mTaskCode.icl

   1 implementation module mTaskCode
   2
   3 import Generics.gdynamic
   4 import Generics.gCons
   5 import StdEnv
   6
   7 //import iTasks
   8 import GenEq, StdMisc, StdArray
   9 import mTask
  10
  11 instance toCode MTask where toCode (MTask x) = "Task " + toCode x
  12
  13 argType :: (((Code a p)->Code b q)->In ((Code a p)->Code b q) (Code c s)) -> a | type a
  14 argType f = undef
  15
  16 instance argTypes (Code a p) | showType a where argTypes f = showType
  17 instance argTypes (Code a p, Code b q) | showType a & showType b where argTypes f = (showType, showType)
  18 instance argTypes (Code a p, Code b q, Code c r) | showType a & showType b & showType c where argTypes f = (showType, showType, showType)
  19
  20 resType :: ((t->Code b Expr)->In (t->Code b q) (Main (Code c s))) -> Code b q | showType b
  21 resType f = showType
  22
  23 var2Type :: (Code t p) -> Code t p | showType t
  24 var2Type x = showType
  25
  26 resType2 :: ((t->Code b Expr)->In (t->Code b q) (Main (Code c s))) -> SV b | showType2 b
  27 resType2 f = showType2
  28
  29 instance toCode (SV t) where toCode (SV s) = s
  30
  31 instance arith Code where
  32   lit a = embed (c a)
  33   (+.) x y = codeOp2 x " + " y
  34   (-.) x y = codeOp2 x " - " y
  35   (*.) x y = codeOp2 x " * " y
  36   (/.) x y = codeOp2 x " / " y
  37 instance boolExpr Code where
  38   (&.) x y  = codeOp2 x " && " y
  39   (|.) x y  = codeOp2 x " || " y
  40   Not x     = embed (brac (c "! " +.+ brac x))
  41   (==.) x y = codeOp2 x " == " y
  42   (!=.) x y = codeOp2 x " != " y
  43   (<.)  x y = codeOp2 x " < "  y
  44   (<=.) x y = codeOp2 x " <= " y
  45   (>.)  x y = codeOp2 x " > "  y
  46   (>=.) x y = codeOp2 x " >= " y
  47 instance If Code Stmt Stmt Stmt where If c t e = IfStmt c t e
  48 instance If Code e    Stmt Stmt where If c t e = IfStmt c t e
  49 instance If Code Stmt e    Stmt where If c t e = IfStmt c t e
  50 instance If Code x    y    Expr where If c t e = IfExpr c t e
  51 IfExpr b t e = embed (brac (b +.+ indent +.+ nl +.+ c " ? " +.+ t +.+ nl +.+ c " : " +.+ e +.+ unindent))
  52 IfStmt b t e =
  53   getMode \mode.
  54   let
  55     v = varName t
  56     newMode =
  57       case mode of
  58         Return s = Return s
  59         Assign v = Assign v
  60         _    = if (v == "") NoReturn (Assign v)
  61   in
  62     setMode SubExp +.+
  63     c "if " +.+ brac b +.+ c " {" +.+
  64       indent +.+ nl +.+ setMode newMode +.+ t +.+ unindent +.+ nl +.+ c "} else {" +.+
  65       indent +.+ nl +.+ setMode newMode +.+ e +.+ unindent +.+ nl +.+ c "}"
  66 instance IF Code where
  67   IF b t e  = IfStmt b t e
  68   (?) b t =
  69     getMode \mode.
  70     c "if " +.+ setMode SubExp +.+ brac b +.+ c " {" +.+
  71     indent +.+ nl +.+ setMode mode +.+ t +.+ c ";" +.+ unindent +.+ nl +.+ c "}"
  72
  73 instance sds Code where
  74   sds f = // defCode f
  75    {main = fresh \n.
  76     let name = "sds"+toCode n
  77         (v In body) = f (C (var name))
  78     in setCode Var +.+ c (type2string v + " " + name + " = " + toCode v +
  79        ";\n") +.+ setCode Setup +.+ unMain body}
  80   con f = defCode f
  81
  82 defCode :: ((Code t p) -> In t (Main (Code u q))) -> Main (Code u r) | type t
  83 defCode f =
  84   {main = fresh \n.
  85     let name = "sds"+toCode n
  86         (v In body) = f (C (var name))
  87     in  setCode Var +.+ c (type2string v + " " + name + " = " + toCode v +
  88         ";\n") +.+ setCode Setup +.+ unMain body}
  89
  90 var :: String (ReadWrite (Code v q)) CODE -> CODE
  91 var sds Rd      s = unC (embed (c sds)) Rd s
  92 var sds (Wrt v) s = unC (embed (c ("(" + sds + " = ") +.+ v +.+ c ")")) Rd s
  93
  94 instance assign Code where
  95   (=.) (C v) e = embed (setMode SubExp +.+ C \rw c.v (Wrt (toExpr e)) c)
  96 instance seq Code where
  97   (>>=.) x f =
  98     getMode \mode. fresh \n. let v = "b" + toCode n in
  99     addBinds v +.+ var2Type x +.+ c (v + ";") +.+ nl +.+
 100     setMode (Assign v) +.+ x +.+ nl +.+ setMode mode +.+ f (embed (c v))
 101   (:.) x y = getMode \mode. setMode NoReturn +.+ embed x +.+ nl +.+ setMode mode +.+ y
 102 instance step` Code where
 103     (>>*.) x f =
 104         getMode \mode. fresh \n.
 105             let v = "s" + toCode n in
 106             c "while(true) {" +.+ indent +.+ nl +.+
 107             var2Type x +.+ c (v + ";") +.+ nl +.+
 108             setMode (Assign v) +.+ x +.+ nl +.+
 109             setMode mode +.+ codeSteps (f (c v)) +.+
 110             unindent +.+ nl +.+ c "}"
 111 codeSteps :: [Step Code t] -> Code u p
 112 codeSteps [] = C \rw c.c
 113 codeSteps [Cond b e:x] =
 114     getMode \mode. setMode SubExp +.+
 115     c "if (" +.+ b +.+ c ") {" +.+ indent +.+ nl +.+
 116     setMode mode +.+ e +.+
 117     optBreak mode +.+ unindent +.+ nl +.+ c "}" +.+ nl +.+ setMode mode +.+ codeSteps x
 118 codeSteps [Ever e:x] =
 119     getMode \mode. e +.+ optBreak mode
 120
 121 optBreak :: Mode -> Code u p
 122 optBreak mode =
 123     case mode of
 124         Return s    = C \rw c.c
 125         _           = nl +.+ c "break;"
 126
 127 instance setDelay Code where
 128   setDelay d t = embed (c "setDelay" +.+ brac (t +.+ c ", " +.+ d))
 129 instance mtask Code a | taskImp2 a & types a where
 130   task f =
 131    {main = freshMTask \n.
 132    let (app, a)  = taskImp2 n types
 133        (b In main) = f (\d a.app (long d) a)
 134    in codeMTaskBody (loopCode n (b a)) (unMain main)}
 135 instance mtasks Code a b | taskImp2 a & types a  & taskImp2 b & types b  where
 136   tasks f =
 137     {main =
 138             freshMTask \t1.
 139             freshMTask \t2.
 140             let (app1, a1) = taskImp2 t1 types
 141                 (app2, a2) = taskImp2 t2 types
 142                 ((b1, b2) In main) = f ((\d a.app1 (long d) a),(\d a.app2 (long d) a))
 143             in codeMTaskBody (loopCode t2 (b2 a2)) (codeMTaskBody (loopCode t1 (b1 a1)) (unMain main))}
 144
 145 loopCode :: Int (Code a b) -> Code c d
 146 loopCode n b =
 147   nl +.+ c "case " +.+ c n +.+ c ": {" +.+ indent +.+ nl +.+
 148   setMode NoReturn +.+ b +.+ nl +.+ c "break;" +.+
 149   unindent +.+ nl +.+ c "} "
 150
 151 instance taskImp2 () where
 152   taskImp2 n () = (app, ())
 153   where app d a = setBinds [] +.+ embed (c "newTask(" +.+ c n +.+ c ", " +.+ d +.+ c ")")
 154 instance taskImp2 (Code t p) where
 155   taskImp2 n type1 = (app, ta)
 156     where
 157       n0 = "t0p->a[0]"
 158       ta = c n0 +.+ type1
 159       app d a =
 160         setBinds [n0] +.+ embed (c "newTask(" +.+
 161           c n +.+ c ", " +.+
 162           d +.+ c ", " +.+
 163           a +.+ c ")")
 164 instance taskImp2 (Code a p, Code b q) where
 165   taskImp2 n (type1, type2) = (app, (ta1, ta2)) where
 166     n0 = "t0p->a[0]"
 167     n1 = "t0p->a[1]"
 168     ta1 = c n0 +.+ type1
 169     ta2 = c n1 +.+ type2
 170     app d (a1, a2) =
 171             setBinds [n0,n1] +.+ embed (c "newTask(" +.+ c n +.+ c ", " +.+ long d +.+
 172             c ", " +.+ a1 +.+ c ", " +.+ a2 +.+ c ")")
 173 instance taskImp2 (Code a p, Code b q, Code c r) where
 174   taskImp2 n (type1, type2, type3) = (app, (ta1, ta2, ta3))
 175     where
 176       n0 = "t0p->a[0]"
 177       n1 = "t0p->a[1]"
 178       n2 = "t0p->a[2]"
 179       ta1 = c n0 +.+ type1
 180       ta2 = c n1 +.+ type2
 181       ta3 = c n2 +.+ type3
 182       app d (a1, a2, a3) =
 183         setBinds [n0,n1,n2] +.+ embed (c "newTask(" +.+
 184           c n +.+ c ", " +.+
 185           d  +.+ c ", " +.+
 186           a1 +.+ c ", " +.+
 187           a2 +.+ c ", " +.+
 188           a3 +.+ c ", 0)")
 189 instance taskImp2 (Code a p, Code b q, Code c r, Code d s) where
 190   taskImp2 n (type1, type2, type3, type4) = (app, (ta1, ta2, ta3, ta4))
 191     where
 192       n0 = "t0p->a[0]"
 193       n1 = "t0p->a[1]"
 194       n2 = "t0p->a[2]"
 195       n3 = "t0p->a[3]"
 196       ta1 = c n0 +.+ type1
 197       ta2 = c n1 +.+ type2
 198       ta3 = c n2 +.+ type3
 199       ta4 = c n3 +.+ type4
 200       app d (a1, a2, a3, a4) =
 201         setBinds [n0,n1,n2,n3] +.+ embed (c "newTask(" +.+
 202           c n +.+ c ", " +.+
 203           d  +.+ c ", " +.+
 204           a1 +.+ c ", " +.+
 205           a2 +.+ c ", " +.+
 206           a3 +.+ c ", " +.+
 207           a4 +.+ c ")")
 208
 209 class taskImp a :: Int a -> (Int a->Code MTask Expr, a)
 210 instance taskImp () where
 211   taskImp n () = (app, ())
 212     where app i a = embed (c "newTask(" +.+ c n +.+ c ", " +.+ c i +.+ c ")")
 213 instance taskImp (Code t p) where
 214   taskImp n type1 = (app, ta)
 215     where
 216       ta = c "t0p->a[0]" +.+ type1
 217       app i a =
 218         embed (c "newTask(" +.+
 219           c n +.+ c ", " +.+
 220           c i +.+ c ", " +.+
 221           a +.+ c ")")
 222 instance taskImp (Code a p, Code b q) where
 223   taskImp n (type1, type2) = (app, (ta1, ta2)) where
 224           ta1 = c "t0p->a[0]" +.+ type1
 225           ta2 = c "t0p->a[1]" +.+ type2
 226           app i (a1, a2) =
 227             embed (c "newTask(" +.+ c n +.+ c ", " +.+  c i +.+
 228             c ", " +.+ a1 +.+ c ", " +.+ a2 +.+ c ")")
 229 instance taskImp (Code a p, Code b q, Code c r) where
 230   taskImp n (type1, type2, type3) = (app, (ta1, ta2, ta3))
 231     where
 232       ta1 = c "t0p->a[0]" +.+ type1
 233       ta2 = c "t0p->a[1]" +.+ type2
 234       ta3 = c "t0p->a[2]" +.+ type3
 235       app i (a1, a2, a3) =
 236         embed (c "newTask(" +.+
 237           c n +.+ c ", " +.+
 238           c i +.+ c ", " +.+
 239           a1 +.+ c ", " +.+
 240           a2 +.+ c ", " +.+
 241           a3 +.+ c ")")
 242 instance taskImp (Code a p, Code b q, Code c r, Code d s) where
 243   taskImp n (type1, type2, type3, type4) = (app, (ta1, ta2, ta3, ta4))
 244     where
 245       ta1 = c "t0p->a[0]" +.+ type1
 246       ta2 = c "t0p->a[1]" +.+ type2
 247       ta3 = c "t0p->a[2]" +.+ type3
 248       ta4 = c "t0p->a[3]" +.+ type4
 249       app i (a1, a2, a3, a4) =
 250         embed (c "newTask(" +.+
 251           c n +.+ c ", " +.+
 252           c i +.+ c ", " +.+
 253           a1 +.+ c ", " +.+
 254           a2 +.+ c ", " +.+
 255           a3 +.+ c ", " +.+
 256           a4 +.+ c ")")
 257
 258 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
 259 tasksMain i j f =
 260     { main =
 261       freshMTask \n. freshMTask \m.
 262         let
 263           (app1, a1) = taskImp n types
 264           (app2, a2) = taskImp m types
 265           ((b1, b2) In {main = e}) = f (app1 i, app2 j)
 266         in
 267           codeMTaskBody (loopCode n (b1 a1) +.+ setMode NoReturn +.+ loopCode m (b2 a2)) e
 268     }
 269 class types a :: a
 270 instance types () where types = ()
 271 instance types (Code a p) | typeSelector a & isExpr p
 272   where types = typeSelector
 273 instance types (Code a p, Code b q) | typeSelector a & isExpr p & typeSelector b & isExpr q
 274   where types = (typeSelector, typeSelector)
 275 instance types (Code a p, Code b q, Code c r) | typeSelector a & isExpr p & typeSelector b & isExpr q & typeSelector c & isExpr r
 276   where types = (typeSelector, typeSelector, typeSelector)
 277 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
 278   where types = (typeSelector, typeSelector, typeSelector, typeSelector)
 279
 280 codeMTaskBody :: (Code v w) (Code c d) -> Code e f
 281 codeMTaskBody loop e =
 282   getMode \mode.
 283     setMode NoReturn +.+
 284     setCode Loop +.+ loop +.+
 285     setMode mode +.+ setCode Setup +.+ embed e
 286 instance fun Code () where
 287   fun f  =
 288    {main = getMode \mode. fresh \n.
 289         let fname = c ("f" + toCode n)
 290         (g In {main=e}) = f (\x.embed (fname +.+ c " ()"))
 291     in setCode Fun +.+ c "\n" +.+ resType f +.+ c " " +.+ fname +.+ c " () " +.+
 292        funBody (setMode (Return (toCode (resType2 f))) +.+ setBinds [] +.+ g ()) +.+ setCode Setup +.+ setMode mode +.+ e
 293    }
 294 instance fun Code (Code t p) | type, showType t & isExpr p  where
 295   fun f  =
 296     {main =
 297       getMode \mode. fresh \n.
 298         let fname = c ("f" + toCode n)
 299             aname = "a" + toCode n
 300             (g In {main=e}) = f (\x.embed (fname +.+ c " " +.+ brac x))
 301         in  setCode Fun +.+ c "\n" +.+ resType f +.+ c " " +.+ fname +.+ c " " +.+
 302           brac (argTypes f +.+ c (" " + aname)) +.+
 303           funBody (setMode (Return (toCode (resType2 f))) +.+ setBinds [aname] +.+ g (embed (c aname))) +.+ setCode Setup +.+ setMode mode +.+ e
 304     }
 305 instance fun Code (Code a p, Code b q) | showType a & showType b where
 306   fun f =
 307          {main =
 308           getMode \mode. fresh \n.
 309           let fname = c ("f" + toCode n + " ")
 310               aname = "a" + toCode n //+ " "
 311               bname = "b" + toCode n //+ " "
 312               (atype, btype) = argTypes f
 313               (g In main)
 314                = f (\(x,y).embed (fname +.+ codeOp2 x ", " y))
 315           in setCode Fun +.+ nl +.+ resType f +.+ fname +.+
 316              codeOp2 (atype +.+ c aname) ", " (btype +.+ c bname) +.+
 317              funBody (setMode (Return (toCode (resType2 f))) +.+
 318              setBinds [aname,bname] +.+ g (embed (c aname), embed (c bname))) +.+
 319              setCode Setup +.+ setMode mode +.+ unMain main
 320          }
 321 instance fun Code (Code a p, Code b q, Code c r) | showType a & showType b & showType c where
 322   fun f  =
 323     {main =
 324       getMode \mode. fresh \n.
 325         let fname = c ("f" + toCode n)
 326             aname = "a" + toCode n
 327             bname = "b" + toCode n
 328             cname = "c" + toCode n
 329             (atype,btype,ctype) = argTypes f
 330             (g In {main=e}) = f (\(x,y,z).embed (fname +.+ c " " +.+ brac (x +.+ c ", " +.+ y +.+ c ", " +.+ z)))
 331         in setCode Fun +.+ c "\n" +.+ resType f +.+ c " " +.+ fname +.+ c " " +.+
 332            brac (atype +.+ c (" " + aname + ", ") +.+ btype +.+ c (" " + bname + ", ") +.+ ctype +.+ c (" " + cname)) +.+
 333            funBody (setMode (Return (toCode (resType2 f))) +.+
 334            setBinds [aname,bname,cname] +.+ g (embed (c aname), embed (c bname), embed (c cname))) +.+ setCode Setup +.+ setMode mode +.+ e
 335     }
 336 instance output Code where
 337   output x = embed (c "Serial.println(" +.+ x +.+ c ")")
 338 instance pinMode Code where
 339   pinmode p m = embed (c ("pinMode(" + toCode p + ", " + consName{|*|} m + ")"))
 340 instance digitalIO Code where
 341   digitalRead p = embed (c ("digitalRead(" + toCode p + ")"))
 342   digitalWrite p b = embed (c ("digitalWrite(" + toCode p + ", ") +.+ b +.+ c ")")
 343 instance dIO Code where
 344   dIO p = C (ioc p) where
 345     ioc :: p (ReadWrite (Code t q)) CODE -> CODE | pin, readPinD p
 346     ioc p Rd   s = f Rd s where (C f) = embed (c ("digitalRead(" + toCode p + ")"))
 347     ioc p (Wrt v) s = f Rd s where (C f) = embed (c ("pWrite(" + toCode p + ", ") +.+ v +.+ c ")")
 348 instance aIO Code where
 349   aIO p = C (ioc p)  where
 350     ioc :: p (ReadWrite (Code t q)) CODE -> CODE | pin p
 351     ioc p Rd      s = unC (embed (c ("analogRead(" + toCode p + ")"))) Rd s
 352     ioc p (Wrt v) s = unC (embed (c ("pWrite(" + toCode p + ", ") +.+ v +.+ c ")")) Rd s
 353 instance analogIO Code where
 354   analogRead p = embed (c ("analogRead(" + toCode p + ")"))
 355   analogWrite p b = embed (c ("analogWrite(" + toCode p + ", ") +.+ b +.+ c ")")
 356 instance noOp Code where noOp = C \rw c.c
 357
 358 :: Code a p = C ((ReadWrite (Code a Expr)) CODE -> CODE)
 359 unC :: (Code a p) -> ((ReadWrite (Code a Expr)) CODE -> CODE)
 360 unC (C f) = f
 361
 362 :: Def = Var | Fun | Setup | Loop
 363 :: Mode = /*MainMode |*/ NoReturn | Return String | SubExp | Assign String
 364
 365 setMode :: Mode -> Code a p
 366 setMode m = C \rw c.{CODE|c & mode` = m}
 367
 368 getMode :: (Mode -> Code a p) -> Code a p
 369 getMode f = C \rw c.unC (f c.mode`) rw c
 370
 371 embed :: (Code a p) -> Code a p
 372 embed e =
 373   getMode \m. case m of
 374     NoReturn  = setMode SubExp +.+ e +.+ c ";"
 375     Return "void" = setMode SubExp +.+ e +.+ c ";"
 376     Return t  = c "return " +.+ setMode SubExp +.+ e +.+ c ";"
 377     Assign s  = c (s + " = ") +.+ setMode SubExp +.+ e +.+ c ";"
 378     SubExp    = e
 379     _       = abort "\n\nembed: unknown mode.\n"
 380
 381 (+.+) infixl 5 :: (Code a p) (Code b q) -> Code c r
 382 (+.+) (C f) (C g) = C \rw c.g Rd (f Rd c)
 383
 384 fresh :: (Int -> (Code a p)) -> (Code a p)
 385 fresh f = C \rw c.unC (f c.fresh) rw {CODE | c & fresh = c.fresh + 1}
 386
 387 freshMTask :: (Int -> (Code a p)) -> (Code a p)
 388 freshMTask f = C \rw c.unC (f c.freshMTask) rw {CODE | c & freshMTask = c.freshMTask + 1}
 389
 390 setCode :: Def -> (Code a p)
 391 setCode d = C \rw c.{c & def = d}
 392
 393 getCode :: (Def -> Code a p) -> (Code a p)
 394 getCode f = C \rw c.unC (f c.def) rw c
 395
 396 brac :: (Code a p) -> Code b q
 397 brac e = c "(" +.+ e +.+ c ")"
 398
 399 funBody :: (Code a p) -> Code b q
 400 funBody e = c "{" +.+ indent +.+ nl +.+ e +.+ unindent +.+ nl +.+ c "}" +.+ nl
 401
 402 codeOp2 :: (Code a p) String (Code b q) -> Code c r
 403 codeOp2 x n y = embed (brac (x +.+ c n +.+ y))
 404
 405 include :: String -> Code a b
 406 include lib = C \rw c.{c & includes = [lib:c.includes]}
 407
 408 argList :: [a] -> String | toCode a
 409 argList [a] = toCode a
 410 argList [a:x] = toCode a + "," + argList x
 411 argList [] = ""
 412
 413 c :: a -> Code b p | toCode a
 414 c a = C \rw c.case c.def of
 415     Fun   = {c & funs = [toCode a: c.funs]}
 416     Var   = {c & vars = [toCode a: c.vars]}
 417     Setup   = {c & setup = [toCode a: c.setup]}
 418     Loop  = {c & loop = [toCode a: c.loop]}
 419
 420 indent :: Code a p
 421 indent =
 422   C \rw c.case c.def of
 423     Fun   = {c & ifuns = inc c.ifuns}
 424     Var   = {c & ivars = inc c.ivars}
 425     Setup   = {c & isetup = inc c.isetup}
 426     Loop  = {c & iloop = inc c.iloop}
 427
 428 unindent :: Code a p
 429 unindent =
 430   C \rw c.case c.def of
 431     Fun   = {c & ifuns = dec c.ifuns}
 432     Var   = {c & ivars = dec c.ivars}
 433     Setup   = {c & isetup = dec c.isetup}
 434     Loop  = {c & iloop = dec c.iloop}
 435 where
 436   dec n | n > 1
 437     = n - 1
 438     = 0
 439
 440 nl :: Code a p
 441 nl =
 442   C \rw c.case c.def of
 443     Fun   = {c & funs = [str c.ifuns: c.funs]}
 444     Var   = {c & vars = [str c.ivars: c.vars]}
 445     Setup   = {c & setup = [str c.isetup: c.setup]}
 446     Loop  = {c & loop = [str c.iloop: c.loop]}
 447 where
 448   str n = toString ['\n':repeatn (tabSize * n) ' ']
 449
 450 setBinds :: [String] -> Code a p
 451 setBinds list = C \rw c.{c & binds = list}
 452
 453 addBinds :: String -> Code a p
 454 addBinds name = C \rw c.{c & binds = [name:c.binds]}
 455
 456 getBinds :: ([String] -> Code a p) -> (Code a p)
 457 getBinds f = C \rw c.unC (f c.binds) rw c
 458
 459 // ----- driver ----- //
 460
 461 compile :: (Main (Code a p)) -> [String]
 462 compile {main=(C f)} =
 463   ["/*\n"
 464   ,"  Generated code for Arduino\n"
 465   ,"  Pieter Koopman, pieter@cs.ru.nl\n"
 466   ,"*/\n"
 467   ,"\n"
 468   ,"#define MAX_ARGS 4\n"
 469   ,"#define MAX_TASKS 20\n"
 470   ,"#define MAX_TASK_NO MAX_TASKS - 1\n"
 471   ,"#define NEXT_TASK(n) ((n) == MAX_TASK_NO ? 0 : (n) + 1)\n"
 472   ,"\n"
 473   ,"typedef union Arg {\n"
 474   ,"  int i;\n"
 475   ,"  bool b;\n"
 476   ,"  char c;\n"
 477 //  ,"  float f;\n" // requires 4 bytes
 478   ,"  word w;\n"
 479   ,"} ARG;\n"
 480   ,"\n"
 481   ,"typedef struct Task {\n"
 482   ,"  byte id;\n"
 483   ,"  long wait;\n"
 484   ,"  ARG a[MAX_ARGS];\n"
 485   ,"} TASK;\n"
 486   ,"\n"
 487   ] ++
 488   foldr (\lib c.["#include <":lib:".h>\n":c]) [] (mkset c.includes) ++
 489   ["\n// --- variables ---\n"
 490   ,"TASK tasks[MAX_TASKS];\n"
 491   ,"byte t0 = 0, tc = 0, tn = 0;\n"
 492   ,"long delta;\n"
 493   ,"\n"
 494   ,"int vInt;\n"
 495   ,"bool vBool;\n"
 496   ,"char vChar;\n"
 497   ,"float vFloat;\n"
 498   ,"unsigned long time = 0;\n"
 499   :reverse c.vars
 500   ] ++
 501   ["\n// --- functions ---\n"
 502   ,"byte newTask(byte id, long wait, word a0 = 0, word a1 = 0, word a2 = 0, word a3 = 0) {\n"
 503   ,"  TASK *tnp = &tasks[tn];\n"
 504   ,"  tnp->id = id;\n"
 505   ,"  tnp->wait = wait;\n"
 506   ,"  tnp->a[0].w = a0;\n"
 507   ,"  tnp->a[1].w = a1;\n"
 508   ,"  tnp->a[2].w = a2;\n"
 509   ,"  tnp->a[3].w = a3;\n"
 510   ,"  byte r = tn;\n"
 511   ,"  tn = NEXT_TASK(tn);\n"
 512   ,"  return r;\n"
 513   ,"}\n"
 514   ,"\n"
 515   ,"byte setDelay(byte t, long d) {\n"
 516   ,"  tasks[t].wait = d;\n"
 517   ,"  return t;\n"
 518   ,"}\n"
 519   ,"boolean pressed(int b) {\n"
 520   ,"  pinMode(A0, INPUT);\n"
 521   ,"  int a0 = analogRead(A0);\n"
 522   ,"  switch (b) {\n"
 523   ,"  case 0: return a0 < ",toString RightBound,";       // right\n"
 524   ,"  case 1: return ",toString RightBound," < a0 && a0 < ",toString UpBound,"; // up\n"
 525   ,"  case 2: return ",toString UpBound," < a0 && a0 < ",toString DownBound,";// down\n"
 526   ,"  case 3: return ",toString DownBound," < a0 && a0 < ",toString LeftBound,";//left\n"
 527   ,"  case 4: return ",toString LeftBound," < a0 && a0 < ",toString SelectBound,";//select\n"
 528   ,"  default: return ",toString SelectBound," < a0;       //no button\n"
 529   ,"  }\n"
 530   ,"}\n"
 531   ,"boolean pWrite (int pin, boolean b) {\n"
 532   ,"  pinMode(pin, OUTPUT);\n"
 533   ,"  digitalWrite(pin, b);\n"
 534   ,"  return b;\n"
 535   ,"}\n"
 536   ,"int pWrite (int pin, int i) {\n"
 537   ,"  pinMode(pin, OUTPUT);\n"
 538   ,"  analogWrite(pin, i);\n"
 539   ,"  return i;\n"
 540   ,"}\n"
 541   :reverse c.funs
 542   ] ++
 543   ["\n// --- setup --- \n"
 544   ,"void setup () {\n"
 545   ,"  Serial.begin(9600);\n"
 546   ,"  "
 547   :reverse c.setup
 548   ] ++
 549   ["\n}\n"
 550   ,"\n// --- loop --- \n"
 551   ,"void loop () {\n"
 552   ,"  if (t0 != tn) {\n"
 553   ,"  if (t0 == tc) {\n"
 554   ,"    unsigned long time2 = millis();\n"
 555   ,"    delta = time2 - time;\n"
 556   ,"    time = time2;\n"
 557   ,"    tc = tn;\n"
 558   ,"  };\n"
 559   ,"  TASK* t0p = &tasks[t0];\n"
 560   ,"  t0p->wait -= delta;\n"
 561   ,"  if (t0p->wait > 0L) {\n"
 562   ,"    newTask(t0p->id, t0p->wait, t0p->a[0].w, t0p->a[1].w, t0p->a[2].w, t0p->a[3].w);\n"
 563   ,"  } else {\n"
 564   ,"    switch (t0p->id) {"
 565   :reverse c.loop
 566   ] ++
 567   ["\n"
 568   ,"    default:\n"
 569   ,"    Serial.println(\"stopped\");\n"
 570   ,"    t0 = tn; // no known task: force termination of tasks\n"
 571   ,"    return;\n"
 572   ,"    };\n"
 573   ,"  }\n"
 574   ,"  t0 = NEXT_TASK(t0);\n"
 575   ,"  }\n"
 576   ,"}\n"
 577   ]
 578 where c = f Rd newCode
 579
 580 mkset :: [a] -> [a] | Eq a
 581 mkset [a:x] = [a:mkset (filter ((<>) a) x)]
 582 mkset [] = []
 583
 584 newCode :: CODE
 585 newCode =
 586   { fresh   = 0
 587   , freshMTask = 0
 588   , funs    = []
 589   , ifuns   = 0
 590   , vars    = []
 591   , ivars   = 0
 592   , setup   = []
 593   , isetup  = 1
 594   , loop    = []
 595   , iloop   = 4
 596   , includes  = []
 597   , def     = Setup
 598   , mode`    = NoReturn
 599   , binds               = []
 600   }
 601
 602
 603 //Tools
 604 instance toCode () where toCode _ = ""
 605
 606 class toCode a :: a -> String
 607
 608 instance toCode Long where toCode (L i) = toCode i + "L"
 609
 610 instance toCode Bool where toCode b = if b "true" "false"
 611 instance toCode Int where toCode a = toString a
 612 instance toCode Real where toCode a = toString a
 613 instance toCode Char where
 614   toCode '\0' = "'\\0'"
 615   toCode '\n' = "'\\n'"
 616   toCode '\\' = "\\"
 617   toCode a = "'" + toString a + "'"
 618 instance toCode String where toCode s = s
 619 instance toCode DigitalPin where toCode x = s%(1, size s - 1) where s = consName{|*|} x
 620 instance toCode AnalogPin  where toCode x = consName{|*|} x
 621
 622 instance toCode Pin where
 623     toCode (Digital p) = toCode p
 624     toCode (Analog  p) = toCode p
 625 instance toCode UserLED where
 626         toCode LED1 = toCode 1
 627         toCode LED2 = toCode 2
 628         toCode LED3 = toCode 3
 629