mTaskSimulation.icl

   1 implementation module mTaskSimulation
   2
   3 import Generics.gdynamic
   4 import Generics.gCons
   5
   6 import iTasks
   7 import GenEq, StdMisc, StdArray
   8 import mTask
   9 derive class iTask Display
  10
  11 eval :: (Main (Eval t p)) -> [String] | toString t
  12 eval {main=(E f)} = [toString (fst (f Rd zero))]
  13
  14 :: State` =
  15   { tasks :: [(Int, State`->State`)]
  16   , store :: [Dyn]
  17   , dpins :: [(DigitalPin, Bool)]
  18   , apins :: [(AnalogPin, Int)]
  19   , serial:: [String]
  20   , millis:: Int
  21   }
  22
  23 instance zero State` where
  24         zero = {store = [], tasks = [], serial = [], millis = 0, dpins = [] , apins = []}
  25
  26 //:: TaskSim :== (Int, State`->State`)
  27 :: Eval t p = E ((ReadWrite t) State` -> (t, State`))
  28 toS2S :: (Eval t p) -> (State`->State`)
  29 toS2S (E f) = \state.snd (f Rd state)
  30
  31 unEval :: (Eval t p) -> ((ReadWrite t) State` -> (t, State`))
  32 unEval (E f) = f
  33
  34 :: ReadWrite t = Rd | Wrt t | Updt (t->t)
  35
  36 (>>==) infixl 1 :: (Eval a p) (a -> Eval b q) -> Eval b r
  37 //(>>== ) (E f) g = E \r s. let (a, s2) = f Rd s; (E h) = g a in h Rd s2
  38 (>>==) (E f) g = E\r s.let (a,t) = f Rd s in unEval (g a) Rd t
  39
  40 rtrn :: t -> Eval t p
  41 rtrn a = E \r s -> (a, s)
  42
  43 yield :: t (Eval s p) -> Eval t Expr
  44 //yield a (E f) = E (\r s.(\(_,t).(a,t)) (f r s))
  45 yield a (E f) = E \r s.(a,snd (f Rd s))
  46
  47 instance arith Eval where
  48   lit a = rtrn a
  49   (+.) x y = x >>==  \a. y >>==  \b. rtrn (a + b)
  50   (-.) x y = x >>==  \a. y >>==  \b. rtrn (a - b)
  51   (*.) x y = x >>==  \a. y >>==  \b. rtrn (a * b)
  52   (/.) x y = x >>==  \a. y >>==  \b. rtrn (a / b)
  53 instance boolExpr Eval where
  54   (&.) x y = x >>==  \a. if a y (rtrn False) // lazy AND
  55   (|.) x y = x >>==  \a. if a (rtrn True) (y >>==  rtrn)
  56   Not x   = x >>==  \a. rtrn (not a)
  57   (==.) x y = x >>==  \a. y >>==  \b. rtrn (a == b)
  58   (!=.) x y = x >>==  \a. y >>==  \b. rtrn (a <> b)
  59   (<.)  x y = x >>==  \a. y >>==  \b. rtrn (a < b)
  60   (>.)  x y = x >>==  \a. y >>==  \b. rtrn (a > b)
  61   (<=.)  x y = x >>==  \a. y >>==  \b. rtrn (a <= b)
  62   (>=.)  x y = x >>==  \a. y >>==  \b. rtrn (a >= b)
  63 instance If Eval p q Expr where
  64   If  c t e = c >>==  \b.if b (toExpr t) (toExpr e)
  65 instance IF Eval where
  66   IF  c t e = c >>==  \b.if b (yield () t) (yield () e)
  67   (?) c t   = c >>==  \b.if b (yield () t) (rtrn ())
  68 instance var2 Eval where
  69   var2 v f = defEval2 v f
  70   con2 v f = defEval2 v f
  71
  72 defEval2 :: t ((Eval t p)->Main (Eval u q)) -> (Main (Eval u q)) | dyn t
  73 defEval2 v f =
  74   {main = E (\r s.(length s.store
  75           , {s & store = s.store ++ [toDyn v]}))
  76   >>==  \n.unMain (f (E (read` n)))}
  77 instance sds Eval where
  78   sds f = defEval f
  79   con f = defEval f
  80
  81 defEval :: ((Eval t p)->In t (Main (Eval u q))) -> (Main (Eval u q)) | dyn t
  82 defEval f =
  83   {main = E \r s.let (v In g) = f (E (read` (length s.store))) in
  84           unEval (unMain g) r {s & store = s.store ++ [toDyn v]}}
  85 instance fun Eval x | arg x where
  86   fun f = e where (g In e) = f (\a.toExpr (g a))
  87 instance mtask Eval x | arg x where
  88  task f = e where
  89   (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]}))
  90 instance mtasks Eval x y | arg x & arg y where
  91  tasks f = e where
  92   ((t,u) In e) =
  93    f ((\d a.long d >>== \(L i).E\r s.(MTask (length s.tasks),{s&tasks=[(i,toS2S (t a)):s.tasks]}))
  94    ,(\d b.long d >>== \(L j).E\r s.(MTask (length s.tasks),{s&tasks=[(j,toS2S (u b)):s.tasks]}))
  95    )
  96 instance setDelay Eval where
  97   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})
  98 class toExpr v where toExpr :: (v t p) -> v t Expr
  99 instance toExpr Eval where toExpr (E f) = E f
 100 instance toExpr Code where toExpr (C f) = C f
 101 instance seq Eval where
 102   (>>=.) x f = x >>==   f o rtrn
 103   (:.) x y = x >>==  \_. y
 104 instance assign Eval where
 105   (=.) (E v) e = e >>==  \a. E \r s.v (Wrt a) s
 106 instance output Eval where
 107   output x = x >>==  \a.E \r s.((),{s & serial = s.serial ++ [toCode a]})
 108 instance pinMode Eval where
 109   pinmode p m = rtrn ()
 110 instance digitalIO Eval where
 111   digitalRead  p   = E \rw s=:{dpins, apins}.(readPinD p dpins apins, s)
 112   digitalWrite p b = b >>== \a. E \rw s.(a, writePinD p a s)
 113 instance analogIO Eval where
 114   analogRead  p   = E \rw s=:{apins}. (readPinA p apins, s)
 115   analogWrite p b = b >>== \a. E \rw s.(a, writePinA p a s)
 116 instance noOp Eval where noOp = E \r s.(undef,s)
 117
 118 class arg x :: x -> Int
 119 instance arg () where arg _ = 0
 120 instance arg (Eval t p) | type t where arg _ = 1
 121 instance arg (Eval t p, Eval u q) | type t & type u where arg _ = 2
 122 instance arg (Eval t p, Eval u q, Eval v r) | type t & type u & type v where arg _ = 3
 123 instance arg (Eval t p, Eval u q, Eval v r, Eval w s) | type t & type u & type v where arg _ = 4
 124
 125 instance + String where (+) x y = x +++ y
 126
 127 readPinA :: AnalogPin [(AnalogPin, Int)] -> Int
 128 readPinA p lista
 129   = case [b \\ (q, b) <- lista | p == q] of
 130   []  = 0
 131   [a:x] = a
 132
 133 writePinA :: AnalogPin Int State` -> State`
 134 writePinA p x s
 135   = {s & apins = [(p, x):[(q, y) \\ (q, y) <- s.apins | p <> q]]}
 136
 137 class readPinD p :: p [(DigitalPin,Bool)] [(AnalogPin,Int)] -> Bool
 138 instance readPinD DigitalPin where
 139   readPinD p listd lista
 140   = case [b \\ (q,b) <- listd | p == q] of
 141     [] = False
 142     [a:x] = a
 143 instance readPinD AnalogPin where
 144   readPinD p listd lista
 145   = case [b \\ (q,b) <- lista | p == q] of
 146     [] = False
 147     [a:x] = a <> 0
 148 class writePinD p :: p Bool State` -> State`
 149 instance writePinD DigitalPin where
 150   writePinD p b s=:{dpins} = {s & dpins = [(p, b):[(q, c) \\ (q, c) <- dpins | p <> q]]}
 151 instance writePinD AnalogPin where
 152   writePinD p b s=:{apins} = {s & apins = [(p, if b 1 0):[(q, c) \\ (q, c) <- apins | p <> q]]}
 153
 154
 155 // ----- Interactive Simulation ----- //
 156
 157 derive class iTask StateInterface, DisplayVar
 158
 159 simulate :: (Main (Eval a p)) -> Task ()
 160 simulate {main=(E f)} = setup zero where
 161   setup s =
 162           updateInformation "State" [] (toView s) @! ()
 163 //        >>* [ OnAction ActionFinish (always shutDown)
 164 //          , OnAction (Action "setup" []) (hasValue
 165 //            (\si.simloop (snd (f Rd (mergeView s si)))))
 166 //          ]
 167   simloop s =
 168           updateInformation "State" [] (toView s) @!()
 169 //        >>* [ OnAction ActionFinish (always shutDown)
 170 //          , OnAction (Action "clear serial" []) (always (simloop {s & serial = []}))
 171 //          , OnAction ActionNew (always (setup zero))
 172 //          : if (isEmpty s.tasks)
 173 //              []
 174 //              [OnAction (Action "loop" []) (hasValue
 175 //            \si.simloop (step` (mergeView s si)))
 176 //            ]
 177 //          ]
 178
 179 toView :: State` -> StateInterface
 180 toView s =
 181   { serialOut = Display s.serial
 182   , analogPins = s.apins
 183   , digitalPins = s.dpins
 184   , var2iables = map toDisplayVar s.store
 185   , timer = s.millis
 186   , taskCount = Display (length s.tasks)
 187   }
 188
 189 mergeView :: State` StateInterface -> State`
 190 mergeView s si =
 191   { s
 192   & store = [fromDisplayVar new old \\ new <- si.var2iables & old <- s.store]
 193   , dpins = si.digitalPins
 194   , apins = si.analogPins
 195 //  , serial = si.serialOut
 196   , millis = si.timer
 197   }
 198
 199 :: StateInterface =
 200   { serialOut   :: Display [String]
 201   , analogPins  :: [(AnalogPin, Int)]
 202   , digitalPins :: [(DigitalPin, Bool)]
 203   , var2iables   :: [DisplayVar]
 204   , timer     :: Int
 205   , taskCount   :: Display Int
 206   }
 207
 208 toDisplayVar :: Dyn -> DisplayVar
 209 toDisplayVar (Dyn [v])
 210     # i = toInt v
 211     | toString i == v
 212         = INT i
 213         = Variable v
 214 toDisplayVar (Dyn ["L",v]) = LONG (toInt v)
 215 toDisplayVar (Dyn ["Servo",pinKind,pin,pos]) = Servo (fromJust (fromDyn (Dyn [pinKind,pin]))) (toInt pos)
 216 toDisplayVar (Dyn ["LCD",_,_,_,_,_,l1,_,l2,_]) = LCD16x2 l1 l2
 217 toDisplayVar (Dyn l) = DisplayVar l
 218
 219 fromDisplayVar :: DisplayVar Dyn -> Dyn
 220 fromDisplayVar (Variable v)  dyn = Dyn [v]
 221 fromDisplayVar (INT v)     dyn = Dyn [toString v]
 222 fromDisplayVar (LONG v)    dyn = Dyn ["L",toString v]
 223 fromDisplayVar (Servo pin pos) dyn = Dyn (["Servo":let (Dyn p) = toDyn pin in p] ++ [toString pos])
 224 fromDisplayVar (LCD16x2 l1 l2) (Dyn list) = Dyn (updateAt 6 l1 (updateAt 8 l2 list))
 225 fromDisplayVar (DisplayVar l)  dyn = Dyn l
 226
 227 :: DisplayVar
 228     = Variable String
 229     | INT Int
 230     | LONG Int
 231     | Servo Pin Int
 232     | LCD16x2 String String
 233     | DisplayVar [String]
 234
 235
 236 step` :: State` -> State`
 237 step` s =
 238   foldr appTask {s & millis = s.millis + delta, tasks = []}
 239     [(w - delta, f) \\ (w, f) <- s.tasks]
 240 where delta = foldl1 min (map fst s.tasks) // smallest wait
 241
 242 appTask t=:(w,f) s | w <= 0
 243   = f s
 244   = {s & tasks = [t:s.tasks]}
 245
 246 foldl1 op [a:x] = foldl op a x
 247 foldr1 op l :== foldr l
 248   where
 249     foldr [a]     = a
 250     foldr [a:x] = op a (foldr x)
 251
 252 class stringQuotes t | type t :: (Code t p) -> Code t p
 253 instance stringQuotes String where stringQuotes x = c "\"" +.+ x +.+ c "\""
 254 instance stringQuotes t    where stringQuotes x = x
 255
 256
 257 derive   toGenDynamic (), MTask, DigitalPin, AnalogPin, Pin, [], Long, UserLED//, Servo
 258 derive fromGenDynamic (), MTask, DigitalPin, AnalogPin, Pin, [], Long, UserLED//, Servo
 259 instance ==   () where (==) _ _ = True
 260
 261
 262