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                 messageShare :: Shared [String]
  64                 messageShare = sharedStore "mTaskMessagesRecv" []
  65
  66                 processSDSs :: [(Int, Shared Int)] (Shared [String]) [MTaskMSGRecv] -> Task ()
  67                 processSDSs _ _ [] = return ()
  68                 processSDSs s y [x:xs] = updateSDSs s y x >>= \_->processSDSs s y xs
  69
  70                 updateSDSs :: [(Int, Shared Int)] (Shared [String]) MTaskMSGRecv -> Task ()
  71                 updateSDSs _ m (MTMessage s) = upd (\l->[s:l]) m @! ()
  72                 updateSDSs _ _ MTEmpty = return ()
  73                 updateSDSs [(id, sh):xs] m n=:(MTPub i d)
  74                 | id == i = set ((toInt d.[0])*265 + toInt d.[1]) sh @! ()
  75                 = updateSDSs xs m n
  76
  77                 lens :: ([MTaskMSGRecv],Bool,[MTaskMSGSend],Bool) -> ([String], [String])
  78                 lens (r,_,s,_) = (f r, map toString s)
  79                         where
  80                                 f [] = []
  81                                 f [MTEmpty:xs] = f xs
  82                                 f [x:xs] = [toString x:f xs]
  83
  84                 viewSh :: [(Int, Shared Int)] (Shared ([MTaskMSGRecv],Bool,[MTaskMSGSend],Bool)) -> Task ()
  85                 viewSh [] ch = return ()
  86                 viewSh [(i, sh):xs] ch
  87                 # sharename = "SDS-" +++ toString i
  88                 = (
  89                                 viewSharedInformation ("SDS-" +++ toString i) [] sh ||-
  90                                 forever (
  91                                         enterInformation sharename []
  92                                         >>* [OnAction ActionOk
  93                                                         (ifValue (\j->j>=1 && j <= 3)
  94                                                         (\c->set c sh
  95                                                                 >>= \_->sendMsg (toSDSUpdate i c) ch
  96                                                                 @! ()
  97                                                         )
  98                                                 )]
  99                                 )
 100                         ) ||- viewSh xs ch
 101
 102                 sdsShares = makeShares st
 103
 104                 (msgs, st) = toMessages 1000 (toRealByteCode (unMain bc))
 105
 106                 bc :: Main (ByteCode () Stmt)
 107                 bc = sds \x=1 In sds \pinnetje=1 In {main =
 108                                 x =. x +. pinnetje :.
 109                                 pub x :.
 110                                 IF (pinnetje ==. lit 1) (
 111                                         analogWrite A0 (lit 1) :.
 112                                         analogWrite A1 (lit 0) :.
 113                                         analogWrite A2 (lit 0)
 114                                 ) (
 115                                         IF (pinnetje ==. lit 2) (
 116                                                 analogWrite A0 (lit 0) :.
 117                                                 analogWrite A1 (lit 1) :.
 118                                                 analogWrite A2 (lit 0)
 119                                         ) (
 120                                                 analogWrite A0 (lit 0):.
 121                                                 analogWrite A1 (lit 0):.
 122                                                 analogWrite A2 (lit 1)
 123                                         )
 124                                 )}
 125 //              bc :: Main (ByteCode Int Stmt)
 126 //              bc = sds \x=1 In {main =
 127 //                      If (x ==. lit 3)
 128 //                      (x =. lit 1)
 129 //                      (x =. x +. lit 1) :. pub x}
 130
 131 makeShares :: BCState -> [(Int, Shared Int)]
 132 makeShares {sdss=[]} = []
 133 makeShares s=:{sdss=[(i,d):xs]} =
 134         [(i, sharedStore ("mTaskSDS-" +++ toString i) 1):makeShares {s & sdss=xs}]
 135
 136 sendMsg :: [MTaskMSGSend] (Shared ([MTaskMSGRecv],Bool,[MTaskMSGSend],Bool)) -> Task ()
 137 sendMsg m ch = upd (\(r,rs,s,ss)->(r,rs,s ++ m,ss)) ch @! ()
 138
 139 syncSerialChannel :: String TTYSettings (String -> m) (n -> String) (Shared ([m],Bool,[n],Bool)) -> Task () | iTask m & iTask n
 140 syncSerialChannel dev opts decodeFun encodeFun rw = Task eval
 141         where
 142                 eval event evalOpts tree=:(TCInit taskId ts) iworld=:{IWorld|world}
 143                 = case TTYopen dev opts world of
 144                         (False, _, world)
 145                         # (err, world) = TTYerror world
 146                         = (ExceptionResult (exception err), {iworld & world=world})
 147                         (True, tty, world)
 148                         # iworld = {iworld & world=world, resources=Just (TTYd tty)}
 149                         = case addBackgroundTask 42 (BackgroundTask (serialDeviceBackgroundTask rw decodeFun encodeFun)) iworld of
 150                                 (Error e, iworld) = (ExceptionResult (exception "h"), iworld)
 151                                 (Ok _, iworld) = (ValueResult NoValue {TaskEvalInfo|lastEvent=ts,removedTasks=[],refreshSensitive=True} NoRep (TCBasic taskId ts JSONNull False), iworld)
 152
 153                 eval _ _ tree=:(TCBasic _ ts _ _) iworld
 154                 = (ValueResult NoValue {TaskEvalInfo|lastEvent=ts,removedTasks=[],refreshSensitive=False} NoRep tree, iworld)
 155
 156                 eval event evalOpts tree=:(TCDestroy _) iworld=:{IWorld|resources,world}
 157                 # (TTYd tty) = fromJust resources
 158                 # (ok, world) = TTYclose tty world
 159                 # iworld = {iworld & world=world,resources=Nothing}
 160                 = case removeBackgroundTask  42 iworld of
 161                         (Error e, iworld) = (ExceptionResult (exception "h"), iworld)
 162                         (Ok _, iworld) = (DestroyedResult, iworld)
 163
 164 serialDeviceBackgroundTask :: (Shared ([m],Bool,[n],Bool)) (String -> m) (n -> String) !*IWorld -> *IWorld
 165 serialDeviceBackgroundTask rw de en iworld
 166         = case read rw iworld of
 167                 (Error e, iworld) = abort "share couldn't be read"
 168                 (Ok (r,rs,s,ss), iworld)
 169                 # (Just (TTYd tty)) = iworld.resources
 170                 # tty = writet (map en s) tty
 171                 # (ml, tty) = case TTYavailable tty of
 172                         (False, tty) = ([], tty)
 173                         (_, tty)
 174                         # (l, tty) = TTYreadline tty
 175                         = ([de l], tty)
 176                 # iworld = {iworld & resources=Just (TTYd tty)}
 177                 = case write (r++ml,rs,[],ss) rw iworld of
 178                         (Error e, iworld) = abort "share couldn't be written"
 179                         (Ok _, iworld) = case notify rw iworld of
 180                                 (Error e, iworld) = abort "share couldn't be notified"
 181                                 (Ok _, iworld) = iworld
 182         where
 183                 writet :: [String] !*TTY -> *TTY
 184                 writet [] t = t
 185                 writet [x:xs] t = writet xs (TTYwrite x t)
 186
 187
 188 syncNetworkChannel :: String Int String (String -> m) (n -> String) (Shared ([m],Bool,[n],Bool)) -> Task () | iTask m & iTask n
 189 syncNetworkChannel server port msgSeparator decodeFun encodeFun channel
 190         = tcpconnect server port channel {ConnectionHandlers|onConnect=onConnect,whileConnected=whileConnected,onDisconnect=onDisconnect} @! ()
 191         where
 192                 onConnect _ (received,receiveStopped,send,sendStopped)
 193                         = (Ok "",if (not (isEmpty send)) (Just (received,False,[],sendStopped)) Nothing, map encodeFun send,False)
 194                 whileConnected Nothing acc (received,receiveStopped,send,sendStopped)
 195                         = (Ok acc, Nothing, [], False)
 196                 whileConnected (Just newData) acc (received,receiveStopped,send,sendStopped)
 197                 # [acc:msgs] = reverse (split msgSeparator (concat [acc,newData]))
 198                 # write = if (not (isEmpty msgs && isEmpty send))
 199                         (Just (received ++ map decodeFun (reverse msgs),receiveStopped,[],sendStopped))
 200                         Nothing
 201                 = (Ok acc,write,map encodeFun send,False)
 202
 203                 onDisconnect l (received,receiveStopped,send,sendStopped)
 204                         = (Ok l,Just (received,True,send,sendStopped))
 205
 206 consumeNetworkStream :: ([m] -> Task ()) (Shared ([m],Bool,[n],Bool)) -> Task () | iTask m & iTask n
 207 consumeNetworkStream processTask channel
 208         = ((watch channel >>* [OnValue (ifValue ifProcess process)]) <! id) @! ()
 209         where
 210                 ifProcess (received,receiveStopped,_,_)
 211                         = receiveStopped || (not (isEmpty received))
 212
 213                 process (received,receiveStopped,_,_)
 214                         =   upd empty channel
 215                         >>| if (isEmpty received) (return ()) (processTask received)
 216                         @!  receiveStopped
 217
 218                 empty :: ([m],Bool,[n],Bool) -> ([m],Bool,[n],Bool)
 219                 empty (_,rs,s,ss) = ([],rs,s,ss)