DispatcherGenerator::CodeBranchGenerationResult DispatcherGenerator::generateOperatorCode(
qReal::Id const ¤tNode) const
{
if (currentNode.element() == "FunctionCall") {
return generateFunctionCallCode(currentNode);
}
if (currentNode.element() == "Action") {
return generateActionCode(currentNode);
}
if (currentNode.element() == "InitialNode") {
return generateInitialNodeCode(currentNode);
}
if (currentNode.element() == "ReturnAction") {
return generateReturnActionCode(currentNode);
}
if (currentNode.element() == "DecisionNode") {
generateDecisionNodeCode(currentNode);
}
return CodeBranchGenerationResult("", currentNode);
}
void PioneerStateMachineGenerator::visitRegular(const qReal::Id &id, const QList<LinkInfo> &links)
{
// Base class method checks for subprogram calls, which is irrelevant for now, but does not hurt and hopefully
// will be needed later.
ControlFlowGeneratorBase::visitRegular(id, links);
if (mErrorsOccured) {
return;
}
if (id.element() == "InitialNode") {
mLabeledNodes << links.first().target;
}
if (not mVisitedNodes.contains(id) && id.element() == "FiBlock") {
++mConditionalEnds;
}
trace("Visiting " + id.toString());
const qReal::Id target = links[0].target;
QList<NonZoneNode *> nodesWithThisId = mSemanticTreeManager->nodes(id);
for (auto thisNode : nodesWithThisId) {
if (thisNode) {
processNode(thisNode, target);
} else {
mErrorsOccured = true;
return;
}
}
if (mErrorsOccured) {
return;
}
// Generation of a node may lead to sudden appearance of new copies of a node (for example, if this node was in a
// branch of If statement that get copied when generating node, quite common in if-loop programs). So we need to
// process new clones as well.
auto updatedNodes = mSemanticTreeManager->nodes(id);
while (updatedNodes.size() != nodesWithThisId.size()) {
for (auto node : updatedNodes) {
if (!nodesWithThisId.contains(node)) {
processNode(node, target);
nodesWithThisId.append(node);
}
}
updatedNodes = mSemanticTreeManager->nodes(id);
}
doDeferredGotoGeneration(id, target);
}
void ThreadsValidator::visitGeneral(const qReal::Id &id, const QList<LinkInfo> &links)
{
if (mSecondStage) {
return;
}
if (mBlockThreads[id] == "@@unknown@@") {
unknownThread(links);
return;
}
QSet<QString> incomingThreads;
for (const qReal::Id &link : mRepo.incomingLinks(id)) {
const qReal::Id previousBlock = mRepo.otherEntityFromLink(link, id);
if (mBlockThreads.contains(previousBlock)) {
if (previousBlock.element() == "Fork") {
incomingThreads.insert(mRepo.stringProperty(link, "Guard"));
} else {
/// @todo: In general case one block may belong to many threads.
/// We must append all incomming thread lists here.
incomingThreads.insert(mBlockThreads[previousBlock]);
}
}
}
if ((incomingThreads.size() != 1 && mStartNode != id) || incomingThreads.contains("@@unknown@@")) {
unknownThread(links);
return;
}
for (const LinkInfo &link : links) {
if (!checkForConnected(link)) {
return;
}
const qReal::Id nextBlock = link.target;
if (!mBlockThreads.contains(nextBlock) || mBlockThreads[nextBlock].isEmpty()) {
mSomethingChanged = true;
mBlockThreads[nextBlock] = mBlockThreads[id];
} else if (mBlockThreads[nextBlock] != mBlockThreads[id] && mBlockThreads[nextBlock] != "@@unknown@@"
&& nextBlock.element() != "Join")
{
mSomethingChanged = true;
mBlockThreads[nextBlock] = "@@unknown@@";
}
}
}
QList<SmartLine> AbstractSimpleElementGenerator::convertedCode(NxtOSEKRobotGenerator *nxtGen
, const qReal::Id elementId, const qReal::Id logicElementId)
{
QString const elementType = elementId.element();
AbstractSimpleElementGenerator *currentSimpleElement = SimpleElementFactory::generator(elementType);
QList<SmartLine> result = currentSimpleElement->convertElementIntoDirectCommand(nxtGen, elementId, logicElementId);
return result;
}
void PioneerStateMachineGenerator::processNode(NonZoneNode *thisNode, const qReal::Id &target)
{
SemanticNode *nextNode = nullptr;
if (mAsynchronousNodes.contains(thisNode->id().element())) {
if (not mSemanticTreeManager->isTopLevelNode(thisNode)) {
// we in the if branches or smth like that
if (not mConditionZonesQueue.isEmpty()) {
const auto * const thenZone = std::get<2>(mConditionZonesQueue.last());
const auto * const elseZone = std::get<3>(mConditionZonesQueue.last());
auto * const parentZone = thisNode->parentZone();
if (thenZone == parentZone || elseZone == parentZone) {
mBranchAsyncMarkers[parentZone] = true;
}
}
}
if (mSemanticTree->findNodeFor(target)) {
trace("Asynchronous node, target visited.");
// thisNode is asyncronous node that transfers control to already visited node.
// Generated code for thisNode will initiate asynchronous action and all we need to do is to generate
// transition to a state which will execute target block when this block finishes its asynchronous
// operation.
auto rightSibling = mSemanticTreeManager->anyRightSibling(thisNode);
if (!rightSibling || !mSemanticTreeManager->isGotoNode(rightSibling)) {
// Goto node may already be produced as a copy from previous instance of this node, so skipping it if
// not needed.
nextNode = produceGotoNode(target);
mSemanticTreeManager->addAfter(thisNode, nextNode);
}
// already visited target
if (nextNode->id().element() == "FiBlock") {
if (not mConditionZonesQueue.isEmpty()) {
if (std::get<1>(mConditionZonesQueue.last())) {
mConditionZonesQueue.removeLast();
} else {
reportAndExplainConditions();
return;
}
} else {
reportError(tr("\"End If\" block occurs before \"If block\""));
return;
}
}
if (!mLabeledNodes.contains(target)) {
// Target node, despite being already visited, does not have a label, it means that it is a part of
// a synchronous fragment. We copy that fragment from this node to the first asyncronous node and
// label a start of the copied fragment. At the end of the fragment we will generate said
// asynchronous node, which will initiate asynchronous operation, and then transition to its next
// state, which will continue execution when operation is done.
//
// But first we need to lift copied fragment to a top level, since nextNode may be inside If branch.
// Labeling something inside If branch will make generated code uncompilable.
//
// Getting parent node (i.e. If statement to the branch of which our node belongs).
while (!mSemanticTreeManager->isTopLevelNode(nextNode)) {
nextNode = mSemanticTreeManager->parent(nextNode);
}
// We shall copy nodes from synchronous fragment after end-of-handler node, if it is present.
auto sibling = mSemanticTreeManager->anyRightSibling(nextNode);
while (sibling != nullptr && isEndOfHandler(sibling)) {
nextNode = mSemanticTreeManager->anyRightSibling(nextNode);
sibling = mSemanticTreeManager->anyRightSibling(nextNode);
}
nextNode = copySynchronousFragment(nextNode, target, true);
}
if (mSemanticTreeManager->isTopLevelNode(thisNode)
&& !isEndOfHandler(nextNode)
&& !isEndOfHandler(mSemanticTreeManager->anyRightSibling(nextNode))) {
SemanticNode * const endNode = produceEndOfHandlerNode();
mSemanticTreeManager->addAfter(nextNode, endNode);
}
} else {
trace("Asynchronous node, target not visited.");
// thisNode is asynchronous node that transfers control to a node that has not been visited yet. Generating
// transition into a state associated with that node and then a new handler for target node itself.
nextNode = mSemanticTreeManager->produceLabeledNode(target);
if (!nextNode) {
reportError(tr("Generation internal error, failed to create a node."));
return;
} else {
mLabeledNodes << nextNode->id();
}
SemanticNode * const gotoNode = produceGotoNode(target);
mSemanticTreeManager->addAfter(thisNode, gotoNode);
// Labeled node can not be a part of a zone (i.e. "then" or "else" branch), it shall be generated in top
// level zone.
if (mSemanticTreeManager->isTopLevelNode(thisNode)) {
SemanticNode * const endNode = produceEndOfHandlerNode();
mSemanticTreeManager->addAfter(gotoNode, endNode);
mSemanticTreeManager->addAfter(endNode, nextNode);
} else {
// Getting parent node (i.e. If statement to the branch of which our node belongs).
NonZoneNode *parent = mSemanticTreeManager->topLevelParent(thisNode);
// Skipping "end" that finishes handler with If.
SemanticNode * endOfHandler = findEndOfHandler(parent);
if (not endOfHandler) {
endOfHandler = produceEndOfHandlerNode();
mSemanticTreeManager->addAfter(parent, endOfHandler);
}
// Adding our labeled node denoting new handler after the end of a handler with If node.
mSemanticTreeManager->addAfter(endOfHandler, nextNode);
}
// here we first time visiting FiBlock and it is descended from async node
// it can be not actually in branch zone anymore (if async block appear before it)
if (nextNode->id().element() == "FiBlock") {
std::get<1>(mConditionZonesQueue.last()) = true;
}
}
} else {
if (!mSemanticTree->findNodeFor(target)) {
trace("Synchronous node, target not visited.");
if (target.element() == "FiBlock") {
nextNode = mSemanticTreeManager->produceNode(target);
if (mConditionZonesQueue.isEmpty()) {
reportError(tr("\"End If\" block occurs before \"If block\""));
} else {
auto conditionZone = mConditionZonesQueue.last();
SemanticNode *conditionalZone = std::get<0>(conditionZone);
mSemanticTreeManager->addAfter(conditionalZone, nextNode);
}
return;
}
// It is not an asynchronous node, generating as-is.
nextNode = mSemanticTreeManager->produceNode(target);
mSemanticTreeManager->addAfter(thisNode, nextNode);
} else {
trace("Synchronous node, target visited.");
if (target.element() == "FiBlock") {
auto thenZone = std::get<2>(mConditionZonesQueue.last());
auto elseZone = std::get<3>(mConditionZonesQueue.last());
if (std::get<1>(mConditionZonesQueue.last())
|| mBranchAsyncMarkers[thenZone] || mBranchAsyncMarkers[elseZone]) {
reportAndExplainConditions();
} else {
mConditionZonesQueue.removeLast();
nextNode = mSemanticTreeManager->produceNode(target);
}
return;
} else {
// Synchronous node leading to already visited node. Need some copypasting of synchronous fragments,
// or else we will stall the program waiting for an event that was never initiated.
nextNode = copySynchronousFragment(thisNode, target, false);
}
if (mSemanticTreeManager->isTopLevelNode(thisNode) && nextNode && !isEndOfHandler(nextNode)) {
SemanticNode * const endNode = produceEndOfHandlerNode();
mSemanticTreeManager->addAfter(nextNode, endNode);
}
}
}
}