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