1

/*

     2

 *  matiec - a compiler for the programming languages defined in IEC 61131-3

     3

 *

     4

 *  Copyright (C) 2003-2011  Mario de Sousa (msousa@fe.up.pt)

     5

 *  Copyright (C) 2007-2011  Laurent Bessard and Edouard Tisserant

     6

 *

     7

 *  This program is free software: you can redistribute it and/or modify

     8

 *  it under the terms of the GNU General Public License as published by

     9

 *  the Free Software Foundation, either version 3 of the License, or

    10

 *  (at your option) any later version.

    11

 *

    12

 *  This program is distributed in the hope that it will be useful,

    13

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    14

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    15

 *  GNU General Public License for more details.

    16

 *

    17

 *  You should have received a copy of the GNU General Public License

    18

 *  along with this program.  If not, see <http://www.gnu.org/licenses/>.

    19

 *

    20

 *

    21

 * This code is made available on the understanding that it will not be

    22

 * used in safety-critical situations without a full and competent review.

    23

 */

    24

    25

#include <string>

    26

#include <iostream>

    27

#include <sstream>

    28

#include <typeinfo>

    29

#include <list>

    30

#include <strings.h>

    31

    32

#include "../../util/symtable.hh"

    33

#include "../../util/dsymtable.hh"

    34

#include "../../absyntax/visitor.hh"

    35

#include "../../absyntax_utils/absyntax_utils.hh"

    36

    37

#include "../stage4.hh"

    38

    39

//#define DEBUG

    40

#ifdef DEBUG

    41

#define TRACE(classname) printf("\n____%s____\n",classname);

    42

#else

    43

#define TRACE(classname)

    44

#endif

    45

    46

#define ERROR error_exit(__FILE__,__LINE__)

    47

/* function defined in main.cc */

    48

extern void error_exit(const char *file_name, int line_no);

    49

    50

/***********************************************************************/

    51

    52

/* Unlike Programs and Configurations which get mapped onto C++ classes,

    53

 * Function Blocks are mapped onto a C structure containing the variables, and

    54

 * a C function containing the code in the FB's body. This is to allow direct allocation

    55

 * of a FB variable (which is really an instance of the C data structure) to

    56

 * a member of a union variable (note that classes with constructors cannot

    57

 * be mebers of a union), which is done in IL when loading a FB onto IL's

    58

 * default variable.

    59

 *

    60

 * So as not to clash the names of the C data structure and the C function,

    61

 * the C structure is given a name identical to that of the FB name, whereas

    62

 * the name of the function is the FB name with a constant string appended.

    63

 * The value of that constant string which is appended is defined in the following

    64

 * constant.

    65

 * In order not to clash with any variable in the IL and ST source codem the

    66

 * following constant should contain a double underscore, which is not allowed

    67

 * in IL and ST.

    68

 *

    69

 * e.g.:  FUNTION_BLOCK TEST

    70

 * is mapped onto a TEST data structure, and a TEST_body__ function.

    71

 */

    72

    73

#define FB_FUNCTION_SUFFIX "_body__"

    74

    75

/* Idem as body, but for initializer FB function */

    76

#define FB_INIT_SUFFIX "_init__"

    77

    78

/* Idem as body, but for run CONFIG and RESOURCE function */

    79

#define FB_RUN_SUFFIX "_run__"

    80

    81

/* The FB body function is passed as the only parameter a pointer to the FB data

    82

 * structure instance. The name of this parameter is given by the following constant.

    83

 * In order not to clash with any variable in the IL and ST source codem the

    84

 * following constant should contain a double underscore, which is not allowed

    85

 * in IL and ST.

    86

 *

    87

 * e.g.: the body of FUNTION_BLOCK TEST

    88

 * is mapped onto the C function

    89

 *  TEST_body__(TEST *data__)

    90

 */

    91

    92

#define FB_FUNCTION_PARAM "data__"

    93

    94

    95

#define SFC_STEP_ACTION_PREFIX "__SFC_"

    96

    97

    98

/* Variable declaration symbol for accessor macros */

    99

#define DECLARE_VAR "__DECLARE_VAR"

   100

#define DECLARE_GLOBAL "__DECLARE_GLOBAL"

   101

#define DECLARE_GLOBAL_LOCATION "__DECLARE_GLOBAL_LOCATION"

   102

#define DECLARE_GLOBAL_LOCATED "__DECLARE_GLOBAL_LOCATED"

   103

#define DECLARE_EXTERNAL "__DECLARE_EXTERNAL"

   104

#define DECLARE_LOCATED "__DECLARE_LOCATED"

   105

   106

/* Variable declaration symbol for accessor macros */

   107

#define INIT_VAR "__INIT_VAR"

   108

#define INIT_GLOBAL "__INIT_GLOBAL"

   109

#define INIT_GLOBAL_LOCATED "__INIT_GLOBAL_LOCATED"

   110

#define INIT_EXTERNAL "__INIT_EXTERNAL"

   111

#define INIT_LOCATED "__INIT_LOCATED"

   112

#define INIT_LOCATED_VALUE "__INIT_LOCATED_VALUE"

   113

   114

   115

/* Variable getter symbol for accessor macros */

   116

#define GET_VAR "__GET_VAR"

   117

#define GET_EXTERNAL "__GET_EXTERNAL"

   118

#define GET_LOCATED "__GET_LOCATED"

   119

#define GET_VAR_BY_REF "__GET_VAR_BY_REF"

   120

#define GET_EXTERNAL_BY_REF "__GET_EXTERNAL_BY_REF"

   121

#define GET_LOCATED_BY_REF "__GET_LOCATED_BY_REF"

   122

   123

/* Variable setter symbol for accessor macros */

   124

#define SET_VAR "__SET_VAR"

   125

#define SET_EXTERNAL "__SET_EXTERNAL"

   126

#define SET_COMPLEX_EXTERNAL "__SET_COMPLEX_EXTERNAL"

   127

#define SET_LOCATED "__SET_LOCATED"

   128

   129

   130

/* Generate a name for a temporary variable.

   131

 * Each new name generated is appended a different number,

   132

 * starting off from 0.

   133

 * After calling reset(), the names will start off again from 0.

   134

 */

   135

#define VAR_LEADER "__"

   136

#define TEMP_VAR VAR_LEADER "TMP_"

   137

#define SOURCE_VAR VAR_LEADER "SRC_"

   138

   139

/* please see the comment before the RET_operator_c visitor for details... */

   140

#define END_LABEL VAR_LEADER "end"

   141

   142

   143

/***********************************************************************/

   144

/***********************************************************************/

   145

/***********************************************************************/

   146

/***********************************************************************/

   147

   148

#include "generate_c_base.cc"

   149

#include "generate_c_typedecl.cc"

   150

#include "generate_c_sfcdecl.cc"

   151

#include "generate_c_vardecl.cc"

   152

#include "generate_c_configbody.cc"

   153

#include "generate_location_list.cc"

   154

#include "generate_var_list.cc"

   155

   156

/***********************************************************************/

   157

/***********************************************************************/

   158

/***********************************************************************/

   159

/***********************************************************************/

   160

   161

#include "generate_c_st.cc"

   162

#include "generate_c_il.cc"

   163

#include "generate_c_inlinefcall.cc"

   164

   165

#include "generate_c.hh"

   166

   167

/***********************************************************************/

   168

/***********************************************************************/

   169

/***********************************************************************/

   170

/***********************************************************************/

   171

   172

#define MILLISECOND 1000000

   173

#define SECOND 1000 * MILLISECOND

   174

   175

/* A helper class that knows how to generate code for both the IL and ST languages... */

   176

class calculate_time_c: public iterator_visitor_c {

   177

  private:

   178

    unsigned long long time;

   179

    float current_value;

   180

   181

  public:

   182

    calculate_time_c(void){time = 0;};

   183

   184

    unsigned long long get_time(void) {return time;};

   185

   186

    void *get_integer_value(token_c *token) {

   187

      std::string str = "";

   188

      for (unsigned int i = 0; i < strlen(token->value); i++)

   189

        if (token->value[i] != '_')

   190

          str += token->value[i];

   191

      current_value = atof(str.c_str());

   192

      return NULL;

   193

    }

   194

   195

    void *get_float_value(token_c *token) {

   196

      current_value = atof(token->value);

   197

      return NULL;

   198

    }

   199

   200

/******************************/

   201

/* B 1.2.1 - Numeric Literals */

   202

/******************************/

   203

   204

    void *visit(integer_c *symbol) {return get_integer_value(symbol);}

   205

   206

/************************/

   207

/* B 1.2.3.1 - Duration */

   208

/************************/

   209

   210

    /* SYM_REF2(duration_c, neg, interval) */

   211

    void *visit(duration_c *symbol) {

   212

      if (symbol->neg != NULL)

   213

        ERROR;

   214

      symbol->interval->accept(*this);

   215

      return NULL;

   216

    }

   217

   218

    /* SYM_TOKEN(fixed_point_c) */

   219

    void *visit(fixed_point_c *symbol) {return get_float_value(symbol);}

   220

   221

    /* SYM_REF2(days_c, days, hours) */

   222

    void *visit(days_c *symbol) {

   223

      if (symbol->hours)

   224

        symbol->hours->accept(*this);

   225

      symbol->days->accept(*this);

   226

      time += (unsigned long long)(current_value * 24 * 3600 * SECOND);

   227

      return NULL;

   228

    }

   229

   230

    /* SYM_REF2(hours_c, hours, minutes) */

   231

    void *visit(hours_c *symbol) {

   232

      if (symbol->minutes)

   233

        symbol->minutes->accept(*this);

   234

      symbol->hours->accept(*this);

   235

      time += (unsigned long long)(current_value * 3600 * SECOND);

   236

      return NULL;

   237

    }

   238

   239

    /* SYM_REF2(minutes_c, minutes, seconds) */

   240

    void *visit(minutes_c *symbol) {

   241

      if (symbol->seconds)

   242

        symbol->seconds->accept(*this);

   243

      symbol->minutes->accept(*this);

   244

      time += (unsigned long long)(current_value * 60 * SECOND);

   245

      return NULL;

   246

    }

   247

   248

    /* SYM_REF2(seconds_c, seconds, milliseconds) */

   249

    void *visit(seconds_c *symbol) {

   250

      if (symbol->milliseconds)

   251

        symbol->milliseconds->accept(*this);

   252

      symbol->seconds->accept(*this);

   253

      time += (unsigned long long)(current_value * SECOND);

   254

      return NULL;

   255

    }

   256

   257

    /* SYM_REF2(milliseconds_c, milliseconds, unused) */

   258

    void *visit(milliseconds_c *symbol) {

   259

      symbol->milliseconds->accept(*this);

   260

      time += (unsigned long long)(current_value * MILLISECOND);

   261

      return NULL;

   262

    }

   263

};

   264

   265

/***********************************************************************/

   266

/***********************************************************************/

   267

/***********************************************************************/

   268

/***********************************************************************/

   269

   270

class calculate_common_ticktime_c: public iterator_visitor_c {

   271

  private:

   272

    unsigned long long common_ticktime;

   273

    unsigned long long least_common_ticktime;

   274

   275

  public:

   276

    calculate_common_ticktime_c(void){

   277

      common_ticktime = 0;

   278

      least_common_ticktime = 0;

   279

    }

   280

   281

    unsigned long long euclide(unsigned long long a, unsigned long long b) {

   282

      unsigned long long c = a % b;

   283

      if (c == 0)

   284

        return b;

   285

      else

   286

        return euclide(b, c);

   287

    }

   288

   289

    void update_ticktime(unsigned long long time) {

   290

      if (common_ticktime == 0)

   291

        common_ticktime = time;

   292

      else if (time > common_ticktime)

   293

        common_ticktime = euclide(time, common_ticktime);

   294

      else

   295

        common_ticktime = euclide(common_ticktime, time);

   296

      if (least_common_ticktime == 0)

   297

        least_common_ticktime = time;

   298

      else

   299

        least_common_ticktime = (least_common_ticktime * time) / common_ticktime;

   300

    }

   301

   302

    unsigned long long get_common_ticktime(void) {

   303

      return common_ticktime;

   304

    }

   305

   306

    unsigned long get_greatest_tick_count(void) {

   307

      unsigned long long least_common_tick = least_common_ticktime / common_ticktime;

   308

      if (least_common_tick >> 32)

   309

        ERROR;

   310

      return (unsigned long)(~(((unsigned long)-1) % (unsigned long)least_common_tick) + 1);

   311

    }

   312

   313

/*  TASK task_name task_initialization */

   314

//SYM_REF2(task_configuration_c, task_name, task_initialization)  

   315

    void *visit(task_initialization_c *symbol) {

   316

      calculate_time_c calculate_time;

   317

      unsigned long long time = 0;

   318

      if (symbol->interval_data_source != NULL) {

   319

        symbol->interval_data_source->accept(calculate_time);

   320

        time = calculate_time.get_time();

   321

      }

   322

      if (time > 0)

   323

        update_ticktime(time);

   324

      return NULL;

   325

    }

   326

};    

   327

   328

/***********************************************************************/

   329

/***********************************************************************/

   330

/***********************************************************************/

   331

/***********************************************************************/

   332

   333

/* A helper class that knows how to generate code for the SFC, IL and ST languages... */

   334

class generate_c_SFC_IL_ST_c: public null_visitor_c {

   335

  private:

   336

    stage4out_c *s4o_ptr;

   337

    symbol_c *scope;

   338

    symbol_c *fbname;

   339

    const char *variable_prefix;

   340

   341

  public:

   342

    generate_c_SFC_IL_ST_c(stage4out_c *s4o_ptr, symbol_c *name, symbol_c *scope, const char *variable_prefix = NULL);

   343

   344

    /********************/

   345

    /* 2.1.6 - Pragmas  */

   346

    /********************/

   347

    void *visit(enable_code_generation_pragma_c * symbol)   {s4o_ptr->enable_output();  return NULL;}

   348

    void *visit(disable_code_generation_pragma_c * symbol)  {s4o_ptr->disable_output(); return NULL;} 

   349

   350

    /*********************************************/

   351

    /* B.1.6  Sequential function chart elements */

   352

    /*********************************************/

   353

    /*| sequential_function_chart sfc_network*/

   354

    void *visit(sequential_function_chart_c * symbol);

   355

   356

    /****************************************/

   357

    /* B.2 - Language IL (Instruction List) */

   358

    /****************************************/

   359

   360

    /***********************************/

   361

    /* B 2.1 Instructions and Operands */

   362

    /***********************************/

   363

    /*| instruction_list il_instruction */

   364

    void *visit(instruction_list_c *symbol);

   365

   366

    /* Remainder implemented in generate_c_il_c... */

   367

   368

    /***************************************/

   369

    /* B.3 - Language ST (Structured Text) */

   370

    /***************************************/

   371

    /***********************/

   372

    /* B 3.1 - Expressions */

   373

    /***********************/

   374

    /* Implemented in generate_c_st_c */

   375

   376

    /********************/

   377

    /* B 3.2 Statements */

   378

    /********************/

   379

    void *visit(statement_list_c *symbol);

   380

   381

/* Remainder implemented in generate_c_st_c... */

   382

};

   383

   384

#include "generate_c_sfc.cc"

   385

   386

generate_c_SFC_IL_ST_c::generate_c_SFC_IL_ST_c(stage4out_c *s4o_ptr, symbol_c *name, symbol_c *scope, const char *variable_prefix) {

   387

  if (NULL == scope) ERROR;

   388

  this->s4o_ptr = s4o_ptr;

   389

  this->scope = scope;

   390

  this->fbname = name;

   391

  this->variable_prefix = variable_prefix;

   392

}

   393

   394

void *generate_c_SFC_IL_ST_c::visit(sequential_function_chart_c * symbol) {

   395

  generate_c_sfc_c generate_c_sfc(s4o_ptr, fbname, scope, variable_prefix);

   396

  generate_c_sfc.generate(symbol);

   397

  return NULL;

   398

}

   399

   400

void *generate_c_SFC_IL_ST_c::visit(instruction_list_c *symbol) {

   401

  generate_c_il_c generate_c_il(s4o_ptr, fbname, scope, variable_prefix);

   402

  generate_c_il.generate(symbol);

   403

  return NULL;

   404

}

   405

   406

void *generate_c_SFC_IL_ST_c::visit(statement_list_c *symbol) {

   407

  generate_c_st_c generate_c_st(s4o_ptr, fbname, scope, variable_prefix);

   408

  generate_c_st.generate(symbol);

   409

  return NULL;

   410

}

   411

   412

   413

   414

   415

/***********************************************************************/

   416

/***********************************************************************/

   417

/***********************************************************************/

   418

/***********************************************************************/

   419

/***********************************************************************/

   420

   421

   422

class generate_c_pous_c: public generate_c_typedecl_c {

   423

  private:

   424

    stage4out_c *s4o_ptr;

   425

   426

  public:

   427

    generate_c_pous_c(stage4out_c *s4o_ptr, stage4out_c *s4o_incl_ptr)

   428

      : generate_c_typedecl_c(s4o_ptr, s4o_incl_ptr) {

   429

      generate_c_pous_c::s4o_ptr = s4o_ptr;

   430

    };

   431

    virtual ~generate_c_pous_c(void) {}

   432

   433

  private:

   434

    void print_end_of_block_label(void) {

   435

      /* Print and __end label for return statements!

   436

       * If label is not used by at least one goto, compiler will generate a warning.

   437

       * To work around this we introduce the useless goto.

   438

       */

   439

      s4o.print("\n");

   440

      s4o.print(s4o.indent_spaces);

   441

      s4o.print("/* to humour the compiler, we insert a goto */\n");

   442

      s4o.print(s4o.indent_spaces);

   443

      s4o.print("goto ");

   444

      s4o.print(END_LABEL);

   445

      s4o.print(";\n");

   446

      s4o.indent_left();

   447

   448

      /* write the label marking the end of the code block */

   449

      /* please see the comment before the RET_operator_c visitor for details... */

   450

      /* also needed for return_statement_c */

   451

      s4o.print("\n");

   452

      s4o.print(s4o.indent_spaces);

   453

      s4o.print(END_LABEL);

   454

      s4o.print(":\n");

   455

      s4o.indent_right();

   456

   457

      /* since every label must be followed by at least one statement, and

   458

       * only the functions will introduce the return statement after this label,

   459

       * function blocks written in IL would result in invalid C++ code.

   460

       * To work around this we introduce the equivalent of a 'nop' operation

   461

       * to humour the compiler...

   462

       */

   463

      s4o.print(s4o.indent_spaces);

   464

      s4o.print("/* to humour the compiler, we insert a nop */\n");

   465

      s4o.print(s4o.indent_spaces);

   466

      s4o.print("if (0);\n\n");

   467

    }

   468

   469

   470

   471

  public:

   472

/********************/

   473

/* 2.1.6 - Pragmas  */

   474

/********************/

   475

void *visit(enable_code_generation_pragma_c * symbol)   {s4o_ptr->enable_output();  return NULL;}

   476

void *visit(disable_code_generation_pragma_c * symbol)  {s4o_ptr->disable_output(); return NULL;} 

   477

   478

/*************************/

   479

/* B.1 - Common elements */

   480

/*************************/

   481

/*******************************************/

   482

/* B 1.1 - Letters, digits and identifiers */

   483

/*******************************************/

   484

  /* done in base class(es) */

   485

   486

/*********************/

   487

/* B 1.2 - Constants */

   488

/*********************/

   489

  /* originally empty... */

   490

   491

/******************************/

   492

/* B 1.2.1 - Numeric Literals */

   493

/******************************/

   494

  /* done in base class(es) */

   495

   496

/*******************************/

   497

/* B.1.2.2   Character Strings */

   498

/*******************************/

   499

  /* done in base class(es) */

   500

   501

/***************************/

   502

/* B 1.2.3 - Time Literals */

   503

/***************************/

   504

/************************/

   505

/* B 1.2.3.1 - Duration */

   506

/************************/

   507

  /* done in base class(es) */

   508

   509

/************************************/

   510

/* B 1.2.3.2 - Time of day and Date */

   511

/************************************/

   512

  /* done in base class(es) */

   513