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 Spec_types

open Spec_common

open Corelang

open Clocks

open Causality

open Utils

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 inputs locals outputs =

  let all = List.sort_uniq VDeclModule.compare (locals @ inputs @ outputs) in

  {

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

    get_var =

      (fun id ->

        try List.find (fun v -> v.var_id = 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; *)

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

  try

    let var_id = env.get_var id in

    vdecl_to_val var_id

  with Not_found -> (

    (* id is a constant *)

    try

      let vdecl =

        Corelang.var_decl_of_const

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

      in

      vdecl_to_val vdecl

    with Not_found -> (

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

      try id_to_tag id

      with Not_found ->

        Format.eprintf "internal error: Machine_code.translate_ident %s@.@?" id;

        assert false))

(* 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 Options.OutC -> 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_when (e1, _, _) ->

      (translate_expr e1).value_desc

    | 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) when Backends.is_functional () ->

      (* 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. *)

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

    | _ ->

      Format.eprintf

        "Normalization error for backend %t: %a@."

        Options.pp_output

        Printers.pp_expr

        expr;

      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_expr = translate_expr env in

  let lustre_eq = Corelang.mkeq Location.dummy ([ y.var_id ], expr) in

  match expr.expr_desc with

  | Expr_ite (c, t, e) ->

    let c = translate_guard c in

    let t, spec_t = translate_act (y, t) in

    let e, spec_e = translate_act (y, e) in

    mk_conditional ~lustre_eq c [ t ] [ e ], mk_conditional_tr c spec_t spec_e

  | Expr_merge (x, hl) ->

    let var_x = env.get_var x in

    let hl, spec_hl =

      List.(

        split

          (map

             (fun (t, h) ->

               let h, spec_h = translate_act (y, h) in

               (t, [ h ]), (t, spec_h))

             hl))

    in

    mk_branch' ~lustre_eq var_x hl, mk_branch_tr var_x spec_hl

  | _ ->

    let e = translate_expr expr in

    mk_assign ~lustre_eq y e, mk_assign_tr y e

let get_memory env mems eq =

  match eq.eq_lhs, eq.eq_rhs.expr_desc with

  | ([ x ], Expr_pre _ | [ x ], Expr_fby _) when env.is_local x ->

    let var_x = env.get_var x in

    VSet.add var_x mems

  | _ ->

    mems

let get_memories env = List.fold_left (get_memory env) VSet.empty

(* Datastructure updated while visiting equations *)

type machine_ctx = {

  (* memories *)

  m : ISet.t;

  (* Reset instructions *)

  si : instr_t list;

  (* Instances *)

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

  (* Step instructions *)

  s : instr_t list;

  (* Memory pack spec *)

  mp : mc_formula_t list;

  (* Transition spec *)

  t :

    (var_decl list

    (* vars *)

    * ISet.t (* memory footprint *)

    * ident IMap.t

    (* memory instances footprint *)

    * mc_formula_t)

    (* formula *)

    list;

}

let ctx_init =

  { m = ISet.empty; si = []; j = IMap.empty; s = []; mp = []; t = [] }

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

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

   building *)

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

let mk_control v l inst = mkinstr (MBranch (vdecl_to_val v, [ l, [ inst ] ]))

let control_on_clock env ck inst =

  let rec aux ((fspec, inst) as acc) ck =

    match (Clocks.repr ck).cdesc with

    | Con (ck, cr, l) ->

      let id = Clocks.const_of_carrier cr in

      let v = env.get_var id in

      aux

        ( (fun spec -> Imply (Equal (Var v, Tag (l, v.var_type)), fspec spec)),

          mk_control v l inst )

        ck

    | _ ->

      acc

  in

  let fspec, inst = aux ((fun spec -> spec), inst) ck in

  fspec, inst

let reset_instance env i r c =

  match r with

  | Some r ->

    let r = translate_guard env r in

    let _, inst =

      control_on_clock

        env

        c

        (mk_conditional r [ mkinstr (MSetReset i) ] [ mkinstr (MNoReset i) ])

    in

    Some r, [ inst ]

  | None ->

    None, []

let translate_eq env ctx nd inputs locals outputs i eq =

  let stateless = fst (get_stateless_status_node nd) in

  let id = nd.node_id in

  let translate_expr = translate_expr env in

  let translate_act = translate_act env in

  let locals_pi = Lustre_live.inter_live_i_with id (i - 1) locals in

  let outputs_pi = Lustre_live.inter_live_i_with id (i - 1) outputs in

  let locals_i = Lustre_live.inter_live_i_with id i locals in

  let outputs_i = Lustre_live.inter_live_i_with id i outputs in

  let pred_mp ctx a = And [ mk_memory_pack ~i:(i - 1) id; a ] :: ctx.mp in

  let pred_t ctx a =

    ( inputs @ locals_i @ outputs_i,

      ctx.m,

      IMap.map (fun (td, _) -> node_name td) ctx.j,

      Exists

        ( Lustre_live.existential_vars id i eq (locals @ outputs),

          And

            [

              mk_transition

                ~i:(i - 1)

                stateless

                id

                (vdecls_to_vals (inputs @ locals_pi @ outputs_pi));

              a;

            ] ) )

    :: ctx.t

  in

  let control_on_clock ck inst spec_mp spec_t ctx =

    let fspec, inst = control_on_clock env ck inst in

    {

      ctx with

      s =

        {

          inst with

          instr_spec =

            (if fst (get_stateless_status_node nd) then []

            else [ mk_memory_pack ~i id ])

            @ [

                mk_transition

                  ~i

                  stateless

                  id

                  (vdecls_to_vals (inputs @ locals_i @ outputs_i));

              ];

        }

        :: ctx.s;

      mp = pred_mp ctx spec_mp;

      t = pred_t ctx (fspec spec_t);

    }

  in

  let reset_instance = reset_instance env in

  let mkinstr' = mkinstr ~lustre_eq:eq in

  let ctl ?(ck = eq.eq_rhs.expr_clock) instr =

    control_on_clock ck (mkinstr' instr)

  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 td = Arrow.arrow_top_decl () in

    let inst = new_instance td eq.eq_rhs.expr_tag in

    let c1 = translate_expr e1 in

    let c2 = translate_expr e2 in

    assert (c1.value_desc = Cst (Const_tag "true"));

    assert (c2.value_desc = Cst (Const_tag "false"));

    let ctx =

      ctl

        (MStep ([ var_x ], inst, [ c1; c2 ]))

        (mk_memory_pack ~inst (node_name td))

        (mk_transition ~inst false (node_name td) [ vdecl_to_val var_x ])

        { ctx with j = IMap.add inst (td, []) ctx.j }

    in

    { ctx with si = mkinstr (MSetReset inst) :: ctx.si }

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

    let var_x = env.get_var x in

    let e = translate_expr e in

    ctl

      (MStateAssign (var_x, e))

      (mk_state_variable_pack var_x)

      (mk_state_assign_tr var_x e)

      { ctx with m = ISet.add x ctx.m }

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

    let var_x = env.get_var x in

    let e2 = translate_expr e2 in

    let ctx =

      ctl

        (MStateAssign (var_x, e2))

        (mk_state_variable_pack var_x)

        (mk_state_assign_tr var_x e2)

        { ctx with m = ISet.add x ctx.m }

    in

    {

      ctx with

      si = mkinstr' (MStateAssign (var_x, translate_expr e1)) :: ctx.si;

    }

  | p, Expr_appl (f, arg, r)

    when not (Basic_library.is_expr_internal_fun eq.eq_rhs) ->

    let var_p = List.map env.get_var 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 i = 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

    let r, reset_inst = reset_instance i r call_ck in

    let stateless = Stateless.check_node node_f in

    let inst = if stateless then None else Some i in

    let mp =

      if stateless then True else mk_memory_pack ?inst (node_name node_f)

    in

    let ctx =

      ctl

        ~ck:call_ck

        (MStep (var_p, i, vl))

        mp

        (mk_transition

           ?r

           ?inst

           stateless

           (node_name node_f)

           (vl @ vdecls_to_vals var_p))

        {

          ctx with

          j = IMap.add i call_f ctx.j;

          s = (if stateless then [] else reset_inst) @ ctx.s;

        }

    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 then ctx.si else mkinstr (MSetReset i) :: ctx.si);

    }

  | [ x ], _ -> (

    try

      let var_x = env.get_var x in

      let instr, spec = translate_act (var_x, eq.eq_rhs) in

      control_on_clock eq.eq_rhs.expr_clock instr True spec ctx

    with Not_found ->

      Format.eprintf "ERROR: node %s, eq %a@." id Printers.pp_node_eq eq;

      raise Not_found)

  | _ ->

    Format.eprintf

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

      Printers.pp_node_eq

      eq;

    assert false

let constant_equations locals =

  List.fold_left

    (fun eqs vdecl ->

      if vdecl.var_dec_const then

        {

          eq_lhs = [ vdecl.var_id ];

          eq_rhs = desome vdecl.var_dec_value;

          eq_loc = vdecl.var_loc;

        }

        :: eqs

      else eqs)

    []

    locals

let translate_eqs env ctx nd inputs locals outputs eqs =

  List.fold_left

    (fun (ctx, i) eq ->

      let ctx = translate_eq env ctx nd inputs locals outputs i eq in

      ctx, i + 1)

    (ctx, 1)

    eqs

  |> fst

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

(* 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 env nd sorted_eqs inputs locals outputs =

  let constant_eqs = constant_equations locals in

  (* Compute constants' instructions *)

  let ctx0 = translate_eqs env ctx_init nd inputs locals outputs constant_eqs in

  assert (ctx0.si = []);

  assert (IMap.is_empty ctx0.j);

  (* Compute ctx for all eqs *)

  let ctx = translate_eqs env ctx_init nd inputs locals outputs sorted_eqs in

  ctx, ctx0.s

let zero = mk_val (Cst (Const_int 0)) Type_predef.type_int

let memory_pack_0 nd =

  {

    mpname = nd;

    mpindex = Some 0;

    mpformula =

      And [ StateVarPack ResetFlag; Equal (Memory ResetFlag, Val zero) ];

  }

let memory_pack_toplevel nd i =

  {

    mpname = nd;

    mpindex = None;

    mpformula =

      Ternary

        (Memory ResetFlag, StateVarPack ResetFlag, mk_memory_pack ~i nd.node_id);

  }

let transition_0 nd =

  {

    tname = nd;

    tindex = Some 0;

    tvars = nd.node_inputs;

    tformula =

      (if fst (get_stateless_status_node nd) then True

      else StateVarPack ResetFlag);

    tmem_footprint = ISet.empty;

    tinst_footprint = IMap.empty;

  }

let transition_toplevel nd i =

  let stateless = fst (get_stateless_status_node nd) in

  let tr =

    mk_transition

      stateless

      nd.node_id

      ~i

      (vdecls_to_vals (nd.node_inputs @ nd.node_outputs))

  in

  {

    tname = nd;

    tindex = None;

    tvars = nd.node_inputs @ nd.node_outputs;

    tformula =

      (if fst (get_stateless_status_node nd) then tr

      else ExistsMem (nd.node_id, Predicate (ResetCleared nd.node_id), tr));

    tmem_footprint = ISet.empty;

    tinst_footprint = IMap.empty;

  }

let translate_eexpr env e =

  try

    List.fold_right

      (fun (qt, xs) f ->

        match qt with

        | Lustre_types.Exists ->

          Exists (xs, f)

        | Lustre_types.Forall ->

          Forall (xs, f))

      e.eexpr_quantifiers

      (Value (translate_expr env e.eexpr_qfexpr))

  with NormalizationError ->

    Format.eprintf "Normalization error: %a@." Printers.pp_eexpr e;

    raise NormalizationError

let translate_contract env c =

  {

    mc_pre = And (List.map (translate_eexpr env) c.Lustre_types.assume);

    mc_post = And (List.map (translate_eexpr env) c.Lustre_types.guarantees);

    mc_proof = c.proof;

  }

let translate_spec env = function

  | Contract c ->

    Contract (translate_contract env c)

  | NodeSpec s ->

    NodeSpec s

let translate_decl nd sch =

  let stateless = fst (get_stateless_status_node nd) in

  (* 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 = nd.node_locals @ new_locals in

  (* let locals = VSet.of_list locals_list in *)

  (* let inout_vars = nd.node_inputs @ nd.node_outputs in *)

  let env = build_env nd.node_inputs locals nd.node_outputs 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 equations = assert_instrs @ sorted_eqs in

  let mems = get_memories env equations in

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

     variables. *)

  let locals =

    List.filter

      (fun v -> (not (VSet.mem v mems)) && not (List.mem v.var_id unused))

      locals

  in

  (* Compute live sets for spec *)

  Lustre_live.set_live_of nd.node_id nd.node_outputs locals equations;

  (* Translate equations *)

  let ctx, ctx0_s =

    translate_core env nd equations nd.node_inputs locals nd.node_outputs

  in

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

  (* Build the machine *)

  let mmap = IMap.bindings ctx.j in

  let mmemory_packs =

    memory_pack_0 nd

    :: List.mapi

         (fun i f -> { mpname = nd; mpindex = Some (i + 1); mpformula = red f })

         (List.rev ctx.mp)

    @ [ memory_pack_toplevel nd (List.length ctx.mp) ]

  in

  let mtransitions =

    transition_0 nd

    :: List.mapi

         (fun i (tvars, tmem_footprint, tinst_footprint, f) ->

           {

             tname = nd;

             tindex = Some (i + 1);

             tvars;

             tformula = red f;

             tmem_footprint;

             tinst_footprint;

           })

         (List.rev ctx.t)

    @ [ transition_toplevel nd (List.length ctx.t) ]

  in

  let clear_reset =

    mkinstr

      ~instr_spec:

        ((if fst (get_stateless_status_node nd) then []

         else [ mk_memory_pack ~i:0 nd.node_id ])

        @ [

            mk_transition

              ~i:0

              stateless

              nd.node_id

              (vdecls_to_vals nd.node_inputs);

          ])

      MClearReset

  in

  let mnode_spec = Utils.option_map (translate_spec env) nd.node_spec in

  {

    mname = nd;

    mmemory = VSet.elements mems;

    mcalls = mmap;

    minstances =

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

    minit = List.rev ctx.si;

    mconst = List.rev 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 = locals;

        step_checks =

          List.map

            (fun d ->

              d.Dimension.dim_loc, translate_expr env (expr_of_dimension d))

            nd.node_checks;

        step_instrs =

          clear_reset

          ::

          (* 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 (List.rev ctx.s)

          else List.rev 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 = { mnode_spec; mtransitions; mmemory_packs };

    mannot = nd.node_annot;

    msch = Some sch;

    mis_contract = nd.node_iscontract;

  }

(** 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 = IMap.find node.node_id node_schs in

        translate_decl node sch)

      nodes

  in

  machines

(* Local Variables: *)

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

(* End: *)