.insert(node.get_id(), node_id);
if node.get_flavor() != Flavor::Task {
continue;
}
let plan_node_id = plan_graph.add_node(node.clone())?;
let task_index = task_specs.node_id_to_task_index[node_id as usize]
.expect("Task missing from specifications");
plan_to_original.insert(plan_node_id, node_id);
original_to_plan.insert(node_id, plan_node_id);
if plan_node_id as usize != exec_entities.len() {
panic!("Unexpected node ordering while mirroring tasks in plan graph");
}
exec_entities.push(ExecutionEntity {
kind: ExecutionEntityKind::Task { task_index },
});
}

for (node_id, node) in graph.get_all_nodes() {
if node.get_flavor() != Flavor::Task {
continue;
}
let Some(task_index) = task_specs.node_id_to_task_index[node_id as usize] else {
continue;
};
if !task_specs
.autogenerated_output_flags
.get(task_index)
.copied()
.unwrap_or(false)
{
continue;
}
let plan_node_id = *original_to_plan
.get(&node_id)
.unwrap_or_else(|| panic!("Task '{}' missing from mirrored plan graph", node.get_id()));
let task_kind = task_specs.cutypes[task_index];
let task_type: Type =
parse_str(task_specs.type_names[task_index].as_str()).unwrap_or_else(|err| {
panic!(
"Could not parse task type '{}': {err}",
task_specs.type_names[task_index]
)
});
let msg_type = synthesized_single_output_msg_name(
&task_type,
task_kind,
task_specs.anytime_configs[task_index].is_some(),
);
plan_graph
.get_node_mut(plan_node_id)
.unwrap_or_else(|| panic!("Plan node '{}' missing from mirrored graph", node.get_id()))
.add_nc_output(msg_type.as_str(), usize::MAX);
}

for (bridge_index, spec) in bridge_specs.iter_mut().enumerate() {
for (channel_index, channel_spec) in spec.rx_channels.iter_mut().enumerate() {
let mut node = Node::new(
format!("{}::rx::{}", spec.id, channel_spec.id).as_str(),
"__CuBridgeRxChannel",
);
node.set_flavor(Flavor::Bridge);
let plan_node_id = plan_graph.add_node(node)?;
if plan_node_id as usize != exec_entities.len() {
panic!("Unexpected node ordering while inserting bridge rx channel");
}
channel_spec.plan_node_id = Some(plan_node_id);
exec_entities.push(ExecutionEntity {
kind: ExecutionEntityKind::BridgeRx {
let assembled = assemble_runtime_plan(config, graph)?;
let mut exec_entities = Vec::with_capacity(assembled.entities.len());
for (plan_node_id, entity) in assembled.entities.iter().enumerate() {
let kind = match entity.kind {
PlanEntityKind::Task { task_index, .. } => ExecutionEntityKind::Task { task_index },
PlanEntityKind::BridgeRx {
bridge_config_index,
channel_config_index,
} => {
let bridge_index = bridge_specs
.iter()
.position(|bridge| bridge.config_index == bridge_config_index)
.expect("shared planner returned an unknown bridge");
let channel_index = bridge_specs[bridge_index]
.rx_channels
.iter()
.position(|channel| channel.config_index == channel_config_index)
.expect("shared planner returned an unknown bridge rx channel");
bridge_specs[bridge_index].rx_channels[channel_index].plan_node_id =
Some(plan_node_id as NodeId);
ExecutionEntityKind::BridgeRx {
bridge_index,
channel_index,
},
});
channel_nodes.insert(
BridgeChannelKey {
bridge_id: spec.id.clone(),
channel_id: channel_spec.id.clone(),
direction: BridgeChannelDirection::Rx,
},
plan_node_id,
);
}

for (channel_index, channel_spec) in spec.tx_channels.iter_mut().enumerate() {
let mut node = Node::new(
format!("{}::tx::{}", spec.id, channel_spec.id).as_str(),
"__CuBridgeTxChannel",
);
node.set_flavor(Flavor::Bridge);
let plan_node_id = plan_graph.add_node(node)?;
if plan_node_id as usize != exec_entities.len() {
panic!("Unexpected node ordering while inserting bridge tx channel");
}
channel_spec.plan_node_id = Some(plan_node_id);
exec_entities.push(ExecutionEntity {
kind: ExecutionEntityKind::BridgeTx {
}
}
PlanEntityKind::BridgeTx {
bridge_config_index,
channel_config_index,
} => {
let bridge_index = bridge_specs
.iter()
.position(|bridge| bridge.config_index == bridge_config_index)
.expect("shared planner returned an unknown bridge");
let channel_index = bridge_specs[bridge_index]
.tx_channels
.iter()
.position(|channel| channel.config_index == channel_config_index)
.expect("shared planner returned an unknown bridge tx channel");
bridge_specs[bridge_index].tx_channels[channel_index].plan_node_id =
Some(plan_node_id as NodeId);
ExecutionEntityKind::BridgeTx {
bridge_index,
channel_index,
},
});
channel_nodes.insert(
BridgeChannelKey {
bridge_id: spec.id.clone(),
channel_id: channel_spec.id.clone(),
direction: BridgeChannelDirection::Tx,
},
plan_node_id,
);
}
}

for cnx in graph.edges() {
let src_plan = if let Some(channel) = &cnx.src_channel {
let key = BridgeChannelKey {
bridge_id: cnx.src.clone(),
channel_id: channel.clone(),
direction: BridgeChannelDirection::Rx,
};
*channel_nodes
.get(&key)
.unwrap_or_else(|| panic!("Bridge source {:?} missing from plan graph", key))
} else {
let node_id = name_to_original
.get(&cnx.src)
.copied()
.unwrap_or_else(|| panic!("Unknown source node '{}'", cnx.src));
*original_to_plan
.get(&node_id)
.unwrap_or_else(|| panic!("Source node '{}' missing from plan", cnx.src))
};

let dst_plan = if let Some(channel) = &cnx.dst_channel {
let key = BridgeChannelKey {
bridge_id: cnx.dst.clone(),
channel_id: channel.clone(),
direction: BridgeChannelDirection::Tx,
};
*channel_nodes
.get(&key)
.unwrap_or_else(|| panic!("Bridge destination {:?} missing from plan graph", key))
} else {
let node_id = name_to_original
.get(&cnx.dst)
.copied()
.unwrap_or_else(|| panic!("Unknown destination node '{}'", cnx.dst));
*original_to_plan
.get(&node_id)
.unwrap_or_else(|| panic!("Destination node '{}' missing from plan", cnx.dst))
}
}
};

plan_graph
.connect_ext_with_order(
src_plan,
dst_plan,
&cnx.msg,
cnx.missions.clone(),
None,
None,
cnx.order,
)
.map_err(|e| CuError::from(e.to_string()))?;
exec_entities.push(ExecutionEntity { kind });
}

let mut runtime_plan = compute_runtime_plan(&plan_graph)?;
expand_anytime_steps(&mut runtime_plan)?;
Ok((runtime_plan, exec_entities, plan_to_original))
let plan_to_original = assembled
.plan_to_original
.iter()
.enumerate()
.filter_map(|(plan_node_id, original)| {
original.map(|original| (plan_node_id as NodeId, original))
})
.collect();
Ok((assembled.execution, exec_entities, plan_to_original))
}

fn collect_culist_metadata(
Expand Down Expand Up @@ -10368,12 +10251,10 @@ mod tests {
read_config("tests/config/multi_output_source_non_first_connected_valid.ron")
.expect("failed to read test config");
let graph = config.get_graph(None).expect("missing graph");
let task_specs = CuTaskSpecSet::from_graph(graph).expect("task specs");
let channel_usage = collect_bridge_channel_usage(graph);
let mut bridge_specs = build_bridge_specs(&config, graph, &channel_usage);
let (runtime_plan, exec_entities, plan_to_original) =
build_execution_plan(graph, &task_specs, &mut bridge_specs)
.expect("runtime plan failed");
build_execution_plan(&config, graph, &mut bridge_specs).expect("runtime plan failed");
let output_packs = extract_output_packs(&runtime_plan);
let task_names = collect_task_names(graph);
let (_, node_output_positions) = collect_culist_metadata(
Expand Down
5 changes: 5 additions & 0 deletions core/cu29_runtime/Cargo.toml
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Expand Up @@ -18,6 +18,11 @@ name = "cu29-rendercfg"
path = "src/rendercfg.rs"
required-features = ["std"]

[[bin]]
name = "cu29-plan"
path = "src/plan.rs"
required-features = ["std"]

[dependencies]
cu29-clock = { workspace = true }
cu29-intern-strs = { workspace = true, optional = true }
Expand Down
2 changes: 2 additions & 0 deletions core/cu29_runtime/src/lib.rs
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Expand Up @@ -34,6 +34,8 @@ pub mod parallel_queue;
#[cfg(all(feature = "std", feature = "parallel-rt"))]
pub mod parallel_rt;
pub mod payload;
#[doc(hidden)]
pub mod planner;
#[cfg(feature = "std")]
pub mod pool;
pub mod reflect;
Expand Down
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