1

/*

     2

 * (c) 2003 Mario de Sousa

     3

 *

     4

 * Offered to the public under the terms of the GNU General Public License

     5

 * as published by the Free Software Foundation; either version 2 of the

     6

 * License, or (at your option) any later version.

     7

 *

     8

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

     9

 * WITHOUT ANY WARRANTY; without even the implied warranty of

    10

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General

    11

 * Public License for more details.

    12

 *

    13

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

    14

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

    15

 */

    16

    17

/*

    18

 * An IEC 61131-3 IL and ST compiler.

    19

 *

    20

 * Based on the

    21

 * FINAL DRAFT - IEC 61131-3, 2nd Ed. (2001-12-10)

    22

 *

    23

 */

    24

    25

    26

/*

    27

 * This is one of the versions available for the 4th stage.

    28

 *

    29

 * This 4th stage generates a c++ source program equivalent

    30

 * to the IL and ST code.

    31

 */

    32

    33

    34

    35

    36

    37

    38

// #include <stdio.h>  /* required for NULL */

    39

#include <string>

    40

#include <iostream>

    41

#include <sstream>

    42

#include <typeinfo>

    43

#include <list>

    44

#include <strings.h>

    45

    46

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

    47

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

    48

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

    49

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

    50

    51

#include "../stage4.hh"

    52

    53

    54

    55

    56

    57

    58

    59

//#define DEBUG

    60

#ifdef DEBUG

    61

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

    62

#else

    63

#define TRACE(classname)

    64

#endif

    65

    66

    67

    68

#define ERROR error_exit(__FILE__,__LINE__)

    69

/* function defined in main.cc */

    70

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

    71

    72

    73

    74

    75

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

    76

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

    77

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

    78

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

    79

    80

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

    81

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

    82

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

    83

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

    84

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

    85

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

    86

 * default variable.

    87

 *

    88

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

    89

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

    90

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

    91

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

    92

 * constant.

    93

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

    94

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

    95

 * in IL and ST.

    96

 *

    97

 * e.g.:  FUNTION_BLOCK TEST

    98

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

    99

 */

   100

   101

#define FB_FUNCTION_SUFFIX "_body__"

   102

   103

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

   104

#define FB_INIT_SUFFIX "_init__"

   105

   106

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

   107

#define FB_RUN_SUFFIX "_run__"

   108

   109

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

   110

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

   111

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

   112

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

   113

 * in IL and ST.

   114

 *

   115

 * e.g.: the body of FUNTION_BLOCK TEST

   116

 * is mapped onto the C function

   117

 *  TEST_body__(TEST *data__)

   118

 */

   119

   120

#define FB_FUNCTION_PARAM "data__"

   121

   122

   123

#define SFC_STEP_ACTION_PREFIX "__SFC_"

   124

   125

   126

/* Variable declaration symbol for accessor macros */

   127

#define DECLARE_VAR "__DECLARE_VAR"

   128

#define DECLARE_GLOBAL "__DECLARE_GLOBAL"

   129

#define DECLARE_GLOBAL_LOCATION "__DECLARE_GLOBAL_LOCATION"

   130

#define DECLARE_GLOBAL_LOCATED "__DECLARE_GLOBAL_LOCATED"

   131

#define DECLARE_EXTERNAL "__DECLARE_EXTERNAL"

   132

#define DECLARE_LOCATED "__DECLARE_LOCATED"

   133

   134

/* Variable declaration symbol for accessor macros */

   135

#define INIT_VAR "__INIT_VAR"

   136

#define INIT_GLOBAL "__INIT_GLOBAL"

   137

#define INIT_GLOBAL_LOCATED "__INIT_GLOBAL_LOCATED"

   138

#define INIT_EXTERNAL "__INIT_EXTERNAL"

   139

#define INIT_LOCATED "__INIT_LOCATED"

   140

#define INIT_LOCATED_VALUE "__INIT_LOCATED_VALUE"

   141

   142

   143

/* Variable getter symbol for accessor macros */

   144

#define GET_VAR "__GET_VAR"

   145

#define GET_EXTERNAL "__GET_EXTERNAL"

   146

#define GET_LOCATED "__GET_LOCATED"

   147

#define GET_VAR_BY_REF "__GET_VAR_BY_REF"

   148

#define GET_EXTERNAL_BY_REF "__GET_EXTERNAL_BY_REF"

   149

#define GET_LOCATED_BY_REF "__GET_LOCATED_BY_REF"

   150

   151

/* Variable setter symbol for accessor macros */

   152

#define SET_VAR "__SET_VAR"

   153

#define SET_EXTERNAL "__SET_EXTERNAL"

   154

#define SET_LOCATED "__SET_LOCATED"

   155

   156

   157

/* Generate a name for a temporary variable.

   158

 * Each new name generated is appended a different number,

   159

 * starting off from 0.

   160

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

   161

 */

   162

#define VAR_LEADER "__"

   163

#define TEMP_VAR VAR_LEADER "TMP_"

   164

#define SOURCE_VAR VAR_LEADER "SRC_"

   165

   166

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

   167

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

   168

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

   169

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

   170

   171

#include "generate_c_base.cc"

   172

#include "generate_c_typedecl.cc"

   173

#include "generate_c_sfcdecl.cc"

   174

#include "generate_c_vardecl.cc"

   175

#include "generate_c_configbody.cc"

   176

#include "generate_location_list.cc"

   177

#include "generate_var_list.cc"

   178

   179

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

   180

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

   181

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

   182

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

   183

   184

#include "generate_c_st.cc"

   185

#include "generate_c_il.cc"

   186

#include "generate_c_inlinefcall.cc"

   187

   188

#include "generate_c.hh"

   189

   190

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

   191

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

   192

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

   193

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

   194

   195

#define MILLISECOND 1000000

   196

#define SECOND 1000 * MILLISECOND

   197

   198

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

   199

class calculate_time_c: public iterator_visitor_c {

   200

  private:

   201

    unsigned long long time;

   202

    float current_value;

   203

   204

  public:

   205

    calculate_time_c(void){time = 0;};

   206

   207

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

   208

   209

    void *get_integer_value(token_c *token) {

   210

      std::string str = "";

   211

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

   212

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

   213

          str += token->value[i];

   214

      current_value = atof(str.c_str());

   215

      return NULL;

   216

    }

   217

   218

    void *get_float_value(token_c *token) {

   219

      current_value = atof(token->value);

   220

      return NULL;

   221

    }

   222

   223

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

   224

/* B 1.2.1 - Numeric Literals */

   225

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

   226

   227

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

   228

   229

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

   230

/* B 1.2.3.1 - Duration */

   231

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

   232

   233

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

   234

    void *visit(duration_c *symbol) {

   235

      if (symbol->neg != NULL)

   236

        ERROR;

   237

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

   238

      return NULL;

   239

    }

   240

   241

    /* SYM_TOKEN(fixed_point_c) */

   242

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

   243

   244

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

   245

    void *visit(days_c *symbol) {

   246

      if (symbol->hours)

   247

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

   248

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

   249

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

   250

      return NULL;

   251

    }

   252

   253

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

   254

    void *visit(hours_c *symbol) {

   255

      if (symbol->minutes)

   256

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

   257

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

   258

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

   259

      return NULL;

   260

    }

   261

   262

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

   263

    void *visit(minutes_c *symbol) {

   264

      if (symbol->seconds)

   265

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

   266

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

   267

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

   268

      return NULL;

   269

    }

   270

   271

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

   272

    void *visit(seconds_c *symbol) {

   273

      if (symbol->milliseconds)

   274

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

   275

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

   276

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

   277

      return NULL;

   278

    }

   279

   280

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

   281

    void *visit(milliseconds_c *symbol) {

   282

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

   283

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

   284

      return NULL;

   285

    }

   286

};

   287

   288

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

   289

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

   290

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

   291

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

   292

   293

class calculate_common_ticktime_c: public iterator_visitor_c {

   294

  private:

   295

    unsigned long long common_ticktime;

   296

    unsigned long long least_common_ticktime;

   297

   298

  public:

   299

    calculate_common_ticktime_c(void){

   300

      common_ticktime = 0;

   301

      least_common_ticktime = 0;

   302

    }

   303

   304

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

   305

      unsigned long long c = a % b;

   306

      if (c == 0)

   307

        return b;

   308

      else

   309

        return euclide(b, c);

   310

    }

   311

   312

    void update_ticktime(unsigned long long time) {

   313

      if (common_ticktime == 0)

   314

        common_ticktime = time;

   315

      else if (time > common_ticktime)

   316

        common_ticktime = euclide(time, common_ticktime);

   317

      else

   318

        common_ticktime = euclide(common_ticktime, time);

   319

      if (least_common_ticktime == 0)

   320

        least_common_ticktime = time;

   321

      else

   322

        least_common_ticktime = (least_common_ticktime * time) / common_ticktime;

   323

    }

   324

   325

    unsigned long long get_common_ticktime(void) {

   326

      return common_ticktime;

   327

    }

   328

   329

    unsigned long get_greatest_tick_count(void) {

   330

      unsigned long long least_common_tick = least_common_ticktime / common_ticktime;

   331

      if (least_common_tick >> 32)

   332

        ERROR;

   333

      return (unsigned long)(~(((unsigned long)-2) % (unsigned long)least_common_tick) + 1);

   334

    }

   335

   336

/*  TASK task_name task_initialization */

   337

//SYM_REF2(task_configuration_c, task_name, task_initialization)  

   338

    void *visit(task_initialization_c *symbol) {

   339

      calculate_time_c calculate_time;

   340

      unsigned long long time = 0;

   341

      if (symbol->interval_data_source != NULL) {

   342

        symbol->interval_data_source->accept(calculate_time);

   343

        time = calculate_time.get_time();

   344

      }

   345

      if (time > 0)

   346

        update_ticktime(time);

   347

      return NULL;

   348

    }

   349

};    

   350

   351

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

   352

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

   353

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

   354

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

   355

   356

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

   357

class generate_c_SFC_IL_ST_c: public null_visitor_c {

   358

  private:

   359

    stage4out_c *s4o_ptr;

   360

    symbol_c *scope;

   361

    symbol_c *fbname;

   362

    const char *variable_prefix;

   363

   364

  public:

   365

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

   366

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

   367

    /* B.1.6  Sequential function chart elements */

   368

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

   369

   370

    /*| sequential_function_chart sfc_network*/

   371

    void *visit(sequential_function_chart_c * symbol);

   372

   373

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

   374

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

   375

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

   376

   377

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

   378

    /* B 2.1 Instructions and Operands */

   379

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

   380

    /*| instruction_list il_instruction */

   381

    void *visit(instruction_list_c *symbol);

   382

   383

    /* Remainder implemented in generate_c_il_c... */

   384

   385

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

   386

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

   387

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

   388

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

   389

    /* B 3.1 - Expressions */

   390

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

   391

    /* Implemented in generate_c_st_c */

   392

   393

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

   394

    /* B 3.2 Statements */

   395

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

   396

    void *visit(statement_list_c *symbol);

   397

   398

/* Remainder implemented in generate_c_st_c... */

   399

};

   400

   401

#include "generate_c_sfc.cc"

   402

   403

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) {

   404

  if (NULL == scope) ERROR;

   405

  this->s4o_ptr = s4o_ptr;

   406

  this->scope = scope;

   407

  this->fbname = name;

   408

  this->variable_prefix = variable_prefix;

   409

}

   410

   411

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

   412

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

   413

  generate_c_sfc.generate(symbol);

   414

  return NULL;

   415

}

   416

   417

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

   418

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

   419

  generate_c_il.generate(symbol);

   420

  return NULL;

   421

}

   422

   423

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

   424

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

   425

  generate_c_st.generate(symbol);

   426

  return NULL;

   427

}

   428

   429

   430

   431

   432

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

   433

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

   434

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

   435

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

   436

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

   437

   438

   439

class generate_c_pous_c: public generate_c_typedecl_c {

   440

   441

  public:

   442

    generate_c_pous_c(stage4out_c *s4o_ptr, stage4out_c *s4o_incl_ptr)

   443

      : generate_c_typedecl_c(s4o_ptr, s4o_incl_ptr) {};

   444

    virtual ~generate_c_pous_c(void) {}

   445

   446

   447

  public:

   448

   449

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

   450

/* B.1 - Common elements */

   451

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

   452

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

   453

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

   454

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

   455

  /* done in base class(es) */

   456

   457

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

   458

/* B 1.2 - Constants */

   459

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

   460

  /* originally empty... */

   461

   462

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

   463

/* B 1.2.1 - Numeric Literals */

   464

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

   465

  /* done in base class(es) */

   466

   467

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

   468

/* B.1.2.2   Character Strings */

   469

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

   470

  /* done in base class(es) */

   471

   472

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

   473

/* B 1.2.3 - Time Literals */

   474

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

   475

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

   476

/* B 1.2.3.1 - Duration */

   477

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

   478

  /* done in base class(es) */

   479

   480

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

   481

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

   482

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

   483

  /* done in base class(es) */

   484

   485

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

   486

/* B.1.3 - Data types */

   487

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

   488

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

   489

/* B 1.3.1 - Elementary Data Types */

   490

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

   491

  /* done in base class(es) */

   492

   493

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

   494

/* B.1.3.2 - Generic data types */

   495

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

   496

  /* originally empty... */

   497

   498

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

   499

/* B 1.3.3 - Derived data types */

   500

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

   501

  /* done in base class(es) */

   502

   503

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

   504

/* B 1.4 - Variables */

   505

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

   506

  /* done in base class(es) */

   507

   508

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

   509

/* B.1.4.1   Directly Represented Variables */

   510

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

   511

  /* done in base class(es) */

   512

   513

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

   514

/* B.1.4.2   Multi-element Variables */

   515

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

   516

  /* done in base class(es) */

   517

   518

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

   519

/* B 1.4.3 - Declaration & Initialisation */