--- /dev/null
+module mTask
+
+/*
+ Pieter Koopman pieter@cs.ru.nl
+ Final version for TFP2016
+
+ -2: assignment =. suited for digital and analog input and output
+ -3: ad hoc tasks
+
+todo:
+ move task-loop ti setup()
+ adhoc tasks
+ task combinators
+ imporove setp: >>*.
+*/
+
+import iTasks
+import gdynamic, gCons, GenEq, StdMisc, StdArray
+
+// =================== examples ===================
+
+Start =
+ [["//mTaskTFP16_3 \n"]
+/* ,["// --- p1 \n"]
+ ,compile p1
+ ,["// --- p2 \n"]
+ ,compile p2
+ ,["// --- p3 \n"]
+ ,compile p3
+ ,["// --- p4 \n"]
+ ,compile p4
+ ,["// --- p5 \n"]
+ ,compile p5
+ ,["// --- p6 \n"]
+ ,compile p6
+ ,["// --- p7 \n"]
+ ,compile p7
+ ,["// --- p8 \n"]
+ ,compile p8
+ ,["// --- p9 \n"]
+ ,compile p9
+ ,["// --- p10 \n"]
+ ,compile p10
+ ,["// --- p11 \n"]
+ ,compile p11
+ ,["// --- p12 \n"]
+ ,compile p12
+ ,["// --- fac \n"]
+ ,compile fac
+ ,["// --- blink \n"]
+ ,compile blink
+ ,["// --- heatingDemo \n"]
+ ,compile heatingDemo
+ ,["// --- hpinDemo \n"]
+ ,compile pinDemo
+ ,["// --- blink2 \n"]
+ ,compile blink2
+ ,["// --- blink3 \n"]
+ ,compile blink3
+ ,["// --- blinks \n"]
+ ,compile blinks
+ ,["// --- lcdCount \n"]
+ ,compile lcdCount
+*/
+ ,["// --- heating \n"]
+ ,compile heating
+ ]
+
+lcdHello = LCD 16 2 [] \lcd = {main = print lcd (lit "Hello world")}
+
+lcdCount =
+ LCD 16 2 [] \lcd =
+ task \t = (\c.
+ If (pressed upButton) (
+ setCursor lcd Zero Zero :.
+ print lcd c :.
+ t (sec 1) (c +. One)
+ ) (t (msec 10) c)) In
+ {main = t (sec 0) Zero}
+
+printD0 = {main = serialPrint (Not d0)}
+
+print36 = sds \x = 6 In {main = x =. x *. x :. serialPrint x}
+
+pinDemo =
+ {main = a1 =. a0 =. lit 1 +. a0 :. a0 =. Not a0}
+
+fac = fun \fac = (\n. If (n <. One) One (n *. fac (n -. One)))
+ In {main = fac (lit 6)}
+One = lit 1
+Zero = lit 0
+
+blink =
+ task \t = (\s. setLED s :. t (If s (sec 1) (sec 3)) (Not s)) In {main = t (sec 0) (lit True)}
+blink2 =
+ task \t = (\(). d13 =. Not d13 :. t (sec 1) ()) In {main = t (sec 0) ()}
+blink3 =
+ task \t = (\s. d13 =. s :. t (If s (msec 100) (sec 1)) (Not s)) In {main = t (sec 0) (lit False)}
+blinks =
+ task \t = (\b. d13 =. b :. t (sec 1) b) In {main = t (msec 0) true :. t (msec 100) false}
+
+setLED b = d13 =. b
+sec n = long (lit (n * 1000))
+msec n = long (lit n)
+
+qt = task \plus = (\(x,y).x +. y) In {main = plus (sec 0) (lit 3, lit 4)}
+qs = fun \plus = (\(x,y).x +. y) In {main = plus (lit 3, lit 4)}
+
+q1 =
+ tasks \(switch, heat) =
+ (\s1 = digitalWrite D2 s1:. heat (sec 60) s1
+ ,\s2 = analogRead A3 >>*. \v.
+ [Cond (v >. upper) (switch (sec 0) off)
+ ,Cond (v <. lower) (switch (sec 0) on)
+ ,Ever (heat (sec 1) s2)
+ ])
+ In {main = heat (sec 0) off}
+where
+ upper = lit 876
+ lower = lit 123
+
+serialReadInt = serialParseInt >>=. \i. serialRead >>*. \c. [Cond (c ==. lit '\n') i]
+
+heating =
+ sds \goal = 500 In
+ fun \switch = (\s. d13 =. s) In
+ task \control = (\isOn.
+ a0 <. goal >>*. \mustOn.
+ [Cond (Not isOn &. mustOn) (switch on :. control minOnTime on)
+ ,Cond (isOn &. Not mustOn) (switch off:. control minOffTime off)
+ ,Ever (control (msec 100) isOn)
+ ]) In
+ task \change = (\().
+ serialAvailable ? (serialReadInt >>=. \g.goal =. g) :.
+ change (sec 1) ()) In
+ {main = switch off :. control (sec 0) off :. change (sec 1) ()}
+where
+ minOnTime = sec 2
+ minOffTime = sec 1
+
+heating2 =
+ sds \goal = 500 In
+// fun \switch = setLED In
+ fun \switch = (\b. setLED b :. serialPrintln b) In
+ task \control = (\isOn.
+ a0 <. goal >>*. \mustOn.
+ [Cond (Not isOn &. mustOn) (switch on :. control minOnTime on)
+ ,Cond (isOn &. Not mustOn) (switch off:. control minOffTime off)
+ ,Ever (control (msec 100) isOn)
+ ]) In
+ task \change = (\().
+ serialAvailable ? (serialReadInt >>=. \i. serialPrintln (goal =. i)) :.
+ change (sec 1) ()) In
+ {main = switch off :. control (sec 0) off :. change (sec 1) ()}
+where
+ minOnTime = sec 2
+ minOffTime = sec 1
+
+thermoTask =
+ sds \goal = 500 In
+ fun \switch = (\on. d13 =. bool on :. a0 =. on) In
+ task \control =
+ (\isOn. a0 <. goal >>*. \mustOn.
+ [Cond (mustOn &. Not isOn) (switch mustOn :. control minOnTime mustOn)
+ ,Cond (Not mustOn &. isOn) (switch mustOn :. control minOffTime mustOn)
+ ,Ever (control (msec 100) isOn)
+ ]) In
+ {main = switch off :. control (sec 0) off}
+where
+ minOnTime = sec 1 // 60
+ minOffTime = sec 2 //10
+ off = lit False
+
+heatingDemo =
+ sds \heat = False In
+ sds \temp = 500 In
+ LCD 16 2 [] \lcd.
+ task \tempChange = (\().
+ lit 0 <. temp &. Not heat ? temp =. temp -. One:.
+ temp <. lit 1000 &. heat ? temp =. temp +. One :.
+ setCursor lcd (lit 5) Zero :.
+ print lcd (lit "temp ") :.
+ print lcd temp :.
+ print lcd (lit " ") :.
+ tempChange (msec 789) ()) In
+ fun \switch = (\s.
+ heat =. s :.
+ setCursor lcd Zero Zero :.
+ If s
+ (print lcd (lit "On "))
+ (print lcd (lit "Off"))) In
+ fun \measure = (\().
+ analogRead A0 >>=. \a0.
+ setCursor lcd Zero One :.
+ print lcd a0 :.
+ print lcd (lit " ") :.
+ a0) In
+ task \control = (\isOn.
+ measure () >>=. \val.temp <. val
+ >>*. \mustOn.
+ [Cond (Not isOn &. mustOn) (switch on :. control minOnTime on)
+ ,Cond (isOn &. Not mustOn) (switch off:. control minOffTime off)
+ ,Ever (control (msec 100) isOn)
+ ]
+ ) In
+ {main = switch off :. control (msec 10) off :. tempChange (sec 0) ()}
+where
+ limit = lit 512
+ minOnTime = sec 3
+ minOffTime = sec 2
+true = lit True
+on = true
+false = lit False
+off = false
+
+count =
+ LCD 16 2 [] \lcd.
+ task \count = (\n.
+ setCursor lcd Zero Zero :.
+ print lcd n :.
+ count (sec 1) (n +. One)) In
+ {main = count (sec 0) Zero}
+
+p0 = sds \x = 6 In {main = x =. x *. lit 7}
+p1 = {main = lit 2 +. lit 4 >>=. \x. (x +. lit 1) *. x}
+p2 =
+ fun \f. (\x. lit 6 *. x)
+ In {main = lit 3 +. lit 4 >>=. \x. f x}
+p3 =
+ fun \f. (\x. lit 6 *. x)
+ In {main = lit 3 +. lit 4 >>=. f} // higher order, somewhat remarkable that this works
+p4 =
+ fun \f. (\x. lit 6 *. x)
+ In {main = lit 3 +. lit 4 >>=. \x. f x >>=. serialPrint}
+p5 = {main = lit 7 >>*. \x. [Cond (x <. lit 36) (x *. x),Ever (lit 42)]}
+p6 = sds \y = 1 In {main = lit 7 >>*. \x. [Cond (x <. lit 36) (y =. x *. x),Ever (y =. x)]}
+p7 = sds \y = 1 In {main = y +. lit 1 >>*. \x. [Cond (x <. lit 36) ((y =. x *. x) >>*. \z.[Cond (z ==. x) y, Ever y]),Ever (y =. x)]}
+p8 = sds \y = 1 In {main = pressed upButton >>*. \x. [Cond x (y =. y +. y),Ever (y =. lit 36)]}
+//p8 = sds \y = 1 In {main = pressed upButton >>*. \x. [Cond x ((y =. lit 42) >>*. \z.[Cond (z ==. y) y, Ever y]),Ever (y =. lit 36)]}
+//p9 = {main = If (pressed upButton) (lit 1) (lit 7)} // Overloading error [mTaskTFP16.icl,61,p9]: "isExpr" no instance available of type Stmt
+p9 = {main = pressed upButton >>=. \b.If b (lit 1) (lit 7)}
+p10 =
+ sds \y = 1 In
+ {main =
+ (pressed upButton >>*. \x.
+ [Cond x (y =. y +. y :.
+ x)
+ ,Ever (y =. lit 36 :.
+ lit False)
+ ])
+ >>=. \z. z &. z}
+p11 =
+ sds \y = 1 In
+ {main =
+ y =. lit 2 :.
+ (pressed upButton >>=. \b.
+ If b
+ (y =. lit 3 :.
+ y +. lit 1)
+ (lit 42))
+ >>*. \x.
+ [Cond (x <. lit 36)
+ ((y =. x *. x) >>*. \z.
+ [Cond (z ==. x) (serialPrint y)
+ ,Ever (serialPrint (lit 0))
+ ])
+ ,Ever (y =. x)
+ ]
+ }
+p12 =
+ task \t = (\(). pressed upButton >>*. \b.[Cond b (serialPrintln (lit 7)),Ever (t (lit 250) ():. lit 0)]) In
+ {main = t (lit 0) ()}
+
+// ----- serial definition ----- //
+
+class serial v where
+ serialAvailable :: (v Bool Expr)
+ serialPrint :: (v t p) -> v Int Expr | stringQuotes t & isExpr p
+ serialPrintln :: (v t p) -> v Int Expr | stringQuotes t & isExpr p
+ serialRead :: (v t Expr)
+ serialParseInt :: (v Int Expr)
+
+instance serial Code where
+ serialAvailable = embed (c "Serial.available()")
+ serialPrint x = embed (c "Serial.print(" +.+ x +.+ c ")")
+ serialPrintln x = embed (c "Serial.println(" +.+ x +.+ c ")")
+ serialRead = embed (c "Serial.read()")
+ serialParseInt = embed (c "Serial.parseInt()")
+
+instance serial Eval where
+ serialAvailable = rtrn False
+ serialPrint x = x >>== \a.E \r s.let str = toCode a in (size str,{s & serial = s.serial ++ [str]})
+ serialPrintln x = x >>== \a.E \r s.let str = toCode a + "\n" in (size str,{s & serial = s.serial ++ [str]})
+ serialRead = rtrn undef
+ serialParseInt = rtrn undef
+
+class char2int v :: (v Char p) -> v Int Expr
+instance char2int Code where char2int (C f) = C \rw c.f Rd c
+
+:: SerialObject v t p =
+ { available :: v Bool Expr
+ , print :: (v t p) -> v Int Expr
+ , println :: (v t p) -> v Int Expr
+ , read :: (v Char Expr)
+ }
+
+// =================== shields ===================
+
+// ----- LCD definition ----- //
+
+:: LCD =
+ { cursorRow :: Int
+ , cursorCol :: Int
+ , sizeH :: Int
+ , sizeW :: Int
+ , lcdtxt :: [String]
+ }
+
+:: Button = RightButton | UpButton | DownButton | LeftButton | SelectButton | NoButton
+
+rightButton = lit RightButton
+upButton = lit UpButton
+downButton = lit DownButton
+leftButton = LeftButton
+selectButton = lit SelectButton
+noButton = lit NoButton
+
+class lcd v where
+ begin :: (v LCD Expr) (v Int p) (v Int q) -> v () Expr
+ print :: (v LCD Expr) (v t p) -> v Int Expr | stringQuotes t // returns bytes written
+ setCursor :: (v LCD Expr) (v Int p) (v Int q) -> v () Expr
+ liquidCrystal0 :: [DigitalPin] ((v LCD Expr)->Main (v b q)) -> Main (v b q)
+ LCD :: Int Int [DigitalPin] ((v LCD Expr)->Main (v b q)) -> Main (v b q)
+ scrollLeft :: (v LCD Expr) -> v () Expr
+ scrollRight :: (v LCD Expr) -> v () Expr
+ pressed :: (v Button Expr) -> v Bool Expr
+
+instance lcd Code where
+ begin v x y = embed (v +.+ c ".begin" +.+ codeOp2 x ", " y)
+ print v x = embed (v +.+ c ".print (" +.+ stringQuotes x +.+ c ")")
+ setCursor v x y = embed (v +.+ c ".setCursor" +.+ codeOp2 x ", " y)
+ scrollLeft v = embed (v +.+ c ".scrollDisplayLeft()")
+ scrollRight v = embed (v +.+ c ".scrollDisplayRight()")
+ liquidCrystal0 [] f = liquidCrystal0 [D8, D9, D4, D5, D6, D7] f
+ liquidCrystal0 pins f =
+ {main =
+ getCode \cd. fresh \n.
+ let
+ name = "lcd" + toString n
+ rest = f (c name)
+ in
+ include "LiquidCrystal" +.+
+ setCode Var +.+
+ c ("LiquidCrystal " + name + "(" + argList pins + ");\n") +.+
+ setCode cd +.+
+ rest.main
+ }
+ LCD x y [] f = LCD x y [D8, D9, D4, D5, D6, D7] f
+ LCD x y pins f =
+ {main =
+ getCode \cd. fresh \n.
+ let
+ name = "lcd" + toString n
+ rest = f (c name)
+ in
+ include "LiquidCrystal" +.+
+ setCode Var +.+
+ c ("LiquidCrystal " + name + "(" + argList pins + ");\n") +.+
+ setCode Setup +.+
+ c (name + ".begin(" + toCode x + ", " + toCode y +");") +.+ nl +.+
+ setCode cd +.+
+ rest.main
+ }
+ pressed b = embed (c "pressed(" +.+ setMode SubExp +.+ b +.+ c ")")
+
+RightBound = 50
+UpBound = 190
+DownBound = 380
+LeftBound = 555
+SelectBound = 790
+
+instance lcd Eval where
+ begin (E v) x y =
+ x >>== \w.
+ y >>== \h.
+ yield () (E \r.v (Updt \lcd.{lcd & sizeH = h, sizeW = w, lcdtxt = repeatn h (toString (repeatn w ' '))}))
+ print (E v) x =
+ x >>== \a. let str = toCode a in
+ yield (size str) (E \r.v (Updt \lcd.lcdPrintStr str lcd))
+ setCursor (E v) x y =
+ x >>== \w.
+ y >>== \h.
+ yield () (E \r.v (Updt \lcd.{lcd & cursorRow = h, cursorCol = w}))
+ scrollLeft v = rtrn ()
+ scrollRight v = rtrn ()
+ LCD w h pins f = defEval2 lcd f where
+ lcd =
+ { cursorRow = 0
+ , cursorCol = 0
+ , sizeH = h
+ , sizeW = w
+ , lcdtxt = repeatn h (toString (repeatn w ' '))
+ }
+ liquidCrystal0 pins f = defEval2 lcd f where
+ lcd =
+ { cursorRow = 0
+ , cursorCol = 0
+ , sizeH = 0
+ , sizeW = 0
+ , lcdtxt = []
+ }
+ pressed b = rtrn False
+
+lcdPrintStr str lcd
+ | lcd.cursorRow < 0 || lcd.cursorRow >= length lcd.lcdtxt ||
+ lcd.cursorCol < 0 || lcd.cursorCol >= size (lcd.lcdtxt !! lcd.cursorRow)
+ = lcd
+ # line = lcd.lcdtxt !! lcd.cursorRow
+ # endPos = size str + lcd.cursorCol
+ | endPos >= lcd.sizeW
+ # newLine = line % (0, lcd.cursorCol - 1) + str % (0, size str - lcd.cursorCol)
+ = {lcd & lcdtxt = updateAt lcd.cursorRow newLine lcd.lcdtxt, cursorCol = lcd.sizeW - 1}
+ # newLine = line % (0, lcd.cursorCol - 1) + str + line % (endPos, lcd.sizeW - 1)
+ = {lcd & lcdtxt = updateAt lcd.cursorRow newLine lcd.lcdtxt, cursorCol = endPos}
+
+printAt :: (v LCD Expr) (v Int b) (v Int c) (v t e) -> v Int Stmt
+ | lcd, seq v & stringQuotes t
+printAt lcd x y z = setCursor lcd x y :. print lcd z
+
+keySwitch :: (a Int b) (a c d,a c e,a c f,a c g,a c h,a c a0) -> a c Stmt | arith, boolExpr, seq a & If a h a0 b0 & If a g b0 c0 & If a f c0 d0 & If a e d0 e0 & If a d e0 f0 & type c
+keySwitch v (right, up, down, left, select, nokey)
+ = v >>=. \w.
+ If (w <. lit RightBound)
+ right
+ (If (w <. lit UpBound)
+ up
+ (If (w <. lit DownBound)
+ down
+ (If (w <.lit LeftBound)
+ left
+ (If (w <. lit SelectBound)
+ select
+ nokey
+ ))))
+
+// =================== mTask ===================
+
+
+// ----- dsl definition ----- //
+
+:: DigitalPin
+ = D0 | D1 | D2 | D3 | D4 | D5 |D6 | D7 | D8 | D9 | D10 | D11 | D12 | D13
+:: AnalogPin = A0 | A1 | A2 | A3 | A4 | A5
+:: PinMode = INPUT | OUTPUT | INPUT_PULLUP
+:: Pin = Digital DigitalPin | Analog AnalogPin
+instance toCode Pin where
+ toCode (Digital p) = toCode p
+ toCode (Analog p) = toCode p
+instance toCode Button where toCode b = toCode (consIndex{|*|} b)
+derive consIndex Button
+
+class pin p | type, == p where
+ pin :: p -> Pin
+instance pin DigitalPin where
+ pin p = Digital p
+instance pin AnalogPin where
+ pin p = Analog p
+
+:: Upd = Upd
+:: Expr = Expr
+:: Stmt = Stmt
+:: MTask = MTask Int // String
+
+class isExpr a :: a -> Int
+instance isExpr Upd where isExpr _ = 0
+instance isExpr Expr where isExpr _ = 1
+
+class isStmt a :: a -> Int
+instance isStmt Upd where isStmt _ = 10
+instance isStmt Expr where isStmt _ = 11
+instance isStmt Stmt where isStmt _ = 12
+
+instance == MTask where (==) (MTask x) (MTask y) = x == y
+instance toCode MTask where toCode (MTask x) = "Task " + toCode x
+
+:: Main a = {main :: a}
+
+unMain :: (Main x) -> x
+unMain m = m.main //{main=x} = x
+
+class arith v where
+ lit :: t -> v t Expr | toCode t
+ (+.) infixl 6 :: (v t p) (v t q) -> v t Expr | type, +, zero t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+ (-.) infixl 6 :: (v t p) (v t q) -> v t Expr | type, -, zero t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+ (*.) infixl 7 :: (v t p) (v t q) -> v t Expr | type, *, zero, one t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+ (/.) infixl 7 :: (v t p) (v t q) -> v t Expr | type, / t & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+class boolExpr v where
+ (&.) infixr 3 :: (v Bool p) (v Bool q) -> v Bool Expr | isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+ (|.) infixr 2 :: (v Bool p) (v Bool q) -> v Bool Expr | isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+ Not :: (v Bool p) -> v Bool Expr | isExpr p //& toExpr2 p
+ (==.) infix 4 :: (v a p) (v a q) -> v Bool Expr | ==, toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+ (!=.) infix 4 :: (v a p) (v a q) -> v Bool Expr | ==, toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+ (<.) infix 4 :: (v a p) (v a q) -> v Bool Expr | <, Ord, toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+ (>.) infix 4 :: (v a p) (v a q) -> v Bool Expr | <, Ord, toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+ (<=.) infix 4 :: (v a p) (v a q) -> v Bool Expr | <, Ord, toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+ (>=.) infix 4 :: (v a p) (v a q) -> v Bool Expr | <, Ord, toCode a & isExpr p & isExpr q //& toExpr2 p & toExpr2 q
+// using functional dependencies
+class If v q r ~s where
+ If :: (v Bool p) (v t q) (v t r) -> v t s | isExpr p & type t
+class IF v where
+ IF :: (v Bool p) (v t q) (v s r) -> v () Stmt | isExpr p
+ (?) infix 1 :: (v Bool p) (v t q) -> v () Stmt | isExpr p
+class var2 v where
+ var2 :: t ((v t Upd)->(Main (v c s))) -> (Main (v c s)) | type, toCode t
+ con2 :: t ((v t Expr) ->(Main (v c s))) -> (Main (v c s)) | type t
+class sds v where
+ sds :: ((v t Upd)->In t (Main (v c s))) -> (Main (v c s)) | type, toCode t
+ con :: ((v t Expr) ->In t (Main (v c s))) -> (Main (v c s)) | type t
+class seq v where
+ (>>=.) infixr 0 :: (v t p) ((v t Expr) -> (v u q)) -> (v u Stmt) | type t & type u
+ (:.) infixr 0 :: (v t p) (v u q) -> v u Stmt | type t & type u
+class step v where
+ (>>*.) infixl 1 :: (v t p) ((v t Expr) -> [Step v u]) -> v u Stmt | type t & type u
+:: Step v t = E.p.q: Cond (v Bool q) (v t p) | E.p: Ever (v t p)
+class assign v where
+ (=.) infixr 2 :: (v t Upd) (v t p) -> v t Expr | type t & isExpr p
+class fun v t where
+ fun :: ((t->v s Expr)->In (t->v s p) (Main (v u q))) -> Main (v u q) | type s
+class mtask v a where
+ 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
+class lag v where
+ lag :: (v delay r) (v t p) -> v MTask Expr | type t & long v delay
+class setDelay v where
+ setDelay :: (v Long p) (v MTask Expr) -> (v MTask Expr) | isExpr p
+class mtasks v a b where
+ 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
+class output v where
+ output :: (v t p) -> v () Expr | type t & isExpr p
+class noOp v where noOp :: v t p
+
+class pinMode v where
+ pinmode :: p PinMode -> v () Expr | pin p
+class digitalIO v where
+ digitalRead :: p -> v Bool Expr | pin, readPinD p
+ digitalWrite :: p (v Bool q) -> v Bool Expr | pin, writePinD p
+class analogIO v where
+ analogRead :: AnalogPin -> v Int Expr
+ analogWrite :: AnalogPin (v Int p) -> v Int Expr
+class dIO v where
+ dIO :: p -> v Bool Upd | pin, readPinD p
+class aIO v where
+ aIO :: AnalogPin -> v Int Upd
+class time v where
+ delay :: (v Long p) -> (v Long Expr)
+ millis :: (v Long Expr)
+
+class pio p t where pio :: p -> v t Upd | aIO v & dIO v
+instance pio AnalogPin Int where pio p = aIO p
+instance pio AnalogPin Bool where pio p = dIO p
+instance pio DigitalPin Bool where pio p = dIO p
+
+a0 = pio A0
+a1 = pio A1
+a2 = pio A2
+a3 = pio A3
+a4 = pio A4
+a5 = pio A5
+
+d0 = pio D0
+d1 = pio D1
+d2 = pio D2
+d3 = pio D3
+d4 = pio D4
+d5 = pio D5
+d6 = pio D6
+d7 = pio D7
+d8 = pio D8
+d9 = pio D9
+d10 = pio D10
+d11 = pio D11
+d12 = pio D12
+d13 = pio D13
+
+int :: (v Int p) -> (v Int p)
+int x = x
+bool :: (v Bool p) -> (v Bool p)
+bool x = x
+char :: (v Char p) -> (v Char p)
+char x = x
+
+class type t | showType, dyn, toCode, ==, type2string, varName t
+class type2string t :: t -> String
+instance type2string Int where type2string _ = "int"
+instance type2string Long where type2string _ = "long"
+instance type2string Real where type2string _ = "float"
+instance type2string Bool where type2string _ = "bool" //"boolean"
+instance type2string Char where type2string _ = "char"
+instance type2string MTask where type2string _ = "task"
+instance type2string DigitalPin where type2string _ = "int"
+instance type2string AnalogPin where type2string _ = "int"
+instance type2string String where type2string _ = "Char []"
+instance type2string () where type2string _ = ""
+class varName a :: a -> String
+instance varName Int where varName _ = "vInt"
+instance varName Long where varName _ = "vLong"
+instance varName Bool where varName _ = "vBool"
+instance varName Char where varName _ = "vChar"
+instance varName Real where varName _ = "vFloat"
+instance varName x where varName _ = ""
+
+class dsl t | arith, boolExpr, sds, assign, seq t
+
+argType :: (((Code a p)->Code b q)->In ((Code a p)->Code b q) (Code c s)) -> a | type a
+argType f = undef
+
+class argTypes t :: ((t->Code b Expr)->In (t->Code b2 q) (Main (Code c s))) -> t
+instance argTypes (Code a p) | showType a where argTypes f = showType
+instance argTypes (Code a p, Code b q) | showType a & showType b where argTypes f = (showType, showType)
+instance argTypes (Code a p, Code b q, Code c r) | showType a & showType b & showType c where argTypes f = (showType, showType, showType)
+
+resType :: ((t->Code b Expr)->In (t->Code b q) (Main (Code c s))) -> Code b q | showType b
+resType f = showType
+
+var2Type :: (Code t p) -> Code t p | showType t
+var2Type x = showType
+
+resType2 :: ((t->Code b Expr)->In (t->Code b q) (Main (Code c s))) -> SV b | showType2 b
+resType2 f = showType2
+
+:: SV t = SV String
+instance toCode (SV t) where toCode (SV s) = s
+
+class showType2 t :: SV t
+instance showType2 () where showType2 = SV "void "
+instance showType2 Int where showType2 = SV "int "
+instance showType2 Char where showType2 = SV "char "
+instance showType2 Bool where showType2 = SV "bool "
+instance showType2 a where showType2 = SV "word /* default */"
+
+class showType t | showType2 /*, type*/ t :: (Code t p)
+instance showType () where showType = c "void "
+instance showType Int where showType = c "int "
+instance showType Long where showType = c "long "
+instance showType Char where showType = c "char "
+instance showType Bool where showType = c "bool "
+instance showType a where showType = c "word /* default */ "
+
+class typeSelector t | showType2, type t :: (Code t p)
+instance typeSelector Int where typeSelector = c ".i"
+instance typeSelector Char where typeSelector = c ".c"
+instance typeSelector Bool where typeSelector = c ".b"
+instance typeSelector a where typeSelector = c ".w"
+
+:: In a b = In infix 0 a b
+
+read :: Int (ReadWrite a) State -> (a,State) | dyn a
+read n Rd s = (fromJust (fromDyn (s.store !! n)), s)
+read n (Wrt a) s = (a,{s&store=updateAt n (toDyn a) s.store})
+read n (Updt f) s=:{store}
+ # obj = f (fromJust (fromDyn (store !! n)))
+ = (obj, {s & store = updateAt n (toDyn obj) store})
+
+// ----- code generation ----- //
+
+instance arith Code where
+ lit a = embed (c a)
+ (+.) x y = codeOp2 x " + " y
+ (-.) x y = codeOp2 x " - " y
+ (*.) x y = codeOp2 x " * " y
+ (/.) x y = codeOp2 x " / " y
+instance boolExpr Code where
+ (&.) x y = codeOp2 x " && " y
+ (|.) x y = codeOp2 x " || " y
+ Not x = embed (brac (c "! " +.+ brac x))
+ (==.) x y = codeOp2 x " == " y
+ (!=.) x y = codeOp2 x " != " y
+ (<.) x y = codeOp2 x " < " y
+ (<=.) x y = codeOp2 x " <= " y
+ (>.) x y = codeOp2 x " > " y
+ (>=.) x y = codeOp2 x " >= " y
+instance If Code Stmt Stmt Stmt where If c t e = IfStmt c t e
+instance If Code e Stmt Stmt where If c t e = IfStmt c t e
+instance If Code Stmt e Stmt where If c t e = IfStmt c t e
+instance If Code x y Expr where If c t e = IfExpr c t e
+IfExpr b t e = embed (brac (b +.+ indent +.+ nl +.+ c " ? " +.+ t +.+ nl +.+ c " : " +.+ e +.+ unindent))
+IfStmt b t e =
+ getMode \mode.
+ let
+ v = varName t
+ newMode =
+ case mode of
+ Return s = Return s
+ Assign v = Assign v
+ _ = if (v == "") NoReturn (Assign v)
+ in
+ setMode SubExp +.+
+ c "if " +.+ brac b +.+ c " {" +.+
+ indent +.+ nl +.+ setMode newMode +.+ t +.+ unindent +.+ nl +.+ c "} else {" +.+
+ indent +.+ nl +.+ setMode newMode +.+ e +.+ unindent +.+ nl +.+ c "}"
+instance IF Code where
+ IF b t e = IfStmt b t e
+ (?) b t =
+ getMode \mode.
+ c "if " +.+ setMode SubExp +.+ brac b +.+ c " {" +.+
+ indent +.+ nl +.+ setMode mode +.+ t +.+ c ";" +.+ unindent +.+ nl +.+ c "}"
+
+instance sds Code where
+ sds f = // defCode f
+ {main = fresh \n.
+ let name = "sds"+toCode n
+ (v In body) = f (C (var name))
+ in setCode Var +.+ c (type2string v + " " + name + " = " + toCode v +
+ ";\n") +.+ setCode Setup +.+ unMain body}
+ con f = defCode f
+
+defCode :: ((Code t p) -> In t (Main (Code u q))) -> Main (Code u r) | type t
+defCode f =
+ {main = fresh \n.
+ let name = "sds"+toCode n
+ (v In body) = f (C (var name))
+ in setCode Var +.+ c (type2string v + " " + name + " = " + toCode v +
+ ";\n") +.+ setCode Setup +.+ unMain body}
+
+var :: String (ReadWrite (Code v q)) CODE -> CODE
+var sds Rd s = unC (embed (c sds)) Rd s
+var sds (Wrt v) s = unC (embed (c ("(" + sds + " = ") +.+ v +.+ c ")")) Rd s
+
+instance assign Code where
+ (=.) (C v) e = embed (setMode SubExp +.+ C \rw c.v (Wrt (toExpr e)) c)
+instance seq Code where
+ (>>=.) x f =
+ getMode \mode. fresh \n. let v = "b" + toCode n in
+ addBinds v +.+ var2Type x +.+ c (v + ";") +.+ nl +.+
+ setMode (Assign v) +.+ x +.+ nl +.+ setMode mode +.+ f (embed (c v))
+ (:.) x y = getMode \mode. setMode NoReturn +.+ embed x +.+ nl +.+ setMode mode +.+ y
+instance step Code where
+ (>>*.) x f =
+ getMode \mode. fresh \n.
+ let v = "s" + toCode n in
+ c "while(true) {" +.+ indent +.+ nl +.+
+ var2Type x +.+ c (v + ";") +.+ nl +.+
+ setMode (Assign v) +.+ x +.+ nl +.+
+ setMode mode +.+ codeSteps (f (c v)) +.+
+ unindent +.+ nl +.+ c "}"
+codeSteps :: [Step Code t] -> Code u p
+codeSteps [] = C \rw c.c
+codeSteps [Cond b e:x] =
+ getMode \mode. setMode SubExp +.+
+ c "if (" +.+ b +.+ c ") {" +.+ indent +.+ nl +.+
+ setMode mode +.+ e +.+
+ optBreak mode +.+ unindent +.+ nl +.+ c "}" +.+ nl +.+ setMode mode +.+ codeSteps x
+codeSteps [Ever e:x] =
+ getMode \mode. e +.+ optBreak mode
+
+optBreak :: Mode -> Code u p
+optBreak mode =
+ case mode of
+ Return s = C \rw c.c
+ _ = nl +.+ c "break;"
+
+instance setDelay Code where
+ setDelay d t = embed (c "setDelay" +.+ brac (t +.+ c ", " +.+ d))
+instance mtask Code a | taskImp2 a & types a where
+ task f =
+ {main = freshMTask \n.
+ let (app, a) = taskImp2 n types
+ (b In main) = f (\d a.app (long d) a)
+ in codeMTaskBody (loopCode n (b a)) (unMain main)}
+instance mtasks Code a b | taskImp2 a & types a & taskImp2 b & types b where
+ tasks f =
+ {main =
+ freshMTask \t1.
+ freshMTask \t2.
+ let (app1, a1) = taskImp2 t1 types
+ (app2, a2) = taskImp2 t2 types
+ ((b1, b2) In main) = f ((\d a.app1 (long d) a),(\d a.app2 (long d) a))
+ in codeMTaskBody (loopCode t2 (b2 a2)) (codeMTaskBody (loopCode t1 (b1 a1)) (unMain main))}
+loopCode :: Int (Code a b) -> Code c d
+loopCode n b =
+ nl +.+ c "case " +.+ c n +.+ c ": {" +.+ indent +.+ nl +.+
+ setMode NoReturn +.+ b +.+ nl +.+ c "break;" +.+
+ unindent +.+ nl +.+ c "} "
+
+class taskImp2 a :: Int a -> ((Code Long p) a->Code MTask Expr, a) | /*long Code delay &*/ isExpr p
+instance taskImp2 () where
+ taskImp2 n () = (app, ())
+ where app d a = setBinds [] +.+ embed (c "newTask(" +.+ c n +.+ c ", " +.+ d +.+ c ")")
+instance taskImp2 (Code t p) where
+ taskImp2 n type1 = (app, ta)
+ where
+ n0 = "t0p->a[0]"
+ ta = c n0 +.+ type1
+ app d a =
+ setBinds [n0] +.+ embed (c "newTask(" +.+
+ c n +.+ c ", " +.+
+ d +.+ c ", " +.+
+ a +.+ c ")")
+instance taskImp2 (Code a p, Code b q) where
+ taskImp2 n (type1, type2) = (app, (ta1, ta2)) where
+ n0 = "t0p->a[0]"
+ n1 = "t0p->a[1]"
+ ta1 = c n0 +.+ type1
+ ta2 = c n1 +.+ type2
+ app d (a1, a2) =
+ setBinds [n0,n1] +.+ embed (c "newTask(" +.+ c n +.+ c ", " +.+ long d +.+
+ c ", " +.+ a1 +.+ c ", " +.+ a2 +.+ c ")")
+instance taskImp2 (Code a p, Code b q, Code c r) where
+ taskImp2 n (type1, type2, type3) = (app, (ta1, ta2, ta3))
+ where
+ n0 = "t0p->a[0]"
+ n1 = "t0p->a[1]"
+ n2 = "t0p->a[2]"
+ ta1 = c n0 +.+ type1
+ ta2 = c n1 +.+ type2
+ ta3 = c n2 +.+ type3
+ app d (a1, a2, a3) =
+ setBinds [n0,n1,n2] +.+ embed (c "newTask(" +.+
+ c n +.+ c ", " +.+
+ d +.+ c ", " +.+
+ a1 +.+ c ", " +.+
+ a2 +.+ c ", " +.+
+ a3 +.+ c ", 0)")
+instance taskImp2 (Code a p, Code b q, Code c r, Code d s) where
+ taskImp2 n (type1, type2, type3, type4) = (app, (ta1, ta2, ta3, ta4))
+ where
+ n0 = "t0p->a[0]"
+ n1 = "t0p->a[1]"
+ n2 = "t0p->a[2]"
+ n3 = "t0p->a[3]"
+ ta1 = c n0 +.+ type1
+ ta2 = c n1 +.+ type2
+ ta3 = c n2 +.+ type3
+ ta4 = c n3 +.+ type4
+ app d (a1, a2, a3, a4) =
+ setBinds [n0,n1,n2,n3] +.+ embed (c "newTask(" +.+
+ c n +.+ c ", " +.+
+ d +.+ c ", " +.+
+ a1 +.+ c ", " +.+
+ a2 +.+ c ", " +.+
+ a3 +.+ c ", " +.+
+ a4 +.+ c ")")
+
+class taskImp a :: Int a -> (Int a->Code MTask Expr, a)
+instance taskImp () where
+ taskImp n () = (app, ())
+ where app i a = embed (c "newTask(" +.+ c n +.+ c ", " +.+ c i +.+ c ")")
+instance taskImp (Code t p) where
+ taskImp n type1 = (app, ta)
+ where
+ ta = c "t0p->a[0]" +.+ type1
+ app i a =
+ embed (c "newTask(" +.+
+ c n +.+ c ", " +.+
+ c i +.+ c ", " +.+
+ a +.+ c ")")
+instance taskImp (Code a p, Code b q) where
+ taskImp n (type1, type2) = (app, (ta1, ta2)) where
+ ta1 = c "t0p->a[0]" +.+ type1
+ ta2 = c "t0p->a[1]" +.+ type2
+ app i (a1, a2) =
+ embed (c "newTask(" +.+ c n +.+ c ", " +.+ c i +.+
+ c ", " +.+ a1 +.+ c ", " +.+ a2 +.+ c ")")
+instance taskImp (Code a p, Code b q, Code c r) where
+ taskImp n (type1, type2, type3) = (app, (ta1, ta2, ta3))
+ where
+ ta1 = c "t0p->a[0]" +.+ type1
+ ta2 = c "t0p->a[1]" +.+ type2
+ ta3 = c "t0p->a[2]" +.+ type3
+ app i (a1, a2, a3) =
+ embed (c "newTask(" +.+
+ c n +.+ c ", " +.+
+ c i +.+ c ", " +.+
+ a1 +.+ c ", " +.+
+ a2 +.+ c ", " +.+
+ a3 +.+ c ")")
+instance taskImp (Code a p, Code b q, Code c r, Code d s) where
+ taskImp n (type1, type2, type3, type4) = (app, (ta1, ta2, ta3, ta4))
+ where
+ ta1 = c "t0p->a[0]" +.+ type1
+ ta2 = c "t0p->a[1]" +.+ type2
+ ta3 = c "t0p->a[2]" +.+ type3
+ ta4 = c "t0p->a[3]" +.+ type4
+ app i (a1, a2, a3, a4) =
+ embed (c "newTask(" +.+
+ c n +.+ c ", " +.+
+ c i +.+ c ", " +.+
+ a1 +.+ c ", " +.+
+ a2 +.+ c ", " +.+
+ a3 +.+ c ", " +.+
+ a4 +.+ c ")")
+
+tasksMain :: Int Int ((a->Code MTask Expr,b->Code MTask Expr) -> In (a->Code c d,b->Code e f) (Main (Code g h))) -> Main (Code i j) | taskImp a & types a & taskImp b & types b
+tasksMain i j f =
+ { main =
+ freshMTask \n. freshMTask \m.
+ let
+ (app1, a1) = taskImp n types
+ (app2, a2) = taskImp m types
+ ((b1, b2) In {main = e}) = f (app1 i, app2 j)
+ in
+ codeMTaskBody (loopCode n (b1 a1) +.+ setMode NoReturn +.+ loopCode m (b2 a2)) e
+ }
+class types a :: a
+instance types () where types = ()
+instance types (Code a p) | typeSelector a & isExpr p
+ where types = typeSelector
+instance types (Code a p, Code b q) | typeSelector a & isExpr p & typeSelector b & isExpr q
+ where types = (typeSelector, typeSelector)
+instance types (Code a p, Code b q, Code c r) | typeSelector a & isExpr p & typeSelector b & isExpr q & typeSelector c & isExpr r
+ where types = (typeSelector, typeSelector, typeSelector)
+instance types (Code a p, Code b q, Code c r, Code d s) | typeSelector a & isExpr p & typeSelector b & isExpr q & typeSelector c & isExpr r & typeSelector d & isExpr s
+ where types = (typeSelector, typeSelector, typeSelector, typeSelector)
+
+codeMTaskBody :: (Code v w) (Code c d) -> Code e f
+codeMTaskBody loop e =
+ getMode \mode.
+ setMode NoReturn +.+
+ setCode Loop +.+ loop +.+
+ setMode mode +.+ setCode Setup +.+ embed e
+instance fun Code () where
+ fun f =
+ {main = getMode \mode. fresh \n.
+ let fname = c ("f" + toCode n)
+ (g In {main=e}) = f (\x.embed (fname +.+ c " ()"))
+ in setCode Fun +.+ c "\n" +.+ resType f +.+ c " " +.+ fname +.+ c " () " +.+
+ funBody (setMode (Return (toCode (resType2 f))) +.+ setBinds [] +.+ g ()) +.+ setCode Setup +.+ setMode mode +.+ e
+ }
+instance fun Code (Code t p) | type, showType t & isExpr p where
+ fun f =
+ {main =
+ getMode \mode. fresh \n.
+ let fname = c ("f" + toCode n)
+ aname = "a" + toCode n
+ (g In {main=e}) = f (\x.embed (fname +.+ c " " +.+ brac x))
+ in setCode Fun +.+ c "\n" +.+ resType f +.+ c " " +.+ fname +.+ c " " +.+
+ brac (argTypes f +.+ c (" " + aname)) +.+
+ funBody (setMode (Return (toCode (resType2 f))) +.+ setBinds [aname] +.+ g (embed (c aname))) +.+ setCode Setup +.+ setMode mode +.+ e
+ }
+instance fun Code (Code a p, Code b q) | showType a & showType b where
+ fun f =
+ {main =
+ getMode \mode. fresh \n.
+ let fname = c ("f" + toCode n + " ")
+ aname = "a" + toCode n //+ " "
+ bname = "b" + toCode n //+ " "
+ (atype, btype) = argTypes f
+ (g In main)
+ = f (\(x,y).embed (fname +.+ codeOp2 x ", " y))
+ in setCode Fun +.+ nl +.+ resType f +.+ fname +.+
+ codeOp2 (atype +.+ c aname) ", " (btype +.+ c bname) +.+
+ funBody (setMode (Return (toCode (resType2 f))) +.+
+ setBinds [aname,bname] +.+ g (embed (c aname), embed (c bname))) +.+
+ setCode Setup +.+ setMode mode +.+ unMain main
+ }
+instance fun Code (Code a p, Code b q, Code c r) | showType a & showType b & showType c where
+ fun f =
+ {main =
+ getMode \mode. fresh \n.
+ let fname = c ("f" + toCode n)
+ aname = "a" + toCode n
+ bname = "b" + toCode n
+ cname = "c" + toCode n
+ (atype,btype,ctype) = argTypes f
+ (g In {main=e}) = f (\(x,y,z).embed (fname +.+ c " " +.+ brac (x +.+ c ", " +.+ y +.+ c ", " +.+ z)))
+ in setCode Fun +.+ c "\n" +.+ resType f +.+ c " " +.+ fname +.+ c " " +.+
+ brac (atype +.+ c (" " + aname + ", ") +.+ btype +.+ c (" " + bname + ", ") +.+ ctype +.+ c (" " + cname)) +.+
+ funBody (setMode (Return (toCode (resType2 f))) +.+
+ setBinds [aname,bname,cname] +.+ g (embed (c aname), embed (c bname), embed (c cname))) +.+ setCode Setup +.+ setMode mode +.+ e
+ }
+instance output Code where
+ output x = embed (c "Serial.println(" +.+ x +.+ c ")")
+instance pinMode Code where
+ pinmode p m = embed (c ("pinMode(" + toCode p + ", " + consName{|*|} m + ")"))
+instance digitalIO Code where
+ digitalRead p = embed (c ("digitalRead(" + toCode p + ")"))
+ digitalWrite p b = embed (c ("digitalWrite(" + toCode p + ", ") +.+ b +.+ c ")")
+instance dIO Code where
+ dIO p = C (ioc p) where
+ ioc :: p (ReadWrite (Code t q)) CODE -> CODE | pin, readPinD p
+ ioc p Rd s = f Rd s where (C f) = embed (c ("digitalRead(" + toCode p + ")"))
+ ioc p (Wrt v) s = f Rd s where (C f) = embed (c ("pWrite(" + toCode p + ", ") +.+ v +.+ c ")")
+instance aIO Code where
+ aIO p = C (ioc p) where
+ ioc :: p (ReadWrite (Code t q)) CODE -> CODE | pin p
+ ioc p Rd s = unC (embed (c ("analogRead(" + toCode p + ")"))) Rd s
+ ioc p (Wrt v) s = unC (embed (c ("pWrite(" + toCode p + ", ") +.+ v +.+ c ")")) Rd s
+instance analogIO Code where
+ analogRead p = embed (c ("analogRead(" + toCode p + ")"))
+ analogWrite p b = embed (c ("analogWrite(" + toCode p + ", ") +.+ b +.+ c ")")
+instance noOp Code where noOp = C \rw c.c
+
+:: Code a p = C ((ReadWrite (Code a Expr)) CODE -> CODE)
+:: CODE =
+ { fresh :: Int
+ , freshMTask :: Int
+ , funs :: [String]
+ , ifuns :: Int
+ , vars :: [String]
+ , ivars :: Int
+ , setup :: [String]
+ , isetup :: Int
+ , loop :: [String]
+ , iloop :: Int
+ , includes :: [String]
+ , def :: Def
+ , mode :: Mode
+ , binds :: [String]
+ }
+
+unC :: (Code a p) -> ((ReadWrite (Code a Expr)) CODE -> CODE)
+unC (C f) = f
+
+:: Def = Var | Fun | Setup | Loop
+:: Mode = /*MainMode |*/ NoReturn | Return String | SubExp | Assign String
+
+setMode :: Mode -> Code a p
+setMode m = C \rw c.{c & mode = m}
+
+getMode :: (Mode -> Code a p) -> Code a p
+getMode f = C \rw c.unC (f c.mode) rw c
+
+embed :: (Code a p) -> Code a p
+embed e =
+ getMode \m. case m of
+ NoReturn = setMode SubExp +.+ e +.+ c ";"
+ Return "void" = setMode SubExp +.+ e +.+ c ";"
+ Return t = c "return " +.+ setMode SubExp +.+ e +.+ c ";"
+ Assign s = c (s + " = ") +.+ setMode SubExp +.+ e +.+ c ";"
+ SubExp = e
+ _ = abort "\n\nembed: unknown mode.\n"
+
+(+.+) infixl 5 :: (Code a p) (Code b q) -> Code c r
+(+.+) (C f) (C g) = C \rw c.g Rd (f Rd c)
+
+fresh :: (Int -> (Code a p)) -> (Code a p)
+fresh f = C \rw c.unC (f c.fresh) rw {c & fresh = c.fresh + 1}
+
+freshMTask :: (Int -> (Code a p)) -> (Code a p)
+freshMTask f = C \rw c.unC (f c.freshMTask) rw {c & freshMTask = c.freshMTask + 1}
+
+setCode :: Def -> (Code a p)
+setCode d = C \rw c.{c & def = d}
+
+getCode :: (Def -> Code a p) -> (Code a p)
+getCode f = C \rw c.unC (f c.def) rw c
+
+brac :: (Code a p) -> Code b q
+brac e = c "(" +.+ e +.+ c ")"
+
+funBody :: (Code a p) -> Code b q
+funBody e = c "{" +.+ indent +.+ nl +.+ e +.+ unindent +.+ nl +.+ c "}" +.+ nl
+
+codeOp2 :: (Code a p) String (Code b q) -> Code c r
+codeOp2 x n y = embed (brac (x +.+ c n +.+ y))
+
+include :: String -> Code a b
+include lib = C \rw c.{c & includes = [lib:c.includes]}
+
+argList :: [a] -> String | toCode a
+argList [a] = toCode a
+argList [a:x] = toCode a + "," + argList x
+argList [] = ""
+
+c :: a -> Code b p | toCode a
+c a = C \rw c.case c.def of
+ Fun = {c & funs = [toCode a: c.funs]}
+ Var = {c & vars = [toCode a: c.vars]}
+ Setup = {c & setup = [toCode a: c.setup]}
+ Loop = {c & loop = [toCode a: c.loop]}
+
+indent :: Code a p
+indent =
+ C \rw c.case c.def of
+ Fun = {c & ifuns = inc c.ifuns}
+ Var = {c & ivars = inc c.ivars}
+ Setup = {c & isetup = inc c.isetup}
+ Loop = {c & iloop = inc c.iloop}
+
+unindent :: Code a p
+unindent =
+ C \rw c.case c.def of
+ Fun = {c & ifuns = dec c.ifuns}
+ Var = {c & ivars = dec c.ivars}
+ Setup = {c & isetup = dec c.isetup}
+ Loop = {c & iloop = dec c.iloop}
+where
+ dec n | n > 1
+ = n - 1
+ = 0
+
+nl :: Code a p
+nl =
+ C \rw c.case c.def of
+ Fun = {c & funs = [str c.ifuns: c.funs]}
+ Var = {c & vars = [str c.ivars: c.vars]}
+ Setup = {c & setup = [str c.isetup: c.setup]}
+ Loop = {c & loop = [str c.iloop: c.loop]}
+where
+ str n = toString ['\n':repeatn (tabSize * n) ' ']
+
+setBinds :: [String] -> Code a p
+setBinds list = C \rw c.{c & binds = list}
+
+addBinds :: String -> Code a p
+addBinds name = C \rw c.{c & binds = [name:c.binds]}
+
+getBinds :: ([String] -> Code a p) -> (Code a p)
+getBinds f = C \rw c.unC (f c.binds) rw c
+
+// ----- driver ----- //
+
+compile :: (Main (Code a p)) -> [String]
+compile {main=(C f)} =
+ ["/*\n"
+ ," Generated code for Arduino\n"
+ ," Pieter Koopman, pieter@cs.ru.nl\n"
+ ,"*/\n"
+ ,"\n"
+ ,"#define MAX_ARGS 4\n"
+ ,"#define MAX_TASKS 20\n"
+ ,"#define MAX_TASK_NO MAX_TASKS - 1\n"
+ ,"#define NEXT_TASK(n) ((n) == MAX_TASK_NO ? 0 : (n) + 1)\n"
+ ,"\n"
+ ,"typedef union Arg {\n"
+ ," int i;\n"
+ ," bool b;\n"
+ ," char c;\n"
+// ," float f;\n" // requires 4 bytes
+ ," word w;\n"
+ ,"} ARG;\n"
+ ,"\n"
+ ,"typedef struct Task {\n"
+ ," byte id;\n"
+ ," long wait;\n"
+ ," ARG a[MAX_ARGS];\n"
+ ,"} TASK;\n"
+ ,"\n"
+ ] ++
+ foldr (\lib c.["#include <":lib:".h>\n":c]) [] (mkset c.includes) ++
+ ["\n// --- variables ---\n"
+ ,"TASK tasks[MAX_TASKS];\n"
+ ,"byte t0 = 0, tc = 0, tn = 0;\n"
+ ,"long delta;\n"
+ ,"\n"
+ ,"int vInt;\n"
+ ,"bool vBool;\n"
+ ,"char vChar;\n"
+ ,"float vFloat;\n"
+ ,"unsigned long time = 0;\n"
+ :reverse c.vars
+ ] ++
+ ["\n// --- functions ---\n"
+ ,"byte newTask(byte id, long wait, word a0 = 0, word a1 = 0, word a2 = 0, word a3 = 0) {\n"
+ ," TASK *tnp = &tasks[tn];\n"
+ ," tnp->id = id;\n"
+ ," tnp->wait = wait;\n"
+ ," tnp->a[0].w = a0;\n"
+ ," tnp->a[1].w = a1;\n"
+ ," tnp->a[2].w = a2;\n"
+ ," tnp->a[3].w = a3;\n"
+ ," byte r = tn;\n"
+ ," tn = NEXT_TASK(tn);\n"
+ ," return r;\n"
+ ,"}\n"
+ ,"\n"
+ ,"byte setDelay(byte t, long d) {\n"
+ ," tasks[t].wait = d;\n"
+ ," return t;\n"
+ ,"}\n"
+ ,"boolean pressed(int b) {\n"
+ ," pinMode(A0, INPUT);\n"
+ ," int a0 = analogRead(A0);\n"
+ ," switch (b) {\n"
+ ," case 0: return a0 < ",toString RightBound,"; // right\n"
+ ," case 1: return ",toString RightBound," < a0 && a0 < ",toString UpBound,"; // up\n"
+ ," case 2: return ",toString UpBound," < a0 && a0 < ",toString DownBound,";// down\n"
+ ," case 3: return ",toString DownBound," < a0 && a0 < ",toString LeftBound,";//left\n"
+ ," case 4: return ",toString LeftBound," < a0 && a0 < ",toString SelectBound,";//select\n"
+ ," default: return ",toString SelectBound," < a0; //no button\n"
+ ," }\n"
+ ,"}\n"
+ ,"boolean pWrite (int pin, boolean b) {\n"
+ ," pinMode(pin, OUTPUT);\n"
+ ," digitalWrite(pin, b);\n"
+ ," return b;\n"
+ ,"}\n"
+ ,"int pWrite (int pin, int i) {\n"
+ ," pinMode(pin, OUTPUT);\n"
+ ," analogWrite(pin, i);\n"
+ ," return i;\n"
+ ,"}\n"
+ :reverse c.funs
+ ] ++
+ ["\n// --- setup --- \n"
+ ,"void setup () {\n"
+ ," Serial.begin(9600);\n"
+ ," "
+ :reverse c.setup
+ ] ++
+ ["\n}\n"
+ ,"\n// --- loop --- \n"
+ ,"void loop () {\n"
+ ," if (t0 != tn) {\n"
+ ," if (t0 == tc) {\n"
+ ," unsigned long time2 = millis();\n"
+ ," delta = time2 - time;\n"
+ ," time = time2;\n"
+ ," tc = tn;\n"
+ ," };\n"
+ ," TASK* t0p = &tasks[t0];\n"
+ ," t0p->wait -= delta;\n"
+ ," if (t0p->wait > 0L) {\n"
+ ," newTask(t0p->id, t0p->wait, t0p->a[0].w, t0p->a[1].w, t0p->a[2].w, t0p->a[3].w);\n"
+ ," } else {\n"
+ ," switch (t0p->id) {"
+ :reverse c.loop
+ ] ++
+ ["\n"
+ ," default:\n"
+ ," Serial.println(\"stopped\");\n"
+ ," t0 = tn; // no known task: force termination of tasks\n"
+ ," return;\n"
+ ," };\n"
+ ," }\n"
+ ," t0 = NEXT_TASK(t0);\n"
+ ," }\n"
+ ,"}\n"
+ ]
+where c = f Rd newCode
+
+mkset :: [a] -> [a] | Eq a
+mkset [a:x] = [a:mkset (filter ((<>) a) x)]
+mkset [] = []
+
+newCode :: CODE
+newCode =
+ { fresh = 0
+ , freshMTask = 0
+ , funs = []
+ , ifuns = 0
+ , vars = []
+ , ivars = 0
+ , setup = []
+ , isetup = 1
+ , loop = []
+ , iloop = 4
+ , includes = []
+ , def = Setup
+ , mode = NoReturn
+ , binds = []
+ }
+
+// ----- simulation ----- //
+
+eval :: (Main (Eval t p)) -> [String] | toString t
+eval {main=(E f)} = [toString (fst (f Rd state0))]
+
+:: State =
+ { tasks :: [(Int, State->State)]
+ , store :: [Dyn]
+ , dpins :: [(DigitalPin, Bool)]
+ , apins :: [(AnalogPin, Int)]
+ , serial:: [String]
+ , millis:: Int
+ }
+
+state0 :: State
+state0 = {store = [], tasks = [], serial = [], millis = 0, dpins = [] , apins = []}
+
+//:: TaskSim :== (Int, State->State)
+:: Eval t p = E ((ReadWrite t) State -> (t, State))
+toS2S :: (Eval t p) -> (State->State)
+toS2S (E f) = \state.snd (f Rd state)
+
+unEval :: (Eval t p) -> ((ReadWrite t) State -> (t, State))
+unEval (E f) = f
+
+:: ReadWrite t = Rd | Wrt t | Updt (t->t)
+
+(>>==) infixl 1 :: (Eval a p) (a -> Eval b q) -> Eval b r
+//(>>== ) (E f) g = E \r s. let (a, s2) = f Rd s; (E h) = g a in h Rd s2
+(>>==) (E f) g = E\r s.let (a,t) = f Rd s in unEval (g a) Rd t
+
+rtrn :: t -> Eval t p
+rtrn a = E \r s -> (a, s)
+
+yield :: t (Eval s p) -> Eval t Expr
+//yield a (E f) = E (\r s.(\(_,t).(a,t)) (f r s))
+yield a (E f) = E \r s.(a,snd (f Rd s))
+
+instance arith Eval where
+ lit a = rtrn a
+ (+.) x y = x >>== \a. y >>== \b. rtrn (a + b)
+ (-.) x y = x >>== \a. y >>== \b. rtrn (a - b)
+ (*.) x y = x >>== \a. y >>== \b. rtrn (a * b)
+ (/.) x y = x >>== \a. y >>== \b. rtrn (a / b)
+instance boolExpr Eval where
+ (&.) x y = x >>== \a. if a y (rtrn False) // lazy AND
+ (|.) x y = x >>== \a. if a (rtrn True) (y >>== rtrn)
+ Not x = x >>== \a. rtrn (not a)
+ (==.) x y = x >>== \a. y >>== \b. rtrn (a == b)
+ (!=.) x y = x >>== \a. y >>== \b. rtrn (a <> b)
+ (<.) x y = x >>== \a. y >>== \b. rtrn (a < b)
+ (>.) x y = x >>== \a. y >>== \b. rtrn (a > b)
+ (<=.) x y = x >>== \a. y >>== \b. rtrn (a <= b)
+ (>=.) x y = x >>== \a. y >>== \b. rtrn (a >= b)
+instance If Eval p q Expr where
+ If c t e = c >>== \b.if b (toExpr t) (toExpr e)
+instance IF Eval where
+ IF c t e = c >>== \b.if b (yield () t) (yield () e)
+ (?) c t = c >>== \b.if b (yield () t) (rtrn ())
+instance var2 Eval where
+ var2 v f = defEval2 v f
+ con2 v f = defEval2 v f
+
+defEval2 :: t ((Eval t p)->Main (Eval u q)) -> (Main (Eval u q)) | dyn t
+defEval2 v f =
+ {main = E (\r s.(length s.store
+ , {s & store = s.store ++ [toDyn v]}))
+ >>== \n.unMain (f (E (read n)))}
+instance sds Eval where
+ sds f = defEval f
+ con f = defEval f
+
+defEval :: ((Eval t p)->In t (Main (Eval u q))) -> (Main (Eval u q)) | dyn t
+defEval f =
+ {main = E \r s.let (v In g) = f (E (read (length s.store))) in
+ unEval (unMain g) r {s & store = s.store ++ [toDyn v]}}
+instance fun Eval x | arg x where
+ fun f = e where (g In e) = f (\a.toExpr (g a))
+instance mtask Eval x | arg x where
+ task f = e where
+ (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]}))
+instance mtasks Eval x y | arg x & arg y where
+ tasks f = e where
+ ((t,u) In e) =
+ f ((\d a.long d >>== \(L i).E\r s.(MTask (length s.tasks),{s&tasks=[(i,toS2S (t a)):s.tasks]}))
+ ,(\d b.long d >>== \(L j).E\r s.(MTask (length s.tasks),{s&tasks=[(j,toS2S (u b)):s.tasks]}))
+ )
+instance setDelay Eval where
+ 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})
+class toExpr v where toExpr :: (v t p) -> v t Expr
+instance toExpr Eval where toExpr (E f) = E f
+instance toExpr Code where toExpr (C f) = C f
+instance seq Eval where
+ (>>=.) x f = x >>== f o rtrn
+ (:.) x y = x >>== \_. y
+instance assign Eval where
+ (=.) (E v) e = e >>== \a. E \r s.v (Wrt a) s
+instance output Eval where
+ output x = x >>== \a.E \r s.((),{s & serial = s.serial ++ [toCode a]})
+instance pinMode Eval where
+ pinmode p m = rtrn ()
+instance digitalIO Eval where
+ digitalRead p = E \rw s=:{dpins, apins}.(readPinD p dpins apins, s)
+ digitalWrite p b = b >>== \a. E \rw s.(a, writePinD p a s)
+instance analogIO Eval where
+ analogRead p = E \rw s=:{apins}. (readPinA p apins, s)
+ analogWrite p b = b >>== \a. E \rw s.(a, writePinA p a s)
+instance noOp Eval where noOp = E \r s.(undef,s)
+
+class arg x :: x -> Int
+instance arg () where arg _ = 0
+instance arg (Eval t p) | type t where arg _ = 1
+instance arg (Eval t p, Eval u q) | type t & type u where arg _ = 2
+instance arg (Eval t p, Eval u q, Eval v r) | type t & type u & type v where arg _ = 3
+instance arg (Eval t p, Eval u q, Eval v r, Eval w s) | type t & type u & type v where arg _ = 4
+
+instance + String where (+) x y = x +++ y
+
+readPinA :: AnalogPin [(AnalogPin, Int)] -> Int
+readPinA p lista
+ = case [b \\ (q, b) <- lista | p == q] of
+ [] = 0
+ [a:x] = a
+
+writePinA :: AnalogPin Int State -> State
+writePinA p x s
+ = {s & apins = [(p, x):[(q, y) \\ (q, y) <- s.apins | p <> q]]}
+
+class readPinD p :: p [(DigitalPin,Bool)] [(AnalogPin,Int)] -> Bool
+instance readPinD DigitalPin where
+ readPinD p listd lista
+ = case [b \\ (q,b) <- listd | p == q] of
+ [] = False
+ [a:x] = a
+instance readPinD AnalogPin where
+ readPinD p listd lista
+ = case [b \\ (q,b) <- lista | p == q] of
+ [] = False
+ [a:x] = a <> 0
+class writePinD p :: p Bool State -> State
+instance writePinD DigitalPin where
+ writePinD p b s=:{dpins} = {s & dpins = [(p, b):[(q, c) \\ (q, c) <- dpins | p <> q]]}
+instance writePinD AnalogPin where
+ writePinD p b s=:{apins} = {s & apins = [(p, if b 1 0):[(q, c) \\ (q, c) <- apins | p <> q]]}
+
+
+// ----- Interactive Simulation ----- //
+
+derive class iTask DigitalPin, AnalogPin, Dyn, StateInterface, DisplayVar, Pin
+
+simulate :: (Main (Eval a p)) -> Task ()
+simulate {main=(E f)} = setup state0 where
+ setup s =
+ updateInformation "State" [] (toView s)
+ >>* [ OnAction ActionFinish (always shutDown)
+ , OnAction (Action "setup" []) (hasValue
+ (\si.simloop (snd (f Rd (mergeView s si)))))
+ ]
+ simloop s =
+ updateInformation "State" [] (toView s)
+ >>* [ OnAction ActionFinish (always shutDown)
+ , OnAction (Action "clear serial" []) (always (simloop {s & serial = []}))
+ , OnAction ActionNew (always (setup state0))
+ : if (isEmpty s.tasks)
+ []
+ [OnAction (Action "loop" []) (hasValue
+ \si.simloop (step (mergeView s si)))
+ ]
+ ]
+
+toView :: State -> StateInterface
+toView s =
+ { serialOut = Display s.serial
+ , analogPins = s.apins
+ , digitalPins = s.dpins
+ , var2iables = map toDisplayVar s.store
+ , timer = s.millis
+ , taskCount = Display (length s.tasks)
+ }
+
+mergeView :: State StateInterface -> State
+mergeView s si =
+ { s
+ & store = [fromDisplayVar new old \\ new <- si.var2iables & old <- s.store]
+ , dpins = si.digitalPins
+ , apins = si.analogPins
+// , serial = si.serialOut
+ , millis = si.timer
+ }
+
+:: StateInterface =
+ { serialOut :: Display [String]
+ , analogPins :: [(AnalogPin, Int)]
+ , digitalPins :: [(DigitalPin, Bool)]
+ , var2iables :: [DisplayVar]
+ , timer :: Int
+ , taskCount :: Display Int
+ }
+
+toDisplayVar :: Dyn -> DisplayVar
+toDisplayVar (Dyn [v])
+ # i = toInt v
+ | toString i == v
+ = INT i
+ = Variable v
+toDisplayVar (Dyn ["L",v]) = LONG (toInt v)
+toDisplayVar (Dyn ["Servo",pinKind,pin,pos]) = Servo (fromJust (fromDyn (Dyn [pinKind,pin]))) (toInt pos)
+toDisplayVar (Dyn ["LCD",_,_,_,_,_,l1,_,l2,_]) = LCD16x2 l1 l2
+toDisplayVar (Dyn l) = DisplayVar l
+
+fromDisplayVar :: DisplayVar Dyn -> Dyn
+fromDisplayVar (Variable v) dyn = Dyn [v]
+fromDisplayVar (INT v) dyn = Dyn [toString v]
+fromDisplayVar (LONG v) dyn = Dyn ["L",toString v]
+fromDisplayVar (Servo pin pos) dyn = Dyn (["Servo":let (Dyn p) = toDyn pin in p] ++ [toString pos])
+fromDisplayVar (LCD16x2 l1 l2) (Dyn list) = Dyn (updateAt 6 l1 (updateAt 8 l2 list))
+fromDisplayVar (DisplayVar l) dyn = Dyn l
+
+:: DisplayVar
+ = Variable String
+ | INT Int
+ | LONG Int
+ | Servo Pin Int
+ | LCD16x2 String String
+ | DisplayVar [String]
+
+
+step :: State -> State
+step s =
+ foldr appTask {s & millis = s.millis + delta, tasks = []}
+ [(w - delta, f) \\ (w, f) <- s.tasks]
+where delta = foldl1 min (map fst s.tasks) // smallest wait
+
+appTask t=:(w,f) s | w <= 0
+ = f s
+ = {s & tasks = [t:s.tasks]}
+
+foldl1 op [a:x] = foldl op a x
+foldr1 op l :== foldr l
+ where
+ foldr [a] = a
+ foldr [a:x] = op a (foldr x)
+
+class stringQuotes t | type t :: (Code t p) -> Code t p
+instance stringQuotes String where stringQuotes x = c "\"" +.+ x +.+ c "\""
+instance stringQuotes t where stringQuotes x = x
+
+
+derive toGenDynamic (), MTask, DigitalPin, AnalogPin, Pin, [], Long, LCD //, Servo
+derive fromGenDynamic (), MTask, DigitalPin, AnalogPin, Pin, [], Long, LCD //, Servo
+instance toCode () where toCode _ = ""
+instance == () where (==) _ _ = True
+
+// ----- long ----- //
+
+:: Long = L Int // 32 bit on Arduino
+instance toCode Long where toCode (L i) = toCode i + "L"
+instance + Long where (+) (L x) (L y) = L (x + y)
+instance - Long where (-) (L x) (L y) = L (x + y)
+instance * Long where (*) (L x) (L y) = L (x + y)
+instance / Long where (/) (L x) (L y) = L (x + y)
+instance == Long where (==) (L x) (L y) = x == y
+instance one Long where one = L one
+instance zero Long where zero = L zero
+now = lit (L 0)
+
+class long v t :: (v t p) -> v Long Expr | isExpr p
+instance long Code Int where
+ long x = embed (c "long" +.+ brac x)
+instance long Code Long where
+ long x = embed (c "long" +.+ brac x)
+instance long Eval Int where
+ long x = x >>== rtrn o L
+instance long Eval Long where
+ long (E x) = E x
+
+// ----- tools ----- //
+
+class toCode a :: a -> String
+instance toCode Bool where toCode b = if b "true" "false"
+instance toCode Int where toCode a = toString a
+instance toCode Real where toCode a = toString a
+instance toCode Char where
+ toCode '\0' = "'\\0'"
+ toCode '\n' = "'\\n'"
+ toCode '\\' = "\\"
+ toCode a = "'" + toString a + "'"
+instance toCode String where toCode s = s
+instance toCode DigitalPin where toCode x = s%(1, size s - 1) where s = consName{|*|} x
+instance toCode AnalogPin where toCode x = consName{|*|} x
+derive consName DigitalPin, AnalogPin, PinMode
+
+instance == DigitalPin where (==) x y = x === y
+instance == AnalogPin where (==) x y = x === y
+
+derive consIndex DigitalPin, AnalogPin
+
+tab =: toString (repeatn tabSize ' ')
+tabSize :== 2
+
+instance toString () where toString _ = "()"
repositories / mTask.git / commitdiff