-- | Programming the Arduino with Copilot, in functional reactive style.
--
-- This module should work on any model of Arduino.
-- See Copilot.Arduino.Uno and Copilot.Arduino.Nano for model-specific code.
--
-- There are also libraries like Copilot.Arduino.Library.Serial to support
-- additional hardware.
{-# LANGUAGE RebindableSyntax #-}
{-# LANGUAGE DataKinds #-}
{-# LANGUAGE MultiParamTypeClasses #-}
{-# LANGUAGE FlexibleInstances #-}
{-# LANGUAGE TypeApplications #-}
{-# LANGUAGE ScopedTypeVariables #-}
module Copilot.Arduino (
-- * Arduino sketch generation
arduino,
Sketch,
Pin,
-- * Functional reactive programming
Behavior,
TypedBehavior(..),
Event,
(@:),
-- * Inputs
Input,
input,
input',
pullup,
millis,
micros,
-- * Outputs
--
-- | Only a few common outputs are included in this module.
-- Import a module such as Copilot.Arduino.Uno for `Pin`
-- definitions etc.
Output,
led,
(=:),
pwm,
delay,
-- * Other types
ADC,
MilliSeconds(..),
MicroSeconds(..),
ClockMillis,
ClockMicros,
IsDigitalIOPin,
IsAnalogInputPin,
IsPWMPin,
-- * Utilities
blinking,
firstIteration,
frequency,
sketchSpec,
-- * Combinators
liftB,
liftB2,
whenB,
scheduleB,
ifThenElse,
IfThenElse,
-- * Copilot DSL
--
-- | Most of the Copilot.Language module is re-exported here,
-- including a version of the Prelude modified for it. You
-- should enable the RebindableSyntax language extension in
-- your program to use the Copilot DSL.
--
-- > {-# LANGUAGE RebindableSyntax #-}
--
-- For documentation on using the Copilot DSL, see
-- <https://copilot-language.github.io/>
Stream,
module X,
) where
import Language.Copilot as X hiding (Stream, ifThenElse)
import Language.Copilot (Stream)
import qualified Language.Copilot
import Copilot.Arduino.Internals
import Copilot.Arduino.Main
import Control.Monad.Writer
import Data.Proxy
import Data.Maybe
import qualified Data.Map as M
import qualified Data.Set as S
-- | Use this to make a LED blink on and off.
--
-- On each iteration of the `Sketch`, this changes to the opposite of its
-- previous value.
--
-- This is implemented using Copilot's `clk`, so to get other blinking
-- behaviors, just pick different numbers, or use Copilot `Stream`
-- combinators.
--
-- > blinking = clk (period 2) (phase 1)
blinking :: Behavior Bool
blinking = clk (period (2 :: Integer)) (phase (1 :: Integer))
-- | True on the first iteration of the `Sketch`, and False thereafter.
firstIteration :: Behavior Bool
firstIteration = [True]++false
-- | Use this to make an event occur 1 time out of n.
--
-- This is implemented using Copilot's `clk`:
--
-- > frequency = clk (period n) (phase 1)
frequency :: Integer -> Behavior Bool
frequency n = clk (period n) (phase 1)
-- | A stream of milliseconds.
data MilliSeconds = MilliSeconds (Stream Word32)
-- | A stream of microseconds.
data MicroSeconds = MicroSeconds (Stream Word32)
-- | Use this to add a delay between each iteration of the `Sketch`.
-- A `Sketch` with no delay will run as fast as the hardware can run it.
--
-- > delay := MilliSeconds (constant 100)
delay :: Delay
delay = Delay
data Delay = Delay
instance Output Delay MilliSeconds where
Delay =: (MilliSeconds n) = do
(f, triggername) <- defineTriggerAlias "delay" mempty
tell [(go triggername, \_ -> f)]
where
go triggername tl =
let c = getTriggerLimit tl
in trigger triggername c [arg n]
instance Output Delay MicroSeconds where
Delay =: (MicroSeconds n) = do
(f, triggername) <- defineTriggerAlias "delayMicroseconds" mempty
tell [(go triggername, \_ -> f)]
where
go triggername tl =
let c = getTriggerLimit tl
in trigger triggername c [arg n]
-- | Number of MillisSeconds since the Arduino booted.
--
-- > n <- input millis
--
-- The value wraps back to zero after approximately 50 days.
millis :: ClockMillis
millis = ClockMillis
-- | Number of MicroSeconds since the Arduino booted.
--
-- > n <- input micros
--
-- The value wraps back to zero after approximately 70 minutes.
micros :: ClockMicros
micros = ClockMicros
data ClockMillis = ClockMillis
data ClockMicros = ClockMicros
instance Input ClockMillis Word32 where
input' ClockMillis = inputClock "millis"
instance Input ClockMicros Word32 where
input' ClockMicros = inputClock "micros"
inputClock :: [Char] -> [Word32] -> Sketch (Behavior Word32)
inputClock src interpretvalues = mkInput $ InputSource
{ setupInput = []
, defineVar = mkCChunk
[CLine $ showCType (Proxy @Word32) <> " " <> varname <>";"]
, inputPinmode = mempty
, readInput = mkCChunk
[CLine $ varname <> " = " <> src <> "();"]
, inputStream = extern varname interpretvalues'
}
where
varname = "clock_" <> src
interpretvalues'
| null interpretvalues = Nothing
| otherwise = Just interpretvalues
-- | Normally when a digital value is read from a `Pin`, it is configured
-- without the internal pullup resistor being enabled. Use this to enable
-- the pullup register for all reads from the `Pin`.
--
-- Bear in mind that enabling the pullup resistor inverts the value that
-- will be read from the pin.
--
-- > pullup pin12
pullup :: Pin t -> Sketch ()
pullup (Pin p) = tell [(\_ -> return (), \_ -> f)]
where
f = mempty
{ pinmodes = M.singleton p (S.singleton InputPullupMode)
}
-- | Use this to do PWM output to a pin.
--
-- > pin3 =: pwm (constant 128)
--
-- Each Word8 of the Behavior describes a PWM square wave.
-- 0 is always off and 255 is always on.
pwm :: Behavior Word8 -> TypedBehavior 'PWM Word8
pwm = TypedBehavior
-- | The on-board LED.
led :: Pin '[ 'DigitalIO ]
led = Pin (PinId 13)
class IfThenElse t a where
-- | This allows "if then else" expressions to be written
-- that choose between two Streams, or Behaviors, or TypedBehaviors,
-- or Sketches, when the RebindableSyntax language extension is
-- enabled.
--
-- > {-# LANGUAGE RebindableSyntax #-}
-- > buttonpressed <- input pin3
-- > if buttonpressed then ... else ...
ifThenElse :: Behavior Bool -> t a -> t a -> t a
instance Typed a => IfThenElse Stream a where
ifThenElse = Language.Copilot.ifThenElse
instance Typed a => IfThenElse (TypedBehavior p) a where
ifThenElse c (TypedBehavior a) (TypedBehavior b) =
TypedBehavior (ifThenElse c a b)
instance IfThenElse Sketch () where
ifThenElse c a b = do
whenB c a
whenB (not c) b
instance Typed a => IfThenElse Sketch (Behavior a) where
ifThenElse c a b = do
ra <- whenB c a
rb <- whenB (not c) b
return $ Language.Copilot.ifThenElse c ra rb
-- | Schedule when to perform different Sketches.
scheduleB :: (Typed t, Eq t) => Behavior t -> [(t, Sketch ())] -> Sketch ()
scheduleB b = sequence_ . map go
where
go (v, s) = whenB (b == constant v) s
-- | Extracts a copilot `Spec` from a `Sketch`.
--
-- This can be useful to intergrate with other libraries
-- such as copilot-theorem.
sketchSpec :: Sketch a -> Spec
sketchSpec = fromMaybe (return ()) . fst . evalSketch
-- | Apply a Copilot DSL function to a `TypedBehavior`.
liftB
:: (Behavior a -> Behavior r)
-> TypedBehavior t a
-> Behavior r
liftB f (TypedBehavior b) = f b
-- | Apply a Copilot DSL function to two `TypedBehavior`s.
liftB2
:: (Behavior a -> Behavior b -> Behavior r)
-> TypedBehavior t a
-> TypedBehavior t b
-> Behavior r
liftB2 f (TypedBehavior a) (TypedBehavior b) = f a b