CristalCaveGem » LustreC

(********************************************************************)

(*                                                                  *)

(*  The LustreC compiler toolset   /  The LustreC Development Team  *)

(*  Copyright 2012 -    --   ONERA - CNRS - INPT                    *)

(*                                                                  *)

(*  LustreC is free software, distributed WITHOUT ANY WARRANTY      *)

(*  under the terms of the GNU Lesser General Public License        *)

(*  version 2.1.                                                    *)

(*                                                                  *)

(********************************************************************)

open Lustre_types

open Machine_code_types

open Machine_code_common

open Corelang

open Clocks

open Causality

exception NormalizationError

(* Questions:

   - where are used the mconst. They contain initialization of

   constant in nodes. But they do not seem to be used by c_backend *)

(* translate_<foo> : vars -> context -> <foo> -> machine code/expression *)

(* the context contains  m : state aka memory variables  *)

(*                      si : initialization instructions *)

(*                       j : node aka machine instances  *)

(*                       d : local variables             *)

(*                       s : step instructions           *)

(* Machine processing requires knowledge about variables and local

   variables. Local could be memories while other could not.  *)

type machine_env = {

    is_local: string -> bool;

    get_var: string -> var_decl

  }

let build_env locals non_locals =

  let all = VSet.union locals non_locals in

  {

    is_local = (fun id -> VSet.exists (fun v -> v.var_id = id) locals);

    get_var = (fun id -> try

                  VSet.get id all

                with Not_found -> (

                  (* Format.eprintf "Impossible to find variable %s in set %a@.@?"

                   *   id

                   *   VSet.pp all; *)

                  raise Not_found

                )

              )  

  }

(****************************************************************)

(* Basic functions to translate to machine values, instructions *) 

(****************************************************************)

let translate_ident env id =

  (* Format.eprintf "trnaslating ident: %s@." id; *)

  try (* id is a var that shall be visible here , ie. in vars *)

    let var_id = env.get_var id in

    mk_val (Var var_id) var_id.var_type

  with Not_found ->

    try (* id is a constant *)

      let vdecl = (Corelang.var_decl_of_const

                     (const_of_top (Hashtbl.find Corelang.consts_table id)))

      in

      mk_val (Var vdecl) vdecl.var_type

    with Not_found ->

      (* id is a tag, getting its type in the list of declared enums *)

      try

        let typ = (typedef_of_top (Hashtbl.find Corelang.tag_table id)).tydef_id in

        mk_val (Cst (Const_tag id)) (Type_predef.type_const typ)

      with Not_found -> (Format.eprintf

                           "internal error: Machine_code.translate_ident %s@.@?"

                           id;

                         assert false)

let rec control_on_clock env ck inst =

 match (Clocks.repr ck).cdesc with

 | Con    (ck1, cr, l) ->

   let id  = Clocks.const_of_carrier cr in

   control_on_clock env ck1

     (mkinstr

	(MBranch (translate_ident env id,

		  [l, [inst]] )))

 | _                   -> inst

(* specialize predefined (polymorphic) operators wrt their instances,

   so that the C semantics is preserved *)

let specialize_to_c expr =

 match expr.expr_desc with

 | Expr_appl (id, e, r) ->

   if List.exists (fun e -> Types.is_bool_type e.expr_type) (expr_list_of_expr e)

   then let id =

	  match id with

	  | "="  -> "equi"

	  | "!=" -> "xor"

	  | _    -> id in

	{ expr with expr_desc = Expr_appl (id, e, r) }

   else expr

 | _ -> expr

let specialize_op expr =

  match !Options.output with

  | "C" -> specialize_to_c expr

  | _   -> expr

let rec translate_expr env expr =

  let expr = specialize_op expr in

  let translate_expr = translate_expr env in

  let value_desc = 

    match expr.expr_desc with

    | Expr_const v                     -> Cst v

    | Expr_ident x                     -> (translate_ident env x).value_desc

    | Expr_array el                    -> Array (List.map translate_expr el)

    | Expr_access (t, i)               -> Access (translate_expr t,

                                                  translate_expr 

                                                    (expr_of_dimension i))

    | Expr_power  (e, n)               -> Power  (translate_expr e,

                                                  translate_expr

                                                    (expr_of_dimension n))

    | Expr_tuple _

      | Expr_arrow _ 

      | Expr_fby _

      | Expr_pre _                       -> (Printers.pp_expr

                                               Format.err_formatter expr;

                                             Format.pp_print_flush

                                               Format.err_formatter ();

                                             raise NormalizationError)

    | Expr_when    (e1, _, _)          -> (translate_expr e1).value_desc

    | Expr_merge   (x, _)              -> raise NormalizationError

    | Expr_appl (id, e, _) when Basic_library.is_expr_internal_fun expr ->

       let nd = node_from_name id in

       Fun (node_name nd, List.map translate_expr (expr_list_of_expr e))

    | Expr_ite (g,t,e) -> (

      (* special treatment depending on the active backend. For

         functional ones, like horn backend, ite are preserved in

         expression. While they are removed for C or Java backends. *)

      if Backends.is_functional () then

	Fun ("ite", [translate_expr g; translate_expr t; translate_expr e])

      else 

	(Format.eprintf "Normalization error for backend %s: %a@."

	   !Options.output

	   Printers.pp_expr expr;

	 raise NormalizationError)

    )

    | _                   -> raise NormalizationError

  in

  mk_val value_desc expr.expr_type

let translate_guard env expr =

  match expr.expr_desc with

  | Expr_ident x  -> translate_ident env x

  | _ -> (Format.eprintf "internal error: translate_guard %a@."

            Printers.pp_expr expr;

          assert false)

let rec translate_act env (y, expr) =

  let translate_act = translate_act env in

  let translate_guard = translate_guard env in

  let translate_ident = translate_ident env in

  let translate_expr = translate_expr env in

  let eq = Corelang.mkeq Location.dummy_loc ([y.var_id], expr) in

  match expr.expr_desc with

  | Expr_ite   (c, t, e) -> let g = translate_guard c in

			    mk_conditional ?lustre_eq:(Some eq) g

                              [translate_act (y, t)]

                              [translate_act (y, e)]

  | Expr_merge (x, hl)   -> mkinstr ?lustre_eq:(Some eq)

                              (MBranch (translate_ident x,

                                        List.map (fun (t,  h) ->

                                            t, [translate_act (y, h)])

                                          hl))

  | _                    -> mkinstr ?lustre_eq:(Some eq)

                              (MLocalAssign (y, translate_expr expr))

let reset_instance env i r c =

  match r with

  | None        -> []

  | Some r      -> let g = translate_guard env r in

                   [control_on_clock

                      env

                      c

                      (mk_conditional

                         g

                         [mkinstr (MReset i)]

                         [mkinstr (MNoReset i)])

                   ]

(* Datastructure updated while visiting equations *)

type machine_ctx = {

    m: VSet.t; (* Memories *)

    si: instr_t list;

    j: (Lustre_types.top_decl * Dimension.dim_expr list) Utils.IMap.t;

    s: instr_t list;

  }

let ctx_init = { m = VSet.empty; (* memories *)

                 si = []; (* init instr *)

                 j = Utils.IMap.empty;

                 s = [] }

(****************************************************************)

(* Main function to translate equations into this machine context we

   are building *) 

(****************************************************************)

let translate_eq env ctx eq =

  let translate_expr = translate_expr env in

  let translate_act = translate_act env in

  let control_on_clock = control_on_clock env in

  let reset_instance = reset_instance env in

  (* Format.eprintf "translate_eq %a with clock %a@." 

     Printers.pp_node_eq eq Clocks.print_ck eq.eq_rhs.expr_clock;  *)

  match eq.eq_lhs, eq.eq_rhs.expr_desc with

  | [x], Expr_arrow (e1, e2)                     ->

     let var_x = env.get_var x in

     let o = new_instance Arrow.arrow_top_decl eq.eq_rhs.expr_tag in

     let c1 = translate_expr e1 in

     let c2 = translate_expr e2 in

     { ctx with

       si = mkinstr (MReset o) :: ctx.si;

       j = Utils.IMap.add o (Arrow.arrow_top_decl, []) ctx.j;

       s = (control_on_clock

              eq.eq_rhs.expr_clock

              (mkinstr ?lustre_eq:(Some eq) (MStep ([var_x], o, [c1;c2])))

           ) :: ctx.s

     }

  | [x], Expr_pre e1 when env.is_local x    ->

     let var_x = env.get_var x in

      { ctx with

        m = VSet.add var_x ctx.m;

        s = control_on_clock

              eq.eq_rhs.expr_clock

              (mkinstr ?lustre_eq:(Some eq)

                 (MStateAssign (var_x, translate_expr e1)))

            :: ctx.s

      }

  | [x], Expr_fby (e1, e2) when env.is_local x ->

     let var_x = env.get_var x in

     { ctx with

       m = VSet.add var_x ctx.m;

       si = mkinstr ?lustre_eq:(Some eq)

              (MStateAssign (var_x, translate_expr e1))

            :: ctx.si;

       s = control_on_clock

             eq.eq_rhs.expr_clock

             (mkinstr ?lustre_eq:(Some eq)

                (MStateAssign (var_x, translate_expr e2)))

           :: ctx.s

     }

  | p  , Expr_appl (f, arg, r) when not (Basic_library.is_expr_internal_fun eq.eq_rhs) ->

     let var_p = List.map (fun v -> env.get_var v) p in

     let el = expr_list_of_expr arg in

     let vl = List.map translate_expr el in

     let node_f = node_from_name f in

     let call_f =

       node_f,

       NodeDep.filter_static_inputs (node_inputs node_f) el in

     let o = new_instance node_f eq.eq_rhs.expr_tag in

     let env_cks = List.fold_right (fun arg cks -> arg.expr_clock :: cks) el [eq.eq_rhs.expr_clock] in

     let call_ck = Clock_calculus.compute_root_clock (Clock_predef.ck_tuple env_cks) in

     (*Clocks.new_var true in

       Clock_calculus.unify_imported_clock (Some call_ck) eq.eq_rhs.expr_clock eq.eq_rhs.expr_loc;

       Format.eprintf "call %a: %a: %a@," Printers.pp_expr eq.eq_rhs Clocks.print_ck (Clock_predef.ck_tuple env_cks) Clocks.print_ck call_ck;*)

     { ctx with

       si = 

         (if Stateless.check_node node_f then ctx.si else mkinstr (MReset o) :: ctx.si);

      j = Utils.IMap.add o call_f ctx.j;

      s = (if Stateless.check_node node_f

           then []

           else reset_instance o r call_ck) @

	    (control_on_clock call_ck

               (mkinstr ?lustre_eq:(Some eq) (MStep (var_p, o, vl))))

            :: ctx.s

     }

  | [x], _                                       -> (

    let var_x = env.get_var x in

    { ctx with

      s = 

     control_on_clock 

       eq.eq_rhs.expr_clock

       (translate_act (var_x, eq.eq_rhs)) :: ctx.s

    }

  )

  | _                                            ->

     begin

       Format.eprintf "internal error: Machine_code.translate_eq %a@?"

         Printers.pp_node_eq eq;

       assert false

     end

let constant_equations locals =

 VSet.fold (fun vdecl eqs ->

   if vdecl.var_dec_const

   then

     { eq_lhs = [vdecl.var_id];

       eq_rhs = Utils.desome vdecl.var_dec_value;

       eq_loc = vdecl.var_loc

     } :: eqs

   else eqs)

   locals []

let translate_eqs env ctx eqs =

  List.fold_right (fun eq ctx -> translate_eq env ctx eq) eqs ctx;;

(****************************************************************)

(* Processing nodes *) 

(****************************************************************)

let process_asserts nd =

    let exprl = List.map (fun assert_ -> assert_.assert_expr ) nd.node_asserts in

    if Backends.is_functional () then

      [], [], exprl  

    else (* Each assert(e) is associated to a fresh variable v and declared as

	    v=e; assert (v); *)

      let _, vars, eql, assertl =

	List.fold_left (fun (i, vars, eqlist, assertlist) expr ->

	  let loc = expr.expr_loc in

	  let var_id = nd.node_id ^ "_assert_" ^ string_of_int i in

	  let assert_var =

	    mkvar_decl

	      loc

	      ~orig:false (* fresh var *)

	      (var_id,

	       mktyp loc Tydec_bool,

	       mkclock loc Ckdec_any,

	       false, (* not a constant *)

	       None, (* no default value *)

	       Some nd.node_id

	      )

	  in

	  assert_var.var_type <- Type_predef.type_bool (* Types.new_ty (Types.Tbool) *); 

	  let eq = mkeq loc ([var_id], expr) in

          (i+1,

           assert_var::vars,

           eq::eqlist,

           {expr with expr_desc = Expr_ident var_id}::assertlist)

	) (1, [], [], []) exprl

      in

      vars, eql, assertl

let translate_core sorted_eqs locals other_vars =

  let constant_eqs = constant_equations locals in

  let env = build_env locals other_vars  in

  (* Compute constants' instructions  *)

  let ctx0 = translate_eqs env ctx_init constant_eqs in

  assert (VSet.is_empty ctx0.m);

  assert (ctx0.si = []);

  assert (Utils.IMap.is_empty ctx0.j);

  (* Compute ctx for all eqs *)

  let ctx = translate_eqs env ctx_init sorted_eqs in

  ctx, ctx0.s

let translate_decl nd sch =

  (* Format.eprintf "Translating node %s@." nd.node_id; *)

  (* Extracting eqs, variables ..  *)

  let eqs, auts = get_node_eqs nd in

  assert (auts = []); (* Automata should be expanded by now *)

  (* In case of non functional backend (eg. C), additional local variables have

     to be declared for each assert *)

  let new_locals, assert_instrs, nd_node_asserts = process_asserts nd in

  (* Build the env: variables visible in the current scope *)

  let locals_list = nd.node_locals @ new_locals in

  let locals = VSet.of_list locals_list in

  let inout_vars = (VSet.of_list (nd.node_inputs @ nd.node_outputs)) in

  let env = build_env locals inout_vars  in 

  (* Format.eprintf "Node content is %a@." Printers.pp_node nd; *)

  (* Computing main content *)

  (* Format.eprintf "ok1@.@?"; *)

  let schedule = sch.Scheduling_type.schedule in

  (* Format.eprintf "ok2@.@?"; *)

  let sorted_eqs, unused = Scheduling.sort_equations_from_schedule eqs schedule in

  (* Format.eprintf "ok3@.locals=%a@.inout:%a@?"

   *   VSet.pp locals

   *   VSet.pp inout_vars

   * ; *)

  let ctx, ctx0_s = translate_core (assert_instrs@sorted_eqs) locals inout_vars in

  (* Format.eprintf "ok4@.@?"; *)

  (* Removing computed memories from locals. We also removed unused variables. *)

  let updated_locals =

    let l = VSet.elements (VSet.diff locals ctx.m) in

    List.fold_left (fun res v -> if List.mem v.var_id unused then res else v::res) [] l

  in

  let mmap = Utils.IMap.elements ctx.j in

  {

    mname = nd;

    mmemory = VSet.elements ctx.m;

    mcalls = mmap;

    minstances = List.filter (fun (_, (n,_)) -> not (Stateless.check_node n)) mmap;

    minit = ctx.si;

    mconst = ctx0_s;

    mstatic = List.filter (fun v -> v.var_dec_const) nd.node_inputs;

    mstep = {

        step_inputs = nd.node_inputs;

        step_outputs = nd.node_outputs;

        step_locals = updated_locals;

        step_checks = List.map (fun d -> d.Dimension.dim_loc,

                                         translate_expr env 

                                           (expr_of_dimension d))

                        nd.node_checks;

        step_instrs = (

	  (* special treatment depending on the active backend. For horn backend,

	   common branches are not merged while they are in C or Java

	   backends. *)

	  if !Backends.join_guards then

	    join_guards_list ctx.s

	  else

	    ctx.s

        );

        step_asserts = List.map (translate_expr env) nd_node_asserts;

      };

    (* Processing spec: there is no processing performed here. Contract

     have been processed already. Either one of the other machine is a

     cocospec node, or the current one is a cocospec node. Contract do

     not contain any statement or import. *)

    mspec = nd.node_spec;

    mannot = nd.node_annot;

    msch = Some sch;

  }

(** takes the global declarations and the scheduling associated to each node *)

let translate_prog decls node_schs =

  let nodes = get_nodes decls in

  let machines =

    List.map

    (fun decl ->

     let node = node_of_top decl in

      let sch = Utils.IMap.find node.node_id node_schs in

      translate_decl node sch

    ) nodes

  in

  machines

    (* Local Variables: *)

    (* compile-command:"make -C .." *)

    (* End: *)