mTask.dcl

   1 definition module mTask
   2
   3 /*
   4     Pieter Koopman pieter@cs.ru.nl
   5     Final version for TFP2016
   6
   7     -2: assignment =. suited for digital and analog input and output
   8     -3: ad hoc tasks
   9
  10 todo:
  11         move task-loop ti setup()
  12         adhoc tasks
  13         task combinators
  14         imporove setp: >>*.
  15 */
  16
  17 //import iTasks
  18 //
  19 //import iTasks._Framework.Generic
  20 //from iTasks._Framework.Task import :: Task
  21 import StdClass
  22 import GenEq, StdMisc, StdArray
  23
  24 import mTaskCode, mTaskSimulation, mTaskInterpret
  25 //import mTaskCode, mTaskInterpret
  26 import mTaskSerial, mTaskLCD
  27
  28 // =================== mTask ===================
  29
  30
  31 // ----- dsl definition ----- //
  32
  33 :: DigitalPin
  34    = D0 | D1 | D2 | D3 | D4 | D5 |D6 | D7 | D8 | D9 | D10 | D11 | D12 | D13
  35 :: AnalogPin = A0 | A1 | A2 | A3 | A4 | A5
  36 :: UserLED = LED1 | LED2 | LED3
  37 :: PinMode   = INPUT | OUTPUT | INPUT_PULLUP
  38 :: Pin     = Digital DigitalPin | Analog AnalogPin
  39
  40 class pin p | type, == p where
  41   pin :: p -> Pin
  42 instance pin DigitalPin
  43 instance pin AnalogPin
  44
  45 :: Upd   = Upd
  46 :: Expr  = Expr
  47 :: Stmt  = Stmt
  48 :: MTask = MTask Int // String
  49
  50 class isExpr a :: a -> Int
  51 instance isExpr Upd
  52 instance isExpr Expr
  53
  54 class isStmt a :: a -> Int
  55 instance isStmt Upd
  56 instance isStmt Expr
  57 instance isStmt Stmt
  58
  59 instance == MTask
  60
  61 :: Main a = {main :: a}
  62
  63 unMain :: (Main x) -> x
  64
  65 class arith v where
  66   lit :: t -> v t Expr | toCode t & mTaskType t
  67   (+.) infixl 6 :: (v t p) (v t q) -> v t Expr | type, +, zero t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  68   (-.) infixl 6 :: (v t p) (v t q) -> v t Expr | type, -, zero t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  69   (*.) infixl 7 :: (v t p) (v t q) -> v t Expr | type, *, zero, one t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  70   (/.) infixl 7 :: (v t p) (v t q) -> v t Expr | type, /, zero t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  71 class boolExpr v where
  72   (&.) infixr 3 :: (v Bool p) (v Bool q) -> v Bool Expr | isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  73   (|.) infixr 2 :: (v Bool p) (v Bool q) -> v Bool Expr | isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  74   Not           :: (v Bool p) -> v Bool Expr | isExpr p //& toExpr2 p
  75   (==.) infix 4 :: (v a p) (v a q) -> v Bool Expr | ==, toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  76   (!=.) infix 4 :: (v a p) (v a q) -> v Bool Expr | ==, toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  77   (<.)  infix 4 :: (v a p) (v a q) -> v Bool Expr | <, Ord,  toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  78   (>.)  infix 4 :: (v a p) (v a q) -> v Bool Expr | <, Ord,  toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  79   (<=.) infix 4 :: (v a p) (v a q) -> v Bool Expr | <, Ord,  toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  80   (>=.) infix 4 :: (v a p) (v a q) -> v Bool Expr | <, Ord,  toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  81 // using functional dependencies
  82 class If v q r ~s where
  83   If :: (v Bool p) (v t q) (v t r) -> v t s | isExpr p & type t
  84 class IF v where
  85   IF :: (v Bool p) (v t q) (v s r) -> v () Stmt | isExpr p
  86   (?) infix 1 :: (v Bool p) (v t q) -> v () Stmt | isExpr p
  87 class var2 v where
  88   var2 :: t ((v t Upd)->(Main (v c s))) -> (Main (v c s)) | type, toCode t
  89   con2 :: t ((v t Expr)  ->(Main (v c s))) -> (Main (v c s)) | type t
  90 class sds v where
  91   sds :: ((v t Upd)->In t (Main (v c s))) -> (Main (v c s)) | type, mTaskType, toCode t
  92   con :: ((v t Expr)  ->In t (Main (v c s))) -> (Main (v c s)) | type t
  93 class sdspub v where
  94   pub :: (v t Upd) -> v t Expr | type t
  95 class seq v where
  96   (>>=.) infixr 0 :: (v t p) ((v t Expr) -> (v u q)) -> (v u Stmt) | type t & type u
  97   (:.) infixr 0 :: (v t p) (v u q) -> v u Stmt | type t & type u
  98 class retrn v where
  99   retrn :: v () Expr
 100 class step` v where
 101     (>>*.) infixl 1 :: (v t p) ((v t Expr) -> [Step v u]) -> v u Stmt | type t & type u
 102 :: Step v t = E.p.q: Cond (v Bool q) (v t p) | E.p: Ever (v t p)
 103 class assign v where
 104   (=.) infixr 2 :: (v t Upd) (v t p) -> v t Expr | type t & isExpr p
 105 class fun v t where
 106   fun :: ((t->v s Expr)->In (t->v s p) (Main (v u q))) -> Main (v u q) | type s
 107 class mtask v a where
 108   task :: (((v delay r) a->v MTask Expr)->In (a->v u p) (Main (v t q))) -> Main (v t q) | type t & type u & isExpr r & long v delay
 109 class lag v where
 110   lag :: (v delay r) (v t p) -> v MTask Expr | type t & long v delay
 111 class setDelay v where
 112   setDelay :: (v Long p) (v MTask Expr) -> (v MTask Expr) | isExpr p
 113 class mtasks v a b where
 114   tasks :: (((v delay r1) a->v MTask Expr, (v delay r2) b->v MTask Expr)->In (a->v t p, b->v u p) (Main (v s q))) -> Main (v s q) | type s & isExpr r1 & isExpr r2 & long v delay
 115 class output v where
 116   output :: (v t p) -> v () Expr | type t & isExpr p
 117 class noOp v where noOp :: v t p
 118
 119 class pinMode v where
 120   pinmode :: p PinMode -> v () Expr | pin p
 121 class digitalIO v where
 122   digitalRead  :: p -> v Bool Expr | pin, readPinD p
 123   digitalWrite :: p (v Bool q) -> v Bool Expr | pin, writePinD  p
 124 class analogIO v where
 125   analogRead  :: AnalogPin -> v Int Expr
 126   analogWrite :: AnalogPin (v Int p) -> v Int Expr
 127 class dIO v where
 128     dIO :: p -> v Bool Upd | pin, readPinD p
 129 class aIO v where
 130     aIO :: AnalogPin -> v Int Upd
 131 class time v where
 132   delay  :: (v Long p) -> (v Long Expr)
 133   millis ::         (v Long Expr)
 134
 135 class userLed v where
 136   ledOn :: (v UserLED q) -> (v () Stmt)
 137   ledOff :: (v UserLED q) -> (v () Stmt)
 138
 139 class pio p t where pio :: p -> v t Upd | aIO v & dIO v
 140 instance pio AnalogPin Int
 141 instance pio AnalogPin Bool
 142 instance pio DigitalPin Bool
 143
 144 int :: (v Int p) -> (v Int p)
 145 bool :: (v Bool p) -> (v Bool p)
 146 char :: (v Char p) -> (v Char p)
 147
 148 class type t | showType, dyn, toCode, ==, type2string, varName t
 149 class type2string t :: t -> String
 150 instance type2string Int
 151 instance type2string Long
 152 instance type2string Real
 153 instance type2string Bool
 154 instance type2string Char
 155 instance type2string MTask
 156 instance type2string DigitalPin
 157 instance type2string AnalogPin
 158 instance type2string UserLED
 159 instance type2string String
 160 instance type2string ()
 161 class varName a :: a -> String
 162 instance varName Int
 163 instance varName Long
 164 instance varName Bool
 165 instance varName Char
 166 instance varName Real
 167 instance varName x
 168
 169 class dsl t | arith, boolExpr, sds, assign, seq t
 170
 171 :: SV t = SV String
 172
 173 class showType2 t :: SV t
 174 instance showType2 ()
 175 instance showType2 Int
 176 instance showType2 Char
 177 instance showType2 Bool
 178 instance showType2 a
 179
 180 class showType t | showType2 /*, type*/ t :: (Code t p)
 181 instance showType ()
 182 instance showType Int
 183 instance showType Long
 184 instance showType Char
 185 instance showType Bool
 186 instance showType a
 187
 188 class typeSelector t | showType2, type t :: (Code t p)
 189 instance typeSelector Int
 190 instance typeSelector Char
 191 instance typeSelector Bool
 192 instance typeSelector a
 193
 194 :: In a b = In infix 0 a b
 195
 196 read` :: Int (ReadWrite a) State` -> (a,State`) | dyn a
 197
 198 // ----- long ----- //
 199
 200 :: Long = L Int // 32 bit on Arduino
 201 instance + Long
 202 instance - Long
 203 instance * Long
 204 instance / Long
 205 instance == Long
 206 instance one Long
 207 instance zero Long
 208
 209 class long v t :: (v t p) -> v Long Expr | isExpr p
 210 instance long Code Int
 211 instance long Code Long
 212 instance long Eval Int
 213 instance long Eval Long
 214
 215 // ----- tools ----- //
 216
 217 instance == DigitalPin
 218 instance == AnalogPin
 219 instance == UserLED
 220
 221 tab =: toString (repeatn tabSize ' ')
 222 tabSize :== 2
 223
 224 instance toString ()
 225
 226 a0 :== pio A0
 227 a1 :== pio A1
 228 a2 :== pio A2
 229 a3 :== pio A3
 230 a4 :== pio A4
 231 a5 :== pio A5
 232
 233 d0 :== pio D0
 234 d1 :== pio D1
 235 d2 :== pio D2
 236 d3 :== pio D3
 237 d4 :== pio D4
 238 d5 :== pio D5
 239 d6 :== pio D6
 240 d7 :== pio D7
 241 d8 :== pio D8
 242 d9 :== pio D9
 243 d10 :== pio D10
 244 d11 :== pio D11
 245 d12 :== pio D12
 246 d13 :== pio D13