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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 LustreSpec
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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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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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module ISet = Set.Make(OrdVarDecl)
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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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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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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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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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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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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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  step_asserts: value_t list;
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}
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type static_call = top_decl * (Dimension.dim_expr list)
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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 list;
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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@]@ asserts : @[%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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    (Utils.fprintf_list ~sep:", " pp_val) s.step_asserts
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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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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@]@ @  spec : @[%t@]@  annot : @[%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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    (fun fmt -> match m.mspec with | None -> () | Some spec -> Printers.pp_spec fmt spec)
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    (Utils.fprintf_list ~sep:"@ " Printers.pp_expr_annot) m.mannot
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(* Returns the declared stateless status and the computed one. *)
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let get_stateless_status m =
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 (m.mname.node_dec_stateless, Utils.desome m.mname.node_stateless)
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let is_input m id =
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  List.exists (fun o -> o.var_id = id.var_id) m.mstep.step_inputs
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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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let is_memory m id =
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  List.exists (fun o -> o.var_id = id.var_id) m.mmemory
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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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let dummy_var_decl name typ =
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  {
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    var_id = name;
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    var_orig = false;
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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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let arrow_id = "_arrow"
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147
let arrow_typ = Types.new_ty Types.Tunivar
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149
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_stmts= [];
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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 = [];  }
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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_owner = Version.include_path;
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    top_decl_itf = false;
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    top_decl_loc = Location.dummy_loc
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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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      step_asserts = [];
197
    };
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    mspec = None;
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    mannot = [];
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  }
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202
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 =
207
	if Stateless.check_node callee then
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	  node_name callee
209
	else
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	  Printf.sprintf "ni_%d" (incr cpt; !cpt) in
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      let o =
212
	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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(* 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 =
225
  try (* id is a node var *)
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    let var_id = get_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 ->
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    try (* id is a constant *)
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      LocalVar (Corelang.var_decl_of_const (const_of_top (Hashtbl.find Corelang.consts_table id)))
233
    with Not_found ->
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      (* id is a tag *)
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      Cst (Const_tag id)
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237
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
239
 | 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 (MBranch (translate_ident node args id,
242
					    [l, [inst]] ))
243
 | _                   -> inst
244

    
245
let rec join_branches hl1 hl2 =
246
 match hl1, hl2 with
247
 | []          , _            -> hl2
248
 | _           , []           -> 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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254
and join_guards inst1 insts2 =
255
 match inst1, insts2 with
256
 | _                   , []                               ->
257
   [inst1]
258
 | MBranch (x1, hl1), MBranch (x2, hl2) :: q when x1 = x2 ->
259
   MBranch (x1, join_branches (sort_handlers hl1) (sort_handlers hl2))
260
   :: q
261
 | _ -> inst1 :: insts2
262

    
263
let join_guards_list insts =
264
 List.fold_right join_guards insts []
265

    
266
(* specialize predefined (polymorphic) operators
267
   wrt their instances, so that the C semantics 
268
   is preserved *)
269
let specialize_to_c expr =
270
 match expr.expr_desc with
271
 | Expr_appl (id, e, r) ->
272
   if List.exists (fun e -> Types.is_bool_type e.expr_type) (expr_list_of_expr e)
273
   then let id =
274
	  match id with
275
	  | "="  -> "equi"
276
	  | "!=" -> "xor"
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	  | _    -> id in
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	{ expr with expr_desc = Expr_appl (id, e, r) }
279
   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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287
let rec translate_expr node ((m, si, j, d, s) as args) expr =
288
  let expr = specialize_op expr in
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 match expr.expr_desc with
290
 | Expr_const v                     -> Cst v
291
 | Expr_ident x                     -> translate_ident node args x
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 | Expr_array el                    -> Array (List.map (translate_expr node args) el)
293
 | Expr_access (t, i)               -> Access (translate_expr node args t, translate_expr node args (expr_of_dimension i))
294
 | Expr_power  (e, n)               -> Power  (translate_expr node args e, translate_expr node args (expr_of_dimension n))
295
 | Expr_tuple _
296
 | Expr_arrow _ 
297
 | Expr_fby _
298
 | Expr_pre _                       -> (Printers.pp_expr Format.err_formatter expr; Format.pp_print_flush Format.err_formatter (); raise NormalizationError)
299
 | Expr_when    (e1, _, _)          -> translate_expr node args e1
300
 | Expr_merge   (x, _)              -> raise NormalizationError
301
 | Expr_appl (id, e, _) when Basic_library.is_internal_fun id ->
302
   let nd = node_from_name id in
303
   Fun (node_name nd, List.map (translate_expr node args) (expr_list_of_expr e))
304
 | Expr_ite (g,t,e) -> (
305
   (* special treatment depending on the active backend. For horn backend, ite
306
      are preserved in expression. While they are removed for C or Java
307
      backends. *)
308
   match !Options.output with | "horn" -> 
309
     Fun ("ite", [translate_expr node args g; translate_expr node args t; translate_expr node args e])
310
   | "C" | "java" | _ -> 
311
     (Printers.pp_expr Format.err_formatter expr; Format.pp_print_flush Format.err_formatter (); raise NormalizationError)
312
 )
313
 | _                   -> raise NormalizationError
314

    
315
let translate_guard node args expr =
316
  match expr.expr_desc with
317
  | Expr_ident x  -> translate_ident node args x
318
  | _ -> (Format.eprintf "internal error: translate_guard %s %a@." node.node_id Printers.pp_expr expr;assert false)
319

    
320
let rec translate_act node ((m, si, j, d, s) as args) (y, expr) =
321
  match expr.expr_desc with
322
  | Expr_ite   (c, t, e) -> let g = translate_guard node args c in
323
			    conditional g [translate_act node args (y, t)]
324
                              [translate_act node args (y, e)]
325
  | Expr_merge (x, hl)   -> MBranch (translate_ident node args x, List.map (fun (t,  h) -> t, [translate_act node args (y, h)]) hl)
326
  | _                    -> 
327
    MLocalAssign (y, translate_expr node args expr)
328

    
329
let reset_instance node args i r c =
330
  match r with
331
  | None        -> []
332
  | Some r      -> let g = translate_guard node args r in
333
                   [control_on_clock node args c (conditional g [MReset i] [])]
334

    
335
let translate_eq node ((m, si, j, d, s) as args) eq =
336
  (* Format.eprintf "translate_eq %a with clock %a@." Printers.pp_node_eq eq Clocks.print_ck eq.eq_rhs.expr_clock; *)
337
  match eq.eq_lhs, eq.eq_rhs.expr_desc with
338
  | [x], Expr_arrow (e1, e2)                     ->
339
    let var_x = get_node_var x node in
340
    let o = new_instance node arrow_top_decl eq.eq_rhs.expr_tag in
341
    let c1 = translate_expr node args e1 in
342
    let c2 = translate_expr node args e2 in
343
    (m,
344
     MReset o :: si,
345
     Utils.IMap.add o (arrow_top_decl, []) j,
346
     d,
347
     (control_on_clock node args eq.eq_rhs.expr_clock (MStep ([var_x], o, [c1;c2]))) :: s)
348
  | [x], Expr_pre e1 when ISet.mem (get_node_var x node) d     ->
349
    let var_x = get_node_var x node in
350
    (ISet.add var_x m,
351
     si,
352
     j,
353
     d,
354
     control_on_clock node args eq.eq_rhs.expr_clock (MStateAssign (var_x, translate_expr node args e1)) :: s)
355
  | [x], Expr_fby (e1, e2) when ISet.mem (get_node_var x node) d ->
356
    let var_x = get_node_var x node in
357
    (ISet.add var_x m,
358
     MStateAssign (var_x, translate_expr node args e1) :: si,
359
     j,
360
     d,
361
     control_on_clock node args eq.eq_rhs.expr_clock (MStateAssign (var_x, translate_expr node args e2)) :: s)
362

    
363
  | p  , Expr_appl (f, arg, r) when not (Basic_library.is_internal_fun f) ->
364
    let var_p = List.map (fun v -> get_node_var v node) p in
365
    let el = expr_list_of_expr arg in
366
    let vl = List.map (translate_expr node args) el in
367
    let node_f = node_from_name f in
368
    let call_f =
369
      node_f,
370
      NodeDep.filter_static_inputs (node_inputs node_f) el in 
371
    let o = new_instance node node_f eq.eq_rhs.expr_tag in
372
    let env_cks = List.fold_right (fun arg cks -> arg.expr_clock :: cks) el [eq.eq_rhs.expr_clock] in
373
    let call_ck = Clock_calculus.compute_root_clock (Clock_predef.ck_tuple env_cks) in
374
    (*Clocks.new_var true in
375
    Clock_calculus.unify_imported_clock (Some call_ck) eq.eq_rhs.expr_clock eq.eq_rhs.expr_loc;
376
    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;*)
377
    (m,
378
     (if Stateless.check_node node_f then si else MReset o :: si),
379
     Utils.IMap.add o call_f j,
380
     d,
381
     (if Stateless.check_node node_f
382
      then []
383
      else reset_instance node args o r call_ck) @
384
       (control_on_clock node args call_ck (MStep (var_p, o, vl))) :: s)
385

    
386
   (* special treatment depending on the active backend. For horn backend, x = ite (g,t,e)
387
      are preserved. While they are replaced as if g then x = t else x = e in  C or Java
388
      backends. *)
389
  | [x], Expr_ite   (c, t, e) 
390
    when (match !Options.output with | "horn" -> true | "C" | "java" | _ -> false)
391
      -> 
392
    let var_x = get_node_var x node in
393
    (m, 
394
     si, 
395
     j, 
396
     d, 
397
     (control_on_clock node args eq.eq_rhs.expr_clock 
398
	(MLocalAssign (var_x, translate_expr node args eq.eq_rhs))::s)
399
    )
400
      
401
  | [x], _                                       -> (
402
    let var_x = get_node_var x node in
403
    (m, si, j, d, 
404
     control_on_clock 
405
       node
406
       args
407
       eq.eq_rhs.expr_clock
408
       (translate_act node args (var_x, eq.eq_rhs)) :: s
409
    )
410
  )
411
  | _                                            ->
412
    begin
413
      Format.eprintf "unsupported equation: %a@?" Printers.pp_node_eq eq;
414
      assert false
415
    end
416

    
417
let find_eq xl eqs =
418
  let rec aux accu eqs =
419
      match eqs with
420
	| [] ->
421
	  begin
422
	    Format.eprintf "Looking for variables %a in the following equations@.%a@."
423
	      (Utils.fprintf_list ~sep:" , " (fun fmt v -> Format.fprintf fmt "%s" v)) xl
424
	      Printers.pp_node_eqs eqs;
425
	    assert false
426
	  end
427
	| hd::tl -> 
428
	  if List.exists (fun x -> List.mem x hd.eq_lhs) xl then hd, accu@tl else aux (hd::accu) tl
429
    in
430
    aux [] eqs
431

    
432
(* Sort the set of equations of node [nd] according 
433
   to the computed schedule [sch]
434
*)
435
let sort_equations_from_schedule nd sch =
436
(*  Format.eprintf "%s schedule: %a@."
437
		 nd.node_id
438
		 (Utils.fprintf_list ~sep:" ; " Scheduling.pp_eq_schedule) sch;*)
439
  let split_eqs = Splitting.tuple_split_eq_list (get_node_eqs nd) in
440
  let eqs_rev, remainder =
441
    List.fold_left 
442
      (fun (accu, node_eqs_remainder) vl -> 
443
       if List.exists (fun eq -> List.exists (fun v -> List.mem v eq.eq_lhs) vl) accu
444
       then
445
	 (accu, node_eqs_remainder)
446
       else
447
	 let eq_v, remainder = find_eq vl node_eqs_remainder in
448
	 eq_v::accu, remainder
449
      ) 
450
      ([], split_eqs) 
451
      sch 
452
  in
453
  begin
454
    if List.length remainder > 0 then (
455
      Format.eprintf "Equations not used are@.%a@.Full equation set is:@.%a@.@?"
456
		     Printers.pp_node_eqs remainder
457
      		     Printers.pp_node_eqs (get_node_eqs nd);
458
      assert false);
459
    List.rev eqs_rev
460
  end
461

    
462
let translate_eqs node args eqs =
463
  List.fold_right (fun eq args -> translate_eq node args eq) eqs args;;
464

    
465
let translate_decl nd sch =
466
  (*Log.report ~level:1 (fun fmt -> Printers.pp_node fmt nd);*)
467

    
468
  let sorted_eqs = sort_equations_from_schedule nd sch in
469

    
470
  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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  (* memories, init instructions, node calls, local variables (including memories), step instrs *)
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  let m, init, j, locals, s = translate_eqs nd init_args sorted_eqs in
473
  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;
477
    mcalls = mmap;
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    minstances = List.filter (fun (_, (n,_)) -> not (Stateless.check_node n)) mmap;
479
    minit = init;
480
    mstatic = List.filter (fun v -> v.var_dec_const) nd.node_inputs;
481
    mstep = {
482
      step_inputs = nd.node_inputs;
483
      step_outputs = nd.node_outputs;
484
      step_locals = ISet.elements (ISet.diff locals m);
485
      step_checks = List.map (fun d -> d.Dimension.dim_loc, translate_expr nd init_args (expr_of_dimension d)) nd.node_checks;
486
      step_instrs = (
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	(* special treatment depending on the active backend. For horn backend,
488
	   common branches are not merged while they are in C or Java
489
	   backends. *)
490
	match !Options.output with
491
	| "horn" -> s
492
	| "C" | "java" | _ -> join_guards_list s
493
      );
494
      step_asserts = 
495
	let exprl = List.map (fun assert_ -> assert_.assert_expr ) nd.node_asserts in
496
	List.map (translate_expr nd init_args) exprl
497
	;
498
    };
499
    mspec = nd.node_spec;
500
    mannot = nd.node_annot;
501
  }
502

    
503
(** takes the global delcarations and the scheduling associated to each node *)
504
let translate_prog decls node_schs =
505
  let nodes = get_nodes decls in 
506
  List.map 
507
    (fun decl -> 
508
     let node = node_of_top decl in
509
      let sch = (Utils.IMap.find node.node_id node_schs).Scheduling.schedule in
510
      translate_decl node sch 
511
    ) nodes
512

    
513
let get_machine_opt name machines =  
514
  List.fold_left 
515
    (fun res m -> 
516
      match res with 
517
      | Some _ -> res 
518
      | None -> if m.mname.node_id = name then Some m else None)
519
    None machines
520
    
521

    
522
(* Local Variables: *)
523
(* compile-command:"make -C .." *)
524
(* End: *)