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 LustreSpec

open Corelang

open Clocks

open Causality

exception NormalizationError

module OrdVarDecl:Map.OrderedType with type t=var_decl =

  struct type t = var_decl;; let compare = compare end

module ISet = Set.Make(OrdVarDecl)

type value_t =

  | Cst of constant

  | LocalVar of var_decl

  | StateVar of var_decl

  | Fun of ident * value_t list

  | Array of value_t list

  | Access of value_t * value_t

  | Power of value_t * value_t

type instr_t =

  | MLocalAssign of var_decl * value_t

  | MStateAssign of var_decl * value_t

  | MReset of ident

  | MStep of var_decl list * ident * value_t list

  | MBranch of value_t * (label * instr_t list) list

let rec pp_val fmt v =

  match v with

    | Cst c         -> Printers.pp_const fmt c

    | LocalVar v    -> Format.pp_print_string fmt v.var_id

    | StateVar v    -> Format.pp_print_string fmt v.var_id

    | Array vl      -> Format.fprintf fmt "[%a]" (Utils.fprintf_list ~sep:", " pp_val)  vl

    | Access (t, i) -> Format.fprintf fmt "%a[%a]" pp_val t pp_val i

    | Power (v, n)  -> Format.fprintf fmt "(%a^%a)" pp_val v pp_val n

    | Fun (n, vl)   -> Format.fprintf fmt "%s (%a)" n (Utils.fprintf_list ~sep:", " pp_val)  vl

let rec pp_instr fmt i =

  match i with

    | MLocalAssign (i,v) -> Format.fprintf fmt "%s<-l- %a" i.var_id pp_val v

    | MStateAssign (i,v) -> Format.fprintf fmt "%s<-s- %a" i.var_id pp_val v

    | MReset i           -> Format.fprintf fmt "reset %s" i

    | MStep (il, i, vl)  ->

      Format.fprintf fmt "%a = %s (%a)"

	(Utils.fprintf_list ~sep:", " (fun fmt v -> Format.pp_print_string fmt v.var_id)) il

	i

	(Utils.fprintf_list ~sep:", " pp_val) vl

    | MBranch (g,hl)     ->

      Format.fprintf fmt "@[<v 2>case(%a) {@,%a@,}@]"

	pp_val g

	(Utils.fprintf_list ~sep:"@," pp_branch) hl

and pp_branch fmt (t, h) =

  Format.fprintf fmt "@[<v 2>%s:@,%a@]" t (Utils.fprintf_list ~sep:"@," pp_instr) h

and pp_instrs fmt il =

  Format.fprintf fmt "@[<v 2>%a@]" (Utils.fprintf_list ~sep:"@," pp_instr) il

type step_t = {

  step_checks: (Location.t * value_t) list;

  step_inputs: var_decl list;

  step_outputs: var_decl list;

  step_locals: var_decl list;

  step_instrs: instr_t list;

  step_asserts: value_t list;

}

type static_call = top_decl * (Dimension.dim_expr list)

type machine_t = {

  mname: node_desc;

  mmemory: var_decl list;

  mcalls: (ident * static_call) list; (* map from stateful/stateless instance to node, no internals *)

  minstances: (ident * static_call) list; (* sub-map of mcalls, from stateful instance to node *)

  minit: instr_t list;

  mstatic: var_decl list; (* static inputs only *)

  mconst: instr_t list; (* assignments of node constant locals *)

  mstep: step_t;

  mspec: node_annot option;

  mannot: expr_annot list;

}

let pp_step fmt s =

  Format.fprintf fmt "@[<v>inputs : %a@ outputs: %a@ locals : %a@ checks : %a@ instrs : @[%a@]@ asserts : @[%a@]@]@ "

    (Utils.fprintf_list ~sep:", " Printers.pp_var) s.step_inputs

    (Utils.fprintf_list ~sep:", " Printers.pp_var) s.step_outputs

    (Utils.fprintf_list ~sep:", " Printers.pp_var) s.step_locals

    (Utils.fprintf_list ~sep:", " (fun fmt (_, c) -> pp_val fmt c)) s.step_checks

    (Utils.fprintf_list ~sep:"@ " pp_instr) s.step_instrs

    (Utils.fprintf_list ~sep:", " pp_val) s.step_asserts

let pp_static_call fmt (node, args) =

 Format.fprintf fmt "%s<%a>"

   (node_name node)

   (Utils.fprintf_list ~sep:", " Dimension.pp_dimension) args

let pp_machine fmt m =

  Format.fprintf fmt

    "@[<v 2>machine %s@ mem      : %a@ instances: %a@ init     : %a@ const    : %a@ step     :@   @[<v 2>%a@]@ @  spec : @[%t@]@  annot : @[%a@]@]@ "

    m.mname.node_id

    (Utils.fprintf_list ~sep:", " Printers.pp_var) m.mmemory

    (Utils.fprintf_list ~sep:", " (fun fmt (o1, o2) -> Format.fprintf fmt "(%s, %a)" o1 pp_static_call o2)) m.minstances

    (Utils.fprintf_list ~sep:"@ " pp_instr) m.minit

    (Utils.fprintf_list ~sep:"@ " pp_instr) m.mconst

    pp_step m.mstep

    (fun fmt -> match m.mspec with | None -> () | Some spec -> Printers.pp_spec fmt spec)

    (Utils.fprintf_list ~sep:"@ " Printers.pp_expr_annot) m.mannot

(* Returns the declared stateless status and the computed one. *)

let get_stateless_status m =

 (m.mname.node_dec_stateless, Utils.desome m.mname.node_stateless)

let is_input m id =

  List.exists (fun o -> o.var_id = id.var_id) m.mstep.step_inputs

let is_output m id =

  List.exists (fun o -> o.var_id = id.var_id) m.mstep.step_outputs

let is_memory m id =

  List.exists (fun o -> o.var_id = id.var_id) m.mmemory

let conditional c t e =

  MBranch(c, [ (tag_true, t); (tag_false, e) ])

let dummy_var_decl name typ =

  {

    var_id = name;

    var_orig = false;

    var_dec_type = dummy_type_dec;

    var_dec_clock = dummy_clock_dec;

    var_dec_const = false;

    var_dec_value = None;

    var_type =  typ;

    var_clock = Clocks.new_ck (Clocks.Cvar Clocks.CSet_all) true;

    var_loc = Location.dummy_loc

  }

let arrow_id = "_arrow"

let arrow_typ = Types.new_ty Types.Tunivar

let arrow_desc =

  {

    node_id = arrow_id;

    node_type = Type_predef.type_bin_poly_op;

    node_clock = Clock_predef.ck_bin_univ;

    node_inputs= [dummy_var_decl "_in1" arrow_typ; dummy_var_decl "_in2" arrow_typ];

    node_outputs= [dummy_var_decl "_out" arrow_typ];

    node_locals= [];

    node_gencalls = [];

    node_checks = [];

    node_asserts = [];

    node_stmts= [];

    node_dec_stateless = false;

    node_stateless = Some false;

    node_spec = None;

    node_annot = [];  }

let arrow_top_decl =

  {

    top_decl_desc = Node arrow_desc;

    top_decl_owner = Version.include_path;

    top_decl_itf = false;

    top_decl_loc = Location.dummy_loc

  }

let arrow_machine =

  let state = "_first" in

  let var_state = dummy_var_decl state (Types.new_ty Types.Tbool) in

  let var_input1 = List.nth arrow_desc.node_inputs 0 in

  let var_input2 = List.nth arrow_desc.node_inputs 1 in

  let var_output = List.nth arrow_desc.node_outputs 0 in

  {

    mname = arrow_desc;

    mmemory = [var_state];

    mcalls = [];

    minstances = [];

    minit = [MStateAssign(var_state, Cst (const_of_bool true))];

    mconst = [];

    mstatic = [];

    mstep = {

      step_inputs = arrow_desc.node_inputs;

      step_outputs = arrow_desc.node_outputs;

      step_locals = [];

      step_checks = [];

      step_instrs = [conditional (StateVar var_state)

			         [MStateAssign(var_state, Cst (const_of_bool false));

                                  MLocalAssign(var_output, LocalVar var_input1)]

                                 [MLocalAssign(var_output, LocalVar var_input2)] ];

      step_asserts = [];

    };

    mspec = None;

    mannot = [];

  }

let new_instance =

  let cpt = ref (-1) in

  fun caller callee tag ->

    begin

      let o =

	if Stateless.check_node callee then

	  node_name callee

	else

	  Printf.sprintf "ni_%d" (incr cpt; !cpt) in

      let o =

	if !Options.ansi && is_generic_node callee

	then Printf.sprintf "%s_inst_%d" o (Utils.position (fun e -> e.expr_tag = tag) caller.node_gencalls)

	else o in

      o

    end

(* translate_<foo> : node -> 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           *)

let translate_ident node (m, si, j, d, s) id =

  try (* id is a node var *)

    let var_id = get_node_var id node in

    if ISet.exists (fun v -> v.var_id = id) m

    then StateVar var_id

    else LocalVar var_id

  with Not_found ->

    try (* id is a constant *)

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

    with Not_found ->

      (* id is a tag *)

      Cst (Const_tag id)

let rec control_on_clock node ((m, si, j, d, s) as args) ck inst =

 match (Clocks.repr ck).cdesc with

 | Con    (ck1, cr, l) ->

   let id  = Clocks.const_of_carrier cr in

   control_on_clock node args ck1 (MBranch (translate_ident node args id,

					    [l, [inst]] ))

 | _                   -> inst

let rec join_branches hl1 hl2 =

 match hl1, hl2 with

 | []          , _            -> hl2

 | _           , []           -> hl1

 | (t1, h1)::q1, (t2, h2)::q2 ->

   if t1 < t2 then (t1, h1) :: join_branches q1 hl2 else

   if t1 > t2 then (t2, h2) :: join_branches hl1 q2

   else (t1, List.fold_right join_guards h1 h2) :: join_branches q1 q2

and join_guards inst1 insts2 =

 match inst1, insts2 with

 | _                   , []                               ->

   [inst1]

 | MBranch (x1, hl1), MBranch (x2, hl2) :: q when x1 = x2 ->

   MBranch (x1, join_branches (sort_handlers hl1) (sort_handlers hl2))

   :: q

 | _ -> inst1 :: insts2

let join_guards_list insts =

 List.fold_right join_guards insts []

(* 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 ?(ite=false) node ((m, si, j, d, s) as args) expr =

  let expr = specialize_op expr in

 match expr.expr_desc with

 | Expr_const v                     -> Cst v

 | Expr_ident x                     -> translate_ident node args x

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

 | Expr_access (t, i)               -> Access (translate_expr node args t, translate_expr node args (expr_of_dimension i))

 | Expr_power  (e, n)               -> Power  (translate_expr node args e, translate_expr node args (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 node args e1

 | Expr_merge   (x, _)              -> raise NormalizationError

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

   let nd = node_from_name id in

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

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

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

      are preserved in expression. While they are removed for C or Java

      backends. *)

   match !Options.output with

   | "horn" ->

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

   | ("C" | "java") when ite ->

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

   | _ ->

     (Format.eprintf "option:%s@." !Options.output; Printers.pp_expr Format.err_formatter expr; Format.pp_print_flush Format.err_formatter (); raise NormalizationError)

 )

 | _                   -> raise NormalizationError

let translate_guard node args expr =

  match expr.expr_desc with

  | Expr_ident x  -> translate_ident node args x

  | _ -> (Format.eprintf "internal error: translate_guard %s %a@." node.node_id Printers.pp_expr expr;assert false)

let rec translate_act node ((m, si, j, d, s) as args) (y, expr) =

  match expr.expr_desc with

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

			    conditional g [translate_act node args (y, t)]

                              [translate_act node args (y, e)]

  | Expr_merge (x, hl)   -> MBranch (translate_ident node args x, List.map (fun (t,  h) -> t, [translate_act node args (y, h)]) hl)

  | _                    ->

    MLocalAssign (y, translate_expr node args expr)

let reset_instance node args i r c =

  match r with

  | None        -> []

  | Some r      -> let g = translate_guard node args r in

                   [control_on_clock node args c (conditional g [MReset i] [])]

let translate_eq node ((m, si, j, d, s) as args) eq =

  (* 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 = get_node_var x node in

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

    let c1 = translate_expr node args e1 in

    let c2 = translate_expr node args e2 in

    (m,

     MReset o :: si,

     Utils.IMap.add o (arrow_top_decl, []) j,

     d,

     (control_on_clock node args eq.eq_rhs.expr_clock (MStep ([var_x], o, [c1;c2]))) :: s)

  | [x], Expr_pre e1 when ISet.mem (get_node_var x node) d     ->

    let var_x = get_node_var x node in

    (ISet.add var_x m,

     si,

     j,

     d,

     control_on_clock node args eq.eq_rhs.expr_clock (MStateAssign (var_x, translate_expr node args e1)) :: s)

  | [x], Expr_fby (e1, e2) when ISet.mem (get_node_var x node) d ->

    let var_x = get_node_var x node in

    (ISet.add var_x m,

     MStateAssign (var_x, translate_expr node args e1) :: si,

     j,

     d,

     control_on_clock node args eq.eq_rhs.expr_clock (MStateAssign (var_x, translate_expr node args e2)) :: s)

  | p  , Expr_appl (f, arg, r) when not (Basic_library.is_internal_fun f) ->

    let var_p = List.map (fun v -> get_node_var v node) p in

    let el = expr_list_of_expr arg in

    let vl = List.map (translate_expr node args) 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 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;*)

    (m,

     (if Stateless.check_node node_f then si else MReset o :: si),

     Utils.IMap.add o call_f j,

     d,

     (if Stateless.check_node node_f

      then []

      else reset_instance node args o r call_ck) @

       (control_on_clock node args call_ck (MStep (var_p, o, vl))) :: s)

   (* special treatment depending on the active backend. For horn backend, x = ite (g,t,e)

      are preserved. While they are replaced as if g then x = t else x = e in  C or Java

      backends. *)

  | [x], Expr_ite   (c, t, e)

    when (match !Options.output with | "horn" -> true | "C" | "java" | _ -> false)

      ->

    let var_x = get_node_var x node in

    (m,

     si,

     j,

     d,

     (control_on_clock node args eq.eq_rhs.expr_clock

	(MLocalAssign (var_x, translate_expr node args eq.eq_rhs))::s)

    )

  | [x], _                                       -> (

    let var_x = get_node_var x node in

    (m, si, j, d,

     control_on_clock

       node

       args

       eq.eq_rhs.expr_clock

       (translate_act node args (var_x, eq.eq_rhs)) :: s

    )

  )

  | _                                            ->

    begin

      Format.eprintf "unsupported equation: %a@?" Printers.pp_node_eq eq;

      assert false

    end

let find_eq xl eqs =

  let rec aux accu eqs =

      match eqs with

	| [] ->

	  begin

	    Format.eprintf "Looking for variables %a in the following equations@.%a@."

	      (Utils.fprintf_list ~sep:" , " (fun fmt v -> Format.fprintf fmt "%s" v)) xl

	      Printers.pp_node_eqs eqs;

	    assert false

	  end

	| hd::tl ->

	  if List.exists (fun x -> List.mem x hd.eq_lhs) xl then hd, accu@tl else aux (hd::accu) tl

    in

    aux [] eqs

(* Sort the set of equations of node [nd] according

   to the computed schedule [sch]

*)

let sort_equations_from_schedule nd sch =

(*Format.eprintf "%s schedule: %a@."

		 nd.node_id

		 (Utils.fprintf_list ~sep:" ; " Scheduling.pp_eq_schedule) sch;*)

  let split_eqs = Splitting.tuple_split_eq_list (get_node_eqs nd) in

  let eqs_rev, remainder =

    List.fold_left

      (fun (accu, node_eqs_remainder) vl ->

       if List.exists (fun eq -> List.exists (fun v -> List.mem v eq.eq_lhs) vl) accu

       then

	 (accu, node_eqs_remainder)

       else

	 let eq_v, remainder = find_eq vl node_eqs_remainder in

	 eq_v::accu, remainder

      )

      ([], split_eqs)

      sch

  in

  begin

    if List.length remainder > 0 then (

      Format.eprintf "Equations not used are@.%a@.Full equation set is:@.%a@.@?"

		     Printers.pp_node_eqs remainder

      		     Printers.pp_node_eqs (get_node_eqs nd);

      assert false);

    List.rev eqs_rev

  end

let constant_equations nd =

 List.fold_right (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)

   nd.node_locals []

let translate_eqs node args eqs =

  List.fold_right (fun eq args -> translate_eq node args eq) eqs args;;

let translate_decl nd sch =

  (*Log.report ~level:1 (fun fmt -> Printers.pp_node fmt nd);*)

  let sorted_eqs = sort_equations_from_schedule nd sch in

  let constant_eqs = constant_equations nd in

  let init_args = ISet.empty, [], Utils.IMap.empty, List.fold_right (fun l -> ISet.add l) nd.node_locals ISet.empty, [] in

  (* memories, init instructions, node calls, local variables (including memories), step instrs *)

  let m0, init0, j0, locals0, s0 = translate_eqs nd init_args constant_eqs in

  assert (ISet.is_empty m0);

  assert (init0 = []);

  assert (Utils.IMap.is_empty j0);

  let m, init, j, locals, s = translate_eqs nd (m0, init0, j0, locals0, []) sorted_eqs in

  let mmap = Utils.IMap.fold (fun i n res -> (i, n)::res) j [] in

  {

    mname = nd;

    mmemory = ISet.elements m;

    mcalls = mmap;

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

    minit = init;

    mconst = s0;

    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 = ISet.elements (ISet.diff locals m);

      step_checks = List.map (fun d -> d.Dimension.dim_loc, translate_expr nd init_args (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. *)

	match !Options.output with

	| "horn" -> s

	| "C" | "java" | _ -> join_guards_list s

      );

      step_asserts =

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

	List.map (translate_expr nd init_args) exprl

	;

    };

    mspec = nd.node_spec;

    mannot = nd.node_annot;

  }

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

let translate_prog decls node_schs =

  let nodes = get_nodes decls in

  List.map

    (fun decl ->

     let node = node_of_top decl in

      let sch = (Utils.IMap.find node.node_id node_schs).Scheduling.schedule in

      translate_decl node sch

    ) nodes

let get_machine_opt name machines =

  List.fold_left

    (fun res m ->

      match res with

      | Some _ -> res

      | None -> if m.mname.node_id = name then Some m else None)

    None machines

let get_const_assign m id =

  try

    match (List.find (fun instr -> match instr with MLocalAssign (v, _) -> v == id | _ -> false) m.mconst) with

    | MLocalAssign (_, e) -> e

    | _                   -> assert false

  with Not_found -> assert false

let value_of_ident m id =

  (* is is a state var *)

  try

    StateVar (List.find (fun v -> v.var_id = id) m.mmemory)

  with Not_found ->

  try (* id is a node var *)

    LocalVar (get_node_var id m.mname)

  with Not_found ->

    try (* id is a constant *)

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

    with Not_found ->

      (* id is a tag *)

      Cst (Const_tag id)

let rec value_of_dimension m dim =

  match dim.Dimension.dim_desc with

  | Dimension.Dbool b         -> Cst (Const_tag (if b then Corelang.tag_true else Corelang.tag_false))

  | Dimension.Dint i          -> Cst (Const_int i)

  | Dimension.Dident v        -> value_of_ident m v

  | Dimension.Dappl (f, args) -> Fun (f, List.map (value_of_dimension m) args)

  | Dimension.Dite (i, t, e)  -> Fun ("ite", List.map (value_of_dimension m) [i; t; e])

  | Dimension.Dlink dim'      -> value_of_dimension m dim'

  | _                         -> assert false

let rec dimension_of_value value =

  match value with

  | Cst (Const_tag t) when t = Corelang.tag_true  -> Dimension.mkdim_bool  Location.dummy_loc true

  | Cst (Const_tag t) when t = Corelang.tag_false -> Dimension.mkdim_bool  Location.dummy_loc false

  | Cst (Const_int i)                             -> Dimension.mkdim_int   Location.dummy_loc i

  | LocalVar v                                    -> Dimension.mkdim_ident Location.dummy_loc v.var_id

  | Fun (f, args)                                 -> Dimension.mkdim_appl  Location.dummy_loc f (List.map dimension_of_value args)

  | _                                             -> assert false

(* Local Variables: *)

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

(* End: *)