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;;;; -------------------------------------------------------------------------
;;;; Plan

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(uiop/package:define-package :asdf/plan
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  (:recycle :asdf/plan :asdf)
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  (:use :uiop/common-lisp :uiop :asdf/upgrade
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   :asdf/component :asdf/operation :asdf/system
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   :asdf/cache :asdf/find-system :asdf/find-component
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   :asdf/operation :asdf/action :asdf/lisp-action)
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  (:export
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   #:component-operation-time
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   #:plan #:plan-traversal #:sequential-plan #:*default-plan-class*
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   #:planned-action-status #:plan-action-status #:action-already-done-p
   #:circular-dependency #:circular-dependency-actions
   #:node-for #:needed-in-image-p
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   #:action-index #:action-planned-p #:action-valid-p
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   #:plan-record-dependency
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   #:normalize-forced-systems #:action-forced-p #:action-forced-not-p
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   #:map-direct-dependencies #:reduce-direct-dependencies #:direct-dependencies
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   #:compute-action-stamp #:traverse-action
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   #:circular-dependency #:circular-dependency-actions
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   #:call-while-visiting-action #:while-visiting-action
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   #:make-plan #:plan-actions #:perform-plan #:plan-operates-on-p
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   #:planned-p #:index #:forced #:forced-not #:total-action-count
   #:planned-action-count #:planned-output-action-count #:visited-actions
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   #:visiting-action-set #:visiting-action-list #:plan-actions-r
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   #:required-components #:filtered-sequential-plan
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   #:plan-system
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   #:plan-action-filter #:plan-component-type #:plan-keep-operation #:plan-keep-component
   #:traverse-actions #:traverse-sub-actions))
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(in-package :asdf/plan)
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;;;; Generic plan traversal class
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(with-upgradability ()
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  (defclass plan () ()
    (:documentation "Base class for a plan based on which ASDF can build a system"))
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  (defclass plan-traversal (plan)
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    (;; The system for which the plan is computed
     (system :initform nil :initarg :system :accessor plan-system)
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     ;; Table of systems specified via :force arguments
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     (forced :initform nil :initarg :force :accessor plan-forced)
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     ;; Table of systems specified via :force-not argument (and/or immutable)
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     (forced-not :initform nil :initarg :force-not :accessor plan-forced-not)
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     ;; Counts of total actions in plan
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     (total-action-count :initform 0 :accessor plan-total-action-count)
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     ;; Count of actions that need to be performed
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     (planned-action-count :initform 0 :accessor plan-planned-action-count)
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     ;; Count of actions that need to be performed that have a non-empty list of output-files.
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     (planned-output-action-count :initform 0 :accessor plan-planned-output-action-count)
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     ;; Table that to actions already visited while walking the dependencies associates status
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     (visited-actions :initform (make-hash-table :test 'equal) :accessor plan-visited-actions)
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     ;; Actions that depend on those being currently walked through, to detect circularities
     (visiting-action-set ;; as a set
      :initform (make-hash-table :test 'equal) :accessor plan-visiting-action-set)
     (visiting-action-list :initform () :accessor plan-visiting-action-list)) ;; as a list
    (:documentation "Base class for plans that simply traverse dependencies")))
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;;;; Planned action status
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(with-upgradability ()
  (defgeneric plan-action-status (plan operation component)
    (:documentation "Returns the ACTION-STATUS associated to
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the action of OPERATION on COMPONENT in the PLAN"))

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  (defgeneric (setf plan-action-status) (new-status plan operation component)
    (:documentation "Sets the ACTION-STATUS associated to
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the action of OPERATION on COMPONENT in the PLAN"))

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  (defclass planned-action-status (action-status)
    ((planned-p
      :initarg :planned-p :reader action-planned-p
      :documentation "a boolean, true iff the action was included in the plan.")
     (index
      :initarg :index :reader action-index
      :documentation "an integer, counting all traversed actions in traversal order."))
    (:documentation "Status of an action in a plan"))

  (defmethod print-object ((status planned-action-status) stream)
    (print-unreadable-object (status stream :type t :identity nil)
      (with-slots (stamp done-p planned-p index) status
        (format stream "~@{~S~^ ~}" :stamp stamp :done-p done-p :planned-p planned-p :index index))))

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  (defmethod action-planned-p ((action-status t))
    t) ; default method for non planned-action-status objects
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  ;; TODO: either confirm there are no operation-original-initargs, eliminate NODE-FOR,
  ;; and use (CONS O C); or keep the operation initargs, and here use MAKE-OPERATION.
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  ;; However, see also component-operation-time and mark-operation-done
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  (defun node-for (o c)
    "Given operation O and component C, return an object to use as key in action-indexed tables."
    (cons (type-of o) c))
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  (defun action-already-done-p (plan operation component)
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    "According to this plan, is this action already done and up to date?"
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    (action-done-p (plan-action-status plan operation component)))

  (defmethod plan-action-status ((plan null) (o operation) (c component))
    (multiple-value-bind (stamp done-p) (component-operation-time o c)
      (make-instance 'action-status :stamp stamp :done-p done-p)))

  (defmethod (setf plan-action-status) (new-status (plan null) (o operation) (c component))
    (let ((to (type-of o))
          (times (component-operation-times c)))
      (if (action-done-p new-status)
          (remhash to times)
          (setf (gethash to times) (action-stamp new-status))))
    new-status))
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;;;; forcing
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(with-upgradability ()
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  (defgeneric action-forced-p (plan operation component)
    (:documentation "Is this action forced to happen in this plan?"))
  (defgeneric action-forced-not-p (plan operation component)
    (:documentation "Is this action forced to not happen in this plan?
Takes precedence over action-forced-p."))

  (defun normalize-forced-systems (force system)
    "Given a SYSTEM on which operate is called and the specified FORCE argument,
extract a hash-set of systems that are forced, or a predicate on system names,
or NIL if none are forced, or :ALL if all are."
    (etypecase force
      ((or (member nil :all) hash-table function) force)
      (cons (list-to-hash-set (mapcar #'coerce-name force)))
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      ((eql t) (when system (list-to-hash-set (list (coerce-name system)))))))

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  (defun normalize-forced-not-systems (force-not system)
    "Given a SYSTEM on which operate is called, the specified FORCE-NOT argument,
and the set of IMMUTABLE systems, extract a hash-set of systems that are effectively forced-not,
or predicate on system names, or NIL if none are forced, or :ALL if all are."
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    (let ((requested
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            (etypecase force-not
              ((or (member nil :all) hash-table function) force-not)
              (cons (list-to-hash-set (mapcar #'coerce-name force-not)))
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              ((eql t) (if system (let ((name (coerce-name system)))
                                    #'(lambda (x) (not (equal x name))))
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                           :all)))))
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      (if (and *immutable-systems* requested)
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          #'(lambda (x) (or (call-function requested x)
                            (call-function *immutable-systems* x)))
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          (or *immutable-systems* requested))))

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  ;; TODO: shouldn't we be looking up the primary system name, rather than the system name?
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  (defun action-override-p (plan operation component override-accessor)
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    "Given a plan, an action, and a function that given the plan accesses a set of overrides
(i.e. force or force-not), see if the override applies to the current action."
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    (declare (ignore operation))
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    (call-function (funcall override-accessor plan)
                   (coerce-name (component-system (find-component () component)))))
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  (defmethod action-forced-p (plan operation component)
    (and
     ;; Did the user ask us to re-perform the action?
     (action-override-p plan operation component 'plan-forced)
     ;; You really can't force a builtin system and :all doesn't apply to it,
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     ;; except if it's the specifically the system currently being built.
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     (not (let ((system (component-system component)))
            (and (builtin-system-p system)
                 (not (eq system (plan-system plan))))))))

  (defmethod action-forced-not-p (plan operation component)
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    ;; Did the user ask us to not re-perform the action?
    ;; NB: force-not takes precedence over force, as it should
    (action-override-p plan operation component 'plan-forced-not))
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  (defmethod action-forced-p ((plan null) (operation operation) (component component))
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    nil)

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  (defmethod action-forced-not-p ((plan null) (operation operation) (component component))
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    nil))
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;;;; action-valid-p
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(with-upgradability ()
  (defgeneric action-valid-p (plan operation component)
    (:documentation "Is this action valid to include amongst dependencies?"))
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  ;; :if-feature will invalidate actions on components for which the features don't apply.
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  (defmethod action-valid-p ((plan t) (o operation) (c component))
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    (if-let (it (component-if-feature c)) (featurep it) t))
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  ;; If either the operation or component was resolved to nil, the action is invalid.
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  (defmethod action-valid-p ((plan t) (o null) (c t)) nil)
  (defmethod action-valid-p ((plan t) (o t) (c null)) nil)
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  ;; If the plan is null, i.e., we're looking at reality,
  ;; then any action with actual operation and component objects is valid.
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  (defmethod action-valid-p ((plan null) (o operation) (c component)) t))
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;;;; Is the action needed in this image?
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(with-upgradability ()
  (defgeneric needed-in-image-p (operation component)
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    (:documentation "Is the action of OPERATION on COMPONENT needed in the current image
to be meaningful, or could it just as well have been done in another Lisp image?"))
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  (defmethod needed-in-image-p ((o operation) (c component))
    ;; We presume that actions that modify the filesystem don't need be run
    ;; in the current image if they have already been done in another,
    ;; and can be run in another process (e.g. a fork),
    ;; whereas those that don't are meant to side-effect the current image and can't.
    (not (output-files o c))))
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;;;; Visiting dependencies of an action and computing action stamps
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(with-upgradability ()
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  (defun (map-direct-dependencies) (plan operation component fun)
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    "Call FUN on all the valid dependencies of the given action in the given plan"
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    (loop* :for (dep-o-spec . dep-c-specs) :in (component-depends-on operation component)
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           :for dep-o = (find-operation operation dep-o-spec)
           :when dep-o
           :do (loop :for dep-c-spec :in dep-c-specs
                     :for dep-c = (and dep-c-spec (resolve-dependency-spec component dep-c-spec))
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                     :when (and dep-c (action-valid-p plan dep-o dep-c))
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                       :do (funcall fun dep-o dep-c))))
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  (defun (reduce-direct-dependencies) (plan operation component combinator seed)
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    "Reduce the direct dependencies to a value computed by iteratively calling COMBINATOR
for each dependency action on the dependency's operation and component and an accumulator
initialized with SEED."
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    (map-direct-dependencies
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     plan operation component
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     #'(lambda (dep-o dep-c)
         (setf seed (funcall combinator dep-o dep-c seed))))
    seed)

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  (defun (direct-dependencies) (plan operation component)
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    "Compute a list of the direct dependencies of the action within the plan"
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    (reduce-direct-dependencies plan operation component #'acons nil))
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  ;; In a distant future, get-file-stamp, component-operation-time and latest-stamp
  ;; shall also be parametrized by the plan, or by a second model object,
  ;; so they need not refer to the state of the filesystem,
  ;; and the stamps could be cryptographic checksums rather than timestamps.
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  ;; Such a change remarkably would only affect COMPUTE-ACTION-STAMP.
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  (defmethod compute-action-stamp (plan (o operation) (c component) &key just-done)
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    ;; Given an action, figure out at what time in the past it has been done,
    ;; or if it has just been done, return the time that it has.
    ;; Returns two values:
    ;; 1- the TIMESTAMP of the action if it has already been done and is up to date,
    ;;   or T is either hasn't been done or is out of date.
    ;; 2- the DONE-IN-IMAGE-P boolean flag that is T if the action has already been done
    ;;   in the current image, or NIL if it hasn't.
    ;; Note that if e.g. LOAD-OP only depends on up-to-date files, but
    ;; hasn't been done in the current image yet, then it can have a non-T timestamp,
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    ;; yet a NIL done-in-image-p flag: we can predict what timestamp it will have once loaded,
    ;; i.e. that of the input-files.
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    (nest
     (block ())
     (let ((dep-stamp ; collect timestamp from dependencies (or T if forced or out-of-date)
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             (reduce-direct-dependencies
              plan o c
              #'(lambda (o c stamp)
                  (if-let (it (plan-action-status plan o c))
                    (latest-stamp stamp (action-stamp it))
                    t))
              nil)))
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       ;; out-of-date dependency: don't bother expensively querying the filesystem
       (when (and (eq dep-stamp t) (not just-done)) (return (values t nil))))
     ;; collect timestamps from inputs, and exit early if any is missing
     (let* ((in-files (input-files o c))
            (in-stamps (mapcar #'get-file-stamp in-files))
            (missing-in (loop :for f :in in-files :for s :in in-stamps :unless s :collect f))
            (latest-in (stamps-latest (cons dep-stamp in-stamps))))
       (when (and missing-in (not just-done)) (return (values t nil))))
     ;; collect timestamps from outputs, and exit early if any is missing
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     (let* ((out-files (remove-if 'null (output-files o c)))
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            (out-stamps (mapcar (if just-done 'register-file-stamp 'get-file-stamp) out-files))
            (missing-out (loop :for f :in out-files :for s :in out-stamps :unless s :collect f))
            (earliest-out (stamps-earliest out-stamps)))
       (when (and missing-out (not just-done)) (return (values t nil))))
     (let* (;; There are three kinds of actions:
            (out-op (and out-files t)) ; those that create files on the filesystem
            ;;(image-op (and in-files (null out-files))) ; those that load stuff into the image
            ;;(null-op (and (null out-files) (null in-files))) ; placeholders that do nothing
            ;; When was the thing last actually done? (Now, or ask.)
            (op-time (or just-done (component-operation-time o c)))
            ;; Time stamps from the files at hand, and whether any is missing
            (all-present (not (or missing-in missing-out)))
            ;; Has any input changed since we last generated the files?
            (up-to-date-p (stamp<= latest-in earliest-out))
            ;; If everything is up to date, the latest of inputs and outputs is our stamp
            (done-stamp (stamps-latest (cons latest-in out-stamps))))
       ;; Warn if some files are missing:
       ;; either our model is wrong or some other process is messing with our files.
       (when (and just-done (not all-present))
         (warn "~A completed without ~:[~*~;~*its input file~:p~2:*~{ ~S~}~*~]~
                ~:[~; or ~]~:[~*~;~*its output file~:p~2:*~{ ~S~}~*~]"
               (action-description o c)
               missing-in (length missing-in) (and missing-in missing-out)
               missing-out (length missing-out))))
     ;; Note that we use stamp<= instead of stamp< to play nice with generated files.
     ;; Any race condition is intrinsic to the limited timestamp resolution.
     (if (or just-done ;; The done-stamp is valid: if we're just done, or
             ;; if all filesystem effects are up-to-date and there's no invalidating reason.
             (and all-present up-to-date-p (operation-done-p o c) (not (action-forced-p plan o c))))
         (values done-stamp ;; return the hard-earned timestamp
                 (or just-done
                     out-op ;; a file-creating op is done when all files are up to date
                     ;; a image-effecting a placeholder op is done when it was actually run,
                     (and op-time (eql op-time done-stamp)))) ;; with the matching stamp
         ;; done-stamp invalid: return a timestamp in an indefinite future, action not done yet
         (values t nil)))))
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;;;; Generic support for plan-traversal
(with-upgradability ()
  (defmethod initialize-instance :after ((plan plan-traversal)
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                                         &key force force-not system
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                                         &allow-other-keys)
    (with-slots (forced forced-not) plan
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      (setf forced (normalize-forced-systems force system))
      (setf forced-not (normalize-forced-not-systems force-not system))))
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  (defgeneric plan-actions (plan)
    (:documentation "Extract from a plan a list of actions to perform in sequence"))
  (defmethod plan-actions ((plan list))
    plan)

  (defmethod (setf plan-action-status) (new-status (p plan-traversal) (o operation) (c component))
    (setf (gethash (node-for o c) (plan-visited-actions p)) new-status))

  (defmethod plan-action-status ((p plan-traversal) (o operation) (c component))
    (or (and (action-forced-not-p p o c) (plan-action-status nil o c))
        (values (gethash (node-for o c) (plan-visited-actions p)))))
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  (defmethod action-valid-p ((p plan-traversal) (o operation) (s system))
    (and (not (action-forced-not-p p o s)) (call-next-method)))
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  (defgeneric plan-record-dependency (plan operation component)
    (:documentation "Record an action as a dependency in the current plan")))


;;;; Detection of circular dependencies
(with-upgradability ()
  (define-condition circular-dependency (system-definition-error)
    ((actions :initarg :actions :reader circular-dependency-actions))
    (:report (lambda (c s)
               (format s (compatfmt "~@<Circular dependency: ~3i~_~S~@:>")
                       (circular-dependency-actions c)))))

  (defgeneric call-while-visiting-action (plan operation component function)
    (:documentation "Detect circular dependencies"))
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  (defmethod call-while-visiting-action ((plan plan-traversal) operation component fun)
    (with-accessors ((action-set plan-visiting-action-set)
                     (action-list plan-visiting-action-list)) plan
      (let ((action (cons operation component)))
        (when (gethash action action-set)
          (error 'circular-dependency :actions
                 (member action (reverse action-list) :test 'equal)))
        (setf (gethash action action-set) t)
        (push action action-list)
        (unwind-protect
             (funcall fun)
          (pop action-list)
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          (setf (gethash action action-set) nil)))))

  ;; Syntactic sugar for call-while-visiting-action
  (defmacro while-visiting-action ((p o c) &body body)
    `(call-while-visiting-action ,p ,o ,c #'(lambda () ,@body))))
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;;;; Actual traversal: traverse-action
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(with-upgradability ()
  (defgeneric traverse-action (plan operation component needed-in-image-p))

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  ;; TRAVERSE-ACTION, in the context of a given PLAN object that accumulates dependency data,
  ;; visits the action defined by its OPERATION and COMPONENT arguments,
  ;; and all its transitive dependencies (unless already visited),
  ;; in the context of the action being (or not) NEEDED-IN-IMAGE-P,
  ;; i.e. needs to be done in the current image vs merely have been done in a previous image.
  ;; For actions that are up-to-date, it returns a STAMP identifying the state of the action
  ;; (that's timestamp, but it could be a cryptographic digest in some ASDF extension),
  ;; or T if the action needs to be done again.
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  ;;
  ;; Note that for an XCVB-like plan with one-image-per-file-outputting-action,
  ;; the below method would be insufficient, since it assumes a single image
  ;; to traverse each node at most twice; non-niip actions would be traversed only once,
  ;; but niip nodes could be traversed once per image, i.e. once plus once per non-niip action.
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  (defmethod traverse-action (plan operation component needed-in-image-p)
    (block nil
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      ;; ACTION-VALID-P among other things, handles forcing logic, including FORCE-NOT,
      ;; and IF-FEATURE filtering.
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      (unless (action-valid-p plan operation component) (return nil))
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      ;; the following hook is needed by POIU, which tracks a full dependency graph,
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      ;; instead of just a dependency order as in vanilla ASDF
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      (plan-record-dependency plan operation component)
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      ;; needed in image distinguishes b/w things that must happen in the
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      ;; current image and those things that simply need to have been done in a previous one.
      (let* ((aniip (needed-in-image-p operation component)) ; action-specific needed-in-image
             ;; effective niip: meaningful for the action and required by the plan as traversed
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             (eniip (and aniip needed-in-image-p))
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             ;; status: have we traversed that action previously, and if so what was its status?
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             (status (plan-action-status plan operation component)))
        (when (and status (or (action-done-p status) (action-planned-p status) (not eniip)))
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          (return (action-stamp status))) ; Already visited with sufficient need-in-image level!
        (labels ((visit-action (niip) ; We may visit the action twice, once with niip NIL, then T
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                   (map-direct-dependencies ; recursively traverse dependencies
                    plan operation component #'(lambda (o c) (traverse-action plan o c niip)))
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                   (multiple-value-bind (stamp done-p) ; AFTER dependencies have been traversed,
                       (compute-action-stamp plan operation component) ; compute action stamp
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                     (let ((add-to-plan-p (or (eql stamp t) (and niip (not done-p)))))
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                       (cond ; it needs be done if it's out of date or needed in image but absent
                         ((and add-to-plan-p (not niip)) ; if we need to do it,
                          (visit-action t)) ; then we need to do it *in the (current) image*!
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                         (t
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                          (setf (plan-action-status plan operation component) ; update status:
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                                (make-instance
                                 'planned-action-status
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                                 :stamp stamp ; computed stamp
                                 :done-p (and done-p (not add-to-plan-p)) ; done *and* up-to-date?
                                 :planned-p add-to-plan-p ; included in list of things to be done?
                                 :index (if status ; index of action amongst all nodes in traversal
                                            (action-index status) ;; if already visited, keep index
                                            (incf (plan-total-action-count plan))))) ; else new index
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                          (when (and done-p (not add-to-plan-p))
                            (setf (component-operation-time operation component) stamp))
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                          (when add-to-plan-p ; if it needs to be added to the plan,
                            (incf (plan-planned-action-count plan)) ; count it
                            (unless aniip ; if it's output-producing,
                              (incf (plan-planned-output-action-count plan)))) ; count it
                          stamp)))))) ; return the stamp
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          (while-visiting-action (plan operation component) ; maintain context, handle circularity.
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            (visit-action eniip))))))) ; visit the action
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;;;; Sequential plans (the default)
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(with-upgradability ()
  (defclass sequential-plan (plan-traversal)
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    ((actions-r :initform nil :accessor plan-actions-r))
    (:documentation "Simplest, default plan class, accumulating a sequence of actions"))
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  (defmethod plan-actions ((plan sequential-plan))
    (reverse (plan-actions-r plan)))
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  ;; No need to record a dependency to build a full graph, just accumulate nodes in order.
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  (defmethod plan-record-dependency ((plan sequential-plan) (o operation) (c component))
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    (values))
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  (defmethod (setf plan-action-status) :after
      (new-status (p sequential-plan) (o operation) (c component))
    (when (action-planned-p new-status)
      (push (cons o c) (plan-actions-r p)))))
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;;;; High-level interface: traverse, perform-plan, plan-operates-on-p
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(with-upgradability ()
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  (defgeneric make-plan (plan-class operation component &key &allow-other-keys)
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    (:documentation "Generate and return a plan for performing OPERATION on COMPONENT."))
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  (define-convenience-action-methods make-plan (plan-class operation component &key))

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  (defgeneric perform-plan (plan &key)
    (:documentation "Actually perform a plan and build the requested actions"))
  (defgeneric plan-operates-on-p (plan component)
    (:documentation "Does this PLAN include any operation on given COMPONENT?"))
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  (defvar *default-plan-class* 'sequential-plan
    "The default plan class to use when building with ASDF")
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  (defmethod make-plan (plan-class (o operation) (c component) &rest keys &key &allow-other-keys)
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    (let ((plan (apply 'make-instance (or plan-class *default-plan-class*)
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                       :system (component-system c) keys)))
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      (traverse-action plan o c t)
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      plan))
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  (defmethod perform-plan :around ((plan t) &key)
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    #+xcl (declare (ignorable plan))
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    (let ((*package* *package*)
          (*readtable* *readtable*))
      (with-compilation-unit () ;; backward-compatibility.
        (call-next-method))))   ;; Going forward, see deferred-warning support in lisp-build.
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  (defmethod perform-plan ((plan t) &rest keys &key &allow-other-keys)
    (apply 'perform-plan (plan-actions plan) keys))

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  (defmethod perform-plan ((steps list) &key force &allow-other-keys)
    (loop* :for (o . c) :in steps
           :when (or force (not (nth-value 1 (compute-action-stamp nil o c))))
           :do (perform-with-restarts o c)))
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  (defmethod plan-operates-on-p ((plan plan-traversal) (component-path list))
    (plan-operates-on-p (plan-actions plan) component-path))

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  (defmethod plan-operates-on-p ((plan list) (component-path list))
    (find component-path (mapcar 'cdr plan)
          :test 'equal :key 'component-find-path)))
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;;;; Incidental traversals
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;;; Making a FILTERED-SEQUENTIAL-PLAN can be used to, e.g., all of the source
;;; files required by a bundling operation.
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(with-upgradability ()
  (defclass filtered-sequential-plan (sequential-plan)
    ((action-filter :initform t :initarg :action-filter :reader plan-action-filter)
     (component-type :initform t :initarg :component-type :reader plan-component-type)
     (keep-operation :initform t :initarg :keep-operation :reader plan-keep-operation)
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     (keep-component :initform t :initarg :keep-component :reader plan-keep-component))
    (:documentation "A variant of SEQUENTIAL-PLAN that only records a subset of actions."))
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  (defmethod initialize-instance :after ((plan filtered-sequential-plan)
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                                         &key force force-not
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                                         other-systems)
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    (declare (ignore force force-not))
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    ;; Ignore force and force-not, rely on other-systems:
    ;; force traversal of what we're interested in, i.e. current system or also others;
    ;; force-not traversal of what we're not interested in, i.e. other systems unless other-systems.
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    (with-slots (forced forced-not action-filter system) plan
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      (setf forced (normalize-forced-systems (if other-systems :all t) system))
      (setf forced-not (normalize-forced-not-systems (if other-systems nil t) system))
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      (setf action-filter (ensure-function action-filter))))

  (defmethod action-valid-p ((plan filtered-sequential-plan) o c)
    (and (funcall (plan-action-filter plan) o c)
         (typep c (plan-component-type plan))
         (call-next-method)))

  (defmethod traverse-actions (actions &rest keys &key plan-class &allow-other-keys)
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    "Given a list of actions, build a plan with these actions as roots."
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    (let ((plan (apply 'make-instance (or plan-class 'filtered-sequential-plan) keys)))
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      (loop* :for (o . c) :in actions :do (traverse-action plan o c t))
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      plan))
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  (define-convenience-action-methods traverse-sub-actions (operation component &key))
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  (defmethod traverse-sub-actions ((operation operation) (component component)
                                   &rest keys &key &allow-other-keys)
    (apply 'traverse-actions (direct-dependencies t operation component)
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           :system (component-system component) keys))

  (defmethod plan-actions ((plan filtered-sequential-plan))
    (with-slots (keep-operation keep-component) plan
      (loop* :for (o . c) :in (call-next-method)
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             :when (and (typep o keep-operation) (typep c keep-component))
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             :collect (cons o c))))

  (defmethod required-components (system &rest keys &key (goal-operation 'load-op) &allow-other-keys)
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    "Given a SYSTEM and a GOAL-OPERATION (default LOAD-OP), traverse the dependencies and
return a list of the components involved in building the desired action."
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    (remove-duplicates
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     (mapcar 'cdr (plan-actions
                   (apply 'traverse-sub-actions goal-operation system
                          (remove-plist-key :goal-operation keys))))
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     :from-end t)))
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