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 Format

open Lustre_types

open Machine_code_types

(*open Dimension*)

exception Error of Location.t * Error.error_kind

module VDeclModule =

struct (* Node module *)

  type t = var_decl

  let compare v1 v2 = compare v1.var_id v2.var_id

end

module VMap = Map.Make(VDeclModule)

module VSet : Set.S with type elt = var_decl = Set.Make(VDeclModule)

let dummy_type_dec = {ty_dec_desc=Tydec_any; ty_dec_loc=Location.dummy_loc}

let dummy_clock_dec = {ck_dec_desc=Ckdec_any; ck_dec_loc=Location.dummy_loc}

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

(* *)

let mktyp loc d =

  { ty_dec_desc = d; ty_dec_loc = loc }

let mkclock loc d =

  { ck_dec_desc = d; ck_dec_loc = loc }

let mkvar_decl loc ?(orig=false) (id, ty_dec, ck_dec, is_const, value, parentid) =

  assert (value = None || is_const);

  { var_id = id;

    var_orig = orig;

    var_dec_type = ty_dec;

    var_dec_clock = ck_dec;

    var_dec_const = is_const;

    var_dec_value = value;

    var_parent_nodeid = parentid;

    var_type = Types.new_var ();

    var_clock = Clocks.new_var true;

    var_loc = loc }

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_parent_nodeid = None;

    var_type =  typ;

    var_clock = Clocks.new_ck Clocks.Cvar true;

    var_loc = Location.dummy_loc

  }

let mkexpr loc d =

  { expr_tag = Utils.new_tag ();

    expr_desc = d;

    expr_type = Types.new_var ();

    expr_clock = Clocks.new_var true;

    expr_delay = Delay.new_var ();

    expr_annot = None;

    expr_loc = loc }

let var_decl_of_const ?(parentid=None) c =

  { var_id = c.const_id;

    var_orig = true;

    var_dec_type = { ty_dec_loc = c.const_loc; ty_dec_desc = Tydec_any };

    var_dec_clock = { ck_dec_loc = c.const_loc; ck_dec_desc = Ckdec_any };

    var_dec_const = true;

    var_dec_value = None;

    var_parent_nodeid = parentid;

    var_type = c.const_type;

    var_clock = Clocks.new_var false;

    var_loc = c.const_loc }

let mk_new_name used id =

  let rec new_name name cpt =

    if used name

    then new_name (sprintf "_%s_%i" id cpt) (cpt+1)

    else name

  in new_name id 1

let mkeq loc (lhs, rhs) =

  { eq_lhs = lhs;

    eq_rhs = rhs;

    eq_loc = loc }

let mkassert loc expr =

  { assert_loc = loc;

    assert_expr = expr

  }

let mktop_decl loc own itf d =

  { top_decl_desc = d; top_decl_loc = loc; top_decl_owner = own; top_decl_itf = itf }

let mkpredef_call loc funname args =

  mkexpr loc (Expr_appl (funname, mkexpr loc (Expr_tuple args), None))

let is_clock_dec_type cty =

  match cty with

  | Tydec_clock _ -> true

  | _             -> false

let const_of_top top_decl =

  match top_decl.top_decl_desc with

  | Const c -> c

  | _ -> assert false

let node_of_top top_decl =

  match top_decl.top_decl_desc with

  | Node nd -> nd

  | _ -> raise Not_found

let imported_node_of_top top_decl =

  match top_decl.top_decl_desc with

  | ImportedNode ind -> ind

  | _ -> assert false

let typedef_of_top top_decl =

  match top_decl.top_decl_desc with

  | TypeDef tdef -> tdef

  | _ -> assert false

let dependency_of_top top_decl =

  match top_decl.top_decl_desc with

  | Open (local, dep) -> (local, dep)

  | _ -> assert false

let consts_of_enum_type top_decl =

  match top_decl.top_decl_desc with

  | TypeDef tdef ->

    (match tdef.tydef_desc with

    | Tydec_enum tags ->

       List.map

	 (fun tag ->

	   let cdecl = {

	     const_id = tag;

	     const_loc = top_decl.top_decl_loc;

	     const_value = Const_tag tag;

	     const_type = Type_predef.type_const tdef.tydef_id

	   } in

	   { top_decl with top_decl_desc = Const cdecl })

	 tags

     | _               -> [])

  | _ -> assert false

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

(*   Eexpr functions *)

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

let merge_contracts ann1 ann2 =

  { requires = ann1.requires @ ann2.requires;

    ensures = ann1.ensures @ ann2.ensures;

    behaviors = ann1.behaviors @ ann2.behaviors;

    spec_loc = ann1.spec_loc

  }

let mkeexpr loc expr =

  { eexpr_tag = Utils.new_tag ();

    eexpr_qfexpr = expr;

    eexpr_quantifiers = [];

    eexpr_type = Types.new_var ();

    eexpr_clock = Clocks.new_var true;

    eexpr_normalized = None;

    eexpr_loc = loc }

let extend_eexpr q e = { e with eexpr_quantifiers = q@e.eexpr_quantifiers }

(*

let mkepredef_call loc funname args =

  mkeexpr loc (EExpr_appl (funname, mkeexpr loc (EExpr_tuple args), None))

let mkepredef_unary_call loc funname arg =

  mkeexpr loc (EExpr_appl (funname, arg, None))

*)

let merge_expr_annot ann1 ann2 =

  match ann1, ann2 with

    | None, None -> assert false

    | Some _, None -> ann1

    | None, Some _ -> ann2

    | Some ann1, Some ann2 -> Some {

      annots = ann1.annots @ ann2.annots;

      annot_loc = ann1.annot_loc

    }

let update_expr_annot node_id e annot =

  List.iter (fun (key, _) -> 

    Annotations.add_expr_ann node_id e.expr_tag key

  ) annot.annots;

  e.expr_annot <- merge_expr_annot e.expr_annot (Some annot);

  e

let mkinstr ?lustre_expr ?lustre_eq i =

  {

    instr_desc = i;

    (* lustre_expr = lustre_expr; *)

    lustre_eq = lustre_eq;

  }

let get_instr_desc i = i.instr_desc

let update_instr_desc i id = { i with instr_desc = id }

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

(* Fast access to nodes, by name *)

let (node_table : (ident, top_decl) Hashtbl.t) = Hashtbl.create 30

let consts_table = Hashtbl.create 30

let print_node_table fmt () =

  begin

    Format.fprintf fmt "{ /* node table */@.";

    Hashtbl.iter (fun id nd ->

      Format.fprintf fmt "%s |-> %a"

	id

	Printers.pp_short_decl nd

    ) node_table;

    Format.fprintf fmt "}@."

  end

let print_consts_table fmt () =

  begin

    Format.fprintf fmt "{ /* consts table */@.";

    Hashtbl.iter (fun id const ->

      Format.fprintf fmt "%s |-> %a"

	id

	Printers.pp_const_decl (const_of_top const)

    ) consts_table;

    Format.fprintf fmt "}@."

  end

let node_name td =

    match td.top_decl_desc with 

    | Node nd         -> nd.node_id

    | ImportedNode nd -> nd.nodei_id

    | _ -> assert false

let is_generic_node td =

  match td.top_decl_desc with 

  | Node nd         -> List.exists (fun v -> v.var_dec_const) nd.node_inputs

  | ImportedNode nd -> List.exists (fun v -> v.var_dec_const) nd.nodei_inputs

  | _ -> assert false

let node_inputs td =

  match td.top_decl_desc with 

  | Node nd         -> nd.node_inputs

  | ImportedNode nd -> nd.nodei_inputs

  | _ -> assert false

let node_from_name id =

  try

    Hashtbl.find node_table id

  with Not_found -> (Format.eprintf "Unable to find any node named %s@ @?" id;

		     assert false)

let is_imported_node td =

  match td.top_decl_desc with 

  | Node nd         -> false

  | ImportedNode nd -> true

  | _ -> assert false

(* alias and type definition table *)

let mktop = mktop_decl Location.dummy_loc !Options.dest_dir false

let top_int_type = mktop (TypeDef {tydef_id = "int"; tydef_desc = Tydec_int})

let top_bool_type = mktop (TypeDef {tydef_id = "bool"; tydef_desc = Tydec_bool})

(* let top_float_type = mktop (TypeDef {tydef_id = "float"; tydef_desc = Tydec_float}) *)

let top_real_type = mktop (TypeDef {tydef_id = "real"; tydef_desc = Tydec_real})

let type_table =

  Utils.create_hashtable 20 [

    Tydec_int  , top_int_type;

    Tydec_bool , top_bool_type;

    (* Tydec_float, top_float_type; *)

    Tydec_real , top_real_type

  ]

let print_type_table fmt () =

  begin

    Format.fprintf fmt "{ /* type table */@.";

    Hashtbl.iter (fun tydec tdef ->

      Format.fprintf fmt "%a |-> %a"

	Printers.pp_var_type_dec_desc tydec

	Printers.pp_typedef (typedef_of_top tdef)

    ) type_table;

    Format.fprintf fmt "}@."

  end

let rec is_user_type typ =

  match typ with

  | Tydec_int | Tydec_bool | Tydec_real 

  (* | Tydec_float *) | Tydec_any | Tydec_const _ -> false

  | Tydec_clock typ' -> is_user_type typ'

  | _ -> true

let get_repr_type typ =

  let typ_def = (typedef_of_top (Hashtbl.find type_table typ)).tydef_desc in

  if is_user_type typ_def then typ else typ_def

let rec coretype_equal ty1 ty2 =

  let res =

  match ty1, ty2 with

  | Tydec_any           , _

  | _                   , Tydec_any             -> assert false

  | Tydec_const _       , Tydec_const _         -> get_repr_type ty1 = get_repr_type ty2

  | Tydec_const _       , _                     -> let ty1' = (typedef_of_top (Hashtbl.find type_table ty1)).tydef_desc

	       					   in (not (is_user_type ty1')) && coretype_equal ty1' ty2

  | _                   , Tydec_const _         -> coretype_equal ty2 ty1

  | Tydec_int           , Tydec_int

  | Tydec_real          , Tydec_real

  (* | Tydec_float         , Tydec_float *)

  | Tydec_bool          , Tydec_bool            -> true

  | Tydec_clock ty1     , Tydec_clock ty2       -> coretype_equal ty1 ty2

  | Tydec_array (d1,ty1), Tydec_array (d2, ty2) -> Dimension.is_eq_dimension d1 d2 && coretype_equal ty1 ty2

  | Tydec_enum tl1      , Tydec_enum tl2        -> List.sort compare tl1 = List.sort compare tl2

  | Tydec_struct fl1    , Tydec_struct fl2      ->

       List.length fl1 = List.length fl2

    && List.for_all2 (fun (f1, t1) (f2, t2) -> f1 = f2 && coretype_equal t1 t2)

      (List.sort (fun (f1,_) (f2,_) -> compare f1 f2) fl1)

      (List.sort (fun (f1,_) (f2,_) -> compare f1 f2) fl2)

  | _                                  -> false

  in ((*Format.eprintf "coretype_equal %a %a = %B@." Printers.pp_var_type_dec_desc ty1 Printers.pp_var_type_dec_desc ty2 res;*) res)

let tag_true = "true"

let tag_false = "false"

let tag_default = "default"

let const_is_bool c =

 match c with

 | Const_tag t -> t = tag_true || t = tag_false

 | _           -> false

(* Computes the negation of a boolean constant *)

let const_negation c =

  assert (const_is_bool c);

  match c with

  | Const_tag t when t = tag_true  -> Const_tag tag_false

  | _                              -> Const_tag tag_true

let const_or c1 c2 =

  assert (const_is_bool c1 && const_is_bool c2);

  match c1, c2 with

  | Const_tag t1, _            when t1 = tag_true -> c1

  | _           , Const_tag t2 when t2 = tag_true -> c2

  | _                                             -> Const_tag tag_false

let const_and c1 c2 =

  assert (const_is_bool c1 && const_is_bool c2);

  match c1, c2 with

  | Const_tag t1, _            when t1 = tag_false -> c1

  | _           , Const_tag t2 when t2 = tag_false -> c2

  | _                                              -> Const_tag tag_true

let const_xor c1 c2 =

  assert (const_is_bool c1 && const_is_bool c2);

   match c1, c2 with

  | Const_tag t1, Const_tag t2 when t1 <> t2  -> Const_tag tag_true

  | _                                         -> Const_tag tag_false

let const_impl c1 c2 =

  assert (const_is_bool c1 && const_is_bool c2);

  match c1, c2 with

  | Const_tag t1, _ when t1 = tag_false           -> Const_tag tag_true

  | _           , Const_tag t2 when t2 = tag_true -> Const_tag tag_true

  | _                                             -> Const_tag tag_false

(* To guarantee uniqueness of tags in enum types *)

let tag_table =

  Utils.create_hashtable 20 [

   tag_true, top_bool_type;

   tag_false, top_bool_type

  ]

(* To guarantee uniqueness of fields in struct types *)

let field_table =

  Utils.create_hashtable 20 [

  ]

let get_enum_type_tags cty =

(*Format.eprintf "get_enum_type_tags %a@." Printers.pp_var_type_dec_desc cty;*)

 match cty with

 | Tydec_bool    -> [tag_true; tag_false]

 | Tydec_const _ -> (match (typedef_of_top (Hashtbl.find type_table cty)).tydef_desc with

                     | Tydec_enum tl -> tl

                     | _             -> assert false)

 | _            -> assert false

let get_struct_type_fields cty =

 match cty with

 | Tydec_const _ -> (match (typedef_of_top (Hashtbl.find type_table cty)).tydef_desc with

                     | Tydec_struct fl -> fl

                     | _               -> assert false)

 | _            -> assert false

let const_of_bool b =

 Const_tag (if b then tag_true else tag_false)

(* let get_const c = snd (Hashtbl.find consts_table c) *)

let ident_of_expr expr =

 match expr.expr_desc with

 | Expr_ident id -> id

 | _             -> assert false

(* Generate a new ident expression from a declared variable *)

let expr_of_vdecl 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_annot = None;

    expr_loc = v.var_loc }

(* Caution, returns an untyped and unclocked expression *)

let expr_of_ident id loc =

  {expr_tag = Utils.new_tag ();

   expr_desc = Expr_ident id;

   expr_type = Types.new_var ();

   expr_clock = Clocks.new_var true;

   expr_delay = Delay.new_var ();

   expr_loc = loc;

   expr_annot = None}

let is_tuple_expr expr =

 match expr.expr_desc with

  | Expr_tuple _ -> true

  | _            -> false

let expr_list_of_expr expr =

  match expr.expr_desc with

  | Expr_tuple elist -> elist

  | _                -> [expr]

let expr_of_expr_list loc elist =

 match elist with

 | [t]  -> { t with expr_loc = loc }

 | t::_ ->

    let tlist = List.map (fun e -> e.expr_type) elist in

    let clist = List.map (fun e -> e.expr_clock) elist in

    { t with expr_desc = Expr_tuple elist;

	     expr_type = Type_predef.type_tuple tlist;

	     expr_clock = Clock_predef.ck_tuple clist;

	     expr_tag = Utils.new_tag ();

	     expr_loc = loc }

 | _    -> assert false

let call_of_expr expr =

 match expr.expr_desc with

 | Expr_appl (f, args, r) -> (f, expr_list_of_expr args, r)

 | _                      -> assert false

(* Conversion from dimension expr to standard expr, for the purpose of printing, typing, etc... *)

let rec expr_of_dimension dim =

  let open Dimension in

  match dim.dim_desc with

 | Dbool b        ->

     mkexpr dim.dim_loc (Expr_const (const_of_bool b))

 | Dint i         ->

     mkexpr dim.dim_loc (Expr_const (Const_int i))

 | Dident id      ->

     mkexpr dim.dim_loc (Expr_ident id)

 | Dite (c, t, e) ->

     mkexpr dim.dim_loc (Expr_ite (expr_of_dimension c, expr_of_dimension t, expr_of_dimension e))

 | Dappl (id, args) ->

     mkexpr dim.dim_loc (Expr_appl (id, expr_of_expr_list dim.dim_loc (List.map expr_of_dimension args), None))

 | Dlink dim'       -> expr_of_dimension dim'

 | Dvar

 | Dunivar          -> (Format.eprintf "internal error: Corelang.expr_of_dimension %a@." Dimension.pp_dimension dim;

			assert false)

let dimension_of_const loc const =

  let open Dimension in

 match const with

 | Const_int i                                    -> mkdim_int loc i

 | Const_tag t when t = tag_true || t = tag_false -> mkdim_bool loc (t = tag_true)

 | _                                              -> raise InvalidDimension

(* Conversion from standard expr to dimension expr, for the purpose of injecting static call arguments 

   into dimension expressions *)

let rec dimension_of_expr expr =

  let open Dimension in

  match expr.expr_desc with

  | Expr_const c  -> dimension_of_const expr.expr_loc c

  | Expr_ident id -> mkdim_ident expr.expr_loc id

  | Expr_appl (f, args, None) when Basic_library.is_expr_internal_fun expr ->

      let k = Types.get_static_value (Env.lookup_value Basic_library.type_env f) in

      if k = None then raise InvalidDimension;

      mkdim_appl expr.expr_loc f (List.map dimension_of_expr (expr_list_of_expr args))

  | Expr_ite (i, t, e)        ->

      mkdim_ite expr.expr_loc (dimension_of_expr i) (dimension_of_expr t) (dimension_of_expr e)

  | _ -> raise InvalidDimension (* not a simple dimension expression *)

let sort_handlers hl =

 List.sort (fun (t, _) (t', _) -> compare t t') hl

let num_10 = Num.num_of_int 10

let rec is_eq_const c1 c2 =

  match c1, c2 with

  | Const_real (n1, i1, _), Const_real (n2, i2, _)

    -> Num.(let n1 = n1 // (num_10 **/ (num_of_int i1)) in

	    let n2 = n2 // (num_10 **/ (num_of_int i2)) in

	    eq_num n1 n2)

  | Const_struct lcl1, Const_struct lcl2

    -> List.length lcl1 = List.length lcl2

    && List.for_all2 (fun (l1, c1) (l2, c2) -> l1 = l2 && is_eq_const c1 c2) lcl1 lcl2

  | _  -> c1 = c2

let rec is_eq_expr e1 e2 = match e1.expr_desc, e2.expr_desc with

  | Expr_const c1, Expr_const c2 -> is_eq_const c1 c2

  | Expr_ident i1, Expr_ident i2 -> i1 = i2

  | Expr_array el1, Expr_array el2 

  | Expr_tuple el1, Expr_tuple el2 -> 

    List.length el1 = List.length el2 && List.for_all2 is_eq_expr el1 el2 

  | Expr_arrow (e1, e2), Expr_arrow (e1', e2') -> is_eq_expr e1 e1' && is_eq_expr e2 e2'

  | Expr_fby (e1,e2), Expr_fby (e1',e2') -> is_eq_expr e1 e1' && is_eq_expr e2 e2'

  | Expr_ite (i1, t1, e1), Expr_ite (i2, t2, e2) -> is_eq_expr i1 i2 && is_eq_expr t1 t2 && is_eq_expr e1 e2

  (* | Expr_concat (e1,e2), Expr_concat (e1',e2') -> is_eq_expr e1 e1' && is_eq_expr e2 e2' *)

  (* | Expr_tail e, Expr_tail e' -> is_eq_expr e e' *)

  | Expr_pre e, Expr_pre e' -> is_eq_expr e e'

  | Expr_when (e, i, l), Expr_when (e', i', l') -> l=l' && i=i' && is_eq_expr e e'

  | Expr_merge(i, hl), Expr_merge(i', hl') -> i=i' && List.for_all2 (fun (t, h) (t', h') -> t=t' && is_eq_expr h h') (sort_handlers hl) (sort_handlers hl')

  | Expr_appl (i, e, r), Expr_appl (i', e', r') -> i=i' && r=r' && is_eq_expr e e'

  | Expr_power (e1, i1), Expr_power (e2, i2)

  | Expr_access (e1, i1), Expr_access (e2, i2) -> is_eq_expr e1 e2 && is_eq_expr (expr_of_dimension i1) (expr_of_dimension i2)

  | _ -> false

let get_node_vars nd =

  nd.node_inputs @ nd.node_locals @ nd.node_outputs

let mk_new_node_name nd id =

  let used_vars = get_node_vars nd in

  let used v = List.exists (fun vdecl -> vdecl.var_id = v) used_vars in

  mk_new_name used id

let get_var id var_list =

  List.find (fun v -> v.var_id = id) var_list

let get_node_var id node =

  try

    get_var id (get_node_vars node)

  with Not_found -> begin

    (* Format.eprintf "Unable to find variable %s in node %s@.@?" id node.node_id; *)

    raise Not_found

  end

let get_node_eqs =

  let get_eqs stmts =

    List.fold_right

      (fun stmt (res_eq, res_aut) ->

	match stmt with

	| Eq eq -> eq :: res_eq, res_aut

	| Aut aut -> res_eq, aut::res_aut)

      stmts

      ([], []) in

  let table_eqs = Hashtbl.create 23 in

  (fun nd ->

    try

      let (old, res) = Hashtbl.find table_eqs nd.node_id

      in if old == nd.node_stmts then res else raise Not_found

    with Not_found -> 

      let res = get_eqs nd.node_stmts in

      begin

	Hashtbl.replace table_eqs nd.node_id (nd.node_stmts, res);

	res

      end)

let get_node_eq id node =

  let eqs, auts = get_node_eqs node in

  try

    List.find (fun eq -> List.mem id eq.eq_lhs) eqs

  with

    Not_found -> (* Shall be defined in automata auts *) raise Not_found

let get_nodes prog = 

  List.fold_left (

    fun nodes decl ->

      match decl.top_decl_desc with

	| Node _ -> decl::nodes

	| Const _ | ImportedNode _ | Open _ | TypeDef _ -> nodes  

  ) [] prog

let get_imported_nodes prog = 

  List.fold_left (

    fun nodes decl ->

      match decl.top_decl_desc with

	| ImportedNode _ -> decl::nodes

	| Const _ | Node _ | Open _ | TypeDef _-> nodes  

  ) [] prog

let get_consts prog = 

  List.fold_right (

    fun decl consts ->

      match decl.top_decl_desc with

	| Const _ -> decl::consts

	| Node _ | ImportedNode _ | Open _ | TypeDef _ -> consts  

  ) prog []

let get_typedefs prog = 

  List.fold_right (

    fun decl types ->

      match decl.top_decl_desc with

	| TypeDef _ -> decl::types

	| Node _ | ImportedNode _ | Open _ | Const _ -> types  

  ) prog []

let get_dependencies prog =

  List.fold_right (

    fun decl deps ->

      match decl.top_decl_desc with

	| Open _ -> decl::deps

	| Node _ | ImportedNode _ | TypeDef _ | Const _ -> deps  

  ) prog []

let get_node_interface nd =

 {nodei_id = nd.node_id;

  nodei_type = nd.node_type;

  nodei_clock = nd.node_clock;

  nodei_inputs = nd.node_inputs;

  nodei_outputs = nd.node_outputs;

  nodei_stateless = nd.node_dec_stateless;

  nodei_spec = nd.node_spec;

  (* nodei_annot = nd.node_annot; *)

  nodei_prototype = None;

  nodei_in_lib = [];

 }

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

(*        Renaming                                                      *)

let rec rename_static rename cty =

 match cty with

 | Tydec_array (d, cty') -> Tydec_array (Dimension.expr_replace_expr rename d, rename_static rename cty')

 | Tydec_clock cty       -> Tydec_clock (rename_static rename cty)

 | Tydec_struct fl       -> Tydec_struct (List.map (fun (f, cty) -> f, rename_static rename cty) fl)

 | _                      -> cty

let rec rename_carrier rename cck =

 match cck with

 | Ckdec_bool cl -> Ckdec_bool (List.map (fun (c, l) -> rename c, l) cl)

 | _             -> cck

 (*Format.eprintf "Types.rename_static %a = %a@." print_ty ty print_ty res; res*)

(* applies the renaming function [fvar] to all variables of expression [expr] *)

 (* let rec expr_replace_var fvar expr = *)

 (*  { expr with expr_desc = expr_desc_replace_var fvar expr.expr_desc } *)

 (* and expr_desc_replace_var fvar expr_desc = *)

 (*   match expr_desc with *)

 (*   | Expr_const _ -> expr_desc *)

 (*   | Expr_ident i -> Expr_ident (fvar i) *)

 (*   | Expr_array el -> Expr_array (List.map (expr_replace_var fvar) el) *)

 (*   | Expr_access (e1, d) -> Expr_access (expr_replace_var fvar e1, d) *)

 (*   | Expr_power (e1, d) -> Expr_power (expr_replace_var fvar e1, d) *)

 (*   | Expr_tuple el -> Expr_tuple (List.map (expr_replace_var fvar) el) *)

 (*   | Expr_ite (c, t, e) -> Expr_ite (expr_replace_var fvar c, expr_replace_var fvar t, expr_replace_var fvar e) *)

 (*   | Expr_arrow (e1, e2)-> Expr_arrow (expr_replace_var fvar e1, expr_replace_var fvar e2)  *)

 (*   | Expr_fby (e1, e2) -> Expr_fby (expr_replace_var fvar e1, expr_replace_var fvar e2) *)

 (*   | Expr_pre e' -> Expr_pre (expr_replace_var fvar e') *)

 (*   | Expr_when (e', i, l)-> Expr_when (expr_replace_var fvar e', fvar i, l) *)

 (*   | Expr_merge (i, hl) -> Expr_merge (fvar i, List.map (fun (t, h) -> (t, expr_replace_var fvar h)) hl) *)

 (*   | Expr_appl (i, e', i') -> Expr_appl (i, expr_replace_var fvar e', Utils.option_map (expr_replace_var fvar) i') *)

 let rec rename_expr  f_node f_var expr =

   { expr with expr_desc = rename_expr_desc f_node f_var expr.expr_desc }

 and rename_expr_desc f_node f_var expr_desc =

   let re = rename_expr  f_node f_var in

   match expr_desc with

   | Expr_const _ -> expr_desc

   | Expr_ident i -> Expr_ident (f_var i)

   | Expr_array el -> Expr_array (List.map re el)

   | Expr_access (e1, d) -> Expr_access (re e1, d)

   | Expr_power (e1, d) -> Expr_power (re e1, d)

   | Expr_tuple el -> Expr_tuple (List.map re el)

   | Expr_ite (c, t, e) -> Expr_ite (re c, re t, re e)

   | Expr_arrow (e1, e2)-> Expr_arrow (re e1, re e2) 

   | Expr_fby (e1, e2) -> Expr_fby (re e1, re e2)

   | Expr_pre e' -> Expr_pre (re e')

   | Expr_when (e', i, l)-> Expr_when (re e', f_var i, l)

   | Expr_merge (i, hl) -> 

     Expr_merge (f_var i, List.map (fun (t, h) -> (t, re h)) hl)

   | Expr_appl (i, e', i') -> 

     Expr_appl (f_node i, re e', Utils.option_map re i')

 let rename_dec_type f_node f_var t = assert false (*

						     Types.rename_dim_type (Dimension.rename f_node f_var) t*)

 let rename_dec_clock f_node f_var c = assert false (* 

					  Clocks.rename_clock_expr f_var c*)

 let rename_var f_node f_var v = {

   v with

     var_id = f_var v.var_id;

     var_dec_type = rename_dec_type f_node f_var v.var_type;

     var_dec_clock = rename_dec_clock f_node f_var v.var_clock

 } 

 let rename_vars f_node f_var = List.map (rename_var f_node f_var) 

 let rec rename_eq f_node f_var eq = { eq with

   eq_lhs = List.map f_var eq.eq_lhs; 

   eq_rhs = rename_expr f_node f_var eq.eq_rhs

 } 

 and rename_handler f_node f_var  h = {h with

   hand_state = f_var h.hand_state;

   hand_unless = List.map (

     fun (l,e,b,id) -> l, rename_expr f_node f_var e, b, f_var id

   ) h.hand_unless;

   hand_until = List.map (

     fun (l,e,b,id) -> l, rename_expr f_node f_var e, b, f_var id

   ) h.hand_until;

   hand_locals = rename_vars f_node f_var h.hand_locals;

   hand_stmts = rename_stmts f_node f_var h.hand_stmts;

   hand_annots = rename_annots f_node f_var h.hand_annots;

 } 

 and rename_aut f_node f_var  aut = { aut with

   aut_id = f_var aut.aut_id;

   aut_handlers = List.map (rename_handler f_node f_var) aut.aut_handlers;

 }

 and rename_stmts f_node f_var stmts = List.map (fun stmt -> match stmt with

   | Eq eq -> Eq (rename_eq f_node f_var eq)

   | Aut at -> Aut (rename_aut f_node f_var at))

   stmts

 and rename_annotl f_node f_var  annots = 

   List.map 

     (fun (key, value) -> key, rename_eexpr f_node f_var value) 

     annots

 and rename_annot f_node f_var annot =

   { annot with annots = rename_annotl f_node f_var annot.annots }

 and rename_annots f_node f_var annots =

   List.map (rename_annot f_node f_var) annots

and rename_eexpr f_node f_var ee =

   { ee with

     eexpr_tag = Utils.new_tag ();

     eexpr_qfexpr = rename_expr f_node f_var ee.eexpr_qfexpr;

     eexpr_quantifiers = List.map (fun (typ,vdecls) -> typ, rename_vars f_node f_var vdecls) ee.eexpr_quantifiers;

     eexpr_normalized = Utils.option_map 

       (fun (vdecl, eqs, vdecls) ->

	 rename_var f_node f_var vdecl,

	 List.map (rename_eq f_node f_var) eqs,

	 rename_vars f_node f_var vdecls

       ) ee.eexpr_normalized;

   }

 let rename_node f_node f_var nd =

   let rename_var = rename_var f_node f_var in

   let rename_expr = rename_expr f_node f_var in

   let rename_stmts = rename_stmts f_node f_var in

   let inputs = List.map rename_var nd.node_inputs in

   let outputs = List.map rename_var nd.node_outputs in

   let locals = List.map rename_var nd.node_locals in

   let gen_calls = List.map rename_expr nd.node_gencalls in

   let node_checks = List.map (Dimension.rename f_node f_var)  nd.node_checks in

   let node_asserts = List.map 

     (fun a -> 

       {a with assert_expr = 

	   let expr = a.assert_expr in

	   rename_expr expr})

     nd.node_asserts

   in

   let node_stmts = rename_stmts nd.node_stmts

   in

   let spec = 

     Utils.option_map 

       (fun s -> assert false; (*rename_node_annot f_node f_var s*) ) (* TODO: implement! *) 

       nd.node_spec 

   in

   let annot = rename_annots f_node f_var nd.node_annot in

   {

     node_id = f_node nd.node_id;

     node_type = nd.node_type;

     node_clock = nd.node_clock;

     node_inputs = inputs;

     node_outputs = outputs;

     node_locals = locals;

     node_gencalls = gen_calls;

     node_checks = node_checks;

     node_asserts = node_asserts;

     node_stmts = node_stmts;

     node_dec_stateless = nd.node_dec_stateless;

     node_stateless = nd.node_stateless;

     node_spec = spec;

     node_annot = annot;

   }

let rename_const f_const c =

  { c with const_id = f_const c.const_id }

let rename_typedef f_var t =

  match t.tydef_desc with

  | Tydec_enum tags -> { t with tydef_desc = Tydec_enum (List.map f_var tags) }

  | _               -> t

let rename_prog f_node f_var f_const prog =

  List.rev (

    List.fold_left (fun accu top ->

      (match top.top_decl_desc with

      | Node nd -> 

	 { top with top_decl_desc = Node (rename_node f_node f_var nd) }

      | Const c -> 

	 { top with top_decl_desc = Const (rename_const f_const c) }

      | TypeDef tdef ->

	 { top with top_decl_desc = TypeDef (rename_typedef f_var tdef) }

      | ImportedNode _

      | Open _       -> top)

      ::accu

) [] prog

		   )

(* Applies the renaming function [fvar] to every rhs

   only when the corresponding lhs satisfies predicate [pvar] *)

 let eq_replace_rhs_var pvar fvar eq =

   let pvar l = List.exists pvar l in

   let rec replace lhs rhs =

     { rhs with expr_desc =

     match lhs with

     | []  -> assert false

     | [_] -> if pvar lhs then rename_expr_desc (fun x -> x) fvar rhs.expr_desc else rhs.expr_desc

     | _   ->

       (match rhs.expr_desc with

       | Expr_tuple tl ->

	 Expr_tuple (List.map2 (fun v e -> replace [v] e) lhs tl)

       | Expr_appl (f, arg, None) when Basic_library.is_expr_internal_fun rhs ->

	 let args = expr_list_of_expr arg in

	 Expr_appl (f, expr_of_expr_list arg.expr_loc (List.map (replace lhs) args), None)

       | Expr_array _

       | Expr_access _

       | Expr_power _

       | Expr_const _

       | Expr_ident _

       | Expr_appl _   ->

	 if pvar lhs

	 then rename_expr_desc (fun x -> x) fvar rhs.expr_desc

	 else rhs.expr_desc

       | Expr_ite (c, t, e)   -> Expr_ite (replace lhs c, replace lhs t, replace lhs e)

       | Expr_arrow (e1, e2)  -> Expr_arrow (replace lhs e1, replace lhs e2) 

       | Expr_fby (e1, e2)    -> Expr_fby (replace lhs e1, replace lhs e2)

       | Expr_pre e'          -> Expr_pre (replace lhs e')

       | Expr_when (e', i, l) -> let i' = if pvar lhs then fvar i else i

				 in Expr_when (replace lhs e', i', l)

       | Expr_merge (i, hl)   -> let i' = if pvar lhs then fvar i else i

				 in Expr_merge (i', List.map (fun (t, h) -> (t, replace lhs h)) hl)

       )

     }

   in { eq with eq_rhs = replace eq.eq_lhs eq.eq_rhs }

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

(* Pretty printers *)

let pp_decl_type fmt tdecl =

  match tdecl.top_decl_desc with

  | Node nd ->

    fprintf fmt "%s: " nd.node_id;

    Utils.reset_names ();

    fprintf fmt "%a@ " Types.print_ty nd.node_type

  | ImportedNode ind ->

    fprintf fmt "%s: " ind.nodei_id;

    Utils.reset_names ();

    fprintf fmt "%a@ " Types.print_ty ind.nodei_type

  | Const _ | Open _ | TypeDef _ -> ()

let pp_prog_type fmt tdecl_list =

  Utils.fprintf_list ~sep:"" pp_decl_type fmt tdecl_list

let pp_decl_clock fmt cdecl =

  match cdecl.top_decl_desc with

  | Node nd ->

    fprintf fmt "%s: " nd.node_id;

    Utils.reset_names ();

    fprintf fmt "%a@ " Clocks.print_ck nd.node_clock

  | ImportedNode ind ->

    fprintf fmt "%s: " ind.nodei_id;

    Utils.reset_names ();

    fprintf fmt "%a@ " Clocks.print_ck ind.nodei_clock

  | Const _ | Open _ | TypeDef _ -> ()

let pp_prog_clock fmt prog =

  Utils.fprintf_list ~sep:"" pp_decl_clock fmt prog

(* filling node table with internal functions *)

let vdecls_of_typ_ck cpt ty =

  let loc = Location.dummy_loc in

  List.map

    (fun _ -> incr cpt;

              let name = sprintf "_var_%d" !cpt in

              mkvar_decl loc (name, mktyp loc Tydec_any, mkclock loc Ckdec_any, false, None, None))

    (Types.type_list_of_type ty)

let mk_internal_node id =

  let spec = None in

  let ty = Env.lookup_value Basic_library.type_env id in

  let ck = Env.lookup_value Basic_library.clock_env id in

  let (tin, tout) = Types.split_arrow ty in

  (*eprintf "internal fun %s: %d -> %d@." id (List.length (Types.type_list_of_type tin)) (List.length (Types.type_list_of_type tout));*)

  let cpt = ref (-1) in

  mktop

    (ImportedNode

       {nodei_id = id;

	nodei_type = ty;

	nodei_clock = ck;

	nodei_inputs = vdecls_of_typ_ck cpt tin;

	nodei_outputs = vdecls_of_typ_ck cpt tout;

	nodei_stateless = Types.get_static_value ty <> None;

	nodei_spec = spec;

	(* nodei_annot = []; *)

	nodei_prototype = None;

       	nodei_in_lib = [];

       })

let add_internal_funs () =

  List.iter

    (fun id -> let nd = mk_internal_node id in Hashtbl.add node_table id nd)

    Basic_library.internal_funs

(* Replace any occurence of a var in vars_to_replace by its associated

   expression in defs until e does not contain any such variables *)

let rec substitute_expr vars_to_replace defs e =

  let se = substitute_expr vars_to_replace defs in

  { e with expr_desc = 

      let ed = e.expr_desc in

      match ed with

      | Expr_const _ -> ed

      | Expr_array el -> Expr_array (List.map se el)

      | Expr_access (e1, d) -> Expr_access (se e1, d)

      | Expr_power (e1, d) -> Expr_power (se e1, d)

      | Expr_tuple el -> Expr_tuple (List.map se el)

      | Expr_ite (c, t, e) -> Expr_ite (se c, se t, se e)

      | Expr_arrow (e1, e2)-> Expr_arrow (se e1, se e2) 

      | Expr_fby (e1, e2) -> Expr_fby (se e1, se e2)

      | Expr_pre e' -> Expr_pre (se e')

      | Expr_when (e', i, l)-> Expr_when (se e', i, l)

      | Expr_merge (i, hl) -> Expr_merge (i, List.map (fun (t, h) -> (t, se h)) hl)

      | Expr_appl (i, e', i') -> Expr_appl (i, se e', i')

      | Expr_ident i -> 

	if List.exists (fun v -> v.var_id = i) vars_to_replace then (

	  let eq_i eq = eq.eq_lhs = [i] in

	  if List.exists eq_i defs then

	    let sub = List.find eq_i defs in

	    let sub' = se sub.eq_rhs in

	    sub'.expr_desc

	  else 

	    assert false

	)

	else

	  ed

  }

 let rec expr_to_eexpr  expr =

   { eexpr_tag = expr.expr_tag;

     eexpr_qfexpr = expr;

     eexpr_quantifiers = [];

     eexpr_type = expr.expr_type;

     eexpr_clock = expr.expr_clock;

     eexpr_loc = expr.expr_loc;

     eexpr_normalized = None

   }

 (* and expr_desc_to_eexpr_desc expr_desc = *)

 (*   let conv = expr_to_eexpr in *)

 (*   match expr_desc with *)

 (*   | Expr_const c -> EExpr_const (match c with *)

 (*     | Const_int x -> EConst_int x  *)

 (*     | Const_real x -> EConst_real x  *)

 (*     | Const_float x -> EConst_float x  *)

 (*     | Const_tag x -> EConst_tag x  *)

 (*     | _ -> assert false *)

 (*   ) *)

 (*   | Expr_ident i -> EExpr_ident i *)

 (*   | Expr_tuple el -> EExpr_tuple (List.map conv el) *)

 (*   | Expr_arrow (e1, e2)-> EExpr_arrow (conv e1, conv e2)  *)

 (*   | Expr_fby (e1, e2) -> EExpr_fby (conv e1, conv e2) *)

 (*   | Expr_pre e' -> EExpr_pre (conv e') *)

 (*   | Expr_appl (i, e', i') ->  *)

 (*     EExpr_appl  *)

 (*       (i, conv e', match i' with None -> None | Some(id, _) -> Some id) *)

 (*   | Expr_when _ *)

 (*   | Expr_merge _ -> assert false *)

 (*   | Expr_array _  *)

 (*   | Expr_access _  *)

 (*   | Expr_power _  -> assert false *)

 (*   | Expr_ite (c, t, e) -> assert false  *)

 (*   | _ -> assert false *)

let rec get_expr_calls nodes e =

  let get_calls = get_expr_calls nodes in

  match e.expr_desc with

  | Expr_const _ 

   | Expr_ident _ -> Utils.ISet.empty

   | Expr_tuple el

   | Expr_array el -> List.fold_left (fun accu e -> Utils.ISet.union accu (get_calls e)) Utils.ISet.empty el

   | Expr_pre e1 

   | Expr_when (e1, _, _) 

   | Expr_access (e1, _) 

   | Expr_power (e1, _) -> get_calls e1

   | Expr_ite (c, t, e) -> Utils.ISet.union (Utils.ISet.union (get_calls c) (get_calls t)) (get_calls e) 

   | Expr_arrow (e1, e2) 

   | Expr_fby (e1, e2) -> Utils.ISet.union (get_calls e1) (get_calls e2)

   | Expr_merge (_, hl) -> List.fold_left (fun accu (_, h) -> Utils.ISet.union accu (get_calls h)) Utils.ISet.empty  hl

   | Expr_appl (i, e', i') -> 

     if Basic_library.is_expr_internal_fun e then 

       (get_calls e') 

     else

       let calls =  Utils.ISet.add i (get_calls e') in

       let test = (fun n -> match n.top_decl_desc with Node nd -> nd.node_id = i | _ -> false) in

       if List.exists test nodes then

	 match (List.find test nodes).top_decl_desc with

	 | Node nd -> Utils.ISet.union (get_node_calls nodes nd) calls

	 | _ -> assert false

       else 

	 calls

and get_eq_calls nodes eq =

  get_expr_calls nodes eq.eq_rhs

and get_aut_handler_calls nodes h =

  List.fold_left (fun accu stmt -> match stmt with

  | Eq eq -> Utils.ISet.union (get_eq_calls nodes eq) accu

  | Aut aut' ->  Utils.ISet.union (get_aut_calls nodes aut') accu

  ) Utils.ISet.empty h.hand_stmts 

and get_aut_calls nodes aut =

  List.fold_left (fun accu h -> Utils.ISet.union (get_aut_handler_calls nodes h) accu)

    Utils.ISet.empty aut.aut_handlers

and get_node_calls nodes node =

  let eqs, auts = get_node_eqs node in

  let aut_calls =

    List.fold_left

      (fun accu aut -> Utils.ISet.union (get_aut_calls nodes aut) accu)

      Utils.ISet.empty auts

  in

  List.fold_left

    (fun accu eq -> Utils.ISet.union (get_eq_calls nodes eq) accu)

    aut_calls eqs

let get_expr_vars e =

  let rec get_expr_vars vars e =

    get_expr_desc_vars vars e.expr_desc

  and get_expr_desc_vars vars expr_desc =

    (*Format.eprintf "get_expr_desc_vars expr=%a@." Printers.pp_expr (mkexpr Location.dummy_loc expr_desc);*)

  match expr_desc with

  | Expr_const _ -> vars

  | Expr_ident x -> Utils.ISet.add x vars

  | Expr_tuple el

  | Expr_array el -> List.fold_left get_expr_vars vars el

  | Expr_pre e1 -> get_expr_vars vars e1

  | Expr_when (e1, c, _) -> get_expr_vars (Utils.ISet.add c vars) e1 

  | Expr_access (e1, d) 

  | Expr_power (e1, d)   -> List.fold_left get_expr_vars vars [e1; expr_of_dimension d]

  | Expr_ite (c, t, e) -> List.fold_left get_expr_vars vars [c; t; e]

  | Expr_arrow (e1, e2) 

  | Expr_fby (e1, e2) -> List.fold_left get_expr_vars vars [e1; e2]

  | Expr_merge (c, hl) -> List.fold_left (fun vars (_, h) -> get_expr_vars vars h) (Utils.ISet.add c vars) hl

  | Expr_appl (_, arg, None)   -> get_expr_vars vars arg

  | Expr_appl (_, arg, Some r) -> List.fold_left get_expr_vars vars [arg; r]