lustrec / src / machine_code.ml @ d3e4c22f
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(* ---------------------------------------------------------------------------- |
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* SchedMCore - A MultiCore Scheduling Framework |
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* Copyright (C) 2009-2013, ONERA, Toulouse, FRANCE - LIFL, Lille, FRANCE |
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* Copyright (C) 2012-2013, INPT, Toulouse, FRANCE |
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* |
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* This file is part of Prelude |
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* |
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* Prelude is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation ; either version 2 of |
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* the License, or (at your option) any later version. |
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* |
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* Prelude is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY ; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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* Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public |
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* License along with this program ; if not, write to the Free Software |
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 |
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* USA |
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*---------------------------------------------------------------------------- *) |
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|
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(* This module is used for the lustre to C compiler *) |
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|
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open LustreSpec |
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open Corelang |
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open Clocks |
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open Causality |
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|
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exception NormalizationError |
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|
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module OrdVarDecl:Map.OrderedType with type t=var_decl = |
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struct type t = var_decl;; let compare = compare end |
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|
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module ISet = Set.Make(OrdVarDecl) |
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|
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type value_t = |
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| Cst of constant |
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| LocalVar of var_decl |
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| StateVar of var_decl |
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| Fun of ident * value_t list |
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| Array of value_t list |
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| Access of value_t * value_t |
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| Power of value_t * value_t |
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|
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type instr_t = |
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| MLocalAssign of var_decl * value_t |
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| MStateAssign of var_decl * value_t |
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| MReset of ident |
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| MStep of var_decl list * ident * value_t list |
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| MBranch of value_t * (label * instr_t list) list |
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|
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let rec pp_val fmt v = |
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match v with |
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| Cst c -> Printers.pp_const fmt c |
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| LocalVar v -> Format.pp_print_string fmt v.var_id |
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| StateVar v -> Format.pp_print_string fmt v.var_id |
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| Array vl -> Format.fprintf fmt "[%a]" (Utils.fprintf_list ~sep:", " pp_val) vl |
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| Access (t, i) -> Format.fprintf fmt "%a[%a]" pp_val t pp_val i |
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| Power (v, n) -> Format.fprintf fmt "(%a^%a)" pp_val v pp_val n |
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| Fun (n, vl) -> Format.fprintf fmt "%s (%a)" n (Utils.fprintf_list ~sep:", " pp_val) vl |
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|
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let rec pp_instr fmt i = |
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match i with |
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| MLocalAssign (i,v) -> Format.fprintf fmt "%s<-l- %a" i.var_id pp_val v |
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| MStateAssign (i,v) -> Format.fprintf fmt "%s<-s- %a" i.var_id pp_val v |
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| MReset i -> Format.fprintf fmt "reset %s" i |
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| MStep (il, i, vl) -> |
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Format.fprintf fmt "%a = %s (%a)" |
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(Utils.fprintf_list ~sep:", " (fun fmt v -> Format.pp_print_string fmt v.var_id)) il |
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i |
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(Utils.fprintf_list ~sep:", " pp_val) vl |
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| MBranch (g,hl) -> |
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Format.fprintf fmt "@[<v 2>case(%a) {@,%a@,}@]" |
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pp_val g |
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(Utils.fprintf_list ~sep:"@," pp_branch) hl |
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|
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and pp_branch fmt (t, h) = |
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Format.fprintf fmt "@[<v 2>%s:@,%a@]" t (Utils.fprintf_list ~sep:"@," pp_instr) h |
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|
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type step_t = { |
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step_checks: (Location.t * value_t) list; |
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step_inputs: var_decl list; |
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step_outputs: var_decl list; |
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step_locals: var_decl list; |
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step_instrs: instr_t list; |
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} |
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|
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type static_call = top_decl * (Dimension.dim_expr list) |
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|
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type machine_t = { |
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mname: node_desc; |
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mmemory: var_decl list; |
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mcalls: (ident * static_call) list; (* map from stateful/stateless instance to node, no internals *) |
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minstances: (ident * static_call) list; (* sub-map of mcalls, from stateful instance to node *) |
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minit: instr_t list; |
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mstatic: var_decl list; (* static inputs only *) |
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mstep: step_t; |
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mspec: node_annot option; |
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mannot: expr_annot option; |
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} |
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|
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let pp_step fmt s = |
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Format.fprintf fmt "@[<v>inputs : %a@ outputs: %a@ locals : %a@ checks : %a@ instrs : @[%a@]@]@ " |
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(Utils.fprintf_list ~sep:", " Printers.pp_var) s.step_inputs |
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(Utils.fprintf_list ~sep:", " Printers.pp_var) s.step_outputs |
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(Utils.fprintf_list ~sep:", " Printers.pp_var) s.step_locals |
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(Utils.fprintf_list ~sep:", " (fun fmt (_, c) -> pp_val fmt c)) s.step_checks |
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(Utils.fprintf_list ~sep:"@ " pp_instr) s.step_instrs |
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|
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let pp_static_call fmt (node, args) = |
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Format.fprintf fmt "%s<%a>" |
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(node_name node) |
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(Utils.fprintf_list ~sep:", " Dimension.pp_dimension) args |
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|
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let pp_machine fmt m = |
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Format.fprintf fmt |
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"@[<v 2>machine %s@ mem : %a@ instances: %a@ init : %a@ step :@ @[<v 2>%a@]@ @]@ " |
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m.mname.node_id |
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(Utils.fprintf_list ~sep:", " Printers.pp_var) m.mmemory |
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(Utils.fprintf_list ~sep:", " (fun fmt (o1, o2) -> Format.fprintf fmt "(%s, %a)" o1 pp_static_call o2)) m.minstances |
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(Utils.fprintf_list ~sep:"@ " pp_instr) m.minit |
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pp_step m.mstep |
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|
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let is_output m id = |
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List.exists (fun o -> o.var_id = id.var_id) m.mstep.step_outputs |
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|
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let conditional c t e = |
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MBranch(c, [ (tag_true, t); (tag_false, e) ]) |
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|
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let dummy_var_decl name typ = |
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{ |
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var_id = name; |
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var_dec_type = dummy_type_dec; |
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var_dec_clock = dummy_clock_dec; |
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var_dec_const = false; |
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var_type = typ; |
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var_clock = Clocks.new_ck (Clocks.Cvar Clocks.CSet_all) true; |
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var_loc = Location.dummy_loc |
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} |
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|
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let arrow_id = "_arrow" |
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|
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let arrow_typ = Types.new_ty Types.Tunivar |
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|
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let arrow_desc = |
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{ |
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node_id = arrow_id; |
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node_type = Type_predef.type_bin_poly_op; |
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node_clock = Clock_predef.ck_bin_univ; |
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node_inputs= [dummy_var_decl "_in1" arrow_typ; dummy_var_decl "_in2" arrow_typ]; |
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node_outputs= [dummy_var_decl "_out" arrow_typ]; |
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node_locals= []; |
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node_gencalls = []; |
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node_checks = []; |
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node_asserts = []; |
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node_eqs= []; |
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node_dec_stateless = false; |
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node_stateless = Some false; |
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node_spec = None; |
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node_annot = None; } |
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|
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let arrow_top_decl = |
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{ |
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top_decl_desc = Node arrow_desc; |
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top_decl_loc = Location.dummy_loc |
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} |
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|
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let arrow_machine = |
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let state = "_first" in |
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let var_state = dummy_var_decl state (Types.new_ty Types.Tbool) in |
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let var_input1 = List.nth arrow_desc.node_inputs 0 in |
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let var_input2 = List.nth arrow_desc.node_inputs 1 in |
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let var_output = List.nth arrow_desc.node_outputs 0 in |
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{ |
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mname = arrow_desc; |
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mmemory = [var_state]; |
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mcalls = []; |
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minstances = []; |
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minit = [MStateAssign(var_state, Cst (const_of_bool true))]; |
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mstatic = []; |
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mstep = { |
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step_inputs = arrow_desc.node_inputs; |
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step_outputs = arrow_desc.node_outputs; |
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step_locals = []; |
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step_checks = []; |
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step_instrs = [conditional (StateVar var_state) |
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[MStateAssign(var_state, Cst (const_of_bool false)); |
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MLocalAssign(var_output, LocalVar var_input1)] |
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[MLocalAssign(var_output, LocalVar var_input2)] ] |
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}; |
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mspec = None; |
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mannot = None; |
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} |
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|
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let new_instance = |
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let cpt = ref (-1) in |
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fun caller callee tag -> |
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begin |
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let o = |
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if Corelang.check_stateless_node callee then |
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node_name callee |
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else |
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Printf.sprintf "ni_%d" (incr cpt; !cpt) in |
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let o = |
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if !Options.ansi && is_generic_node callee |
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then Printf.sprintf "%s_inst_%d" o (Utils.position (fun e -> e.expr_tag = tag) caller.node_gencalls) |
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else o in |
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o |
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end |
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|
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let const_of_carrier cr = |
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match (carrier_repr cr).carrier_desc with |
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| Carry_const id -> id |
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| Carry_name |
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| Carry_var |
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| Carry_link _ -> (Format.eprintf "internal error: const_of_carrier %a@." print_carrier cr; assert false) (* TODO check this Xavier *) |
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|
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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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try (* id is a node var *) |
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let var_id = node_var id node in |
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if ISet.exists (fun v -> v.var_id = id) m |
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then StateVar var_id |
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else LocalVar var_id |
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with Not_found -> (* id is a constant *) |
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LocalVar (Corelang.var_decl_of_const (Hashtbl.find Corelang.consts_table id)) |
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|
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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 = const_of_carrier cr in |
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control_on_clock node args ck1 (MBranch (translate_ident node args id, |
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[l, [inst]] )) |
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| _ -> inst |
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|
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let rec join_branches hl1 hl2 = |
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match hl1, hl2 with |
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| [] , _ -> hl2 |
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| _ , [] -> hl1 |
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| (t1, h1)::q1, (t2, h2)::q2 -> |
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if t1 < t2 then (t1, h1) :: join_branches q1 hl2 else |
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if t1 > t2 then (t2, h2) :: join_branches hl1 q2 |
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else (t1, List.fold_right join_guards h1 h2) :: join_branches q1 q2 |
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|
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and join_guards inst1 insts2 = |
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match inst1, insts2 with |
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| _ , [] -> |
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[inst1] |
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| MBranch (x1, hl1), MBranch (x2, hl2) :: q when x1 = x2 -> |
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MBranch (x1, join_branches (sort_handlers hl1) (sort_handlers hl2)) |
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:: q |
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| _ -> inst1 :: insts2 |
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|
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let join_guards_list insts = |
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List.fold_right join_guards insts [] |
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|
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let find_eq x eqs = |
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let rec aux accu eqs = |
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match eqs with |
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| [] -> |
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begin |
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Format.eprintf "Looking for variable %a in the following equations@.%a@." |
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Format.pp_print_string x |
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Printers.pp_node_eqs eqs; |
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assert false |
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end |
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| hd::tl -> |
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if List.mem x hd.eq_lhs then hd, accu@tl else aux (hd::accu) tl |
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in |
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aux [] eqs |
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|
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let rec translate_expr node ((m, si, j, d, s) as args) expr = |
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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 |
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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 |
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| Expr_merge (x, _) -> raise NormalizationError |
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| Expr_appl (id, e, _) when Basic_library.is_internal_fun id -> |
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let nd = node_from_name id in |
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(match e.expr_desc with |
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| Expr_tuple el -> Fun (node_name nd, List.map (translate_expr node args) el) |
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| _ -> Fun (node_name nd, [translate_expr node args 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 | "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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(Printers.pp_expr Format.err_formatter expr; Format.pp_print_flush Format.err_formatter (); raise NormalizationError) |
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) |
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| _ -> raise NormalizationError |
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|
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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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| _ -> assert false |
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|
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let rec translate_act node ((m, si, j, d, s) as args) (y, expr) = |
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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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conditional g [translate_act node args (y, t)] |
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[translate_act node args (y, e)] |
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| Expr_merge (x, hl) -> MBranch (translate_ident node args x, List.map (fun (t, h) -> t, [translate_act node args (y, h)]) hl) |
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| _ -> MLocalAssign (y, translate_expr node args expr) |
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|
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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 (x, l) -> [control_on_clock node args c (MBranch (translate_ident node args x, [l, [MReset i]]))] |
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|
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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 = node_var x node in |
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let o = new_instance node 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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MReset o :: si, |
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Utils.IMap.add o (arrow_top_decl, []) j, |
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d, |
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(control_on_clock node args eq.eq_rhs.expr_clock (MStep ([var_x], o, [c1;c2]))) :: s) |
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| [x], Expr_pre e1 when ISet.mem (node_var x node) d -> |
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let var_x = node_var x node in |
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(ISet.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 (MStateAssign (var_x, translate_expr node args e1)) :: s) |
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| [x], Expr_fby (e1, e2) when ISet.mem (node_var x node) d -> |
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let var_x = node_var x node in |
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(ISet.add var_x m, |
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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 (MStateAssign (var_x, translate_expr node args e2)) :: s) |
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| p , Expr_appl (f, arg, r) -> |
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let var_p = List.map (fun v -> node_var v node) p in |
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let el = |
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match arg.expr_desc with |
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| Expr_tuple el -> el |
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| _ -> [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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(m, |
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(if check_stateless_node node_f then si else MReset o :: si), |
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(if Basic_library.is_internal_fun f then j else Utils.IMap.add o call_f j), |
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d, |
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reset_instance node args o r eq.eq_rhs.expr_clock @ |
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(control_on_clock node args eq.eq_rhs.expr_clock (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 = 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 = node_var x node in |
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(m, si, j, d, |
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control_on_clock node args eq.eq_rhs.expr_clock (translate_act node args (var_x, eq.eq_rhs)) :: s) |
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) |
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| _ -> |
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begin |
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Format.eprintf "unsupported equation: %a@?" Printers.pp_node_eq eq; |
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assert false |
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end |
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|
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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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|
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let translate_decl nd = |
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(*Log.report ~level:1 (fun fmt -> Printers.pp_node fmt nd);*) |
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let nd, sch = Scheduling.schedule_node nd in |
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let split_eqs = Splitting.tuple_split_eq_list nd.node_eqs in |
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let eqs_rev, remainder = |
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List.fold_left |
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(fun (accu, node_eqs_remainder) v -> |
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if List.exists (fun eq -> List.mem v eq.eq_lhs) accu |
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then |
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(accu, node_eqs_remainder) |
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else |
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if List.exists (fun vdecl -> vdecl.var_id = v) nd.node_locals |
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|| List.exists (fun vdecl -> vdecl.var_id = v) nd.node_outputs |
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then |
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let eq_v, remainder = find_eq v node_eqs_remainder in |
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eq_v::accu, remainder |
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(* else it is a constant value, checked during typing phase *) |
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else |
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accu, node_eqs_remainder |
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) |
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([], split_eqs) |
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sch |
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in |
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if List.length remainder > 0 then ( |
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Format.eprintf "Equations not used are@.%a@.Full equation set is:@.%a@.@?" |
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Printers.pp_node_eqs remainder |
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Printers.pp_node_eqs nd.node_eqs; |
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assert false ) |
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; |
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|
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let init_args = ISet.empty, [], Utils.IMap.empty, List.fold_right (fun l -> ISet.add l) nd.node_locals ISet.empty, [] in |
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let m, init, j, locals, s = translate_eqs nd init_args (List.rev eqs_rev) 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 = ISet.elements m; |
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mcalls = mmap; |
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minstances = List.filter (fun (_, (n,_)) -> not (check_stateless_node n)) mmap; |
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minit = init; |
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mstatic = List.filter (fun v -> v.var_dec_const) nd.node_inputs; |
442 |
mstep = { |
443 |
step_inputs = nd.node_inputs; |
444 |
step_outputs = nd.node_outputs; |
445 |
step_locals = ISet.elements (ISet.diff locals m); |
446 |
step_checks = List.map (fun d -> d.Dimension.dim_loc, translate_expr nd init_args (expr_of_dimension d)) nd.node_checks; |
447 |
step_instrs = ( |
448 |
(* special treatment depending on the active backend. For horn backend, |
449 |
common branches are not merged while they are in C or Java |
450 |
backends. *) |
451 |
match !Options.output with |
452 |
| "horn" -> s |
453 |
| "C" | "java" | _ -> join_guards_list s |
454 |
); |
455 |
}; |
456 |
mspec = nd.node_spec; |
457 |
mannot = nd.node_annot; |
458 |
} |
459 |
|
460 |
|
461 |
let translate_prog decls = |
462 |
let nodes = get_nodes decls in |
463 |
(* What to do with Imported/Sensor/Actuators ? *) |
464 |
arrow_machine :: List.map translate_decl nodes |
465 |
|
466 |
let get_machine_opt name machines = |
467 |
List.fold_left |
468 |
(fun res m -> |
469 |
match res with |
470 |
| Some _ -> res |
471 |
| None -> if m.mname.node_id = name then Some m else None) |
472 |
None machines |
473 |
|
474 |
|
475 |
(* Local Variables: *) |
476 |
(* compile-command:"make -C .." *) |
477 |
(* End: *) |