/*! \page dglib GRASS Directed Graph Library

by GRASS Development Team (https://grass.osgeo.org)

\tableofcontents

\section vlibDglibShortIntro Short introduction

The Directed Graph Library or DGLib (Micarelli 2002)
provides functionality for vector network analysis. This library
released under GPL is hosted by the GRASS project (within the GRASS
source code). As a stand-alone library it may also be used by other
software projects.

The Directed Graph Library library provides functionality to assign
costs to lines and/or nodes. That means that costs can be accumulated
while traveling along polylines. The user can assign individual costs
to all lines and/or nodes of a vector map and later calculate least costly
path connections based on the accumulated costs. Applications are
transport analysis, connectivity and more. Implemented applications
cover shortest/fastest path, traveling salesman (round trip), allocation of
sources (creation of subnetworks), minimum Steiner trees (star-like
connections), and iso-distances (from centers).

For details, please read Blazek et al. 2002 (see below).

Related vector functions are:
 Vect_graph_add_edge(),
 Vect_graph_init(),
 Vect_graph_set_node_costs(),
 Vect_graph_shortest_path(),
 Vect_net_build_graph(),
 Vect_net_nearest_nodes(),
 Vect_net_shortest_path(), and
 Vect_net_shortest_path_coor().


\section intro Introduction

The Directed Graph Library or DGLib (Micarelli 2002) provides
functionality for vector network analysis. This library released under
GPL is hosted by the GRASS project (in the CVS server). As stand-alone
library it may also be used by other software project.

A graph is a system of logical connections between a collection of
objects called vertices. Graphs are usually represented by a picture,
so that each vertex is shown as a point, with the connections shown as
line segments. These vertices are also commonly referred to as nodes,
edges referred to as arcs. A directed graph (digraph) consists of a
finite set of vertices, and a finite set of edges, where an edge is an
ordered pair of vertices. A directed graph has the property that edges
have a direction, this is the reason for defining an edge as an
ordered pair of vertices often referred to as the head and the tail of
the edge.

The original design idea behind DGLib was to support middle sized
graphs in RAM with a near-static structure that doesn't need to be
dynamically modified by the user program; ability to read graphs from
input streams and process them with no needle to rebuild internal
trees. A representation has been defined, where graph data is stored
in 32bit word arrays and each element pointer is converted to a
relative offset. This representation is serializable from/to
input/output streams and allows fast load-and-use processing. Graphs
need to be de-serialized in order to be edited. In further
refactorings the library has evolved to support dynamic changes and
state-independent algorithm (algorithms can be run on both
serializable or editable graphs).

DGLib defines a serializable graph as being in FLAT state and a
editable graph as being in TREE state. The implementation makes
intensive use of libavl (http://www.msu.edu/~pfaffben/avl/) AVL data
structures to support TREE state.

So far DGLib defines three different graph versions, version 1
supports directed graph with a weak concept of the edge, it can
support many applications where one doesn't need to know about the
input edges of a node (in-degree) and where there is no requirement to
directly retrieve edges by their identifier but only by head/tail
combinations. Version 2 adds in-degree support and a true edge
addressing, yet supporting directed graph. Version 3 uses the same
internal representation of version 2 but activates code branches to
support undirected graphs.

The DGLib user can control a number of static features and can attach
a arbitrary amount of data to each node (node-attributes) and each
edge (edge-attributes). Attributes are not considered to be part of
the graph structure and can be edited also when the graph is in FLAT
state.

Graph traversal in neither recursive nor hook (callback) based, but
built on the use of traversers for nodes and edges. By default,
traversal is ordered by node and edge identifiers but can optionally
be ordered by other means. For example, it is often useful to visit
edges on a weight order} basis (greedy algorithm), this is possible
via prioritizers that are activated by setting specific graph options.

Both preemptive (blocking) and non-preemptive
(non-blocking/multiplexed) I/O is supported, although GRASS does not
actually use graph storage it may be easily required by any other
library user. Thread safety is so far ensured by a data separation
design that keeps all application context states into stack
containers, whose life cycle is controlled by the user program. Each
graph is a separate container and two or more graphs never
conflict. In addition algorithms (ie. shortest path) can safely share
the same graph, while concurrent editing on the same graph is unsafe.

As DGLib is under development, only a bunch of polynomial time
algorithms have been implemented, and the basic structure is being
stressed to be a mature core to possibly time wasting
computations. Current algorithms are: shortest path, depth spanning,
and minimum spanning. Spanning algorithms silently behave as
arborescenses when applied to directed graphs. A clip callback
function, optionally supplied by the user, comes called by the library
while traversing the graph in order to alter default algorithm
behavior (i.e. user can control access to specific graph segments
while computing shortest path).

The Directed Graph Library library provides functionality to assign
costs to lines and/or nodes. That means that costs can be accumulated
while traveling along polylines. The user can assign individual costs
to all lines and/or nodes of a vector map and later calculate shortest
path connections based on the accumulated costs. Applications are
transport analysis, connectivity and more.


Text based on:<br>

R. Blazek, M. Neteler, and R. Micarelli. The new GRASS 5.1 vector
architecture. In Open source GIS - GRASS users conference 2002,
Trento, Italy, 11-13 September 2002. University of Trento, Italy,
2002.
<a href="http://www.ing.unitn.it/%7Egrass/conferences/GRASS2002/proceedings/proceedings/pdfs/Blazek_Radim.pdf">http://www.ing.unitn.it/~grass/conferences/GRASS2002/proceedings/proceedings/pdfs/Blazek_Radim.pdf</a>


\section codeWalkTrough Code Walk Through explanation

Directed graph library is responsible for network analysis operations
done on vector maps. For this purpose directed graph library converts
the vector attributes into form of a graph. This graph structure and
related structures are defined in dglib/graph.h This header file
contains definition of all structers required for storing components
of graph, transversing, accessing and modifying it.

Map Structure Map_info contains a instance of dglGraph_s as one of its
elements named 'graph'. This element is populated call to api
Vect_net_build_graph(). This API takes several arguments as defined in
lib/vector/Vlib/net.c (see \ref vectorlib).

Following structure declares dglGraph_s, main datastructure for storing graph.

\verbatim
typedef struct _dglGraph
{
	int				iErrno; // used to report what kind of error while operating on it lately.

	dglByte_t			Version;	//graph version 1 2 or 3
	dglByte_t			Endian;		// big or small
	dglInt32_t			NodeAttrSize;	 //node attr sze
	dglInt32_t			EdgeAttrSize; //edge attribute size
	dglInt32_t			aOpaqueSet[ 16 ];

	dglInt32_t			cNode;	// count of nodes
	dglInt32_t			cHead;	// count of head nodes ( nodes from those edge orignates)
	dglInt32_t			cTail;	// count of tail nodes (nodes at whom edge terimate )
	dglInt32_t			cAlone;	// component nodes ( which are not connected to anyone )
	dglInt32_t			cEdge;	//count of edges
	dglInt64_t			nnCost;	//total cost of edges

	dglInt32_t			Flags;	// flags for graph . This conveys whether graph is of what kind.
	dglInt32_t			nFamily;
	dglInt32_t			nOptions;

	void *				pNodeTree;	// pointer to tree of nodes
	void *				pEdgeTree;	//pointer to tree of edges
	dglByte_t * 			pNodeBuffer;	//pointer to node buffer. this points contiguous memory location containing pointers to nodes of  graph.
	dglInt32_t			iNodeBuffer; //current index of node being accessed. This is used as offset index from pNodeBuffer
	dglByte_t * 			pEdgeBuffer; //pointer to edge buffer. this points to contiguous memory ,containing pointer to edgesets passing through each node. Here as per i remember means orignating.
	dglInt32_t			iEdgeBuffer; // offset index counter for edge buffer.

			//rest i have not studied yet (NKD).
	dglEdgePrioritizer_s edgePrioritizer;
	dglNodePrioritizer_s nodePrioritizer;


 //so far statistics are only computed by dglAddEdge()
#ifdef DGL_STATS
	clock_t				clkAddEdge;  // cycles spent during the last addedge execution
	int					cAddEdge;    // # of calls to dglAddEdge()
	clock_t				clkNodeTree; // cycles spent in accessing the node binary tree
	int					cNodeTree;   // # of probes in the node tree
#endif
}
\endverbatim

As mentioned earlier, graphs are stored as FLAT form and for all
operations they are first converted to TREE.  In FLAT form,
pnodeBuffer contains all information about nodes. They are stored in
ascending order as per nodeid. pnodeBuffer points to a contiguous
memory area contains pointer to node type structure. This node type
structure is a memory area indexed as

\verbatim
// Node macros - addresses in a flat node ( as defined in dglib/graph_v1.h ,
// similar for version 2)

#define DGL_IN_NODEID_v1		0
#define DGL_IN_STATUS_v1 		1
#define DGL_IN_TAIL_OFFSET_v1 	2// this gives where edgeset pointer is in pnode
#define DGL_IN_ATTR_v1			3
#define DGL_IN_SIZE_v1			DGL_IN_ATTR_v1
\endverbatim

Similarly pEdgeBuffer is a contiguous memory locations contains
pointer to edgesets passing through each node.  These edgesets can be
transversed using dglEdgesetTraverser_s structure defined in
dglib/graph.h .

\verbatim
// Edge macros - addresses in a flat edge (as defined in dglib/graph_v1.h and similar for version 2)
#define DGL_IL_HEAD_OFFSET_v1	0
#define DGL_IL_TAIL_OFFSET_v1	1
#define DGL_IL_COST_v1			2
#define DGL_IL_ID_v1			3
#define DGL_IL_ATTR_v1			4
#define DGL_IL_SIZE_v1			DGL_IL_ATTR_v1
\endverbatim

For any operations on graph, these first need to be converted to TREE
from XXX. Dglib first convert FLAT to AVL trees using libavl. This
operation is called unflattening.

This has been explained earlier that graph may be one of three
versions depending on which operations will be supported. APIs for
these has been differentiated from each other through a suffix _v1 and
_v2 .  All generic graph operations are defined in dglib/graph.h
. These APIs depending on graph version call respective version
APIs. For version 1 they resolve into *_v1() ones declared and defined
in dglib/graph_v1.h and dglib/graph_v1.c . For version 2, they are is
in dglib/graph_v2.h and dglib/graph_v2.c . For version 3, DOCUMENT
THIS. Operations on various permitives are defined in template files.

<ul>
<li> Node operations : nodemgmt-template.c ->This contains operations like  getting, setting a node, finding in and out edgeset from node.

<li> Edge operations: edgemgmt-template.c -> add edge, delete edge, get edge etc.

<li> Spanning tree : span-template.c -> Build the depth-first spanning tree, minimum spanning tree using Prims algorithm

<li> Shortest path : sp-template.c -> it implement Dijkastra's algo using min heap. Algorithm needs to be studied more.

<li> misc operations: misc-template.c -> operations like flattening or unflattening of graph, edgeset  transversing, node set  transversing etc.
</ul>

All these files contains definition using/for macros.These macro
definitions are there to make graph version transparent and provide
uniform interface.  Macro declaration happens in v1-defs.h for version 1
and v2-defs.h for version 2 graphs. If you are looking for any API,
if it is all capital, it is a macro. You need to look for its
expansion. This expansion will be true function for that
operation. Just a piece of advice , always keep programmers manual
with you. Just search in it for what you want otherwise one may spend
quite substantial time in finding desired code.

Vlib/level-two.c defines various APIs used for operation done on nodes
and edges . For example finding node coordinates, edges coming from
head nodes. etc.

dglib/example folder contains some good examples which work only on
graph (I mean graph is required to be input). They are easy and almost
self explanatory once you know what API are for.

\section functions Functions

(yet incomplete, all functions need to be doxygenized...)

dglNodeGet_Id()

dglGet_NodeAttrSize()

dglNodeGet_Attr()

dglNodeSet_Attr()

dglInitialize()

dglFlatten()

dglAddEdge()

dglGetNode()

dglShortestPath()

dglShortestDistance()

dglEdgeGet_Id()

dglEdgeGet_Cost()

dglFreeSPReport()

\section vlibReferences References

R. Blazek, M. Neteler, and R. Micarelli. The new GRASS 5.1
 vector architecture. In Open source GIS - GRASS users conference 2002,
 Trento, Italy, 11-13 September 2002. University of Trento, Italy, 2002.
 <a href="http://www.ing.unitn.it/~grass/conferences/GRASS2002/proceedings/proceedings/pdfs/Blazek_Radim.pdf">http://www.ing.unitn.it/~grass/conferences/GRASS2002/proceedings/proceedings/pdfs/Blazek_Radim.pdf</a>


\section contacts Contacts

Roberto Micarelli, Italy<br>
GRASS Development Team<br>
Nitin K Dhiman, AINN group, CAIR  <nitinkdhiman@gmail.com> (code walkthrough documentation)

\section seealso See Also

GRASS 6 Vector Architecture \ref vectorlib

Last change: $Date$
*/
