CristalCaveGem » LustreC

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

(*                                                                  *)

(*  The LustreC compiler toolset   /  The LustreC Development Team  *)

(*  Copyright 2012 -    --   ONERA - CNRS - INPT                    *)

(*                                                                  *)

(*  LustreC is free software, distributed WITHOUT ANY WARRANTY      *)

(*  under the terms of the GNU Lesser General Public License        *)

(*  version 2.1.                                                    *)

(*                                                                  *)

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

open Format

open LustreSpec

open Corelang

open Machine_code

let print_version fmt =

  Format.fprintf fmt 

    "/* @[<v>C code generated by %s@,Version number %s@,Code is %s compliant@,Using %s numbers */@,@]@."

    (Filename.basename Sys.executable_name) 

    Version.number 

    (if !Options.ansi then "ANSI C90" else "C99")

    (if !Options.mpfr then "MPFR multi-precision" else "(double) floating-point")

let file_to_module_name basename =

  let baseNAME = String.uppercase basename in

  let baseNAME = Str.global_replace (Str.regexp "\\.\\|\\ ") "_" baseNAME in

  baseNAME

(* Generation of a non-clashing name for the self memory variable (for step and reset functions) *)

let mk_self m =

  let used name =

       (List.exists (fun v -> v.var_id = name) m.mstep.step_inputs)

    || (List.exists (fun v -> v.var_id = name) m.mstep.step_outputs)

    || (List.exists (fun v -> v.var_id = name) m.mstep.step_locals)

    || (List.exists (fun v -> v.var_id = name) m.mmemory) in

  mk_new_name used "self"

(* Generation of a non-clashing name for the instance variable of static allocation macro *)

let mk_instance m =

  let used name =

       (List.exists (fun v -> v.var_id = name) m.mstep.step_inputs)

    || (List.exists (fun v -> v.var_id = name) m.mmemory) in

  mk_new_name used "inst"

(* Generation of a non-clashing name for the attribute variable of static allocation macro *)

let mk_attribute m =

  let used name =

       (List.exists (fun v -> v.var_id = name) m.mstep.step_inputs)

    || (List.exists (fun v -> v.var_id = name) m.mmemory) in

  mk_new_name used "attr"

let mk_call_var_decl loc id =

  { var_id = id;

    var_orig = false;

    var_dec_type = mktyp Location.dummy_loc Tydec_any;

    var_dec_clock = mkclock Location.dummy_loc Ckdec_any;

    var_dec_const = false;

    var_dec_value = None;

    var_type = Type_predef.type_arrow (Types.new_var ()) (Types.new_var ());

    var_clock = Clocks.new_var true;

    var_loc = loc }

(* counter for loop variable creation *)

let loop_cpt = ref (-1)

let reset_loop_counter () =

 loop_cpt := -1

let mk_loop_var m () =

  let vars = m.mstep.step_inputs@m.mstep.step_outputs@m.mstep.step_locals@m.mmemory in

  let rec aux () =

    incr loop_cpt;

    let s = Printf.sprintf "__%s_%d" "i" !loop_cpt in

    if List.exists (fun v -> v.var_id = s) vars then aux () else s

  in aux ()

(*

let addr_cpt = ref (-1)

let reset_addr_counter () =

 addr_cpt := -1

let mk_addr_var m var =

  let vars = m.mmemory in

  let rec aux () =

    incr addr_cpt;

    let s = Printf.sprintf "%s_%s_%d" var "addr" !addr_cpt in

    if List.exists (fun v -> v.var_id = s) vars then aux () else s

  in aux ()

*)

let pp_global_init_name fmt id = fprintf fmt "%s_INIT" id

let pp_global_clear_name fmt id = fprintf fmt "%s_CLEAR" id

let pp_machine_memtype_name fmt id = fprintf fmt "struct %s_mem" id

let pp_machine_regtype_name fmt id = fprintf fmt "struct %s_reg" id

let pp_machine_alloc_name fmt id = fprintf fmt "%s_alloc" id

let pp_machine_static_declare_name fmt id = fprintf fmt "%s_DECLARE" id

let pp_machine_static_link_name fmt id = fprintf fmt "%s_LINK" id

let pp_machine_static_alloc_name fmt id = fprintf fmt "%s_ALLOC" id

let pp_machine_reset_name fmt id = fprintf fmt "%s_reset" id

let pp_machine_init_name fmt id = fprintf fmt "%s_init" id

let pp_machine_clear_name fmt id = fprintf fmt "%s_clear" id

let pp_machine_step_name fmt id = fprintf fmt "%s_step" id

let rec pp_c_dimension fmt dim =

  match dim.Dimension.dim_desc with

  | Dimension.Dident id       ->

    fprintf fmt "%s" id

  | Dimension.Dint i          ->

    fprintf fmt "%d" i

  | Dimension.Dbool b         ->

    fprintf fmt "%B" b

  | Dimension.Dite (i, t, e)  ->

    fprintf fmt "((%a)?%a:%a)"

       pp_c_dimension i pp_c_dimension t pp_c_dimension e

 | Dimension.Dappl (f, args) ->

     fprintf fmt "%a" (Basic_library.pp_c f pp_c_dimension) args

 | Dimension.Dlink dim' -> fprintf fmt "%a" pp_c_dimension dim'

 | Dimension.Dvar       -> fprintf fmt "_%s" (Utils.name_of_dimension dim.Dimension.dim_id)

 | Dimension.Dunivar    -> fprintf fmt "'%s" (Utils.name_of_dimension dim.Dimension.dim_id)

let is_basic_c_type t =

  match (Types.repr t).Types.tdesc with

  | Types.Tbool | Types.Treal | Types.Tint  -> true

  | _                                       -> false

let pp_basic_c_type fmt t =

  match (Types.repr t).Types.tdesc with

  | Types.Tbool                    -> fprintf fmt "_Bool"

  | Types.Treal when !Options.mpfr -> fprintf fmt "%s" Mpfr.mpfr_t

  | Types.Treal                    -> fprintf fmt "double"

  | Types.Tint                     -> fprintf fmt "int"

  | _ -> assert false (* Not a basic C type. Do not handle arrays or pointers *)

let pp_c_type var fmt t =

  let rec aux t pp_suffix =

    match (Types.repr t).Types.tdesc with

    | Types.Tclock t'       -> aux t' pp_suffix

    | Types.Tbool | Types.Tint | Types.Treal

                            -> fprintf fmt "%a %s%a" pp_basic_c_type t var pp_suffix ()

    | Types.Tarray (d, t')  ->

      let pp_suffix' fmt () = fprintf fmt "%a[%a]" pp_suffix () pp_c_dimension d in

      aux t' pp_suffix'

    | Types.Tstatic (_, t') -> fprintf fmt "const "; aux t' pp_suffix

    | Types.Tconst ty       -> fprintf fmt "%s %s" ty var

    | Types.Tarrow (_, _)   -> fprintf fmt "void (*%s)()" var

    | _                     -> eprintf "internal error: C_backend_common.pp_c_type %a@." Types.print_ty t; assert false

  in aux t (fun fmt () -> ())

(*

let rec pp_c_initialize fmt t = 

  match (Types.repr t).Types.tdesc with

  | Types.Tint -> pp_print_string fmt "0"

  | Types.Tclock t' -> pp_c_initialize fmt t'

  | Types.Tbool -> pp_print_string fmt "0" 

  | Types.Treal when not !Options.mpfr -> pp_print_string fmt "0."

  | Types.Tarray (d, t') when Dimension.is_dimension_const d ->

    fprintf fmt "{%a}"

      (Utils.fprintf_list ~sep:"," (fun fmt _ -> pp_c_initialize fmt t'))

      (Utils.duplicate 0 (Dimension.size_const_dimension d))

  | _ -> assert false

 *)

let pp_c_tag fmt t =

 pp_print_string fmt (if t = tag_true then "1" else if t = tag_false then "0" else t)

(* Prints a constant value *)

let rec pp_c_const fmt c =

  match c with

    | Const_int i     -> pp_print_int fmt i

    | Const_real (c,e,s)-> pp_print_string fmt s (* Format.fprintf fmt "%ie%i" c e*)

    (* | Const_float r   -> pp_print_float fmt r *)

    | Const_tag t     -> pp_c_tag fmt t

    | Const_array ca  -> fprintf fmt "{%a }" (Utils.fprintf_list ~sep:", " pp_c_const) ca

    | Const_struct fl -> fprintf fmt "{%a }" (Utils.fprintf_list ~sep:", " (fun fmt (f, c) -> pp_c_const fmt c)) fl

    | Const_string _ -> assert false (* string occurs in annotations not in C *)

(* Prints a value expression [v], with internal function calls only.

   [pp_var] is a printer for variables (typically [pp_c_var_read]),

   but an offset suffix may be added for array variables

*)

let rec pp_c_val self pp_var fmt v =

  match v.value_desc with

  | Cst c         -> pp_c_const fmt c

  | Array vl      -> fprintf fmt "{%a}" (Utils.fprintf_list ~sep:", " (pp_c_val self pp_var)) vl

  | Access (t, i) -> fprintf fmt "%a[%a]" (pp_c_val self pp_var) t (pp_c_val self pp_var) i

  | Power (v, n)  -> (Format.eprintf "internal error: C_backend_common.pp_c_val %a@." pp_val v; assert false)

  | LocalVar v    -> pp_var fmt v

  | StateVar v    ->

    (* array memory vars are represented by an indirection to a local var with the right type,

       in order to avoid casting everywhere. *)

    if Types.is_array_type v.var_type && not (Types.is_real_type v.var_type && !Options.mpfr)

    then fprintf fmt "%a" pp_var v

    else fprintf fmt "%s->_reg.%a" self pp_var v

  | Fun (n, vl)   -> Basic_library.pp_c n (pp_c_val self pp_var) fmt vl

(* Access to the value of a variable:

   - if it's not a scalar output, then its name is enough

   - otherwise, dereference it (it has been declared as a pointer,

     despite its scalar Lustre type)

   - moreover, dereference memory array variables.

*)

let pp_c_var_read m fmt id =

  (* mpfr_t is a static array, not treated as general arrays *)

  if Types.is_address_type id.var_type

  then

    if is_memory m id && not (Types.is_real_type id.var_type && !Options.mpfr)

    then fprintf fmt "(*%s)" id.var_id

    else fprintf fmt "%s" id.var_id

  else

    if is_output m id

    then fprintf fmt "*%s" id.var_id

    else fprintf fmt "%s" id.var_id

(* Addressable value of a variable, the one that is passed around in calls:

   - if it's not a scalar non-output, then its name is enough

   - otherwise, reference it (it must be passed as a pointer,

     despite its scalar Lustre type)

*)

let pp_c_var_write m fmt id =

  if Types.is_address_type id.var_type

  then

    fprintf fmt "%s" id.var_id

  else

    if is_output m id

    then

      fprintf fmt "%s" id.var_id

    else

      fprintf fmt "&%s" id.var_id

(* Declaration of an input variable:

   - if its type is array/matrix/etc, then declare it as a mere pointer,

     in order to cope with unknown/parametric array dimensions, 

     as it is the case for generics

*)

let pp_c_decl_input_var fmt id =

  if !Options.ansi && Types.is_address_type id.var_type

  then pp_c_type (sprintf "(*%s)" id.var_id) fmt (Types.array_base_type id.var_type)

  else pp_c_type id.var_id fmt id.var_type

(* Declaration of an output variable:

   - if its type is scalar, then pass its address

   - if its type is array/matrix/struct/etc, then declare it as a mere pointer,

     in order to cope with unknown/parametric array dimensions, 

     as it is the case for generics

*)

let pp_c_decl_output_var fmt id =

  if (not !Options.ansi) && Types.is_address_type id.var_type

  then pp_c_type                  id.var_id  fmt id.var_type

  else pp_c_type (sprintf "(*%s)" id.var_id) fmt (Types.array_base_type id.var_type)

(* Declaration of a local/mem variable:

   - if it's an array/matrix/etc, its size(s) should be

     known in order to statically allocate memory, 

     so we print the full type

*)

let pp_c_decl_local_var m fmt id =

  if id.var_dec_const

  then

    Format.fprintf fmt "%a = %a"

      (pp_c_type id.var_id) id.var_type

      (pp_c_val "" (pp_c_var_read m)) (get_const_assign m id)

  else

    Format.fprintf fmt "%a"

      (pp_c_type id.var_id) id.var_type

let pp_c_decl_array_mem self fmt id =

  fprintf fmt "%a = (%a) (%s->_reg.%s)"

    (pp_c_type (sprintf "(*%s)" id.var_id)) id.var_type

    (pp_c_type "(*)") id.var_type

    self

    id.var_id

(* Declaration of a struct variable:

   - if it's an array/matrix/etc, we declare it as a pointer

*)

let pp_c_decl_struct_var fmt id =

  if Types.is_array_type id.var_type

  then pp_c_type (sprintf "(*%s)" id.var_id) fmt (Types.array_base_type id.var_type)

  else pp_c_type                  id.var_id  fmt id.var_type

let pp_c_decl_instance_var fmt (name, (node, static)) = 

  fprintf fmt "%a *%s" pp_machine_memtype_name (node_name node) name

let pp_c_checks self fmt m =

  Utils.fprintf_list ~sep:"" 

    (fun fmt (loc, check) -> 

      fprintf fmt 

	"@[<v>%a@,assert (%a);@]@," 

	Location.pp_c_loc loc

	(pp_c_val self (pp_c_var_read m)) check

    ) 

    fmt 

    m.mstep.step_checks

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

(*                       Struct Printing functions                                          *)

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

let pp_registers_struct fmt m =

  if m.mmemory <> []

  then

    fprintf fmt "@[%a {@[<v>%a;@ @]}@] _reg; "

      pp_machine_regtype_name m.mname.node_id

      (Utils.fprintf_list ~sep:";@ " pp_c_decl_struct_var) m.mmemory

  else

    ()

let print_machine_struct fmt m =

  if fst (get_stateless_status m) then

    begin

    end

  else

    begin

      (* Define struct *)

      fprintf fmt "@[%a {@[<v>%a%t%a%t@]};@]@."

	pp_machine_memtype_name m.mname.node_id

	pp_registers_struct m

	(Utils.pp_final_char_if_non_empty "@ " m.mmemory)

	(Utils.fprintf_list ~sep:";@ " pp_c_decl_instance_var) m.minstances

	(Utils.pp_final_char_if_non_empty ";@ " m.minstances)

    end

let print_machine_struct_from_header fmt inode =

  if inode.nodei_stateless then

    begin

    end

  else

    begin

      (* Declare struct *)

      fprintf fmt "@[%a;@]@."

	pp_machine_memtype_name inode.nodei_id

    end

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

(*                      Prototype Printing functions                                        *)

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

let print_global_init_prototype fmt baseNAME =

  fprintf fmt "void %a ()"

    pp_global_init_name baseNAME

let print_global_clear_prototype fmt baseNAME =

  fprintf fmt "void %a ()"

    pp_global_clear_name baseNAME

let print_alloc_prototype fmt (name, static) =

  fprintf fmt "%a * %a (%a)"

    pp_machine_memtype_name name

    pp_machine_alloc_name name

    (Utils.fprintf_list ~sep:",@ " pp_c_decl_input_var) static

let print_reset_prototype self fmt (name, static) =

  fprintf fmt "void %a (@[<v>%a%t%a *%s@])"

    pp_machine_reset_name name

    (Utils.fprintf_list ~sep:",@ " pp_c_decl_input_var) static

    (Utils.pp_final_char_if_non_empty ",@," static) 

    pp_machine_memtype_name name

    self

let print_init_prototype self fmt (name, static) =

  fprintf fmt "void %a (@[<v>%a%t%a *%s@])"

    pp_machine_init_name name

    (Utils.fprintf_list ~sep:",@ " pp_c_decl_input_var) static

    (Utils.pp_final_char_if_non_empty ",@," static) 

    pp_machine_memtype_name name

    self

let print_clear_prototype self fmt (name, static) =

  fprintf fmt "void %a (@[<v>%a%t%a *%s@])"

    pp_machine_clear_name name

    (Utils.fprintf_list ~sep:",@ " pp_c_decl_input_var) static

    (Utils.pp_final_char_if_non_empty ",@," static) 

    pp_machine_memtype_name name

    self

let print_stateless_prototype fmt (name, inputs, outputs) =

  fprintf fmt "void %a (@[<v>@[%a%t@]@,@[%a@]@,@])"

    pp_machine_step_name name

    (Utils.fprintf_list ~sep:",@ " pp_c_decl_input_var) inputs

    (Utils.pp_final_char_if_non_empty ",@ " inputs) 

    (Utils.fprintf_list ~sep:",@ " pp_c_decl_output_var) outputs

let print_step_prototype self fmt (name, inputs, outputs) =

  fprintf fmt "void %a (@[<v>@[%a%t@]@,@[%a@]%t@[%a *%s@]@])"

    pp_machine_step_name name

    (Utils.fprintf_list ~sep:",@ " pp_c_decl_input_var) inputs

    (Utils.pp_final_char_if_non_empty ",@ " inputs) 

    (Utils.fprintf_list ~sep:",@ " pp_c_decl_output_var) outputs

    (Utils.pp_final_char_if_non_empty ",@," outputs) 

    pp_machine_memtype_name name

    self

let print_stateless_C_prototype fmt (name, inputs, outputs) =

  let output = 

    match outputs with

    | [hd] -> hd

    | _ -> assert false

  in

  fprintf fmt "%a %s (@[<v>@[%a@]@,@])"

    pp_basic_c_type output.var_type

    name

    (Utils.fprintf_list ~sep:",@ " pp_c_decl_input_var) inputs

let print_import_init fmt (Dep (local, basename, _, _)) =

  if local then

    let baseNAME = file_to_module_name basename in

    fprintf fmt "%a();" pp_global_init_name baseNAME

  else ()

let print_import_clear fmt (Dep (local, basename, _, _)) =

  if local then

    let baseNAME = file_to_module_name basename in

    fprintf fmt "%a();" pp_global_clear_name baseNAME

  else ()

let print_import_prototype fmt (Dep (_, s, _, _)) =

  fprintf fmt "#include \"%s.h\"@," s

let print_import_alloc_prototype fmt (Dep (_, s, _, stateful)) =

  if stateful then

    fprintf fmt "#include \"%s_alloc.h\"@," s

let print_extern_alloc_prototypes fmt (Dep (_,_, header,_)) =

  List.iter (fun decl -> match decl.top_decl_desc with

  | ImportedNode ind when not ind.nodei_stateless ->

    let static = List.filter (fun v -> v.var_dec_const) ind.nodei_inputs

    in fprintf fmt "extern %a;@." print_alloc_prototype (ind.nodei_id, static)

  | _                -> ()

  ) header

let pp_c_main_var_input fmt id =  

  fprintf fmt "%s" id.var_id

let pp_c_main_var_output fmt id =

  if Types.is_address_type id.var_type

  then

    fprintf fmt "%s" id.var_id

  else

    fprintf fmt "&%s" id.var_id

let pp_main_call mname self fmt m (inputs: value_t list) (outputs: var_decl list) =

  if fst (get_stateless_status m)

  then

    fprintf fmt "%a (%a%t%a);"

      pp_machine_step_name mname

      (Utils.fprintf_list ~sep:", " (pp_c_val self pp_c_main_var_input)) inputs

      (Utils.pp_final_char_if_non_empty ", " inputs) 

      (Utils.fprintf_list ~sep:", " pp_c_main_var_output) outputs

  else

    fprintf fmt "%a (%a%t%a%t%s);"

      pp_machine_step_name mname

      (Utils.fprintf_list ~sep:", " (pp_c_val self pp_c_main_var_input)) inputs

      (Utils.pp_final_char_if_non_empty ", " inputs) 

      (Utils.fprintf_list ~sep:", " pp_c_main_var_output) outputs

      (Utils.pp_final_char_if_non_empty ", " outputs)

      self

let pp_c_var m self pp_var fmt var =

  if is_memory m var

  then

    pp_c_val self pp_var fmt (mk_val (StateVar var) var.var_type)

  else

    pp_c_val self pp_var fmt (mk_val (LocalVar var) var.var_type)

let pp_array_suffix fmt loop_vars =

  Utils.fprintf_list ~sep:"" (fun fmt v -> fprintf fmt "[%s]" v) fmt loop_vars

(* type directed initialization: useless wrt the lustre compilation model,

   except for MPFR injection, where values are dynamically allocated

*)

let pp_initialize m self pp_var fmt var =

  let rec aux indices fmt typ =

    if Types.is_array_type typ

    then

      let dim = Types.array_type_dimension typ in

      let idx = mk_loop_var m () in

      fprintf fmt "@[<v 2>{@,int %s;@,for(%s=0;%s<%a;%s++)@,%a @]@,}"

	idx idx idx pp_c_dimension dim idx

	(aux (idx::indices)) (Types.array_element_type typ)

    else

      let indices = List.rev indices in

      let pp_var_suffix fmt var =

	fprintf fmt "%a%a" (pp_c_var m self pp_var) var pp_array_suffix indices in

      Mpfr.pp_inject_init pp_var_suffix fmt var

  in

  if !Options.mpfr && Types.is_real_type (Types.array_base_type var.var_type)

  then

    begin

      reset_loop_counter ();

      aux [] fmt var.var_type

    end

let pp_const_initialize pp_var fmt const =

  let var = mk_val (LocalVar (Corelang.var_decl_of_const const)) const.const_type in

  let rec aux indices value fmt typ =

    if Types.is_array_type typ

    then

      let dim = Types.array_type_dimension typ in

      let szl = Utils.enumerate (Dimension.size_const_dimension dim) in

      let typ' = Types.array_element_type typ in

      let value = match value with

	| Const_array ca -> List.nth ca

	| _                      -> assert false in

      fprintf fmt "%a"

	(Utils.fprintf_list ~sep:"@," (fun fmt i -> aux (string_of_int i::indices) (value i) fmt typ')) szl

    else

      let indices = List.rev indices in

      let pp_var_suffix fmt var =

	fprintf fmt "%a%a" (pp_c_val "" pp_var) var pp_array_suffix indices in

      begin

	Mpfr.pp_inject_init pp_var_suffix fmt var;

	fprintf fmt "@,";

	Mpfr.pp_inject_real pp_var_suffix pp_c_const fmt var value

      end

  in

  if !Options.mpfr && Types.is_real_type (Types.array_base_type const.const_type)

  then

    begin

      reset_loop_counter ();

      aux [] const.const_value fmt const.const_type

    end

(* type directed clear: useless wrt the lustre compilation model,

   except for MPFR injection, where values are dynamically allocated

*)

let pp_clear m self pp_var fmt var =

  let rec aux indices fmt typ =

    if Types.is_array_type typ

    then

      let dim = Types.array_type_dimension typ in

      let idx = mk_loop_var m () in

      fprintf fmt "@[<v 2>{@,int %s;@,for(%s=0;%s<%a;%s++)@,%a @]@,}"

	idx idx idx pp_c_dimension dim idx

	(aux (idx::indices)) (Types.array_element_type typ)

    else

      let indices = List.rev indices in

      let pp_var_suffix fmt var =

	fprintf fmt "%a%a" (pp_c_var m self pp_var) var pp_array_suffix indices in

      Mpfr.pp_inject_clear pp_var_suffix fmt var

  in

  if !Options.mpfr && Types.is_real_type (Types.array_base_type var.var_type)

  then

    begin

      reset_loop_counter ();

      aux [] fmt var.var_type

    end

let pp_const_clear pp_var fmt const =

  let m = Machine_code.empty_machine in

  let var = Corelang.var_decl_of_const const in

  let rec aux indices fmt typ =

    if Types.is_array_type typ

    then

      let dim = Types.array_type_dimension typ in

      let idx = mk_loop_var m () in

      fprintf fmt "@[<v 2>{@,int %s;@,for(%s=0;%s<%a;%s++)@,%a @]@,}"

	idx idx idx pp_c_dimension dim idx

	(aux (idx::indices)) (Types.array_element_type typ)

    else

      let indices = List.rev indices in

      let pp_var_suffix fmt var =

	fprintf fmt "%a%a" (pp_c_var m "" pp_var) var pp_array_suffix indices in

      Mpfr.pp_inject_clear pp_var_suffix fmt var 

  in

  if !Options.mpfr && Types.is_real_type (Types.array_base_type var.var_type)

  then

    begin

      reset_loop_counter ();

      aux [] fmt var.var_type

    end

let pp_call m self pp_read pp_write fmt i (inputs: value_t list) (outputs: var_decl list) =

 try (* stateful node instance *)

   let (n,_) = List.assoc i m.minstances in

   fprintf fmt "%a (%a%t%a%t%s->%s);"

     pp_machine_step_name (node_name n)

     (Utils.fprintf_list ~sep:", " (pp_c_val self pp_read)) inputs

     (Utils.pp_final_char_if_non_empty ", " inputs) 

     (Utils.fprintf_list ~sep:", " pp_write) outputs

     (Utils.pp_final_char_if_non_empty ", " outputs)

     self

     i

 with Not_found -> (* stateless node instance *)

   let (n,_) = List.assoc i m.mcalls in

   fprintf fmt "%a (%a%t%a);"

     pp_machine_step_name (node_name n)

     (Utils.fprintf_list ~sep:", " (pp_c_val self pp_read)) inputs

     (Utils.pp_final_char_if_non_empty ", " inputs) 

     (Utils.fprintf_list ~sep:", " pp_write) outputs 

let pp_basic_instance_call m self fmt i (inputs: value_t list) (outputs: var_decl list) =

  pp_call m self (pp_c_var_read m) (pp_c_var_write m) fmt i inputs outputs

(*

 try (* stateful node instance *)

   let (n,_) = List.assoc i m.minstances in

   fprintf fmt "%a (%a%t%a%t%s->%s);"

     pp_machine_step_name (node_name n)

     (Utils.fprintf_list ~sep:", " (pp_c_val self (pp_c_var_read m))) inputs

     (Utils.pp_final_char_if_non_empty ", " inputs) 

     (Utils.fprintf_list ~sep:", " (pp_c_var_write m)) outputs

     (Utils.pp_final_char_if_non_empty ", " outputs)

     self

     i

 with Not_found -> (* stateless node instance *)

   let (n,_) = List.assoc i m.mcalls in

   fprintf fmt "%a (%a%t%a);"

     pp_machine_step_name (node_name n)

     (Utils.fprintf_list ~sep:", " (pp_c_val self (pp_c_var_read m))) inputs

     (Utils.pp_final_char_if_non_empty ", " inputs) 

     (Utils.fprintf_list ~sep:", " (pp_c_var_write m)) outputs 

*)

let pp_instance_call m self fmt i (inputs: value_t list) (outputs: var_decl list) =

  let pp_offset pp_var indices fmt var =

    match indices with

    | [] -> fprintf fmt "%a" pp_var var

    | _  -> fprintf fmt "%a[%a]" pp_var var (Utils.fprintf_list ~sep:"][" pp_print_string) indices in

  let rec aux indices fmt typ =

    if Types.is_array_type typ

    then

      let dim = Types.array_type_dimension typ in

      let idx = mk_loop_var m () in

      fprintf fmt "@[<v 2>{@,int %s;@,for(%s=0;%s<%a;%s++)@,%a @]@,}"

	idx idx idx pp_c_dimension dim idx

	(aux (idx::indices)) (Types.array_element_type typ)

    else

      let pp_read  = pp_offset (pp_c_var_read  m) indices in

      let pp_write = pp_offset (pp_c_var_write m) indices in

      pp_call m self pp_read pp_write fmt i inputs outputs

  in

  begin

    reset_loop_counter ();

    aux [] fmt (List.hd inputs).value_type

  end

(* Local Variables: *)

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

(* End: *)