miTask.icl

   1 module miTask
   2
   3 import StdDebug, StdMisc
   4 from StdFunc import flip
   5
   6 import iTasks
   7 import mTask
   8
   9 from Text import class Text(startsWith,concat,split,join), instance Text String
  10
  11 import Data.Tuple
  12 import System.Directory
  13
  14 import iTasks.UI.Definition
  15
  16 import iTasks._Framework.TaskState
  17 import iTasks._Framework.TaskServer
  18 import iTasks._Framework.IWorld
  19 import iTasks._Framework.Store
  20
  21 import TTY
  22
  23 derive class iTask Queue, TTYSettings, Parity, BaudRate, ByteSize
  24 derive class iTask MTaskMSGRecv, MTaskMSGSend
  25
  26 :: *Resource | TTYd !*TTY
  27
  28 Start :: *World -> *World
  29 Start world = startEngine (withShared ([], False, [], False) mTaskTask) world
  30 //Start world = startEngine mTaskTask world
  31 //
  32 deviceSelectorNetwork :: Task (Int, String)
  33 deviceSelectorNetwork = enterInformation "Port Number?" []
  34         -&&- enterInformation "Network address" []
  35
  36 deviceSelectorSerial :: Task (String, TTYSettings)
  37 deviceSelectorSerial = accWorld getDevices
  38         >>= \dl->(enterChoice "Device" [] dl -&&- deviceSettings)
  39         where
  40                 deviceSettings = updateInformation "Settings" [] zero
  41
  42                 getDevices :: !*World -> *(![String], !*World)
  43                 getDevices w = case readDirectory "/dev" w of
  44                         (Error (errcode, errmsg), w) = abort errmsg
  45                         (Ok entries, w) = (map ((+++) "/dev/") (filter isTTY entries), w)
  46                         where
  47                                 isTTY s = not (isEmpty (filter (flip startsWith s) prefixes))
  48                                 prefixes = ["ttyS", "ttyACM", "ttyUSB", "tty.usbserial"]
  49
  50 mTaskTask :: (Shared ([MTaskMSGRecv],Bool,[MTaskMSGSend],Bool)) -> Task ()
  51 mTaskTask ch =
  52 //      deviceSelectorNetwork >>= \(p,h)->syncNetworkChannel h p "\n" decode encode` ch ||-
  53         deviceSelectorSerial >>= \(s,set)->syncSerialChannel s set decode` encode` ch ||-
  54         sendMsg msgs ch ||-
  55         (
  56                 (
  57                         consumeNetworkStream (processSDSs sdsShares messageShare) ch ||-
  58                         viewSharedInformation "channels" [ViewWith lens] ch ||-
  59                         viewSh sdsShares ch
  60                 ) >>* [OnAction ActionFinish (always shutDown)]
  61         )
  62         where
  63                 encode` m
  64                 | not (trace_tn (toString (toJSON m))) = undef
  65                 = encode m
  66
  67                 decode` m
  68                 | not (trace_tn (toString (toJSON m))) = undef
  69                 = decode m
  70
  71                 messageShare :: Shared [String]
  72                 messageShare = sharedStore "mTaskMessagesRecv" []
  73
  74                 processSDSs :: [(Int, Shared Int)] (Shared [String]) [MTaskMSGRecv] -> Task ()
  75                 processSDSs _ _ [] = return ()
  76                 processSDSs s y [x:xs] = updateSDSs s y x >>= \_->processSDSs s y xs
  77
  78                 updateSDSs :: [(Int, Shared Int)] (Shared [String]) MTaskMSGRecv -> Task ()
  79                 updateSDSs _ m (MTMessage s) = upd (\l->[s:l]) m @! ()
  80                 updateSDSs _ _ MTEmpty = return ()
  81                 updateSDSs [(id, sh):xs] m n=:(MTPub i d)
  82                 | id == i = set ((toInt d.[0])*265 + toInt d.[1]) sh @! ()
  83                 = updateSDSs xs m n
  84
  85                 lens :: ([MTaskMSGRecv],Bool,[MTaskMSGSend],Bool) -> ([String], [String])
  86                 lens (r,_,s,_) = (f r, map toString s)
  87                         where
  88                                 f [] = []
  89                                 f [MTEmpty:xs] = f xs
  90                                 f [x:xs] = [toString x:f xs]
  91
  92                 viewSh :: [(Int, Shared Int)] (Shared ([MTaskMSGRecv],Bool,[MTaskMSGSend],Bool)) -> Task ()
  93                 viewSh [] ch = return ()
  94                 viewSh [(i, sh):xs] ch
  95                 # sharename = "SDS-" +++ toString i
  96                 = (
  97                                 viewSharedInformation ("SDS-" +++ toString i) [] sh ||-
  98                                 forever (
  99                                         enterInformation sharename []
 100                                         >>* [OnAction ActionOk
 101                                                         (ifValue (\j->j>=1 && j <= 3)
 102                                                         (\c->set c sh
 103                                                                 >>= \_->sendMsg (toSDSUpdate i c) ch
 104                                                                 @! ()
 105                                                         )
 106                                                 )]
 107                                 )
 108                         ) ||- viewSh xs ch
 109
 110                 sdsShares = makeShares st
 111
 112                 (msgs, st) = toMessages 1000 (toRealByteCode (unMain bc))
 113
 114                 bc :: Main (ByteCode () Stmt)
 115                 bc = sds \x=1 In sds \pinnetje=1 In {main =
 116                                 x =. x +. pinnetje :.
 117                                 pub x :.
 118                                 IF (pinnetje ==. lit 1) (
 119                                         analogWrite A0 (lit 1) :.
 120                                         analogWrite A1 (lit 0) :.
 121                                         analogWrite A2 (lit 0)
 122                                 ) (
 123                                         IF (pinnetje ==. lit 2) (
 124                                                 analogWrite A0 (lit 0) :.
 125                                                 analogWrite A1 (lit 1) :.
 126                                                 analogWrite A2 (lit 0)
 127                                         ) (
 128                                                 analogWrite A0 (lit 0):.
 129                                                 analogWrite A1 (lit 0):.
 130                                                 analogWrite A2 (lit 1)
 131                                         )
 132                                 )}
 133 //              bc :: Main (ByteCode Int Stmt)
 134 //              bc = sds \x=1 In {main =
 135 //                      If (x ==. lit 3)
 136 //                      (x =. lit 1)
 137 //                      (x =. x +. lit 1) :. pub x}
 138
 139 makeShares :: BCState -> [(Int, Shared Int)]
 140 makeShares {sdss=[]} = []
 141 makeShares s=:{sdss=[(i,d):xs]} =
 142         [(i, sharedStore ("mTaskSDS-" +++ toString i) 1):makeShares {s & sdss=xs}]
 143
 144 sendMsg :: [MTaskMSGSend] (Shared ([MTaskMSGRecv],Bool,[MTaskMSGSend],Bool)) -> Task ()
 145 sendMsg m ch = upd (\(r,rs,s,ss)->(r,rs,s ++ m,ss)) ch @! ()
 146
 147 syncSerialChannel :: String TTYSettings (String -> m) (n -> String) (Shared ([m],Bool,[n],Bool)) -> Task () | iTask m & iTask n
 148 syncSerialChannel dev opts decodeFun encodeFun rw = Task eval
 149         where
 150                 eval event evalOpts tree=:(TCInit taskId ts) iworld=:{IWorld|world}
 151                 = case TTYopen dev opts world of
 152                         (False, _, world)
 153                         # (err, world) = TTYerror world
 154                         = (ExceptionResult (exception err), {iworld & world=world})
 155                         (True, tty, world)
 156                         # iworld = {iworld & world=world, resources=Just (TTYd tty)}
 157                         = case addBackgroundTask 42 (BackgroundTask (serialDeviceBackgroundTask rw decodeFun encodeFun)) iworld of
 158                                 (Error e, iworld) = (ExceptionResult (exception "h"), iworld)
 159                                 (Ok _, iworld) = (ValueResult NoValue {TaskEvalInfo|lastEvent=ts,removedTasks=[],refreshSensitive=True} NoRep (TCBasic taskId ts JSONNull False), iworld)
 160
 161                 eval _ _ tree=:(TCBasic _ ts _ _) iworld
 162                 = (ValueResult NoValue {TaskEvalInfo|lastEvent=ts,removedTasks=[],refreshSensitive=False} NoRep tree, iworld)
 163
 164                 eval event evalOpts tree=:(TCDestroy _) iworld=:{IWorld|resources,world}
 165                 # (TTYd tty) = fromJust resources
 166                 # (ok, world) = TTYclose tty world
 167                 # iworld = {iworld & world=world,resources=Nothing}
 168                 = case removeBackgroundTask  42 iworld of
 169                         (Error e, iworld) = (ExceptionResult (exception "h"), iworld)
 170                         (Ok _, iworld) = (DestroyedResult, iworld)
 171
 172 serialDeviceBackgroundTask :: (Shared ([m],Bool,[n],Bool)) (String -> m) (n -> String) !*IWorld -> *IWorld
 173 serialDeviceBackgroundTask rw en de iworld
 174         = case read rw iworld of
 175                 (Error e, iworld) = iworld
 176                 (Ok (r,rs,s,ss), iworld)
 177                 # (Just (TTYd tty)) = iworld.resources
 178                 # tty = writet (map de s) tty
 179                 = case TTYavailable tty of
 180                         (False, tty) = {iworld & resources=Just (TTYd tty)}
 181                         (_, tty)
 182                         # (l, tty) = appFst en (TTYreadline tty)
 183                         # iworld = {iworld & resources=Just (TTYd tty)}
 184                         = snd (write (r ++ [l],rs,[],ss) rw iworld)
 185         where
 186                 writet :: [String] !*TTY -> *TTY
 187                 writet [] t = t
 188                 writet [x:xs] t = writet xs (TTYwrite t x)
 189
 190
 191 syncNetworkChannel :: String Int String (String -> m) (n -> String) (Shared ([m],Bool,[n],Bool)) -> Task () | iTask m & iTask n
 192 syncNetworkChannel server port msgSeparator decodeFun encodeFun channel
 193         = tcpconnect server port channel {ConnectionHandlers|onConnect=onConnect,whileConnected=whileConnected,onDisconnect=onDisconnect} @! ()
 194         where
 195                 onConnect _ (received,receiveStopped,send,sendStopped)
 196                         = (Ok "",if (not (isEmpty send)) (Just (received,False,[],sendStopped)) Nothing, map encodeFun send,False)
 197                 whileConnected Nothing acc (received,receiveStopped,send,sendStopped)
 198                         = (Ok acc, Nothing, [], False)
 199                 whileConnected (Just newData) acc (received,receiveStopped,send,sendStopped)
 200                 # [acc:msgs] = reverse (split msgSeparator (concat [acc,newData]))
 201                 # write = if (not (isEmpty msgs && isEmpty send))
 202                         (Just (received ++ map decodeFun (reverse msgs),receiveStopped,[],sendStopped))
 203                         Nothing
 204                 = (Ok acc,write,map encodeFun send,False)
 205
 206                 onDisconnect l (received,receiveStopped,send,sendStopped)
 207                         = (Ok l,Just (received,True,send,sendStopped))
 208
 209 consumeNetworkStream :: ([m] -> Task ()) (Shared ([m],Bool,[n],Bool)) -> Task () | iTask m & iTask n
 210 consumeNetworkStream processTask channel
 211         = ((watch channel >>* [OnValue (ifValue ifProcess process)]) <! id) @! ()
 212         where
 213                 ifProcess (received,receiveStopped,_,_)
 214                         = receiveStopped || (not (isEmpty received))
 215
 216                 process (received,receiveStopped,_,_)
 217                         =   upd empty channel
 218                         >>| if (isEmpty received) (return ()) (processTask received)
 219                         @!  receiveStopped
 220
 221                 empty :: ([m],Bool,[n],Bool) -> ([m],Bool,[n],Bool)
 222                 empty (_,rs,s,ss) = ([],rs,s,ss)