author | Manuele Conti <conti.ma@alice.it> |
Tue, 15 May 2012 18:59:32 +0200 | |
changeset 559 | a3b8925e640c |
parent 457 | 67d8b07bac22 |
permissions | -rwxr-xr-x |
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MATIEC - IEC 61131-3 compiler |
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The following compiler has been based on the |
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FINAL DRAFT - IEC 61131-3, 2nd Ed. (2001-12-10) |
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Copyright (C) 2003-2012 Mario de Sousa (msousa@fe.up.pt) |
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**************************************************************** |
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**************************************************************** |
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**************************************************************** |
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********* ********* |
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********* ********* |
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********* O V E R A L L G O A L S ********* |
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********* ********* |
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********* ********* |
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**************************************************************** |
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**************************************************************** |
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**************************************************************** |
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This project has the goal of producing an open source compiler for the programming languages defined |
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in the IEC 61131-3 standard. These programming languages are mostly used in the industrial automation |
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domain, to program PLCs (Programmable Logic Controllers). |
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This standard defines 5 programming languages: |
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- IL : Instructtion List |
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A textual programming language, somewhat similar to assembly. |
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- ST : Structured Text |
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A textual programming language, somewhat similar to Pascal. |
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- FBD: Function Block Diagram |
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A graphical programming language, somewhat similar to an electrical circuit diagram based on small |
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scale integration ICs (Integrated Circuits) (counters, AND/OR/XOR/... logic gates, timers, ...). |
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- LD : Ladder Diagram |
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A graphical programming language, somewhat similar to an electrical circuit diagram based on |
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relays (used for basic cabled logic controllers). |
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- SFC: Sequential Function Chart |
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A graphical programming language, that defines a state machine, based largely on Grafcet. |
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(may also be expressed in textual format). |
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Of the above 5 languages, the standard defines textual representations for IL, ST and SFC. |
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It is these 3 languages that we target, and we currently support all three, as long as they are |
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expressed in the textual format as defined in the standard. |
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Currently the matiec project generates two compilers (more correctly, code translaters, but we like |
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to call them compilers :-O ): iec2c, and iec2iec |
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Both compilers accept the same input: a text file with ST, IL and/or SFC code. |
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The iec2c compiler generates ANSI C code which is equivalent to the IEC 61131-3 code expressed in the input file. |
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The iec2iec compiler generates IEC61131-3 code which is equivalent to the IEC 61131-3 code expressed in the input file. |
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This last compiler should generate and output file which should be almost identical to the input file (some formating |
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may change, as well as the case of letters, etc.). This 'compiler' is mostly used by the matiec project contributors |
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to help debug the lexical and syntax portions of the compilers. |
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To compile/build these compilers, just |
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$./configure; make |
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**************************************************************** |
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**************************************************************** |
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**************************************************************** |
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********* ********* |
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********* ********* |
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********* O V E R A L L A R C H I T E C T U R E ********* |
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********* ********* |
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********* ********* |
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**************************************************************** |
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**************************************************************** |
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**************************************************************** |
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The compiler works in 4(+1) stages: |
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================================== |
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Stage 1 - Lexical analyser - implemented with flex (stage1_2/iec_flex.ll) |
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Stage 2 - Syntax parser - implemented with bison (stage1_2/iec_bison.yy) |
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Stage pre3 - Populate symbol tables - Symbol tables that will ease searching for symbols in the abstract symbol tree. |
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Stage 3 - Semantics analyser - currently does type checking only |
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Stage 4 - Code generator - generates ANSI C code |
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Stage 5 - Binary code generator - gcc, javac, etc... (Not integrated into matiec compiler. Must be called explicitly by the user.) |
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Data structures passed between stages, in global variables: |
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========================================================== |
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1->2 : tokens (int), and token values (char *) (defined in stage1_2/stage1_2_priv.hh) |
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2->1 : symbol tables (implemented in util/symtable.[hh|cc], and defined in stage1_2/stage1_2_priv.hh) |
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2->3 : abstract syntax tree (tree of C++ objects, whose classes are defined in absyntax/absyntax.hh) |
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pre3->3,4 : global symbol tables (defined in util/[d]symtable.[hh|cc] and declared in absyntax_utils/absyntax_utils.hh) |
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3->4 : abstract syntax tree (same as 2->3), but now annotated (i.e. some extra data inserted into the absyntax tree) |
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4->5 : file with program in c, java, etc... |
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The compiler works in several passes: |
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==================================== |
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Stage 1 and Stage 2 |
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------------------- |
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Executed in one single pass. This pass will: |
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- Do lexical analysis |
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- Do syntax analysis |
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- Execute the absyntax_utils/add_en_eno_param_decl_c visitor class |
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This class will add the EN and ENO parameter declarations to all |
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functions that do not have them already explicitly declared by the user. |
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This will let us handle these parameters in the remaining compiler just as if |
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they were standard input/output parameters. |
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|
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Stage Pre3 |
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---------- |
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Executed in one single pass. This pass will populate the following symbol tables: |
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- function_symtable; /* A symbol table with all globally declared functions POUs. */ |
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- function_block_type_symtable; /* A symbol table with all globally declared functions block POUs. */ |
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- program_type_symtable; /* A symbol table with all globally declared program POUs. */ |
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- type_symtable; /* A symbol table with all user declared (non elementary) datat type definitions. */ |
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- enumerated_value_symtable; /* A symbol table with all identifiers (values) declared for enumerated types. */ |
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|
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|
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Stage 3 |
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135 |
------- |
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136 |
Executes two algorithms (flow control analysis, and data type analysis) in several passes. |
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|
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Flow control: |
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Pass 1: Does flow control analysis (for now only of IL code) |
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Implemented in -> stage3/flow_control_analysis_c |
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This will anotate the abstract syntax tree |
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(Every object of the class il_instruction_c that is in the abstract syntax tree will have the variable 'prev_il_instruction' correctly filled in.) |
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|
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Data Type Analysis |
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Pass 1: Analyses the possible data types each expression/literal/IL instruction/etc. may take |
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Implemented in -> stage3/fill_candidate_datatypes_c |
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This will anotate the abstract syntax tree |
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(Every object of in the abstract syntax tree that may have a data type, will have the variable 'candidate_datatypes' correctly filled in. |
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Additionally, objects in the abstract syntax tree that represen function invocations will have the variable |
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'candidate_functions' correctly filled in.) |
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Pass 2: Narrows all the possible data types each expression/literal/IL instruction/etc. may take down to a single data type |
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Implemented in -> stage3/narrow_candidate_datatypes_c |
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This will anotate the abstract syntax tree |
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(Every object of in the abstract syntax tree that may have a data type, will have the variable 'datatype' correctly filled in. |
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Additionally, objects in the abstract syntax tree that represen function invocations will have the variables |
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'called_function_declaration' and 'extensible_param_count' correctly filled in. |
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Additionally, objects in the abstract syntax tree that represen function block (FB) invocations will have the variable |
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'called_fb_declaration' correctly filled in.) |
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Pass 2: Prints error messages in the event of the IEC 61131-3 source code being analysed contains semantic data type incompatibility errors. |
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Implemented in -> stage3/print_datatype_errors_c |
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|
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|
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Stage 4 |
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------- |
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Has 2 possible implementations. |
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|
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iec2c : Generates C source code in a single pass (stage4/generate_c). |
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iec2iec: Generates IEC61131 source code in a single pass (stage4/generate_iec). |
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|
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|
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**************************************************************** |
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**************************************************************** |
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**************************************************************** |
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********* ********* |
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********* ********* |
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********* N O T E S ********* |
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********* ********* |
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********* ********* |
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**************************************************************** |
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**************************************************************** |
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**************************************************************** |
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|
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|
0
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NOTE 1 |
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====== |
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Note that stage 2 passes data back to stage 1. This is only |
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possible because both stages are executed in the same pass. |
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|
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|
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NOTE 2 |
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====== |
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It would be nice to get this parser integrated into the gcc |
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group of compilers. We would then be able to compile our st/il |
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programs directly into executable binaries, for all the processor |
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architectures gcc currently supports. |
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The gcc compilers are divided into a frontend and backend. The |
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data structure between these two stages is called the syntax |
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tree. In essence, we would need to create a new frontend that |
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would parse the st/il program and build the syntax tree. |
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Unfortunately the gcc syntax tree is not very well documented, |
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and doing semantic checking on this tree would probably be a |
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nightmare. |
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We therefore chose to follow the same route as the gnat (ada 95) |
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and cobol compilers, i.e. generate our own abstract syntax tree, |
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do semantic checking on our tree, do whatever optimisation |
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we can at this level on our own tree, and only then build |
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the gcc syntax tree from our abstract syntax tree. |
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All this may still be integrated with the gcc backend to generate |
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a new gnu compiler for the st and il programming languages. |
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Since generating the gcc syntax tree will probably envolve some |
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trial and error effort due to the sparseness of documentation, |
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we chose to start off by coding a C++ code generator for |
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our stage 4. We may later implement a gcc syntax tree generator |
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as an alternative stage 4 process, and then integrate it with |
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the gcc toplevel.c file (command line parsing, etc...). |
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|
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|
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**************************************************************** |
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**************************************************************** |
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**************************************************************** |
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********* ********* |
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********* ********* |
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********* S T A G E 1 ********* |
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********* ********* |
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********* ********* |
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**************************************************************** |
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**************************************************************** |
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**************************************************************** |
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Issue 1 |
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======= |
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The syntax defines the common_character_representation as: |
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<any printable character except '$', '"' or "'"> | <escape sequences> |
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Flex includes the function print_char() that defines |
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all printable characters portably (i.e. whatever character |
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encoding is currently being used , ASCII, EBCDIC, etc...) |
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Unfortunately, we cannot generate the definition of |
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common_character_representation portably, since flex |
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does not allow definition of sets by subtracting |
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elements in one set from another set (Note how |
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common_character_representation could be defined by |
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subtracting '$' '"' and "'" from print_char() ). |
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This means we must build up the defintion of |
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common_character_representation using only set addition, |
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which leaves us with the only choice of defining the |
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characters non-portably... |
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In short, the definition we use for common_character_representation |
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only works for ASCII character encoding! |
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Issue 2 |
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======= |
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We extend the IEC 61131-3 standard syntax to allow inclusion of |
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other files. The accepted syntax is: |
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|
265
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{#include "<filename>" } |
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|
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We use a pragma directive for this (allowed by the standard itself), |
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since it is an extension of the standard. In principle, this would |
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be ignored by other standard complient compilers! |
0
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**************************************************************** |
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**************************************************************** |
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**************************************************************** |
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********* ********* |
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********* ********* |
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********* S T A G E 2 ********* |
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********* ********* |
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********* ********* |
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**************************************************************** |
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**************************************************************** |
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**************************************************************** |
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Overall Comments |
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================ |
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Comment 1 |
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299 |
--------- |
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300 |
We have augmented the syntax the specification defines to include |
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restrictions defined in the semantics of the languages. |
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302 |
|
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This is required because the syntax cannot be parsed by a LALR(1) |
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304 |
parser as it is presented in the specification. Many reduce/reduce |
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and shift/reduce conflicts arise. This is mainly because the parser |
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306 |
cannot discern how to reduce an identifier. Identifiers show up in |
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307 |
many places in the syntax, and it is not entirely possible to |
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308 |
figure out if the identifier is a variable_name, enumeration |
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value, function block name, etc... only from the context in |
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310 |
which it appears. |
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311 |
|
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312 |
A more detailed example of why we need symbol tables are |
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313 |
the type definitions... In definition of new types |
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314 |
(section B 1.3.3) the parser needs to figure out the class of |
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315 |
the new type being defined (enumerated, structure, array, etc...). |
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This works well when the base classes are elementary types |
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(or structures, enumeration, arrays, etc. thereof). It becomes |
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318 |
confusing to the parser when the new_type is based on a previously |
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user defined type. |
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320 |
|
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321 |
TYPE |
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new_type_1 : INT := 99; |
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new_type_2 : new_type_1 := 100; |
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END_TYPE |
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|
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When parsing new_type_1, the parser can figure out that the |
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identifier new_type_1 is a simple_type_name, because it is |
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328 |
based on a elementary type without structure, arrays, etc... |
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329 |
While parsing new_type_2, it becomes confused how to reduce |
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330 |
the new_type_2 identifier, as it is based on the identifier |
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331 |
new_type_1, of which it does not know the class (remember, at this |
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stage new_type_1 is a simple identifier!). |
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333 |
We therefore need to keep track of the class of the user |
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334 |
defined types as they are declared, so that the lexical analyser |
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335 |
can tell the syntax parser what class the type belongs to. We |
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336 |
cannot use the abstract syntax tree itself to search for the |
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337 |
declaration of new_type_1 as we only get a handle to the root |
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338 |
of the tree at the end of the parsing. |
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339 |
|
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340 |
We therefore maintain an independent and parallel table of symbols, |
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341 |
that is filled as we come across the type delcarations in the code. |
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342 |
Actually, we ended up also needing to store variable names in |
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343 |
the symbol table. Since variable names come and go out of scope |
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344 |
depending on what portion of code we are parsing, we sometimes |
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345 |
need to remove the variable names from the symbol table. |
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346 |
Since the ST and IL languages only have a single level of scope, |
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347 |
I (Mario) found it easier to simply use a second symbol table for |
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348 |
the variable names that is completely cleared when the parser |
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349 |
reaches the end of a function (function block or program). |
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|
350 |
|
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|
351 |
What I mean when I say that these languages have a single level |
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352 |
of scope is that all variables used in a function (function block |
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353 |
or program) must be declared inside that function (function block |
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|
354 |
or program). Even global variables must be re-declared as EXTERN |
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355 |
before a function may access them! This means that it is easy |
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|
356 |
to simply load up the variable name symbol table when we start |
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|
357 |
parsing a function (function block or program), and to clear it |
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|
358 |
when we reach the end. Checking whether variables declared |
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359 |
as EXTERN really exist inside a RESOURCE or a CONFIGURATION |
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360 |
is left to stage 3 (semantic checking) where we can use the |
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|
361 |
abstract tree itself to search for the variables (NOTE: semantic |
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|
362 |
cheching at stage 3 has not yet been implemented, so we may yet |
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|
363 |
end up using a symbol table too at that stage!). |
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|
364 |
|
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|
365 |
Due to the use of the symbol tables, and special identifier |
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|
366 |
tokens depending on the type of identifier it had previously |
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|
367 |
been declared in the code being parsed, the syntax was slightly |
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|
368 |
changed regarding the definition of variable names, derived |
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|
369 |
function names, etc... FROM for e.g.: |
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|
370 |
variable_name: identifier; |
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|
371 |
TO |
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|
372 |
variable_name: variable_name_token; |
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|
373 |
|
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|
374 |
Flex first looks at the symbol tables when it finds an identifier, |
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375 |
and returns the correct token corresponding to the identifier |
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|
376 |
type in question. Only if the identifier is not currently stored |
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|
377 |
in any symbol table, does flex return a simple identifier_token. |
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|
378 |
|
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|
379 |
This means that the declarations of variables, functions etc... |
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|
380 |
were changed FROM: |
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|
381 |
function_declaration: FUNCTION derived_function_name ... |
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|
382 |
TO |
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|
383 |
function_declaration: FUNCTION identifier ... |
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|
384 |
since the initial definition of derived_function_name had been |
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|
385 |
changed FROM |
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|
386 |
derived_function_name: identifier; |
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|
387 |
TO |
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|
388 |
derived_function_name: derived_function_name_token; |
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|
389 |
|
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|
390 |
|
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changeset
|
391 |
|
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|
392 |
|
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|
393 |
Comment 2 |
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|
394 |
--------- |
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|
395 |
Since the ST and IL languages share a lot of common syntax, |
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|
396 |
I have decided to write a single parser to handle both languages |
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|
397 |
simultaneously. This approach has the advantage that the user |
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|
398 |
may mix the language used in the same file, as long as each function |
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|
399 |
is written in a single lanuage. |
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|
400 |
|
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|
401 |
This approach also assumes that all the IL language operators are |
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|
402 |
keywords, which means that it is not possible to define variables |
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|
403 |
using names such as "LD", "ST", etc... |
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|
404 |
Note that the spec does not consider these operators to be keywords, |
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|
405 |
so it means that they should be available for variable names! On the |
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|
406 |
other hand, all implementations of the ST and IL languages seems to |
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|
407 |
treat them as keywords, so there is not much harm in doing the same. |
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|
408 |
|
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409 |
If it ever becomes necessary to allow variables with names of IL |
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|
410 |
operators, either the syntax will have to be augmented, or we can |
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|
411 |
brake up the parser in two: one for ST and another for IL. |
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|
412 |
|
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|
413 |
|
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|
414 |
|
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415 |
/********************************/ |
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416 |
/* B 1.3.3 - Derived data types */ |
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417 |
/********************************/ |
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418 |
|
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|
419 |
Issue 1 |
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|
420 |
======= |
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421 |
|
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422 |
According to the spec, the valid construct |
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|
423 |
TYPE new_str_type : STRING := "hello!"; END_TYPE |
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|
424 |
has two possible routes to type_declaration... |
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|
425 |
|
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|
426 |
Route 1: |
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|
427 |
type_declaration: single_element_type_declaration |
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|
428 |
single_element_type_declaration: simple_type_declaration |
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|
429 |
simple_type_declaration: identifier ':' simple_spec_init |
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|
430 |
simple_spec_init: simple_specification ASSIGN constant |
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|
431 |
(shift: identifier <- 'new_str_type') |
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|
432 |
simple_specification: elementary_type_name |
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|
433 |
elementary_type_name: STRING |
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|
434 |
(shift: elementary_type_name <- STRING) |
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|
435 |
(reduce: simple_specification <- elementary_type_name) |
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|
436 |
(shift: constant <- "hello!") |
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|
437 |
(reduce: simple_spec_init: simple_specification ASSIGN constant) |
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|
438 |
(reduce: ...) |
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|
439 |
|
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|
440 |
|
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|
441 |
Route 2: |
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|
442 |
type_declaration: string_type_declaration |
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|
443 |
string_type_declaration: identifier ':' elementary_string_type_name string_type_declaration_size string_type_declaration_init |
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|
444 |
(shift: identifier <- 'new_str_type') |
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|
445 |
elementary_string_type_name: STRING |
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|
446 |
(shift: elementary_string_type_name <- STRING) |
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|
447 |
(shift: string_type_declaration_size <- /* empty */) |
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|
448 |
string_type_declaration_init: ASSIGN character_string |
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449 |
(shift: character_string <- "hello!") |
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450 |
(reduce: string_type_declaration_init <- ASSIGN character_string) |
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|
451 |
(reduce: string_type_declaration <- identifier ':' elementary_string_type_name string_type_declaration_size string_type_declaration_init ) |
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|
452 |
(reduce: type_declaration <- string_type_declaration) |
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|
453 |
|
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|
454 |
|
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|
455 |
At first glance it seems that removing route 1 would make |
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|
456 |
the most sense. Unfortunately the construct 'simple_spec_init' |
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|
457 |
shows up multiple times in other rules, so changing this construct |
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|
458 |
would mean changing all the rules in which it appears. |
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|
459 |
I (Mario) therefore chose to remove route 2 instead. This means |
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|
460 |
that the above declaration gets stored in a |
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461 |
simple_type_declaration_c, and not in a string_type_declaration_c |
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462 |
as would be expected! |
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|
463 |
|
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|
464 |
|
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|
465 |
/***********************/ |
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466 |
/* B 1.5.1 - Functions */ |
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467 |
/***********************/ |
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468 |
|
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469 |
|
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470 |
Issue 1 |
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471 |
======= |
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472 |
|
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473 |
Due to reduce/reduce conflicts between identifiers |
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474 |
being reduced to either a variable or an enumerator value, |
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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475 |
we were forced to keep a symbol table of the names |
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476 |
of all declared variables. Variables are no longer |
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477 |
created from simple identifier_token, but from |
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478 |
variable_name_token. |
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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479 |
|
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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480 |
BUT, in functions the function name may be used as |
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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481 |
a variable! In order to be able to parse this correctly, |
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482 |
the token parser (flex) must return a variable_name_token |
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483 |
when it comes across the function name, while parsing |
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484 |
the function itself. |
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485 |
We do this by inserting the function name into the variable |
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486 |
symbol table, and having flex return a variable_name_token |
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487 |
whenever it comes across it. |
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488 |
When we finish parsing the function the variable name |
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489 |
symbol table is cleared of all entries, and the function |
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490 |
name is inserted into the library element symbol table. This |
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491 |
means that from then onwards flex will return a |
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492 |
derived_function_name_token whenever it comes across the |
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493 |
function name. |
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494 |
|
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495 |
In order to insert the function name into the variable_name |
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496 |
symbol table BEFORE the function body gets parsed, we |
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497 |
need the parser to reduce a construct that contains the |
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498 |
the function name. That is why we created the extra |
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499 |
construct 'function_name_declaration', i.e. to force |
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500 |
the parser to reduce it, before parsing the function body, |
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501 |
and therefore get an oportunity to insert the function name |
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502 |
into the variable name symbol table! |
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|
503 |
|
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504 |
|
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505 |
/********************************/ |
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506 |
/* B 3.2.4 Iteration Statements */ |
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507 |
/********************************/ |
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508 |
|
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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509 |
Issue 1 |
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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|
510 |
======= |
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|
511 |
|
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512 |
For the 'FOR' iteration loop |
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513 |
|
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514 |
FOR control_variable ASSIGN expression TO expression BY expression DO statement_list END_FOR |
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515 |
|
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|
516 |
The spec declares the control variable in the syntax as |
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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|
517 |
|
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518 |
control_variable: identifier; |
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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519 |
|
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520 |
but then defines the semantics of control_variable (Section 3.3.2.4) |
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521 |
as being of an integer type (e.g., SINT, INT, or DINT). |
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522 |
Obviously this presuposes that the control_variable must have been |
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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523 |
declared in some 'VAR .. VAR_END' construct, so I (Mario) changed |
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524 |
the syntax to read |
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525 |
|
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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526 |
control_variable: variable_name; |
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|
527 |
|
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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|
528 |
|
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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|
529 |
|
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Initial commit. Last MatPLC CVS with some makefile inclusion removed in order to compile fine out of MatPLC.
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|
530 |
|
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|
531 |
************************************************************************** |
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532 |
|
444
92d40d2a7adc
Update comments on general architecture.
Mario de Sousa <msousa@fe.up.pt>
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265
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533 |
Copyright (C) 2003-2012 Mario de Sousa (msousa@fe.up.pt) |