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Copyright (c) Tom Hawkins 2007-2010 | ||
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All rights reserved. | ||
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Redistribution and use in source and binary forms, with or without | ||
modification, are permitted provided that the following conditions | ||
are met: | ||
1. Redistributions of source code must retain the above copyright | ||
notice, this list of conditions and the following disclaimer. | ||
2. Redistributions in binary form must reproduce the above copyright | ||
notice, this list of conditions and the following disclaimer in the | ||
documentation and/or other materials provided with the distribution. | ||
3. Neither the name of the author nor the names of his contributors | ||
may be used to endorse or promote products derived from this software | ||
without specific prior written permission. | ||
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THIS SOFTWARE IS PROVIDED BY THE AUTHORS ``AS IS'' AND | ||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE | ||
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS | ||
OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) | ||
HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY | ||
OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF | ||
SUCH DAMAGE. |
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{- | | ||
Atom is a Haskell DSL for designing hard realtime embedded software. | ||
Based on guarded atomic actions (similar to STM), Atom enables highly | ||
concurrent programming without the need for mutex locking. | ||
In addition, Atom performs compile-time task scheduling and generates code | ||
with deterministic execution time and constant memory use, simplifying the | ||
process of timing verification and memory consumption in hard realtime | ||
applications. Without mutex locking and run-time task scheduling, | ||
Atom eliminates the need and overhead of RTOSs for many embedded applications. | ||
-} | ||
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module Language.Atom | ||
( module Language.Atom.Code | ||
, module Language.Atom.Compile | ||
, module Language.Atom.Common | ||
, module Language.Atom.Language | ||
-- , module Language.Atom.Unit | ||
) where | ||
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import Language.Atom.Code | ||
import Language.Atom.Compile | ||
import Language.Atom.Common | ||
import Language.Atom.Language | ||
-- import Language.Atom.Unit |
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module Language.Atom.Analysis | ||
( topo | ||
, ruleComplexity | ||
) where | ||
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import Language.Atom.Elaboration | ||
import Language.Atom.Expressions | ||
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-- | Topologically sorts a list of expressions and subexpressions. | ||
topo :: [UE] -> [(UE, String)] | ||
topo ues = reverse ues' | ||
where | ||
start = 0 | ||
(_, ues') = foldl collect (start, []) ues | ||
collect :: (Int, [(UE, String)]) -> UE -> (Int, [(UE, String)]) | ||
collect (n, ues) ue | any ((== ue) . fst) ues = (n, ues) | ||
collect (n, ues) ue = (n' + 1, (ue, e n') : ues') where (n', ues') = foldl collect (n, ues) $ ueUpstream ue | ||
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e :: Int -> String | ||
e i = "__" ++ show i | ||
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-- | Number of UE's computed in rule. | ||
ruleComplexity :: Rule -> Int | ||
ruleComplexity = length . topo . allUEs | ||
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-- | Atom C code generation. | ||
module Language.Atom.Code | ||
( Config (..) | ||
, writeC | ||
, defaults | ||
, cType | ||
, RuleCoverage | ||
) where | ||
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import Data.List | ||
import Data.Maybe | ||
import Text.Printf | ||
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import Language.Atom.Analysis | ||
import Language.Atom.Elaboration | ||
import Language.Atom.Expressions | ||
import Language.Atom.Scheduling | ||
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-- | C code configuration parameters. | ||
data Config = Config | ||
{ cFuncName :: String -- ^ Alternative primary function name. Leave empty to use compile name. | ||
, cStateName :: String -- ^ Name of state variable structure. Default: state | ||
, cCode :: [Name] -> [Name] -> [(Name, Type)] -> (String, String) -- ^ Custom C code to insert above and below, given assertion names, coverage names, and probe names and types. | ||
, cRuleCoverage :: Bool -- ^ Enable rule coverage tracking. | ||
, cAssert :: Bool -- ^ Enable assertions and functional coverage. | ||
, cAssertName :: String -- ^ Name of assertion function. Type: void assert(int, bool, uint64_t); | ||
, cCoverName :: String -- ^ Name of coverage function. Type: void cover(int, bool, uint64_t); | ||
} | ||
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-- | Default C code configuration parameters (default function name, no pre/post code, ANSI C types). | ||
defaults :: Config | ||
defaults = Config | ||
{ cFuncName = "" | ||
, cStateName = "state" | ||
, cCode = \ _ _ _ -> ("", "") | ||
, cRuleCoverage = True | ||
, cAssert = True | ||
, cAssertName = "assert" | ||
, cCoverName = "cover" | ||
} | ||
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showConst :: Const -> String | ||
showConst c = case c of | ||
CBool True -> "true" | ||
CBool False -> "false" | ||
CInt8 a -> show a | ||
CInt16 a -> show a | ||
CInt32 a -> show a ++ "L" | ||
CInt64 a -> show a ++ "LL" | ||
CWord8 a -> show a | ||
CWord16 a -> show a | ||
CWord32 a -> show a ++ "UL" | ||
CWord64 a -> show a ++ "ULL" | ||
CFloat a -> show a ++ "F" | ||
CDouble a -> show a | ||
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-- | C99 type naming rules. | ||
cType :: Type -> String | ||
cType t = case t of | ||
Bool -> "bool" | ||
Int8 -> "int8_t" | ||
Int16 -> "int16_t" | ||
Int32 -> "int32_t" | ||
Int64 -> "int64_t" | ||
Word8 -> "uint8_t" | ||
Word16 -> "uint16_t" | ||
Word32 -> "uint32_t" | ||
Word64 -> "uint64_t" | ||
Float -> "float" | ||
Double -> "double" | ||
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codeUE :: Config -> [(UE, String)] -> String -> (UE, String) -> String | ||
codeUE config ues d (ue, n) = d ++ cType (typeOf ue) ++ " " ++ n ++ " = " ++ basic operands ++ ";\n" | ||
where | ||
operands = map (fromJust . flip lookup ues) $ ueUpstream ue | ||
basic :: [String] -> String | ||
basic operands = concat $ case ue of | ||
UVRef (UV _ n _) -> [cStateName config, ".", n] | ||
UVRef (UVArray (UA _ n _) _) -> [cStateName config, ".", n, "[", a, "]"] | ||
UVRef (UVArray (UAExtern n _) _) -> [n, "[", a, "]"] | ||
UVRef (UVExtern n _) -> [n] | ||
UCast _ _ -> ["(", cType (typeOf ue), ") ", a] | ||
UConst c -> [showConst c] | ||
UAdd _ _ -> [a, " + ", b] | ||
USub _ _ -> [a, " - ", b] | ||
UMul _ _ -> [a, " * ", b] | ||
UDiv _ _ -> [a, " / ", b] | ||
UMod _ _ -> [a, " % ", b] | ||
UNot _ -> ["! ", a] | ||
UAnd _ -> intersperse " && " operands | ||
UBWNot _ -> ["~ ", a] | ||
UBWAnd _ _ -> [a, " & ", b] | ||
UBWOr _ _ -> [a, " | ", b] | ||
UShift _ n -> (if n >= 0 then [a, " << ", show n] else [a, " >> ", show (negate n)]) | ||
UEq _ _ -> [a, " == ", b] | ||
ULt _ _ -> [a, " < " , b] | ||
UMux _ _ _ -> [a, " ? " , b, " : ", c] | ||
UF2B _ -> ["*((", ct Word32, " *) &(", a, "))"] | ||
UD2B _ -> ["*((", ct Word64, " *) &(", a, "))"] | ||
UB2F _ -> ["*((", ct Float , " *) &(", a, "))"] | ||
UB2D _ -> ["*((", ct Double, " *) &(", a, "))"] | ||
where | ||
ct = cType | ||
a = head operands | ||
b = operands !! 1 | ||
c = operands !! 2 | ||
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type RuleCoverage = [(Name, Int, Int)] | ||
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writeC :: Name -> Config -> StateHierarchy -> [Rule] -> Schedule -> [Name] -> [Name] -> [(Name, Type)] -> IO RuleCoverage | ||
writeC name config state rules schedule assertionNames coverageNames probeNames = do | ||
writeFile (name ++ ".c") c | ||
writeFile (name ++ ".h") h | ||
return [ (ruleName r, div (ruleId r) 32, mod (ruleId r) 32) | r <- rules' ] | ||
where | ||
(preCode, postCode) = cCode config assertionNames coverageNames probeNames | ||
c = unlines | ||
[ "#include <stdbool.h>" | ||
, "#include <stdint.h>" | ||
, "" | ||
, preCode | ||
, "" | ||
, "static " ++ cType Word64 ++ " __global_clock = 0;" | ||
, codeIf (cRuleCoverage config) $ "static const " ++ cType Word32 ++ " __coverage_len = " ++ show covLen ++ ";" | ||
, codeIf (cRuleCoverage config) $ "static " ++ cType Word32 ++ " __coverage[" ++ show covLen ++ "] = {" ++ (concat $ intersperse ", " $ replicate covLen "0") ++ "};" | ||
, codeIf (cRuleCoverage config) $ "static " ++ cType Word32 ++ " __coverage_index = 0;" | ||
, declState True $ StateHierarchy (cStateName config) [state] | ||
, concatMap (codeRule config) rules' | ||
, codeAssertionChecks config assertionNames coverageNames rules | ||
, "void " ++ funcName ++ "() {" | ||
, concatMap (codePeriodPhase config) schedule | ||
, " __global_clock = __global_clock + 1;" | ||
, "}" | ||
, "" | ||
, postCode | ||
] | ||
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h = unlines | ||
[ "#include <stdbool.h>" | ||
, "#include <stdint.h>" | ||
, "" | ||
, "void " ++ funcName ++ "();" | ||
, "" | ||
, declState False $ StateHierarchy (cStateName config) [state] | ||
] | ||
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funcName = if null (cFuncName config) then name else cFuncName config | ||
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rules' :: [Rule] | ||
rules' = concat [ r | (_, _, r) <- schedule ] | ||
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covLen = 1 + div (maximum $ map ruleId rules') 32 | ||
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codeIf :: Bool -> String -> String | ||
codeIf a b = if a then b else "" | ||
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declState :: Bool -> StateHierarchy -> String | ||
declState define a = (if define then "" else "extern ") ++ init (init (f1 "" a)) ++ (if define then " =\n" ++ f2 "" a else "") ++ ";\n" | ||
where | ||
f1 i a = case a of | ||
StateHierarchy name items -> i ++ "struct { /* " ++ name ++ " */\n" ++ concatMap (f1 (" " ++ i)) items ++ i ++ "} " ++ name ++ ";\n" | ||
StateVariable name c -> i ++ cType (typeOf c) ++ " " ++ name ++ ";\n" | ||
StateArray name c -> i ++ cType (typeOf $ head c) ++ " " ++ name ++ "[" ++ show (length c) ++ "];\n" | ||
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f2 i a = case a of | ||
StateHierarchy name items -> i ++ "{ /* " ++ name ++ " */\n" ++ intercalate ",\n" (map (f2 (" " ++ i)) items) ++ "\n" ++ i ++ "}" | ||
StateVariable name c -> i ++ "/* " ++ name ++ " */ " ++ showConst c | ||
StateArray name c -> i ++ "/* " ++ name ++ " */ {" ++ intercalate ", " (map showConst c) ++ "}" | ||
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codeRule :: Config -> Rule -> String | ||
codeRule config rule@(Rule _ _ _ _ _ _ _) = | ||
"/* " ++ show rule ++ " */\n" ++ | ||
"static void __r" ++ show (ruleId rule) ++ "() {\n" ++ | ||
concatMap (codeUE config ues " ") ues ++ | ||
" if (" ++ id (ruleEnable rule) ++ ") {\n" ++ | ||
concatMap codeAction (ruleActions rule) ++ | ||
codeIf (cRuleCoverage config) (" __coverage[" ++ covWord ++ "] = __coverage[" ++ covWord ++ "] | (1 << " ++ covBit ++ ");\n") ++ | ||
" }\n" ++ | ||
concatMap codeAssign (ruleAssigns rule) ++ | ||
"}\n\n" | ||
where | ||
ues = topo $ allUEs rule | ||
id ue = fromJust $ lookup ue ues | ||
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codeAction :: (([String] -> String), [UE]) -> String | ||
codeAction (f, args) = " " ++ f (map id args) ++ ";\n" | ||
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covWord = show $ div (ruleId rule) 32 | ||
covBit = show $ mod (ruleId rule) 32 | ||
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codeAssign :: (UV, UE) -> String | ||
codeAssign (uv, ue) = concat [" ", lh, " = ", id ue, ";\n"] | ||
where | ||
lh = case uv of | ||
UV _ n _ -> concat [cStateName config, ".", n] | ||
UVArray (UA _ n _) index -> concat [cStateName config, ".", n, "[", id index, "]"] | ||
UVArray (UAExtern n _) index -> concat [n, "[", id index, "]"] | ||
UVExtern n _ -> n | ||
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codeRule _ _ = "" | ||
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codeAssertionChecks :: Config -> [Name] -> [Name] -> [Rule] -> String | ||
codeAssertionChecks config assertionNames coverageNames rules = codeIf (cAssert config) $ | ||
"static void __assertion_checks() {\n" ++ | ||
concatMap (codeUE config ues " ") ues ++ | ||
concat [ " if (" ++ id enable ++ ") " ++ cAssertName config ++ "(" ++ assertionId name ++ ", " ++ id check ++ ", __global_clock);\n" | Assert name enable check <- rules ] ++ | ||
concat [ " if (" ++ id enable ++ ") " ++ cCoverName config ++ "(" ++ coverageId name ++ ", " ++ id check ++ ", __global_clock);\n" | Cover name enable check <- rules ] ++ | ||
"}\n\n" | ||
where | ||
ues = topo $ concat [ [a, b] | Assert _ a b <- rules ] ++ concat [ [a, b] | Cover _ a b <- rules ] | ||
id ue = fromJust $ lookup ue ues | ||
assertionId :: Name -> String | ||
assertionId name = show $ fromJust $ elemIndex name assertionNames | ||
coverageId :: Name -> String | ||
coverageId name = show $ fromJust $ elemIndex name coverageNames | ||
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codePeriodPhase :: Config -> (Int, Int, [Rule]) -> String | ||
codePeriodPhase config (period, phase, rules) = unlines | ||
[ printf " {" | ||
, printf " static %s __scheduling_clock = %i;" (cType clockType) phase | ||
, printf " if (__scheduling_clock == 0) {" | ||
, intercalate "\n" $ map callRule rules | ||
, printf " __scheduling_clock = %i;" (period - 1) | ||
, printf " }" | ||
, printf " else {" | ||
, printf " __scheduling_clock = __scheduling_clock - 1;" | ||
, printf " }" | ||
, printf " }" | ||
] | ||
where | ||
clockType | period < 2 ^ 8 = Word8 | ||
| period < 2 ^ 16 = Word16 | ||
| otherwise = Word32 | ||
callRule r = concat [" ", codeIf (cAssert config) "__assertion_checks(); ", "__r", show (ruleId r), "(); /* ", show r, " */"] | ||
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