AdaGenerator.py 141 KB
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#!/usr/bin/env python
# -*- coding: utf-8 -*-

"""
    OpenGEODE - A tiny SDL Editor for TASTE

    This module generates Ada code from SDL process models.
    The Ada code is compliant with the TASTE interfaces, and is
    using the ASN.1 "Space-Certified" compiler for data type definition.
    (See TASTE documentation for more information)

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    The design is flexible and can be used as basis for other backends.
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    Entry point:
    The AST of the model that is parsed is described in ogAST.py

    A Visitor Pattern using Python's "singledispatch" mechanism is used
    to go through the AST and generate code for each SDL construct.

    There is a single function called "generate", decorated with the
    singledispatch mechanism, that needs to be called to generate the code
    of any AST element.

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    The generate function returns two values: "code" and "local_decl",
    containing a set of statements and a set of local variables
    (that can be later placed anywhere in the code).
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    Expressions (all classes derived from ogAST.Expression) are generated
    using the "expression" visitor (singledispatch set of function).

    Expressions return three values: "code", "ada_string" and "local_decl".
    The "ada_string" value is the usable string that corresponds
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    to the result of the expression evaluation.

    For example, take the SDL statement "OUTPUT hello(a+5)"

    This results (in TASTE terminology) in calling the required interface
    called "hello" and passing a parameter of an ASN.1 type (say MyInteger).
    The parameter is always passed by reference.

    It is therefore necessary to build a temporary variable to hold the result
    of the "a+5" expression.

    In this example, the "generate" function will return:
    local_decl = ["tmp01 : MyInteger;"]
    (The template backend can then place it wherever appropriate)

    and code = ["tmp01 := a + 5;", "hello(tmp01);"]
    (The template will then do a '\n'.join(code) - and add indents, etc.)

    To know about "tmp01" and generate the code "hello(tmp01);",
    the function will recursively call "generate" and
    pass a+5 as parameter. The call will return the tuple:

    local_decl = ["tmp01 : MyInteger;"]
    code = ["tmp01 := a + 5;"]
    ada_string = "tmp01"

    This design allows to have any level of complexity in the embedded
    expression in a way that is easy to handle (adding constructs with
    this pattern is straightforward, once the generate function for each AST
    entry is properly implemented).

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    Copyright (c) 2012-2019 European Space Agency
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    Designed and implemented by Maxime Perrotin

    Contact: maxime.perrotin@esa.int
"""


import logging
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import traceback
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import os
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import stat
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from itertools import chain, product
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from singledispatch import singledispatch

import ogAST
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import Helper
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LOG = logging.getLogger(__name__)

__all__ = ['generate']

# reference to the ASN.1 Data view and to the visible variables (in scope)
TYPES = None
VARIABLES = {}
LOCAL_VAR = {}
# List of output signals and procedures
OUT_SIGNALS = []
PROCEDURES = []

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# Specify that the target is a shared library
SHARED_LIB = False

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UNICODE_SEP = u'\u00dc'
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LPREFIX = u'ctxt'
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def is_numeric(string):
    ''' Return true if value is a number '''
    try:
        float(string)
    except ValueError:
        return False
    return True


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def external_ri_list(process):
    ''' Helper function: create a list of RI with proper signature
    Used for the formal parameters of generic packages when using process type
    '''
    result = []
    for signal in process.output_signals:
        param_name = signal.get('param_name') \
                                or u'{}_param'.format(signal['name'])
        param_spec = ''
        if 'type' in signal:
            typename = type_name(signal['type'])
            param_spec = u'({pName}: access {sort})'.format(pName=param_name,
                                                            sort=typename)
        result.append(u"procedure RI{sep}{name}{param}".format(sep=UNICODE_SEP,
                                                           name=signal['name'],
                                                           param=param_spec))
    for proc in (proc for proc in process.procedures if proc.external):
        ri_header = u'procedure RI{sep}{sig_name}'.format(
                                                     sep=UNICODE_SEP,
                                                     sig_name=proc.inputString)
        params = []
        params_spec = ''
        for param in proc.fpar:
            typename = type_name(param['type'])
            params.append(u'{par[name]}: access {sort}'.format(par=param,
                                                               sort=typename))
        if params:
            params_spec = u"({})".format("; ".join(params))
            ri_header += params_spec
        result.append(ri_header)
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    for timer in process.timers:
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        result.append(u"procedure Set_{}(val: access asn1SccT_Uint32)"
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                      .format(timer))
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        result.append(u"procedure Reset_{}"
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                      .format(timer))
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    return result


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@singledispatch
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def generate(*args, **kwargs):
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    ''' Generate the code for an item of the AST '''
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    raise TypeError('Incorrect, unsupported or missing data in model AST')
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    return [], []
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# Processing of the AST
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@generate.register(ogAST.Process)
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def _process(process, simu=False, instance=False, taste=False, **kwargs):
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    ''' Generate the code for a complete process (AST Top level)
        use instance=True to generate the code for a process type instance
        rather than the process type itself.
    '''
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    # support generation of code of a process type
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    if not instance:
        process_name = process.instance_of_name or process.processName
        generic = process.instance_of_name  #  shortcut
        process_instance = process
        process = process.instance_of_ref or process
    else:
        process_name = process.processName
        generic = False
        process_instance = process

    if process_instance is not process:
        # Generate an instance of the process type, too.
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        # First copy the list of timers to the instance (otherwise the
        # instance would miss some PIs and RIs to set the actual timers)
        process_instance.timers = process.timers
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        generate(process_instance, simu, instance=True)
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    global TYPES
    TYPES = process.dataview
    del OUT_SIGNALS[:]
    del PROCEDURES[:]
    OUT_SIGNALS.extend(process.output_signals)
    PROCEDURES.extend(process.procedures)
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    global SHARED_LIB
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    global LPREFIX
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    if simu:
        SHARED_LIB = True
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        LPREFIX = process_name + u'_ctxt'
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    # taste-properties module-specific flag for the Ada backend:
    # import the state data from an external module
    import_context = kwargs["ppty_check"] if "ppty_check" in kwargs else ""

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    # When building a shared library (with simu=True), generate a "mini-cv"
    # for aadl2glueC to create the code interfacing with asn1scc
    minicv = ['-- Automatically generated by OpenGEODE - do NOT modify!']
    def aadl_template(sp_name, io_param, pi_or_ri):
        ''' AADL mini-cv code in case of shared library
            sp_name  : name of the PI or RI
            io_param : list of (param_name, type_name, direction)
            pi_or_ri : string "PI" or "RI" depending on the direction
            return a string
        '''
        res = []
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        if not io_param:
            LOG.info('Parameterless interface "{}" will not appear in the'
                     ' AADL file but will be handled directly by the GUI'
                     .format(sp_name))
            return ''
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        # In case of shared library, generate the AADL "mini-cv" code
        res.append('SUBPROGRAM {}'.format(sp_name))
        if io_param:
            res.append('FEATURES')
            for param_name, sort, direction in io_param:
                res.append('    {pname}: {io} PARAMETER DataView::{sort} '
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                          '{{encoding=>Native;}};'.format(pname=param_name,
                                                          sort=sort,
                                                          io=direction))
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        res.append('END {};\n'.format(sp_name))
        res.append('SUBPROGRAM IMPLEMENTATION {}.GUI_{}'
                      .format(sp_name, pi_or_ri))
        res.append('PROPERTIES')
        res.append('    FV_Name => "{}";'.format(process_name))
        res.append('    Source_Language => GUI_{};'.format(pi_or_ri))
        res.append('END {}.GUI_{};\n'.format(sp_name, pi_or_ri))
        return '\n'.join(res)

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    # bash script to simulate the system (TEMPORARY)
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    # go up to the root of the AST to get the list of ASN.1 files
    parent = process.parent
    while hasattr(parent, 'parent') and parent.parent:
        parent = parent.parent
    if isinstance(parent, ogAST.System):
        parent = parent.ast
    asn1_filenames = ' '.join(parent.asn1_filenames)
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    asn1_uniq = ' '.join(each for each in parent.asn1_filenames
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                         if not each.endswith('dataview-uniq.asn'))
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    pr_path = ' '.join(parent.pr_files) if None not in parent.pr_files else ''
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    pr_names = ' '.join(
                      os.path.basename(pr_file) for pr_file in parent.pr_files)
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    asn1_modules_o = (name.lower().replace('-', '_') + '.o'
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                    for name in process.asn1Modules)

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    asn1_mods = ("\"{}\"".format(mod.lower().replace('-', '_'))
                for mod in process.asn1Modules)

    #  Create a .gpr to build the library for the simulator
    lib_gpr = '''project {pr}_Lib is
   for Languages use ("Ada");
   for Library_Name use "{pr}";
   for Library_Interface use ("{pr}", "adaasn1rtl", {other_asn1_modules});
   for Object_Dir use "obj";
   for Library_Dir use "lib";
   for Library_Standalone use "encapsulated";
   for Library_Kind use "dynamic";
   for Source_Dirs use (".");
end {pr}_Lib;'''.format(pr=process_name.lower(),
                        other_asn1_modules=", ".join(asn1_mods))

    #  Create a .gpr to build the Ada generated code
    ada_gpr = '''project {pr}_Ada is
   for Languages use ("Ada");
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      for Source_Dirs use (".") & External_As_List ("CODE_PATH", ":");
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      for Object_Dir use "obj";
   end {pr}_Ada;'''.format(pr=process_name.lower())

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    simu_script = '''#!/bin/bash -e
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rm -rf {pr}_simu
mkdir -p {pr}_simu
cp {pr_path} {asn1} {pr}_simu
cd {pr}_simu
opengeode {pr_names} --shared
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cat {uniq} >> dataview-uniq.asn '''.format(pr=process_name.lower(),
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                                           asn1=asn1_filenames,
                                           pr_path=pr_path,
                                           uniq=asn1_uniq or '/dev/null',
                                           pr_names=pr_names)
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    if asn1_filenames:
        simu_script += '''
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mono $(which asn1.exe) -Ada -typePrefix asn1Scc -equal {asn1}
mono $(which asn1.exe) -c -typePrefix asn1Scc -equal {asn1}'''.format(
                                                           asn1=asn1_filenames)
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    simu_script += '''
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gprbuild -p -P ../{pr}_lib.gpr
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rm -f dataview-uniq.c dataview-uniq.h
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asn2aadlPlus dataview-uniq.asn DataView.aadl
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aadl2glueC DataView.aadl {pr}_interface.aadl
asn2dataModel -toPython dataview-uniq.asn
make -f Makefile.python
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echo "errCodes=$(taste-asn1-errCodes ./dataview-uniq.h)" >>datamodel.py
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LD_LIBRARY_PATH=../lib:. opengeode-simulator
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'''.format(pr=process_name.lower(),
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           asn1_files=asn1_filenames,
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           asn1_mod=' '.join(asn1_modules_o))
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    LOG.info('Generating Ada code for process ' + str(process_name))

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    # In case model has nested states, flatten everything
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    Helper.flatten(process, sep=UNICODE_SEP)
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    # Process State aggregations (Parallel states) XXX Add to C backend
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    # Find recursively in the AST all state aggregations
    # Format: {'aggregation_name' : [list of ogAST.CompositeState]
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    aggregates = Helper.state_aggregations(process)
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    # Extract the list of parallel states names inside the composite states
    # of state aggregations XXX add to C generator
    parallel_states = Helper.parallel_states(aggregates)
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    # Make an maping {input: {state: transition...}} in order to easily
    # generate the lookup tables for the state machine runtime
    mapping = Helper.map_input_state(process)

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    VARIABLES.update(process.variables)

    process_level_decl = []
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    # Establish the list of states (excluding START states) XXX update C backend
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    full_statelist = set(chain(aggregates.viewkeys(),
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                               (name for name in process.mapping.iterkeys()
                                    if not name.endswith(u'START'))))
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    reduced_statelist = {s for s in full_statelist if s not in parallel_states}
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    if aggregates:
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        # Parallel states in a state aggregation may terminate
        full_statelist.add(u'{}finished'.format(UNICODE_SEP))
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    context_decl = []
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    if full_statelist:
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        context_decl.append(u'type States is ({});'
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                            .format(u', '.join(full_statelist) or u'No_State'))
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    # Generate ASN.1 model for the NEWTYPEs (types defined in SDL)
    if process.user_defined_types:
        asn1_template = [u'{}-Newtypes DEFINITIONS ::='.format(
            process_name.upper().replace('_', '-')), 'BEGIN']
        types_with_proper_case = []

        # The ASN.1 module must import the types from other asn1 modules
        for _, sortdef in process.user_defined_types.viewitems():
            sort = sortdef.type.type.ReferencedTypeName
            for moduleName, sorts in process.DV.exportedTypes.viewitems():
                for each in sorts:
                    if sort.lower().replace('-', '_') == \
                            each.lower().replace('-', '_'):
                        asn1_template.append(u'IMPORTS {t} FROM {m};'
                                .format (t=each, m=moduleName))
                        types_with_proper_case.append (each)

        for sortname, sortdef in process.user_defined_types.viewitems():
            rangeMin = sortdef.type.Min
            rangeMax = sortdef.type.Max
            refType  = sortdef.type.type.ReferencedTypeName
            for refTypeCase in types_with_proper_case:
                if refTypeCase.lower().replace('-', '_') == \
                        refType.lower().replace('-', '_'):
                    break
            asn1_template.append(
                    '{sort} ::= SEQUENCE (SIZE ({rangeMin} .. {rangeMax})) '
                    'OF {refType}'
                    .format(sort=sortname.upper().replace('_', '-'),
                            rangeMin=rangeMin,
                            rangeMax=rangeMax,
                            refType=refTypeCase.replace('_', '-')))
        asn1_template.append('END')
        with open(process_name + '_newtypes.asn', 'w') as asn1_file:
            asn1_file.write('\n'.join(asn1_template))
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    # Generate the code to declare process-level context
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    context_decl.extend(['type {}_Ty is'.format(LPREFIX), 'record'])
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    if full_statelist:
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        context_decl.append('state : States;')
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    context_decl.append('initDone : Boolean := False;')
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    # State aggregation: add list of substates (XXX to be added in C generator)
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    for substates in aggregates.viewvalues():
        for each in substates:
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            context_decl.append(u'{}{}state: States;'
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                                      .format(each.statename, UNICODE_SEP))
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    for var_name, (var_type, def_value) in process.variables.viewitems():
        if def_value:
            # Expression must be a ground expression, i.e. must not
            # require temporary variable to store computed result
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            dst, dstr, dlocal = expression(def_value)
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            varbty = find_basic_type(var_type)
            if varbty.kind in ('SequenceOfType', 'OctetStringType'):
                dstr = array_content(def_value, dstr, varbty)
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            assert not dst and not dlocal, 'DCL: Expecting a ground expression'
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        context_decl.append(
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                        u'{n} : aliased {sort}{default};'
                        .format(n=var_name,
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                                sort=type_name(var_type),
                                default=u' := ' + dstr if def_value else u''))
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    context_decl.append('end record;')
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    # context is aliased so that the model checker can work with access type
    context_decl.append('{ctxt}: aliased {ctxt}_Ty;'.format(ctxt=LPREFIX))
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    if simu:
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        # Export the context, so that it can be manipulated from outside
        # (in practice used by the "properties" module.
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        context_decl.append(u'pragma export (C, {ctxt}, "{ctxt}");'
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                                  .format(ctxt=LPREFIX))
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        # Exhaustive simulation needs a backup of the context to quickly undo
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        context_decl.append(u'{ctxt}_bk: {ctxt}_Ty;'
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                                  .format(ctxt=LPREFIX))
    elif import_context:
        # Possibility to have the context defined outside the module
        # in order for a model checker to view/modify internals without any
        # copy at runtime
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        context_decl.append(u'pragma import (C, ctxt, "{}_ctxt");'
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                                  .format(import_context))
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    if not simu and not instance:
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        process_level_decl.extend(context_decl)

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    aggreg_start_proc = []
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    start_transition = []
    # Continuous State transition id
    if not instance:
        process_level_decl.append('CS_Only  : constant Integer := {};'
                                  .format(len(process.transitions)))

        for name, val in process.mapping.viewitems():
            # Test val, in principle there is a value but if the code targets
            # generation of properties, the model may have been cleant up and
            # in that case no value would be set..
            if name.endswith(u'START') and name != u'START' and val:
                process_level_decl.append(u'{name} : constant := {val};'
                                          .format(name=name, val=str(val)))

        # Declare start procedure for aggregate states XXX add in C generator
        # should create one START per "via" clause, TODO later
        for name, substates in aggregates.viewitems():
            proc_name = u'procedure {}{}START'.format(name, UNICODE_SEP)
            process_level_decl.append(u'{};'.format(proc_name))
            aggreg_start_proc.extend([u'{} is'.format(proc_name),
                                      'begin'])
            aggreg_start_proc.extend(u'runTransition({sub}{sep}START);'
                                     .format(sub=subname.statename,
                                             sep=UNICODE_SEP)
                                     for subname in substates)
            aggreg_start_proc.extend([u'end {}{}START;'
                                     .format(name, UNICODE_SEP),
                                     '\n'])

        # Add the declaration of the runTransition procedure
        process_level_decl.append('procedure runTransition(Id: Integer);')

        # Generate the code of the start transition (if process not empty)
        initDone =  u'{ctxt}.initDone := True;'.format(ctxt=LPREFIX)
        if not simu:
            start_transition = [u'begin']
            if process.transitions:
                start_transition.append(u'runTransition(0);')
            start_transition.append(initDone)
        else:
            start_transition = [u'procedure Startup is',
                                u'begin',
                                u'   runTransition(0);' if process.transitions
                                                       else 'null;',
                                initDone,
                                u'end Startup;']
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    # Generate the TASTE template
    try:
        asn1_modules = '\n'.join(['with {dv};\nuse {dv};'.format(
            dv=dv.replace('-', '_'))
            for dv in process.asn1Modules])
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        if process.asn1Modules:
            asn1_modules += '\nwith adaasn1rtl;\nuse adaasn1rtl;'
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    except TypeError:
        asn1_modules = '--  No ASN.1 data types are used in this model'
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    include_custom_types = u'''with {process_name}_newtypes;
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use {process_name}_newtypes;'''.format(process_name=process_name) \
        if process.user_defined_types else u''
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    taste_template = [u'''\
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-- This file was generated automatically: DO NOT MODIFY IT !

with System.IO;
use System.IO;

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with Ada.Unchecked_Conversion;
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with Ada.Numerics.Generic_Elementary_Functions;
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{dataview}
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{custom_data_types}
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with Interfaces;
use Interfaces;
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{C}
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package body {process_name} is'''.format(
    process_name=process_name,
    dataview=asn1_modules,
    custom_data_types=include_custom_types,
    C='with Interfaces.C.Strings;\n'
      'use Interfaces.C.Strings;'
      if simu else '') if not instance
                       else u"package body {} is".format(process_name)]
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    generic_spec, instance_decl = "", ""
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    if generic:
        generic_spec = u"generic\n"
        ri_list = external_ri_list(process)
        if ri_list:
            generic_spec += u"    with " + u";\n    with ".join(ri_list) + ';'
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    if instance:
        instance_decl = u"with {};".format(process.instance_of_name)

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    # Generate the source file (.ads) header
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    ads_template = [u'''\
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-- This file was generated automatically: DO NOT MODIFY IT !

{dataview}
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{C}
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{instance}
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{generic}
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package {process_name} is'''.format(generic=generic_spec,
                                    instance=instance_decl,
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                                    process_name=process_name,
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                                    dataview=asn1_modules,
                                    C='with Interfaces.C.Strings;\n'
                                      'use Interfaces.C.Strings;'
                                        if simu else '')]
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    dll_api = []
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    if simu:
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        ads_template.extend(context_decl)
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        ads_template.append('--  API for simulation via DLL')
        dll_api.append('-- API to remotely change internal data')
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        # Add function allowing to trace current state as a string
        process_level_decl.append("function get_state return chars_ptr "
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                                  "is (New_String(states'Image({ctxt}.state)))"
                                  " with Export, Convention => C, "
                                  'Link_Name => "{name}_state";'
                                  .format(name=process_name, ctxt=LPREFIX))
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        set_state_decl = "procedure set_state(new_state: chars_ptr)"
        ads_template.append("{};".format(set_state_decl))
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        ads_template.append('pragma Export(C, set_state, "_set_state");')
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        dll_api.append("{} is".format(set_state_decl))
        dll_api.append("begin")
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        dll_api.append("{}.state := States'Value(Value(new_state));"
                       .format(LPREFIX))
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        dll_api.append("end set_state;")
        dll_api.append("")

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        # Save/restore state allow one step undo, as needed for model checking
        save_state_decl = "procedure save_context"
        restore_state_decl = "procedure restore_context"
        ads_template.append("{};".format(save_state_decl))
        ads_template.append('pragma Export(C, save_context, "_save_context");')
        ads_template.append("{};".format(restore_state_decl))
        ads_template.append('pragma Export(C, restore_context, "_restore_context");')
        dll_api.append("{} is".format(save_state_decl))
        dll_api.append("begin")
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        dll_api.append("{ctxt}_bk := {ctxt};".format(ctxt=LPREFIX))
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        dll_api.append("end save_context;")
        dll_api.append("")
        dll_api.append("{} is".format(restore_state_decl))
        dll_api.append("begin")
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        dll_api.append("{ctxt} := {ctxt}_bk;".format(ctxt=LPREFIX))
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        dll_api.append("end restore_context;")
        dll_api.append("")

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        # Declare procedure Startup in .ads
        ads_template.append(u'procedure Startup;')
        ads_template.append(u'pragma Export(C, Startup, "{}_startup");'
                            .format(process_name))

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        # interface to get/set state aggregations XXX add to C generator
        for substates in aggregates.viewvalues():
            for each in substates:
                process_level_decl.append(
                        u"function get_{name}_state return chars_ptr "
                        u"is (New_String(states'Image({ctxt}.{name}{sep}state)"
                        ")) with Export, Convention => C, "
                        'Link_Name => "{proc}_{name}_state";'
                        .format(name=each.statename, ctxt=LPREFIX,
                                proc=process_name, sep=UNICODE_SEP))

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        # Functions to get gobal variables (length and value)
        for var_name, (var_type, _) in process.variables.viewitems():
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            # Getters for external applications to view local variables via dll
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            process_level_decl.append(u"function l_{name}_value"
                                     u" return access {sort} "
                                     u"is ({prefix}.{name}'access) with Export,"
                                     u" Convention => C,"
                                     u' Link_Name => "{name}_value";'
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                                     .format(prefix=LPREFIX, name=var_name,
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                                              sort=type_name(var_type)))
            # Setters for local variables
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            setter_decl = u"procedure dll_set_l_{name}(value: access {sort})"\
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                          .format(name=var_name, sort=type_name(var_type))
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            ads_template.append(u'{};'.format(setter_decl))
            ads_template.append(u'pragma Export(C, dll_set_l_{name},'
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                                ' "_set_{name}");'.format(name=var_name))
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            dll_api.append(u'{} is'.format(setter_decl))
            dll_api.append(u'begin')
            dll_api.append(u'{}.{} := value.all;'.format(LPREFIX, var_name))
            dll_api.append(u'end dll_set_l_{};'.format(var_name))
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            dll_api.append('')

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    # Generate the the code of the procedures
    inner_procedures_code = []
    for proc in process.content.inner_procedures:
        proc_code, proc_local = generate(proc)
        process_level_decl.extend(proc_local)
        inner_procedures_code.extend(proc_code)
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        if proc.exported:
            # Exported procedures must be declared in the .ads
            pi_header = procedure_header(proc)
            ads_template.append(u'{};'.format(pi_header))
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            if not proc.external and not generic:
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                ads_template.append(u'pragma Export'
                                    u'(C, p{sep}{proc_name}, "_{proc_name}");'
                                    .format(sep=UNICODE_SEP,
                                            proc_name=proc.inputString))
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    # Generate the code for the process-level variable declarations
    taste_template.extend(process_level_decl)

    # Add the code of the procedures definitions
    taste_template.extend(inner_procedures_code)

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    # Generate the code of the START procedures of state aggregations
    # XXX to be added to C generator
    taste_template.extend(aggreg_start_proc)

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    # Add the code of the DLL interface
    taste_template.extend(dll_api)

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    # Generate the code for each input signal (provided interface) and timers
    for signal in process.input_signals + [
                        {'name': timer.lower()} for timer in process.timers]:
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        signame = signal.get('name', u'START')
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        if signame == u'START':
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            continue
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        pi_header = u'procedure {sig_name}'.format(sig_name=signame)
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        param_name = signal.get('param_name') \
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                                or u'{}_param'.format(signame)
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        # Add (optional) PI parameter (only one is possible in TASTE PI)
        if 'type' in signal:
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            typename = type_name(signal['type'])
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            pi_header += u'({pName}: access {sort})'.format(
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                                        pName=param_name, sort=typename)
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        # Add declaration of the provided interface in the .ads file
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        ads_template.append(u'--  Provided interface "{}"'.format(signame))
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        ads_template.append(pi_header + ';')
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        if not generic:
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            ads_template.append(
                    u'pragma Export(C, {name}, "{proc}_PI_{name}");'
                     .format(name=signame.lower(), proc=process_name.lower()))
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        if simu:
            # Generate code for the mini-cv template
            params = [(param_name, type_name(signal['type'], use_prefix=False),
                      'IN')] if 'type' in signal else []
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            minicv.append(aadl_template(signame, params, 'RI'))
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        pi_header += ' is'
        taste_template.append(pi_header)
        taste_template.append('begin')
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        def execute_transition(state):
            ''' Generate the code that triggers the transition for the current
                state/input combination '''
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            input_def = mapping[signame].get(state)
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            # Check for nested states to call optional exit procedure
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            state_tree = state.split(UNICODE_SEP)
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            context = process
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            exitlist = []
            current = ''
            trans = input_def and process.transitions[input_def.transition_id]
            while state_tree:
                current = current + state_tree.pop(0)
                for comp in context.composite_states:
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                    if current.lower() == comp.statename.lower():
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                        if comp.exit_procedure:
                            exitlist.append(current)
                        context = comp
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                        current = current + UNICODE_SEP
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                        break
            for each in reversed(exitlist):
                if trans and all(each.startswith(trans_st)
                                 for trans_st in trans.possible_states):
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                    taste_template.append(u'p{sep}{ref}{sep}exit;'
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                                          .format(ref=each, sep=UNICODE_SEP))
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            if input_def:
                for inp in input_def.parameters:
                    # Assign the (optional and unique) parameter
                    # to the corresponding process variable
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                    taste_template.append(u'{ctxt}.{inp} := {tInp}.all;'
                                          .format(ctxt=LPREFIX,
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                                                  inp=inp,
                                                  tInp=param_name))
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                # Execute the correponding transition
                if input_def.transition:
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                    taste_template.append(u'runTransition({idx});'.format(
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                        idx=input_def.transition_id))
                else:
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                    taste_template.append('runTransition(CS_Only);')
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            else:
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                taste_template.append('runTransition(CS_Only);')
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        if not instance:
            taste_template.append('case {}.state is'.format(LPREFIX))
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        def case_state(state):
            ''' Recursive function (in case of state aggregation) to generate
                the code that calls the proper transition according
                to the current state
                The input name is in signame
            '''
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            if state.endswith(u'START'):
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                return
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            taste_template.append(u'when {state} =>'.format(state=state))
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            input_def = mapping[signame].get(state)
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            if state in aggregates.viewkeys():
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                # State aggregation:
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                # - find which substate manages this input
                # - add a swich case on the corresponding substate
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                taste_template.append(u'-- this is a state aggregation')
                for sub in aggregates[state]:
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                    if [a for a in sub.mapping.viewkeys()
                            if a in mapping[signame].viewkeys()]:
                        taste_template.append(u'case '
                                              u'{ctxt}.{sub}{sep}state is'
                                              .format(ctxt=LPREFIX,
                                                     sub=sub.statename,
                                                     sep=UNICODE_SEP))
                        for par in sub.mapping.viewkeys():
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                            case_state(par)
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                        taste_template.append('when others =>')
                        taste_template.append('null;')
                        taste_template.append('end case;')
                        break
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                else:
                    # Input is not managed in the state aggregation
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                    if input_def:
                        # check if it is managed one level above
                        execute_transition(state)
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                    taste_template.append('null;')
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            else:
                execute_transition(state)
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        if not instance:
            map(case_state, reduced_statelist) # XXX update C generator
            taste_template.append('when others =>')
            taste_template.append('runTransition(CS_Only);')
            taste_template.append('end case;')
        else:
            inst_call = u"{}_Instance.{}".format(process_name, signame)
            if 'type' in signal:
                inst_call += u"({})".format(param_name)
            taste_template.append(inst_call + ";")
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        taste_template.append(u'end {};'.format(signame))
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        taste_template.append('\n')

    # for the .ads file, generate the declaration of the required interfaces
    # output signals are the asynchronous RI - only one parameter
    for signal in process.output_signals:
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        param_name = signal.get('param_name') \
                                or u'{}_param'.format(signal['name'])
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        # Add (optional) RI parameter
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        # Paramless TMs: when targetting simulation, the name of the TM is
        # passed as single parameter. This allows the simualor to handle them
        # dynamically, with a single callback function for all TMs
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        param_spec = '' if not simu else "(tm: chars_ptr)"
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        if 'type' in signal:
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            typename = type_name(signal['type'])
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            param_spec = u'({pName}: access {sort}{shared})' \
                         .format(pName=param_name,
                                 sort=typename,
                                 shared=u'; Size: Integer'
                                        if SHARED_LIB else '')
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        if not generic:
            ads_template.append(u'--  {}equired interface "{}"'
                                .format("Paramless r" if not 'type' in signal
                                    else "R", signal['name']))
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        if simu:
            # When generating a shared library, we need a callback mechanism
            ads_template.append(u'type {}_T is access procedure{};'
                                .format(signal['name'], param_spec))
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            ads_template.append(u'pragma Convention(Convention => C,'
                                u' Entity => {}_T);'.format(signal['name']))
            ads_template.append(u'RI{sep}{sig} : {sig}_T;'
                                .format(sep=UNICODE_SEP, sig=signal['name']))
            ads_template.append(u'procedure Register_{sig}(Callback: {sig}_T);'
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                                .format(sig=signal['name']))
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            ads_template.append(u'pragma Export(C, Register_{sig},'
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                                ' "register_{sig}");'
                                .format(sig=signal['name']))
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            # Generate code for the mini-cv template
            params = [(param_name, type_name(signal['type'], use_prefix=False),
                      'IN')] if 'type' in signal else []
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            minicv.append(aadl_template(signal['name'], params, 'PI'))
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            taste_template.append(u'procedure Register_{sig}'
                                  u'(Callback:{sig}_T) is'
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                                  .format(sig=signal['name']))
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            taste_template.append(u'begin')
            taste_template.append(u'RI{sep}{sig} := Callback;'
                                  .format(sep=UNICODE_SEP, sig=signal['name']))
            taste_template.append(u'end Register_{};'.format(signal['name']))
            taste_template.append(u'')
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        elif not generic:
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            ads_template.append(u'procedure RI{}{}{};'
                                .format(UNICODE_SEP,
                                        signal['name'],
                                        param_spec))
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            signame = lower(signal['name']) if taste else signal['name']
            procname = lower (process_name) if taste else process_name
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            ads_template.append(u'pragma import(C, RI{sep}{sig},'
                                u' "{proc}_RI_{sig}");'
                                .format(sep=UNICODE_SEP,
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                                        sig=signame,
                                        proc=procname))
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    # for the .ads file, generate the declaration of the external procedures
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    for proc in (proc for proc in process.procedures if proc.external):
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        ri_header = u'procedure RI{sep}{sig_name}'.format(
                                                     sep=UNICODE_SEP,
                                                     sig_name=proc.inputString)
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        params = []
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        params_spec = u""
        if simu:
            # For simulators: add the TM name as first parameter
            params.append("tm: chars_ptr")
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        for param in proc.fpar:
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            typename = type_name(param['type'])
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            params.append(u'{par[name]}: access {sort}{shared}'
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                          .format(par=param,
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                                  sort=typename,
                                  shared=u"; {}_Size: Integer"
                                         .format(param['name'])
                                         if SHARED_LIB else ""))
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        if params:
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            params_spec = "({})".format("; ".join(params))
            ri_header += params_spec
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        ads_template.append(u'--  Sync required interface "{}"'
                            .format(proc.inputString))
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        if simu:
            # As for async TM, generate a callback mechanism
            ads_template.append(u"type {}_T is access procedure{};"
                                .format(proc.inputString, params_spec))
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            ads_template.append(u'pragma Convention(Convention => C,'
                                u' Entity => {}_T);'.format(proc.inputString))
            ads_template.append(u'RI{sep}{sig} : {sig}_T;'
                                .format(sep=UNICODE_SEP, sig=proc.inputString))
            ads_template.append(u'procedure Register_{sig}(Callback: {sig}_T);'
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                                .format(sig=proc.inputString))
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            ads_template.append(u'pragma Export(C, Register_{sig},'
                                u' "register_{sig}");'
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                                .format(sig=proc.inputString))
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            taste_template.append(u'procedure Register_{sig}'
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                                  '(Callback:{sig}_T) is'
                                  .format(sig=proc.inputString))
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            taste_template.append(u'begin')
            taste_template.append(u'RI{sep}{sig} := Callback;'
                                  .format(sep=UNICODE_SEP,
                                          sig=proc.inputString))
            taste_template.append(u'end Register_{};'.format(proc.inputString))
            taste_template.append(u'')
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        elif not generic:
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            ads_template.append(ri_header + u';')
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            signame = lower(proc.inputString) if taste else proc.inputString
            procname = lower (process_name) if taste else process_name
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            ads_template.append(u'pragma import(C, RI{sep}{sig},'
                                u' "{proc}_RI_{sig}");'
                                .format(sep=UNICODE_SEP,
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                                        sig=signame,
                                        proc=procname))
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    # for the .ads file, generate the declaration of timers set/reset functions
    for timer in process.timers:
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        ads_template.append(u'--  Timer {} SET and RESET functions'
                            .format(timer))
        if simu:
            # Declare callback registration for the SET and RESET functions
            ads_template.append(u'type SET_{}_T is access procedure'
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                                 '(name: chars_ptr; duration: Asn1Int);'
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                                .format(timer))
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            ads_template.append(u'type RESET_{}_T is access procedure'
                                '(name: chars_ptr);'.format(timer))
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            for each in ('', 'RE'):
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                ads_template.append(u'pragma Convention(Convention => C,'
                                    u' Entity => {re}SET_{t}_T);'
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                                    .format(re=each, t=timer))
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                ads_template.append(u'{re}SET_{t} : {re}SET_{t}_T;'
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                                    .format(re=each, t=timer))
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                ads_template.append(u'procedure Register_{re}SET_{t}'
                                    u'(Callback: {re}SET_{t}_T);'
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                                    .format(re=each, t=timer))
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                ads_template.append(u'pragma Export(C, Register_{re}SET_{t},'
                                    u' "register_{re}SET_{t}");'
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                                    .format(re=each, t=timer))
            # Code for the SET/RESET timer callback registration
            for each in ('', 'RE'):
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                taste_template.append(u'procedure Register_{re}SET_{t}'
                                      u'(Callback:{re}SET_{t}_T) is'
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                                      .format(re=each, t=timer))
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                taste_template.append(u'begin')
                taste_template.append(u'{re}SET_{t} := Callback;'
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                                      .format(re=each, t=timer))
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                taste_template.append(u'end Register_{re}SET_{t};'
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                                      .format(re=each, t=timer))
                taste_template.append('')

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        elif not generic:
            ads_template.append(
               u'procedure SET_{}(val: access asn1SccT_UInt32);'.format(timer))
            ads_template.append(
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                    u'pragma import(C, SET_{timer}, "{proc}_RI_set_{timer}");'
                    .format(timer=timer, proc=process_name))
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            ads_template.append(u'procedure RESET_{};'.format(timer))
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            ads_template.append(
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                 u'pragma import(C, RESET_{timer}, "{proc}_RI_reset_{timer}");'
                 .format(timer=timer, proc=process_name))
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        else:
            # Generic functions get the SET and RESET from template
            pass

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    if instance:
        # Instance of a process type, all the RIs (including timers) must
        # be gathered to instantiate the package
        pkg_decl = (u"package {}_Instance is new {}"
                    .format(process_name, process.instance_of_name))
        ri_list = [u"RI{sep}{name}".format(sep=UNICODE_SEP, name=sig['name'])
                   for sig in process.output_signals]
        ri_list.extend ([u"RI{sep}{name}".format(sep=UNICODE_SEP,
                                                 name=proc.inputString)
                        for proc in process.procedures if proc.external])
        ri_list.extend([u"set_{}".format(timer) for timer in process.timers])
        ri_list.extend([u"reset_{}".format(timer) for timer in process.timers])
        ri_inst = [u"{ri} => {ri}".format(ri=ri) for ri in ri_list]
        if ri_inst:
            pkg_decl += u" ({})".format(u", ".join(ri_inst))
        ads_template.append(pkg_decl + u";")

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    if simu and process.cs_mapping:
        # Callback registration for Check_Queue
        taste_template.append(u'procedure Register_Check_Queue'
                              u'(Callback: Check_Queue_T) is')
        taste_template.append(u'begin')
        taste_template.append(u'Check_Queue := Callback;')
        taste_template.append(u'end Register_Check_Queue;')
        taste_template.append(u'')

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    # If the process has no input, output, procedures, or timers, then Ada
    # will not compile the body - generate a pragma to fix this
    if not process.timers and not process.procedures \
            and not process.input_signals and not process.output_signals:
        ads_template.append('pragma elaborate_body;')

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    # Transform inner labels to floating labels
    Helper.inner_labels_to_floating(process)
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    # Generate the code for all transitions
    code_transitions = []
    local_decl_transitions = []
    for proc_tr in process.transitions:
        code_tr, tr_local_decl = generate(proc_tr)
        code_transitions.append(code_tr)
        local_decl_transitions.extend(tr_local_decl)

    # Generate code for the floating labels
    code_labels = []
    for label in process.content.floating_labels:
        code_label, label_decl = generate(label)
        local_decl_transitions.extend(label_decl)
        code_labels.extend(code_label)

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    # Generate the code of the runTransition procedure, if needed
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    if process.transitions and not instance:
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        taste_template.append('procedure runTransition(Id: Integer) is')
        taste_template.append('trId : Integer := Id;')
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        if process.cs_mapping:
            taste_template.append(
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                              'msgPending : aliased Asn1Boolean := True;')
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        # Declare the local variables needed by the transitions in the template
        taste_template.extend(set(local_decl_transitions))
        taste_template.append('begin')
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        # Generate a loop that ends when a next state is reached
        # (there can be chained transition when entering a nested state)
        taste_template.append('while (trId /= -1) loop')
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        # Generate the switch-case on the transition id
        taste_template.append('case trId is')
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        for idx, val in enumerate(code_transitions):
            taste_template.append(u'when {idx} =>'.format(idx=idx))
            val = [u'{line}'.format(line=l) for l in val]
            if val:
                taste_template.extend(val)
            else:
                taste_template.append('null;')
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        taste_template.append('when CS_Only =>')
        taste_template.append('trId := -1;')
        taste_template.append('goto next_transition;')

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        taste_template.append('when others =>')
        taste_template.append('null;')

        taste_template.append('end case;')
        if code_labels:
            # Due to nested states (chained transitions) jump over label code
            # (NEXTSTATEs do not return from runTransition)
            taste_template.append('goto next_transition;')
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        # Add the code for the floating labels
        taste_template.extend(code_labels)
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        taste_template.append('<<next_transition>>')
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        # After completing active transition(s), check continuous signals:
        #     - Check current state(s)
        #     - For each continuous signal generate code (test+transition)
        # XXX add to C backend
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        if process.cs_mapping and not simu:
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            taste_template.append('--  Process continuous signals')
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            taste_template.append('if {}.initDone then'.format(LPREFIX))
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            taste_template.append("Check_Queue(msgPending'access);")
            taste_template.append('end if;')
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            ads_template.append(
                    u'procedure Check_Queue(res: access Asn1Boolean);')
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            if not generic:
                ads_template.append(
                    u'pragma import(C, Check_Queue, "{proc}_check_queue");'
                    .format(proc=process_name))
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        elif process.cs_mapping and simu:
            taste_template.append('if {}.initDone then'.format(LPREFIX))
            taste_template.append("Check_Queue(msgPending'access);")
            taste_template.append('end if;')
            # simulation: create a callback registration function
            ads_template.append(u'type Check_Queue_T is access procedure'
                                u'(res: access Asn1Boolean);')
            ads_template.append(u'pragma Convention(Convention => C,'
                                u' Entity => Check_Queue_T);')
            ads_template.append(u'Check_Queue : Check_Queue_T;')
            ads_template.append(u'procedure Register_Check_Queue'
                                u'(Callback: Check_Queue_T);')
            ads_template.append(u'pragma Export(C, Register_Check_Queue,'
                                ' "register_check_queue");')
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        else:
            taste_template.append('null;')

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        # Process the continuous signals in state aggregations first
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        done = []
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        sep = 'if '
        last = ''
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        # flag indicating there are CS in nested states but not at root
        need_final_endif = False
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        for cs, agg in product(process.cs_mapping.viewitems(),
                               aggregates.viewitems()):
            (statename, cs_item), (agg_name, substates) = cs, agg
            for each in substates:
                if statename in each.mapping.viewkeys():
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                    need_final_endif = True
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                    taste_template.append(u'{first}if not msgPending and '
                            u'trId = -1 and '
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                            u'{ctxt}.state = {s1} and '
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                            u'{ctxt}.{s2}{unisep}state = {s3} then'
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                            .format(ctxt=LPREFIX, s1=agg_name,
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                                s2=each.statename, unisep=UNICODE_SEP,
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                                s3=statename, first='els' if done else ''))
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                    # Change priority 0 (no priority set) to lowest priority
                    lowest_priority = max(item.priority for item in cs_item)
                    for each in cs_item:
                        if each.priority == 0:
                            each.priority = lowest_priority + 1
                    for provided_clause in sorted(cs_item,
                                                 key=lambda itm: itm.priority):
                        taste_template.append(u'-- Priority {}'
                                             .format(provided_clause.priority))
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                        trId = process.transitions.index\
                                            (provided_clause.transition)
                        code, loc = generate(provided_clause.trigger,
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                                             branch_to=trId,
                                             sep=sep, last=last)
                        sep='elsif '
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                        taste_template.extend(code)
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                    done.append(statename)
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                    taste_template.append(u'end if;')  # inner if
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                    sep = 'if '
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                    break
        for statename in process.cs_mapping.viewkeys() - done:
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            need_final_endif = False
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            cs_item = process.cs_mapping[statename]
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            taste_template.append(u'{first}if not msgPending and '
                    u'trId = -1 and {}.state = {} then'
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                    .format(LPREFIX, statename, first='els' if done else ''))