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 GenPrint
  18 import Generics.gCons
  19 import Generics.gdynamic
  20
  21 import iTasks
  22
  23 import iTasks._Framework.Generic
  24 from iTasks._Framework.Task import :: Task
  25 import StdClass
  26 import GenEq, StdMisc, StdArray
  27
  28 import mTaskCode, mTaskSimulation, mTaskInterpret
  29 import mTaskSerial, mTaskLCD
  30
  31 // =================== mTask ===================
  32
  33
  34 // ----- dsl definition ----- //
  35
  36 :: DigitalPin
  37    = D0 | D1 | D2 | D3 | D4 | D5 |D6 | D7 | D8 | D9 | D10 | D11 | D12 | D13
  38 :: AnalogPin = A0 | A1 | A2 | A3 | A4 | A5
  39 :: UserLED = LED1 | LED2 | LED3
  40 :: PinMode   = INPUT | OUTPUT | INPUT_PULLUP
  41 :: Pin     = Digital DigitalPin | Analog AnalogPin
  42
  43 class pin p | type, == p where
  44   pin :: p -> Pin
  45 instance pin DigitalPin
  46 instance pin AnalogPin
  47
  48 :: Upd   = Upd
  49 :: Expr  = Expr
  50 :: Stmt  = Stmt
  51 :: MTask = MTask Int // String
  52
  53 class isExpr a :: a -> Int
  54 instance isExpr Upd
  55 instance isExpr Expr
  56
  57 class isStmt a :: a -> Int
  58 instance isStmt Upd
  59 instance isStmt Expr
  60 instance isStmt Stmt
  61
  62 instance == MTask
  63
  64 :: Main a = {main :: a}
  65
  66 unMain :: (Main x) -> x
  67
  68 class arith v where
  69   lit :: t -> v t Expr | toCode t & toByteCode t
  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 6 :: (v t p) (v t q) -> v t Expr | type, -, zero t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  72   (*.) infixl 7 :: (v t p) (v t q) -> v t Expr | type, *, zero, one t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  73   (/.) infixl 7 :: (v t p) (v t q) -> v t Expr | type, / t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  74 class boolExpr v where
  75   (&.) infixr 3 :: (v Bool p) (v Bool q) -> v Bool Expr | isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  76   (|.) infixr 2 :: (v Bool p) (v Bool q) -> v Bool Expr | isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  77   Not           :: (v Bool p) -> v Bool Expr | isExpr p //& toExpr2 p
  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 | ==, 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   (>=.) infix 4 :: (v a p) (v a q) -> v Bool Expr | <, Ord,  toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
  84 // using functional dependencies
  85 class If v q r ~s where
  86   If :: (v Bool p) (v t q) (v t r) -> v t s | isExpr p & type t
  87 class IF v where
  88   IF :: (v Bool p) (v t q) (v s r) -> v () Stmt | isExpr p
  89   (?) infix 1 :: (v Bool p) (v t q) -> v () Stmt | isExpr p
  90 class var2 v where
  91   var2 :: t ((v t Upd)->(Main (v c s))) -> (Main (v c s)) | type, toCode t
  92   con2 :: t ((v t Expr)  ->(Main (v c s))) -> (Main (v c s)) | type t
  93 class sds v where
  94   sds :: ((v t Upd)->In t (Main (v c s))) -> (Main (v c s)) | type, toByteCode, toCode t
  95   con :: ((v t Expr)  ->In t (Main (v c s))) -> (Main (v c s)) | type t
  96   pub :: (v t Upd) -> v t Expr | type t
  97 class seq v where
  98   (>>=.) infixr 0 :: (v t p) ((v t Expr) -> (v u q)) -> (v u Stmt) | type t & type u
  99   (:.) infixr 0 :: (v t p) (v u q) -> v u Stmt | type t & type u
 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 :: UserLED -> (v () Stmt)
 137         ledOff :: UserLED -> (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 String
 159 instance type2string ()
 160 class varName a :: a -> String
 161 instance varName Int
 162 instance varName Long
 163 instance varName Bool
 164 instance varName Char
 165 instance varName Real
 166 instance varName x
 167
 168 class dsl t | arith, boolExpr, sds, assign, seq t
 169
 170 :: SV t = SV String
 171
 172 class showType2 t :: SV t
 173 instance showType2 ()
 174 instance showType2 Int
 175 instance showType2 Char
 176 instance showType2 Bool
 177 instance showType2 a
 178
 179 class showType t | showType2 /*, type*/ t :: (Code t p)
 180 instance showType ()
 181 instance showType Int
 182 instance showType Long
 183 instance showType Char
 184 instance showType Bool
 185 instance showType a
 186
 187 class typeSelector t | showType2, type t :: (Code t p)
 188 instance typeSelector Int
 189 instance typeSelector Char
 190 instance typeSelector Bool
 191 instance typeSelector a
 192
 193 :: In a b = In infix 0 a b
 194
 195 read` :: Int (ReadWrite a) State` -> (a,State`) | dyn a
 196
 197 // ----- long ----- //
 198
 199 :: Long = L Int // 32 bit on Arduino
 200 instance + Long
 201 instance - Long
 202 instance * Long
 203 instance / Long
 204 instance == Long
 205 instance one Long
 206 instance zero Long
 207
 208 class long v t :: (v t p) -> v Long Expr | isExpr p
 209 instance long Code Int
 210 instance long Code Long
 211 instance long Eval Int
 212 instance long Eval Long
 213
 214 // ----- tools ----- //
 215
 216 derive gPrint Pin, Button, UserLED, AnalogPin, DigitalPin, PinMode
 217 derive class gCons Pin, Button, UserLED, AnalogPin, DigitalPin, PinMode
 218
 219 instance == DigitalPin
 220 instance == 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