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lustrec / src / machine_code.ml @ 684d39e7

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(********************************************************************)
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(*                                                                  *)
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(*  The LustreC compiler toolset   /  The LustreC Development Team  *)
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(*  Copyright 2012 -    --   ONERA - CNRS - INPT                    *)
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(*                                                                  *)
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(*  LustreC is free software, distributed WITHOUT ANY WARRANTY      *)
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(*  under the terms of the GNU Lesser General Public License        *)
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(*  version 2.1.                                                    *)
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(*                                                                  *)
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(********************************************************************)
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open Lustre_types
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open Machine_code_types
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open Machine_code_common
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open Corelang
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open Clocks
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open Causality
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exception NormalizationError
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(* translate_<foo> : node -> context -> <foo> -> machine code/expression *)
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(* the context contains  m : state aka memory variables  *)
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(*                      si : initialization instructions *)
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(*                       j : node aka machine instances  *)
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(*                       d : local variables             *)
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(*                       s : step instructions           *)
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let translate_ident node (m, si, j, d, s) id =
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  (* Format.eprintf "trnaslating ident: %s@." id; *)
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  try (* id is a node var *)
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    let var_id = get_node_var id node in
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    mk_val (Var var_id) var_id.var_type
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  with Not_found ->
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    try (* id is a constant *)
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      let vdecl = (Corelang.var_decl_of_const (const_of_top (Hashtbl.find Corelang.consts_table id))) in
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      mk_val (Var vdecl) vdecl.var_type
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    with Not_found ->
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      (* id is a tag *)
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      (* DONE construire une liste des enum declarés et alors chercher dedans la liste
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	 qui contient id *)
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      try
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        let typ = (typedef_of_top (Hashtbl.find Corelang.tag_table id)).tydef_id in
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        mk_val (Cst (Const_tag id)) (Type_predef.type_const typ)
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      with Not_found -> (Format.eprintf "internal error: Machine_code.translate_ident %s" id;
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                         assert false)
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let rec control_on_clock node ((m, si, j, d, s) as args) ck inst =
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 match (Clocks.repr ck).cdesc with
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 | Con    (ck1, cr, l) ->
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   let id  = Clocks.const_of_carrier cr in
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   control_on_clock node args ck1 (mkinstr
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				     (* TODO il faudrait prendre le lustre
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					associé à instr et rajouter print_ck_suffix
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					ck) de clocks.ml *)
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				     (MBranch (translate_ident node args id,
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					       [l, [inst]] )))
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 | _                   -> inst
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(* specialize predefined (polymorphic) operators
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   wrt their instances, so that the C semantics
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   is preserved *)
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let specialize_to_c expr =
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 match expr.expr_desc with
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 | Expr_appl (id, e, r) ->
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   if List.exists (fun e -> Types.is_bool_type e.expr_type) (expr_list_of_expr e)
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   then let id =
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	  match id with
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	  | "="  -> "equi"
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	  | "!=" -> "xor"
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	  | _    -> id in
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	{ expr with expr_desc = Expr_appl (id, e, r) }
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   else expr
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 | _ -> expr
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let specialize_op expr =
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  match !Options.output with
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  | "C" -> specialize_to_c expr
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  | _   -> expr
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let rec translate_expr node ((m, si, j, d, s) as args) expr =
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  let expr = specialize_op expr in
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  let value_desc = 
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    match expr.expr_desc with
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    | Expr_const v                     -> Cst v
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    | Expr_ident x                     -> (translate_ident node args x).value_desc
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    | Expr_array el                    -> Array (List.map (translate_expr node args) el)
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    | Expr_access (t, i)               -> Access (translate_expr node args t, translate_expr node args (expr_of_dimension i))
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    | Expr_power  (e, n)               -> Power  (translate_expr node args e, translate_expr node args (expr_of_dimension n))
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    | Expr_tuple _
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    | Expr_arrow _ 
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    | Expr_fby _
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    | Expr_pre _                       -> (Printers.pp_expr Format.err_formatter expr; Format.pp_print_flush Format.err_formatter (); raise NormalizationError)
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    | Expr_when    (e1, _, _)          -> (translate_expr node args e1).value_desc
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    | Expr_merge   (x, _)              -> raise NormalizationError
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    | Expr_appl (id, e, _) when Basic_library.is_expr_internal_fun expr ->
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      let nd = node_from_name id in
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      Fun (node_name nd, List.map (translate_expr node args) (expr_list_of_expr e))
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    | Expr_ite (g,t,e) -> (
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      (* special treatment depending on the active backend. For horn backend, ite
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	 are preserved in expression. While they are removed for C or Java
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	 backends. *)
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      match !Options.output with
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      | "horn" -> 
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	 Fun ("ite", [translate_expr node args g; translate_expr node args t; translate_expr node args e])
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      | "C" | "java" | _ -> 
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	 (Format.eprintf "Normalization error for backend %s: %a@."
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	    !Options.output
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	    Printers.pp_expr expr;
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	  raise NormalizationError)
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    )
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    | _                   -> raise NormalizationError
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  in
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  mk_val value_desc expr.expr_type
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let translate_guard node args expr =
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  match expr.expr_desc with
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  | Expr_ident x  -> translate_ident node args x
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  | _ -> (Format.eprintf "internal error: translate_guard %s %a@." node.node_id Printers.pp_expr expr;assert false)
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let rec translate_act node ((m, si, j, d, s) as args) (y, expr) =
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  let eq = Corelang.mkeq Location.dummy_loc ([y.var_id], expr) in
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  match expr.expr_desc with
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  | Expr_ite   (c, t, e) -> let g = translate_guard node args c in
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			    mk_conditional ?lustre_eq:(Some eq) g
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                              [translate_act node args (y, t)]
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                              [translate_act node args (y, e)]
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  | Expr_merge (x, hl)   -> mkinstr ?lustre_eq:(Some eq) (MBranch (translate_ident node args x,
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                                     List.map (fun (t,  h) -> t, [translate_act node args (y, h)]) hl))
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  | _                    -> mkinstr ?lustre_eq:(Some eq)  (MLocalAssign (y, translate_expr node args expr))
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let reset_instance node args i r c =
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  match r with
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  | None        -> []
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  | Some r      -> let g = translate_guard node args r in
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                   [control_on_clock node args c (mk_conditional g [mkinstr (MReset i)] [mkinstr (MNoReset i)])]
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let translate_eq node ((m, si, j, d, s) as args) eq =
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  (* Format.eprintf "translate_eq %a with clock %a@." Printers.pp_node_eq eq Clocks.print_ck eq.eq_rhs.expr_clock;  *)
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  match eq.eq_lhs, eq.eq_rhs.expr_desc with
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  | [x], Expr_arrow (e1, e2)                     ->
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     let var_x = get_node_var x node in
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     let o = new_instance node Arrow.arrow_top_decl eq.eq_rhs.expr_tag in
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     let c1 = translate_expr node args e1 in
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     let c2 = translate_expr node args e2 in
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     (m,
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      mkinstr (MReset o) :: si,
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      Utils.IMap.add o (Arrow.arrow_top_decl, []) j,
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      d,
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      (control_on_clock node args eq.eq_rhs.expr_clock (mkinstr ?lustre_eq:(Some eq) (MStep ([var_x], o, [c1;c2])))) :: s)
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  | [x], Expr_pre e1 when VSet.mem (get_node_var x node) d     ->
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     let var_x = get_node_var x node in
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     (VSet.add var_x m,
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      si,
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      j,
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      d,
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      control_on_clock node args eq.eq_rhs.expr_clock (mkinstr ?lustre_eq:(Some eq) (MStateAssign (var_x, translate_expr node args e1))) :: s)
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  | [x], Expr_fby (e1, e2) when VSet.mem (get_node_var x node) d ->
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     let var_x = get_node_var x node in
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     (VSet.add var_x m,
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      mkinstr ?lustre_eq:(Some eq) (MStateAssign (var_x, translate_expr node args e1)) :: si,
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      j,
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      d,
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      control_on_clock node args eq.eq_rhs.expr_clock (mkinstr ?lustre_eq:(Some eq) (MStateAssign (var_x, translate_expr node args e2))) :: s)
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  | p  , Expr_appl (f, arg, r) when not (Basic_library.is_expr_internal_fun eq.eq_rhs) ->
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     let var_p = List.map (fun v -> get_node_var v node) p in
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     let el = expr_list_of_expr arg in
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     let vl = List.map (translate_expr node args) el in
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     let node_f = node_from_name f in
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     let call_f =
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       node_f,
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       NodeDep.filter_static_inputs (node_inputs node_f) el in
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     let o = new_instance node node_f eq.eq_rhs.expr_tag in
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     let env_cks = List.fold_right (fun arg cks -> arg.expr_clock :: cks) el [eq.eq_rhs.expr_clock] in
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     let call_ck = Clock_calculus.compute_root_clock (Clock_predef.ck_tuple env_cks) in
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     (*Clocks.new_var true in
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       Clock_calculus.unify_imported_clock (Some call_ck) eq.eq_rhs.expr_clock eq.eq_rhs.expr_loc;
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       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;*)
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     (m,
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      (if Stateless.check_node node_f then si else mkinstr (MReset o) :: si),
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      Utils.IMap.add o call_f j,
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      d,
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      (if Stateless.check_node node_f
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       then []
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       else reset_instance node args o r call_ck) @
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	(control_on_clock node args call_ck (mkinstr ?lustre_eq:(Some eq) (MStep (var_p, o, vl)))) :: s)
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  (*
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    (* special treatment depending on the active backend. For horn backend, x = ite (g,t,e)
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    are preserved. While they are replaced as if g then x = t else x = e in  C or Java
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    backends. *)
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    | [x], Expr_ite   (c, t, e)
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    when (match !Options.output with | "horn" -> true | "C" | "java" | _ -> false)
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    ->
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    let var_x = get_node_var x node in
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    (m,
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    si,
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    j,
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    d,
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    (control_on_clock node args eq.eq_rhs.expr_clock
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    (MLocalAssign (var_x, translate_expr node args eq.eq_rhs))::s)
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    )
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  *)
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  | [x], _                                       -> (
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    let var_x = get_node_var x node in
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    (m, si, j, d,
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     control_on_clock
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       node
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       args
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       eq.eq_rhs.expr_clock
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       (translate_act node args (var_x, eq.eq_rhs)) :: s
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    )
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  )
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  | _                                            ->
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     begin
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       Format.eprintf "internal error: Machine_code.translate_eq %a@?" Printers.pp_node_eq eq;
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       assert false
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     end
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let constant_equations nd =
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 List.fold_right (fun vdecl eqs ->
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   if vdecl.var_dec_const
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   then
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     { eq_lhs = [vdecl.var_id];
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       eq_rhs = Utils.desome vdecl.var_dec_value;
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       eq_loc = vdecl.var_loc
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     } :: eqs
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   else eqs)
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   nd.node_locals []
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let translate_eqs node args eqs =
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  List.fold_right (fun eq args -> translate_eq node args eq) eqs args;;
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let translate_decl nd sch =
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  (*Log.report ~level:1 (fun fmt -> Printers.pp_node fmt nd);*)
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  let schedule = sch.Scheduling_type.schedule in
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  let sorted_eqs = Scheduling.sort_equations_from_schedule nd schedule in
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  let constant_eqs = constant_equations nd in
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  (* In case of non functional backend (eg. C), additional local variables have
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     to be declared for each assert *)
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  let new_locals, assert_instrs, nd_node_asserts =
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    let exprl = List.map (fun assert_ -> assert_.assert_expr ) nd.node_asserts in
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    if Backends.is_functional () then
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      [], [], exprl  
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    else (* Each assert(e) is associated to a fresh variable v and declared as
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	    v=e; assert (v); *)
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      let _, vars, eql, assertl =
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	List.fold_left (fun (i, vars, eqlist, assertlist) expr ->
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	  let loc = expr.expr_loc in
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	  let var_id = nd.node_id ^ "_assert_" ^ string_of_int i in
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	  let assert_var =
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	    mkvar_decl
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	      loc
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	      ~orig:false (* fresh var *)
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	      (var_id,
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	       mktyp loc Tydec_bool,
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	       mkclock loc Ckdec_any,
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	       false, (* not a constant *)
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	       None, (* no default value *)
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	       Some nd.node_id
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	      )
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	  in
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	  assert_var.var_type <- Type_predef.type_bool (* Types.new_ty (Types.Tbool) *); 
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	  let eq = mkeq loc ([var_id], expr) in
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	  (i+1, assert_var::vars, eq::eqlist, {expr with expr_desc = Expr_ident var_id}::assertlist)
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	) (1, [], [], []) exprl
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      in
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      vars, eql, assertl
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  in
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  let locals_list = nd.node_locals @ new_locals in
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  let nd = { nd with node_locals = locals_list } in
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  let init_args = VSet.empty, [], Utils.IMap.empty, List.fold_right (fun l -> VSet.add l) locals_list VSet.empty, [] in
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  (* memories, init instructions, node calls, local variables (including memories), step instrs *)
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  let m0, init0, j0, locals0, s0 = translate_eqs nd init_args constant_eqs in
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  assert (VSet.is_empty m0);
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  assert (init0 = []);
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  assert (Utils.IMap.is_empty j0);
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  let m, init, j, locals, s as context_with_asserts = translate_eqs nd (m0, init0, j0, locals0, []) (assert_instrs@sorted_eqs) in
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  let mmap = Utils.IMap.fold (fun i n res -> (i, n)::res) j [] in
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  {
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    mname = nd;
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    mmemory = VSet.elements m;
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    mcalls = mmap;
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    minstances = List.filter (fun (_, (n,_)) -> not (Stateless.check_node n)) mmap;
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    minit = init;
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    mconst = s0;
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    mstatic = List.filter (fun v -> v.var_dec_const) nd.node_inputs;
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    mstep = {
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      step_inputs = nd.node_inputs;
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      step_outputs = nd.node_outputs;
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      step_locals = VSet.elements (VSet.diff locals m);
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      step_checks = List.map (fun d -> d.Dimension.dim_loc, translate_expr nd init_args (expr_of_dimension d)) nd.node_checks;
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      step_instrs = (
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	(* special treatment depending on the active backend. For horn backend,
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	   common branches are not merged while they are in C or Java
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	   backends. *)
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	(*match !Options.output with
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	| "horn" -> s
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	  | "C" | "java" | _ ->*)
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	if !Backends.join_guards then
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	  join_guards_list s
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	else
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	  s
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      );
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      step_asserts = List.map (translate_expr nd context_with_asserts) nd_node_asserts;
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    };
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    mspec = nd.node_spec;
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    mannot = nd.node_annot;
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    msch = Some sch;
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  }
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(** takes the global declarations and the scheduling associated to each node *)
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let translate_prog decls node_schs =
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  let nodes = get_nodes decls in
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  List.map
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    (fun decl ->
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     let node = node_of_top decl in
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      let sch = Utils.IMap.find node.node_id node_schs in
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      translate_decl node sch
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    ) nodes
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(* Local Variables: *)
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(* compile-command:"make -C .." *)
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(* End: *)