CristalCaveGem » LustreC

(* ----------------------------------------------------------------------------

 * SchedMCore - A MultiCore Scheduling Framework

 * Copyright (C) 2009-2011, ONERA, Toulouse, FRANCE - LIFL, Lille, FRANCE

 *

 * This file is part of Prelude

 *

 * Prelude is free software; you can redistribute it and/or

 * modify it under the terms of the GNU Lesser General Public License

 * as published by the Free Software Foundation ; either version 2 of

 * the License, or (at your option) any later version.

 *

 * Prelude is distributed in the hope that it will be useful, but

 * WITHOUT ANY WARRANTY ; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

 * Lesser General Public License for more details.

 *

 * You should have received a copy of the GNU Lesser General Public

 * License along with this program ; if not, write to the Free Software

 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307

 * USA

 *---------------------------------------------------------------------------- *)

open Clocks

open Corelang

(* Applies variable substitutions *)

let subst_var var_substs vid =

  try Hashtbl.find var_substs vid with Not_found -> vid

(* Applies clock substitutions *)

let rec subst_ck ck_substs var_substs ck =

  match ck.cdesc with

  | Carrow (ck1,ck2) ->

      {ck with cdesc =

       Carrow (subst_ck ck_substs var_substs ck1,

               subst_ck ck_substs var_substs ck2)}

  | Ctuple cklist ->

      {ck with cdesc =

       Ctuple (List.map (subst_ck ck_substs var_substs) cklist)}

  | Con (ck',c) ->

      {ck with cdesc =

       Con (subst_ck ck_substs var_substs ck',c)}

  | Connot (ck',c) ->

      {ck with cdesc =

       Connot (subst_ck ck_substs var_substs ck',c)}

  | Pck_up (ck',k) ->

      {ck with cdesc = 

       Pck_up (subst_ck ck_substs var_substs ck', k)}

  | Pck_down (ck',k) ->

      {ck with cdesc = 

       Pck_down (subst_ck ck_substs var_substs ck', k)}

  | Pck_phase (ck',q) ->

      {ck with cdesc = 

       Pck_phase (subst_ck ck_substs var_substs ck', q)}

  | Pck_const _ ->

      ck

  | Cvar _ | Cunivar _ ->

      begin

        try Hashtbl.find ck_substs ck with Not_found -> ck

      end

  | Clink ck' ->

      subst_ck ck_substs var_substs ck'

  | Ccarrying (_,ck') ->

      subst_ck ck_substs var_substs ck'

(* [new_expr_instance ck_substs var_substs e edesc] returns a new

   "instance" of expressions [e] of expression [e], where [edesc] is the

   expanded version of [e]. *)

let new_expr_instance ck_substs var_substs e edesc =

  {expr_tag = Utils.new_tag ();

   expr_desc = edesc;

   expr_type = e.expr_type;

   expr_clock = subst_ck ck_substs var_substs e.expr_clock;

   expr_delay = Delay.new_var ();

   expr_loc = e.expr_loc;

   expr_annot = e.expr_annot}

let locals_cpt = ref 0

(* Returns a new local variable (for the main node) *)

let new_local vtyp vck vdd vloc =

  let vid = "_"^(string_of_int !locals_cpt) in

  locals_cpt := !locals_cpt+1;

  let ty_dec = {ty_dec_desc = Tydec_any; ty_dec_loc = vloc} in (* dummy *)

  let ck_dec = {ck_dec_desc = Ckdec_any; ck_dec_loc = vloc} in (* dummy *)

  {var_id = vid;

   var_dec_type = ty_dec;

   var_dec_clock = ck_dec;

   var_dec_deadline = vdd;

   var_type = vtyp;

   var_clock = vck;

   var_loc = vloc}

(* Returns an expression correponding to variable v *)

let expr_of_var v =

  {expr_tag = Utils.new_tag ();

   expr_desc = Expr_ident v.var_id;

   expr_type = v.var_type;

   expr_clock = v.var_clock;

   expr_delay = Delay.new_var ();

   expr_loc = v.var_loc;

   expr_annot = None}

(* [build_ck_substs ck for_ck] computes the variable substitutions

   corresponding to the substitution of [ck] for [for_ck] *)

let build_ck_substs ck for_ck =

  let substs = Hashtbl.create 10 in

  let rec aux ck for_ck =

    let ck, for_ck = Clocks.repr ck, Clocks.repr for_ck in

    match ck.Clocks.cdesc, for_ck.Clocks.cdesc with

    | Clocks.Ctuple cklist1, Clocks.Ctuple cklist2 ->

        List.iter2 aux cklist1 cklist2

    | _, Clocks.Cunivar _ ->

        Hashtbl.add substs for_ck ck

    | _,_ ->

        ()

  in

  aux ck for_ck;

  substs

(* Expands a list of expressions *)

let rec expand_list ck_substs var_substs elist =

  List.fold_right

    (fun e (eqs,locs,elist) ->

      let eqs',locs',e' = expand_expr ck_substs var_substs e in

      eqs'@eqs,locs'@locs,e'::elist)

    elist ([],[],[])

(* Expands the node instance [nd(args)]. *)

and expand_nodeinst parent_ck_substs parent_vsubsts nd args =

  (* Expand arguments *)

  let args_eqs, args_locs, args' =

    expand_expr parent_ck_substs parent_vsubsts args in

  (* Compute clock substitutions to apply inside node's body *)

  let ck_ins = args'.expr_clock in

  let for_ck_ins,_ = Clocks.split_arrow nd.node_clock in

  let ck_substs = build_ck_substs ck_ins for_ck_ins in

  (* Compute variable substitutions to apply inside node's body, due

     to the transformation of node variables into local variables of the

     main node. *)

  let var_substs = Hashtbl.create 10 in

  (* Add an equation in=arg for each node input + transform node input

     into a local variable of the main node *)

  let eq_ins, loc_ins =

    List.split

      (List.map2

         (fun i e ->

           let i' =

             new_local i.var_type i.var_clock i.var_dec_deadline i.var_loc in

           Hashtbl.add var_substs i.var_id i'.var_id;

           {eq_lhs = [i'.var_id];

            eq_rhs = e;

            eq_loc = i.var_loc}, i')

         nd.node_inputs (expr_list_of_expr args'))

  in

  (* Transform node local variables into local variables of the main

     node *)

  let loc_sub =

    List.map

      (fun v ->

        let v' = new_local v.var_type v.var_clock v.var_dec_deadline v.var_loc in

        Hashtbl.add var_substs v.var_id v'.var_id;

        v')

      nd.node_locals

  in  

  (* Same for outputs *)

  let loc_outs =

    List.map

      (fun o ->

        let o' = new_local o.var_type o.var_clock o.var_dec_deadline o.var_loc in

        Hashtbl.add var_substs o.var_id o'.var_id;

        o')

      nd.node_outputs

  in  

  (* A tuple made of the node outputs will replace the node call in the parent

     node *)

  let eout = Expr_tuple (List.map expr_of_var loc_outs) in

  let new_eqs, new_locals = expand_eqs ck_substs var_substs nd.node_eqs in

  args_eqs@eq_ins@new_eqs,

  args_locs@loc_ins@loc_outs@loc_sub@new_locals,

  eout

(* Expands an expression *)

and expand_expr ck_substs var_substs expr =

  match expr.expr_desc with

  | Expr_const cst ->

      [],[],new_expr_instance ck_substs var_substs expr expr.expr_desc

  | Expr_ident id ->

      let id' = subst_var var_substs id in

      let edesc = Expr_ident id' in

      [],[],new_expr_instance ck_substs var_substs expr edesc

  | Expr_tuple elist ->

      let new_eqs,new_locals,exp_elist =

        expand_list ck_substs var_substs elist in

      new_eqs, new_locals,

      new_expr_instance ck_substs var_substs expr (Expr_tuple exp_elist)

  | Expr_fby (cst,e) ->

      let new_eqs,new_locals, e' = expand_expr ck_substs var_substs e in

      let edesc = Expr_fby (cst, e') in

      new_eqs, new_locals, new_expr_instance ck_substs var_substs expr edesc

  | Expr_concat (cst,e) ->

      let new_eqs,new_locals, e' = expand_expr ck_substs var_substs e in

      let edesc = Expr_concat (cst, e') in

      new_eqs, new_locals, new_expr_instance ck_substs var_substs expr edesc

  | Expr_tail e ->

      let new_eqs,new_locals, e' = expand_expr ck_substs var_substs e in

      let edesc = Expr_tail e' in

      new_eqs, new_locals, new_expr_instance ck_substs var_substs expr edesc

  | Expr_when (e,c) ->

      let new_eqs,new_locals, e' = expand_expr ck_substs var_substs e in

      let edesc = Expr_when (e',c) in

      new_eqs, new_locals, new_expr_instance ck_substs var_substs expr edesc

  | Expr_whennot (e,c) ->

      let new_eqs,new_locals, e' = expand_expr ck_substs var_substs e in

      let edesc = Expr_whennot (e',c) in

      new_eqs, new_locals, new_expr_instance ck_substs var_substs expr edesc

  | Expr_merge (c,e1,e2) ->

      let new_eqs1,new_locals1, e1' = expand_expr ck_substs var_substs e1 in

      let new_eqs2,new_locals2, e2' = expand_expr ck_substs var_substs e2 in

      let edesc = Expr_merge (c,e1',e2') in

      new_eqs1@new_eqs2,

      new_locals1@new_locals2,

      new_expr_instance ck_substs var_substs expr edesc

  | Expr_appl (id, e, r) ->

      let decl = Hashtbl.find node_table id in

      begin

        match decl.top_decl_desc with

        | ImportedNode _ ->

            let new_eqs,new_locals, e' = expand_expr ck_substs var_substs e in

            let edesc = Expr_appl (id, e', r) in

            new_eqs, new_locals, new_expr_instance ck_substs var_substs expr edesc

        | Node nd ->

            let new_eqs, new_locals, outs =

              expand_nodeinst ck_substs var_substs nd e in

            new_eqs, new_locals, new_expr_instance ck_substs var_substs expr outs

        | Include _ | Consts _ | SensorDecl _ | ActuatorDecl _ -> failwith "Internal error expand_expr"

      end

  | Expr_uclock (e,k) ->

      let new_eqs, new_locals, e' = expand_expr ck_substs var_substs e in

      let edesc = Expr_uclock (e',k) in

      new_eqs, new_locals, new_expr_instance ck_substs var_substs expr edesc

  | Expr_dclock (e,k) ->

      let new_eqs, new_locals, e' = expand_expr ck_substs var_substs e in

      let edesc = Expr_dclock (e',k) in

      new_eqs, new_locals, new_expr_instance ck_substs var_substs expr edesc

  | Expr_phclock (e,q) ->

      let new_eqs, new_locals, e' = expand_expr ck_substs var_substs e in

      let edesc = Expr_phclock (e',q) in

      new_eqs, new_locals, new_expr_instance ck_substs var_substs expr edesc

  | Expr_pre _ | Expr_arrow _ -> assert false (* Not used in the Prelude part of the code *)

(* Expands an equation *)

and expand_eq ck_substs var_substs eq =

  let new_eqs, new_locals, expr = expand_expr ck_substs var_substs eq.eq_rhs in

  let lhs' = List.map (subst_var var_substs) eq.eq_lhs in

  let eq' = {eq_lhs = lhs'; eq_rhs = expr; eq_loc = eq.eq_loc} in

  new_eqs, new_locals, eq'

(* Expands a set of equations *)

and expand_eqs ck_substs var_substs eqs =

  List.fold_left

    (fun (acc_eqs,acc_locals) eq ->

      let new_eqs, new_locals, eq' = expand_eq ck_substs var_substs eq in

      (eq'::(new_eqs@acc_eqs)), (new_locals@acc_locals))

    ([],[]) eqs

(* Expands the body of a node, replacing recursively all the node calls

   it contains by the body of the corresponding node. *)

let expand_node nd =

  let new_eqs, new_locals =

    expand_eqs (Hashtbl.create 10) (Hashtbl.create 10) nd.node_eqs in

  {node_id = nd.node_id;

   node_type = nd.node_type;

   node_clock = nd.node_clock;

   node_inputs = nd.node_inputs;

   node_outputs = nd.node_outputs;

   node_locals = new_locals@nd.node_locals;

   node_asserts = nd.node_asserts;

   node_eqs = new_eqs;

   node_spec = nd.node_spec;

   node_annot = nd.node_annot}

let expand_program () =

  if !Options.main_node = "" then

    raise (Corelang.Error No_main_specified);

  let main =

    try

      Hashtbl.find node_table !Options.main_node

    with Not_found ->

      raise (Corelang.Error Main_not_found)

  in

  match main.top_decl_desc with

  | Include _ | Consts _ | ImportedNode _ | SensorDecl _ | ActuatorDecl _ ->

      raise (Corelang.Error Main_wrong_kind)

  | Node nd ->

      expand_node nd

(* Local Variables: *)

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

(* End: *)