mTaskSimulation.icl

   1 implementation module mTaskSimulation
   2
   3 import iTasks
   4 import gdynamic, gCons, GenEq, StdMisc, StdArray
   5 import mTask
   6
   7 eval :: (Main (Eval t p)) -> [String] | toString t
   8 eval {main=(E f)} = [toString (fst (f Rd zero))]
   9
  10 :: State =
  11   { tasks :: [(Int, State->State)]
  12   , store :: [Dyn]
  13   , dpins :: [(DigitalPin, Bool)]
  14   , apins :: [(AnalogPin, Int)]
  15   , serial:: [String]
  16   , millis:: Int
  17   }
  18
  19 instance zero State where
  20         zero = {store = [], tasks = [], serial = [], millis = 0, dpins = [] , apins = []}
  21
  22 //:: TaskSim :== (Int, State->State)
  23 :: Eval t p = E ((ReadWrite t) State -> (t, State))
  24 toS2S :: (Eval t p) -> (State->State)
  25 toS2S (E f) = \state.snd (f Rd state)
  26
  27 unEval :: (Eval t p) -> ((ReadWrite t) State -> (t, State))
  28 unEval (E f) = f
  29
  30 :: ReadWrite t = Rd | Wrt t | Updt (t->t)
  31
  32 (>>==) infixl 1 :: (Eval a p) (a -> Eval b q) -> Eval b r
  33 //(>>== ) (E f) g = E \r s. let (a, s2) = f Rd s; (E h) = g a in h Rd s2
  34 (>>==) (E f) g = E\r s.let (a,t) = f Rd s in unEval (g a) Rd t
  35
  36 rtrn :: t -> Eval t p
  37 rtrn a = E \r s -> (a, s)
  38
  39 yield :: t (Eval s p) -> Eval t Expr
  40 //yield a (E f) = E (\r s.(\(_,t).(a,t)) (f r s))
  41 yield a (E f) = E \r s.(a,snd (f Rd s))
  42
  43 instance arith Eval where
  44   lit a = rtrn a
  45   (+.) x y = x >>==  \a. y >>==  \b. rtrn (a + b)
  46   (-.) x y = x >>==  \a. y >>==  \b. rtrn (a - b)
  47   (*.) x y = x >>==  \a. y >>==  \b. rtrn (a * b)
  48   (/.) x y = x >>==  \a. y >>==  \b. rtrn (a / b)
  49 instance boolExpr Eval where
  50   (&.) x y = x >>==  \a. if a y (rtrn False) // lazy AND
  51   (|.) x y = x >>==  \a. if a (rtrn True) (y >>==  rtrn)
  52   Not x   = x >>==  \a. rtrn (not a)
  53   (==.) x y = x >>==  \a. y >>==  \b. rtrn (a == b)
  54   (!=.) x y = x >>==  \a. y >>==  \b. rtrn (a <> b)
  55   (<.)  x y = x >>==  \a. y >>==  \b. rtrn (a < b)
  56   (>.)  x y = x >>==  \a. y >>==  \b. rtrn (a > b)
  57   (<=.)  x y = x >>==  \a. y >>==  \b. rtrn (a <= b)
  58   (>=.)  x y = x >>==  \a. y >>==  \b. rtrn (a >= b)
  59 instance If Eval p q Expr where
  60   If  c t e = c >>==  \b.if b (toExpr t) (toExpr e)
  61 instance IF Eval where
  62   IF  c t e = c >>==  \b.if b (yield () t) (yield () e)
  63   (?) c t   = c >>==  \b.if b (yield () t) (rtrn ())
  64 instance var2 Eval where
  65   var2 v f = defEval2 v f
  66   con2 v f = defEval2 v f
  67
  68 defEval2 :: t ((Eval t p)->Main (Eval u q)) -> (Main (Eval u q)) | dyn t
  69 defEval2 v f =
  70   {main = E (\r s.(length s.store
  71           , {s & store = s.store ++ [toDyn v]}))
  72   >>==  \n.unMain (f (E (read` n)))}
  73 instance sds Eval where
  74   sds f = defEval f
  75   con f = defEval f
  76
  77 defEval :: ((Eval t p)->In t (Main (Eval u q))) -> (Main (Eval u q)) | dyn t
  78 defEval f =
  79   {main = E \r s.let (v In g) = f (E (read` (length s.store))) in
  80           unEval (unMain g) r {s & store = s.store ++ [toDyn v]}}
  81 instance fun Eval x | arg x where
  82   fun f = e where (g In e) = f (\a.toExpr (g a))
  83 instance mtask Eval x | arg x where
  84  task f = e where
  85   (t In e) = f (\d a.long d >>== \(L i).E\r s.(MTask (length s.tasks),{s&tasks=[(i,toS2S (t a)):s.tasks]}))
  86 instance mtasks Eval x y | arg x & arg y where
  87  tasks f = e where
  88   ((t,u) In e) =
  89    f ((\d a.long d >>== \(L i).E\r s.(MTask (length s.tasks),{s&tasks=[(i,toS2S (t a)):s.tasks]}))
  90    ,(\d b.long d >>== \(L j).E\r s.(MTask (length s.tasks),{s&tasks=[(j,toS2S (u b)):s.tasks]}))
  91    )
  92 instance setDelay Eval where
  93   setDelay d t = d >>==  \(L x). t >>==  \(MTask n).E \r s.(MTask n,{s & tasks = updateAt n (x,snd (s.tasks !! n)) s.tasks})
  94 class toExpr v where toExpr :: (v t p) -> v t Expr
  95 instance toExpr Eval where toExpr (E f) = E f
  96 instance toExpr Code where toExpr (C f) = C f
  97 instance seq Eval where
  98   (>>=.) x f = x >>==   f o rtrn
  99   (:.) x y = x >>==  \_. y
 100 instance assign Eval where
 101   (=.) (E v) e = e >>==  \a. E \r s.v (Wrt a) s
 102 instance output Eval where
 103   output x = x >>==  \a.E \r s.((),{s & serial = s.serial ++ [toCode a]})
 104 instance pinMode Eval where
 105   pinmode p m = rtrn ()
 106 instance digitalIO Eval where
 107   digitalRead  p   = E \rw s=:{dpins, apins}.(readPinD p dpins apins, s)
 108   digitalWrite p b = b >>== \a. E \rw s.(a, writePinD p a s)
 109 instance analogIO Eval where
 110   analogRead  p   = E \rw s=:{apins}. (readPinA p apins, s)
 111   analogWrite p b = b >>== \a. E \rw s.(a, writePinA p a s)
 112 instance noOp Eval where noOp = E \r s.(undef,s)
 113
 114 class arg x :: x -> Int
 115 instance arg () where arg _ = 0
 116 instance arg (Eval t p) | type t where arg _ = 1
 117 instance arg (Eval t p, Eval u q) | type t & type u where arg _ = 2
 118 instance arg (Eval t p, Eval u q, Eval v r) | type t & type u & type v where arg _ = 3
 119 instance arg (Eval t p, Eval u q, Eval v r, Eval w s) | type t & type u & type v where arg _ = 4
 120
 121 instance + String where (+) x y = x +++ y
 122
 123 readPinA :: AnalogPin [(AnalogPin, Int)] -> Int
 124 readPinA p lista
 125   = case [b \\ (q, b) <- lista | p == q] of
 126   []  = 0
 127   [a:x] = a
 128
 129 writePinA :: AnalogPin Int State -> State
 130 writePinA p x s
 131   = {s & apins = [(p, x):[(q, y) \\ (q, y) <- s.apins | p <> q]]}
 132
 133 class readPinD p :: p [(DigitalPin,Bool)] [(AnalogPin,Int)] -> Bool
 134 instance readPinD DigitalPin where
 135   readPinD p listd lista
 136   = case [b \\ (q,b) <- listd | p == q] of
 137     [] = False
 138     [a:x] = a
 139 instance readPinD AnalogPin where
 140   readPinD p listd lista
 141   = case [b \\ (q,b) <- lista | p == q] of
 142     [] = False
 143     [a:x] = a <> 0
 144 class writePinD p :: p Bool State -> State
 145 instance writePinD DigitalPin where
 146   writePinD p b s=:{dpins} = {s & dpins = [(p, b):[(q, c) \\ (q, c) <- dpins | p <> q]]}
 147 instance writePinD AnalogPin where
 148   writePinD p b s=:{apins} = {s & apins = [(p, if b 1 0):[(q, c) \\ (q, c) <- apins | p <> q]]}
 149
 150
 151 // ----- Interactive Simulation ----- //
 152
 153 derive class iTask DigitalPin, AnalogPin, Dyn, StateInterface, DisplayVar, Pin
 154
 155 simulate :: (Main (Eval a p)) -> Task ()
 156 simulate {main=(E f)} = setup zero where
 157   setup s =
 158           updateInformation "State" [] (toView s)
 159           >>* [ OnAction ActionFinish (always shutDown)
 160             , OnAction (Action "setup" []) (hasValue
 161               (\si.simloop (snd (f Rd (mergeView s si)))))
 162             ]
 163   simloop s =
 164           updateInformation "State" [] (toView s)
 165           >>* [ OnAction ActionFinish (always shutDown)
 166             , OnAction (Action "clear serial" []) (always (simloop {s & serial = []}))
 167             , OnAction ActionNew (always (setup zero))
 168             : if (isEmpty s.tasks)
 169                 []
 170                 [OnAction (Action "loop" []) (hasValue
 171               \si.simloop (step` (mergeView s si)))
 172               ]
 173             ]
 174
 175 toView :: State -> StateInterface
 176 toView s =
 177   { serialOut = Display s.serial
 178   , analogPins = s.apins
 179   , digitalPins = s.dpins
 180   , var2iables = map toDisplayVar s.store
 181   , timer = s.millis
 182   , taskCount = Display (length s.tasks)
 183   }
 184
 185 mergeView :: State StateInterface -> State
 186 mergeView s si =
 187   { s
 188   & store = [fromDisplayVar new old \\ new <- si.var2iables & old <- s.store]
 189   , dpins = si.digitalPins
 190   , apins = si.analogPins
 191 //  , serial = si.serialOut
 192   , millis = si.timer
 193   }
 194
 195 :: StateInterface =
 196   { serialOut   :: Display [String]
 197   , analogPins  :: [(AnalogPin, Int)]
 198   , digitalPins :: [(DigitalPin, Bool)]
 199   , var2iables   :: [DisplayVar]
 200   , timer     :: Int
 201   , taskCount   :: Display Int
 202   }
 203
 204 toDisplayVar :: Dyn -> DisplayVar
 205 toDisplayVar (Dyn [v])
 206     # i = toInt v
 207     | toString i == v
 208         = INT i
 209         = Variable v
 210 toDisplayVar (Dyn ["L",v]) = LONG (toInt v)
 211 toDisplayVar (Dyn ["Servo",pinKind,pin,pos]) = Servo (fromJust (fromDyn (Dyn [pinKind,pin]))) (toInt pos)
 212 toDisplayVar (Dyn ["LCD",_,_,_,_,_,l1,_,l2,_]) = LCD16x2 l1 l2
 213 toDisplayVar (Dyn l) = DisplayVar l
 214
 215 fromDisplayVar :: DisplayVar Dyn -> Dyn
 216 fromDisplayVar (Variable v)  dyn = Dyn [v]
 217 fromDisplayVar (INT v)     dyn = Dyn [toString v]
 218 fromDisplayVar (LONG v)    dyn = Dyn ["L",toString v]
 219 fromDisplayVar (Servo pin pos) dyn = Dyn (["Servo":let (Dyn p) = toDyn pin in p] ++ [toString pos])
 220 fromDisplayVar (LCD16x2 l1 l2) (Dyn list) = Dyn (updateAt 6 l1 (updateAt 8 l2 list))
 221 fromDisplayVar (DisplayVar l)  dyn = Dyn l
 222
 223 :: DisplayVar
 224     = Variable String
 225     | INT Int
 226     | LONG Int
 227     | Servo Pin Int
 228     | LCD16x2 String String
 229     | DisplayVar [String]
 230
 231
 232 step` :: State -> State
 233 step` s =
 234   foldr appTask {s & millis = s.millis + delta, tasks = []}
 235     [(w - delta, f) \\ (w, f) <- s.tasks]
 236 where delta = foldl1 min (map fst s.tasks) // smallest wait
 237
 238 appTask t=:(w,f) s | w <= 0
 239   = f s
 240   = {s & tasks = [t:s.tasks]}
 241
 242 foldl1 op [a:x] = foldl op a x
 243 foldr1 op l :== foldr l
 244   where
 245     foldr [a]     = a
 246     foldr [a:x] = op a (foldr x)
 247
 248 class stringQuotes t | type t :: (Code t p) -> Code t p
 249 instance stringQuotes String where stringQuotes x = c "\"" +.+ x +.+ c "\""
 250 instance stringQuotes t    where stringQuotes x = x
 251
 252
 253 derive   toGenDynamic (), MTask, DigitalPin, AnalogPin, Pin, [], Long//, Servo
 254 derive fromGenDynamic (), MTask, DigitalPin, AnalogPin, Pin, [], Long//, Servo
 255 instance ==   () where (==) _ _ = True
 256
 257
 258