implementation module mTaskCode

import Generics.gdynamic
import Generics.gCons
import StdEnv

//import iTasks
import GenEq, StdMisc, StdArray
import mTask

instance toCode MTask where toCode (MTask x) = "Task " + toCode x 

argType :: (((Code a p)->Code b q)->In ((Code a p)->Code b q) (Code c s)) -> a | type a
argType f = undef

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

instance toCode (SV t) where toCode (SV s) = s

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 "} "

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)
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.{CODE|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 {CODE | c & fresh = c.fresh + 1}

freshMTask :: (Int -> (Code a p)) -> (Code a p)
freshMTask f = C \rw c.unC (f c.freshMTask) rw {CODE | 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		= []
  }


//Tools
instance toCode () where toCode _ = ""

class toCode a :: a -> String

instance toCode Long where toCode (L i) = toCode i + "L"

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

instance toCode Pin where
    toCode (Digital p) = toCode p
    toCode (Analog  p) = toCode p
instance toCode UserLED where
	toCode LED1 = toCode 1
	toCode LED2 = toCode 2
	toCode LED3 = toCode 3